Fix terrain shader on windows (#542)

* baseline

* fix terrain shader for windows

* fix terrain

* update

* restore

* support chinese path

* skip missing light true

metadrive/engine/core/terrain.py

@@ -275,7 +275,8 @@ def _generate_collision_mesh(self, heightfield_img, height_scale):
         mesh = np.flipud(mesh)
         mesh = cv2.resize(mesh, (mesh.shape[0] + 1, mesh.shape[1] + 1))
         path_to_store = self.PATH.joinpath("run_time_map_mesh.png")
-        cv2.imwrite(str(path_to_store), mesh)
+        cv2.imencode('.png', mesh)[1].tofile(path_to_store)
+        # cv2.imwrite(str(path_to_store), mesh)
         if sys.platform.startswith("win"):
             path_to_store = AssetLoader.windows_style2unix_style(path_to_store)
         p = PNMImage(Filename(str(path_to_store)))

metadrive/envs/scenario_env.py

@@ -46,7 +46,7 @@
     filter_overlapping_car=True,  # If in one frame a traffic vehicle collides with ego car, it won't be created.
     even_sample_vehicle_class=True,  # to make the scene more diverse
     default_vehicle_in_traffic=False,
-    skip_missing_light=False,
+    skip_missing_light=True,
     static_traffic_object=True,
 
     # ===== Agent config =====

metadrive/shaders/terrain.frag.glsl

@@ -29,7 +29,6 @@ uniform struct {
   vec4 ambient;
 } p3d_LightModel;
 
-uniform sampler2D p3d_Texture0;
 uniform vec3 wspos_camera;
 
 // asset
@@ -76,8 +75,8 @@ vec3 project(mat4 mvp, vec3 p) {
 }
 
 
-vec3 get_normal(sampler2D normal_tex, sampler2D rough_tex, float tex_ratio, mat3 tbn){
-      vec3 normal = texture(normal_tex, terrain_uv * tex_ratio).rgb*2.0-1.0;
+vec3 get_normal(vec3 diffuse, sampler2D normal_tex, sampler2D rough_tex, float tex_ratio, mat3 tbn){
+      vec3 normal = normalize(texture(normal_tex, terrain_uv * tex_ratio).rgb*2.0-1.0);
       normal = normalize(tbn * normal);
       return normal;
 }
@@ -98,8 +97,27 @@ void main() {
   vec3 tangent = normalize(vec3(1, 0, h_u1 - h_u0));
   vec3 binormal = normalize(vec3(0, 1, h_v1 - h_v0));
   vec3 terrain_normal = normalize(cross(tangent, binormal));
-  // tbn is calulated in world space
+  vec3 normal = normalize(p3d_NormalMatrix * terrain_normal);
+  // normal.x *= -1;
+
   mat3 tbn = mat3(tangent, binormal, terrain_normal);
+  vec3 shading = vec3(0.0);
+
+  // Calculate the shading of each light in the scene
+  for (int i = 0; i < p3d_LightSource.length(); ++i) {
+    vec3 diff = p3d_LightSource[i].position.xyz - vtx_pos * p3d_LightSource[i].position.w;
+    vec3 light_vector = normalize(diff);
+    vec3 light_shading = clamp(dot(normal, light_vector), 0.0, 1.0) * p3d_LightSource[i].color;
+    // If PSSM is not used, use the shadowmap from the light
+    // This is deeply ineficient, it's only to be able to compare the rendered shadows
+    if (!use_pssm) {
+      vec4 projected = projecteds[i];
+      // Apply a bias to remove some of the self-shadow acne
+      projected.z -= fixed_bias * 0.01 * projected.w;
+      light_shading *= textureProj(p3d_LightSource[i].shadowMap, projected);
+    }
+    shading += light_shading;
+  }
 
   // get the color and terrain normal in world space
   vec3 diffuse;
@@ -116,39 +134,21 @@ void main() {
         // Semantics for value 4
         diffuse = texture(white_tex, terrain_uv * road_tex_ratio).rgb;
     }
-        tex_normal_world = get_normal(road_normal,  road_rough, road_tex_ratio, tbn);
+    tex_normal_world = get_normal(diffuse, road_normal,  road_rough, road_tex_ratio, tbn);
   }
   else{
 
       // texture splatting, mixing ratio can be determined via rgba, no grass here
       diffuse = texture(grass_tex, terrain_uv * grass_tex_ratio).rgb;
-      tex_normal_world = get_normal(grass_normal, grass_rough, grass_tex_ratio, tbn);
+      tex_normal_world = get_normal(diffuse, grass_normal, grass_rough, grass_tex_ratio, tbn);
     }
 
 //   vec3 terrain_normal_view =  normalize(tex_normal_world);
 
-  vec3 shading = vec3(0.0);
-
-  // Calculate the shading of each light in the scene
-  for (int i = 0; i < p3d_LightSource.length(); ++i) {
-    vec3 diff = p3d_LightSource[i].position.xyz - vtx_pos * p3d_LightSource[i].position.w;
-    vec3 light_vector = normalize(diff);
-    vec3 light_shading = clamp(dot(normalize(p3d_NormalMatrix * tex_normal_world), light_vector), 0.0, 1.0) * p3d_LightSource[i].color;
-    // If PSSM is not used, use the shadowmap from the light
-    // This is deeply ineficient, it's only to be able to compare the rendered shadows
-    if (!use_pssm) {
-      vec4 projected = projecteds[i];
-      // Apply a bias to remove some of the self-shadow acne
-      projected.z -= fixed_bias * 0.01 * projected.w;
-      light_shading *= textureProj(p3d_LightSource[i].shadowMap, projected);
-    }
-    shading += light_shading;
-  }
-
   // static shadow
   vec3 light_dir = normalize(light_direction);
   shading *= max(0.0, dot(tex_normal_world, light_dir));
-//   shading += vec3(0.07, 0.07, 0.1);
+  shading += vec3(0.07, 0.07, 0.1);
 
 //   dynamic shadow
   if (use_pssm) {