Point light shadows

gazebo/rendering/CMakeLists.txt

@@ -47,6 +47,7 @@ set (sources
   OrbitViewController.cc
   OriginVisual.cc
   OrthoViewController.cc
+  PointLightShadowCameraSetup.cc
   Projector.cc
   RayQuery.cc
   RenderEngine.cc

gazebo/rendering/Light.cc

@@ -31,6 +31,7 @@
 #include "gazebo/rendering/Light.hh"
 #include "gazebo/rendering/LightPrivate.hh"
 #include "gazebo/rendering/RTShaderSystem.hh"
+#include "gazebo/rendering/PointLightShadowCameraSetup.hh"
 
 using namespace gazebo;
 using namespace rendering;
@@ -594,9 +595,21 @@ void Light::SetCastShadows(const bool _cast)
       RTShaderSystem::Instance()->UpdateShadows();
     }
   }
+  else if (this->dataPtr->light->getType() == Ogre::Light::LT_POINT)
+  {
+    // use different shadow camera for point light
+    this->dataPtr->light->setCastShadows(_cast);
+    if (_cast && this->dataPtr->shadowCameraSetup.isNull())
+    {
+      this->dataPtr->shadowCameraSetup =
+          Ogre::ShadowCameraSetupPtr(new PointLightShadowCameraSetup());
+      this->dataPtr->light->setCustomShadowCameraSetup(
+          this->dataPtr->shadowCameraSetup);
+      RTShaderSystem::Instance()->UpdateShadows();
+    }
+  }
   else
   {
-    // todo(anyone) make point light casts shadows
     this->dataPtr->light->setCastShadows(false);
   }
 }

gazebo/rendering/PointLightShadowCameraSetup.cc

@@ -0,0 +1,105 @@
+/*
+ * Copyright (C) 2017 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+*/
+
+// Code in this file has been adapted from Ogre's OgreShadowCameraSetup.
+// The original Ogre's licence and copyright headers are copied below:
+
+/*
+-----------------------------------------------------------------------------
+This source file is part of OGRE
+(Object-oriented Graphics Rendering Engine)
+For the latest info, see http://www.ogre3d.org/
+
+Copyright (c) 2000-2014 Torus Knot Software Ltd
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in
+all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+THE SOFTWARE.
+-----------------------------------------------------------------------------
+*/
+
+#include "gazebo/rendering/PointLightShadowCameraSetup.hh"
+#include "gazebo/rendering/ogre_gazebo.h"
+
+using namespace gazebo;
+using namespace rendering;
+
+//////////////////////////////////////////////////
+PointLightShadowCameraSetup::PointLightShadowCameraSetup()
+{
+}
+
+//////////////////////////////////////////////////
+PointLightShadowCameraSetup::~PointLightShadowCameraSetup()
+{
+}
+
+//////////////////////////////////////////////////
+void PointLightShadowCameraSetup::getShadowCamera(const Ogre::SceneManager *_sm,
+    const Ogre::Camera *_cam, const Ogre::Viewport *_vp,
+    const Ogre::Light *_light, Ogre::Camera *_texCam, size_t _iteration) const
+{
+  Ogre::Vector3 pos, dir;
+
+  // reset custom view / projection matrix in case already set
+  _texCam->setCustomViewMatrix(false);
+  _texCam->setCustomProjectionMatrix(false);
+  _texCam->setNearClipDistance(_light->_deriveShadowNearClipDistance(_cam));
+  _texCam->setFarClipDistance(_light->_deriveShadowFarClipDistance(_cam));
+
+  _texCam->setProjectionType(Ogre::PT_PERSPECTIVE);
+
+  // theoretically set x to +-0.25 for accuracy
+  // decrease x for quality of shadows
+  float x = 0.18;
+  _texCam->setFrustumExtents(-x, x, x, -x);
+
+  if (_iteration == 0) {
+    _texCam->lookAt(_texCam->getPosition() + Ogre::Vector3(1, 0, 0));
+  }
+  if (_iteration == 1) {
+    _texCam->lookAt(_texCam->getPosition() + Ogre::Vector3(-1, 0, 0));
+  }
+  if (_iteration == 2) {
+    _texCam->lookAt(_texCam->getPosition() + Ogre::Vector3(0, 1, 0));
+  }
+  if (_iteration == 3) {
+    _texCam->lookAt(_texCam->getPosition() + Ogre::Vector3(0, -1, 0));
+  }
+  if (_iteration == 4) {
+    // up
+    _texCam->lookAt(_texCam->getPosition() + Ogre::Vector3(0, 0, 1));
+  }
+  if (_iteration == 5) {
+    // down
+    _texCam->lookAt(_texCam->getPosition() + Ogre::Vector3(0, 0, -1));
+  }
+}

gazebo/rendering/PointLightShadowCameraSetup.hh

@@ -0,0 +1,47 @@
+/*
+ * Copyright (C) 2017 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+*/
+
+#ifndef GAZEBO_RENDERING_POINTLIGHTSHADOWCAMERASETUP_HH_
+#define GAZEBO_RENDERING_POINTLIGHTSHADOWCAMERASETUP_HH_
+
+#include "gazebo/rendering/ogre_gazebo.h"
+
+#include "gazebo/util/system.hh"
+
+namespace gazebo
+{
+  namespace rendering
+  {
+    class GAZEBO_VISIBLE PointLightShadowCameraSetup
+          : public Ogre::DefaultShadowCameraSetup
+    {
+      /// \brief Constructor
+      public: PointLightShadowCameraSetup();
+
+      /// \brief Destructor
+      public: ~PointLightShadowCameraSetup();
+
+      /// \brief Returns a shadow camera for a spotlight
+      public: virtual void getShadowCamera(const Ogre::SceneManager *_sm,
+          const Ogre::Camera *_cam, const Ogre::Viewport *_vp,
+          const Ogre::Light *_light, Ogre::Camera *_texCam, size_t _iteration)
+          const override;
+    };
+  }
+}
+
+#endif

gazebo/rendering/RTShaderSystem.cc

@@ -728,6 +728,7 @@ void RTShaderSystem::UpdateShadows(ScenePtr _scene)
   // point: not working yet
   unsigned int dirLightCount = 1u;
   unsigned int spotLightCount = 0u;
+  unsigned int pointLightCount = 0u;
   for (unsigned int i = 0; i < _scene->LightCount(); ++i)
   {
     LightPtr light = _scene->LightByIndex(i);
@@ -737,6 +738,9 @@ void RTShaderSystem::UpdateShadows(ScenePtr _scene)
 
     if (light->Type() == "spot")
       spotLightCount++;
+
+    if (light->Type() == "point")
+      pointLightCount++;
   }
 
   // 3 textures per directional light
@@ -746,12 +750,14 @@ void RTShaderSystem::UpdateShadows(ScenePtr _scene)
   sceneMgr->setShadowTextureCountPerLightType(Ogre::Light::LT_SPOTLIGHT, 1);
 
   // \todo(anyone) make point light shadows work
-  sceneMgr->setShadowTextureCountPerLightType(Ogre::Light::LT_POINT, 0);
+  sceneMgr->setShadowTextureCountPerLightType(Ogre::Light::LT_POINT, 6);
 
   // \todo(anyone) include point light shadows when it is working
   unsigned int dirShadowCount = 3 * dirLightCount;
   unsigned int spotShadowCount = spotLightCount;
-  sceneMgr->setShadowTextureCount(dirShadowCount + spotShadowCount);
+  unsigned int pointShadowCount = 6 * pointLightCount;
+  sceneMgr->setShadowTextureCount(dirShadowCount + spotShadowCount +
+      pointShadowCount);
 
   unsigned int texSize = this->dataPtr->shadowTextureSize;
 #if defined(__APPLE__)
@@ -771,7 +777,8 @@ void RTShaderSystem::UpdateShadows(ScenePtr _scene)
   // vec4 texture(sampler2D, vec2, [float]).
   // NVidia, AMD, and Intel all take this as a cue to provide "hardware PCF",
   // a driver hack that softens shadow edges with 4-sample interpolation.
-  for (size_t i = 0u; i < dirShadowCount + spotShadowCount; ++i)
+  for (size_t i = 0u; i < dirShadowCount + spotShadowCount + pointShadowCount; 
+      ++i)
   {
     const Ogre::TexturePtr tex = sceneMgr->getShadowTexture(i);
     // This will fail if not using OpenGL as the rendering backend.

media/materials/programs/CMakeLists.txt

@@ -38,6 +38,8 @@ perpixel_fp.glsl
 perpixel_vp.glsl
 plain_color_fs.glsl
 plain_color_vs.glsl
+point_light_shadow_demo_fp.glsl
+point_light_shadow_demo_vp.glsl
 point_receiver_fp.glsl
 point_receiver_vp.glsl
 projector.frag

media/materials/programs/point_light_shadow_demo_fp.glsl

@@ -0,0 +1,64 @@
+#version 130
+
+uniform sampler2DShadow shadowMap0;
+uniform sampler2DShadow shadowMap1;
+uniform sampler2DShadow shadowMap2;
+uniform sampler2DShadow shadowMap3;
+uniform sampler2DShadow shadowMap4;
+uniform sampler2DShadow shadowMap5;
+
+uniform vec4 lightPos0;
+
+varying vec4 lightSpacePos0;
+varying vec4 lightSpacePos1;
+varying vec4 lightSpacePos2;
+varying vec4 lightSpacePos3;
+varying vec4 lightSpacePos4;
+varying vec4 lightSpacePos5;
+
+varying vec4 worldPos;
+
+//------------------------------------------------------------------------------
+float ShadowSimple(in sampler2DShadow shadowMap, in vec4 shadowMapPos)
+{
+  // perform perspective divide
+  vec3 shadowMapUV = shadowMapPos.xyz / shadowMapPos.w;
+
+  if (shadowMapUV.z < 0.0 || shadowMapUV.z > 1.0)
+    return 0.0;
+  if (shadowMapUV.x < 0.0 || shadowMapUV.x > 1.0)
+    return 0.0;
+  if (shadowMapUV.y < 0.0 || shadowMapUV.y > 1.0)
+    return 0.0;
+
+  // get closest depth value from light's perspective
+  float closestDepth = texture(shadowMap, shadowMapUV);
+
+  // get depth of current fragment from light's perspective
+  float currentDepth = shadowMapUV.z;
+
+  // check whether current frag pos is in shadow
+  float shadow = currentDepth > closestDepth  ? 1.0 : 0.0;
+
+  return shadow;
+}
+
+void main()
+{
+  float f = 0.0f;
+
+  vec4 outColor = vec4(1.0, 0.0, 0.0, 1.0);
+
+  // grey shadows
+  f += ShadowSimple(shadowMap0, lightSpacePos0);
+  f += ShadowSimple(shadowMap1, lightSpacePos1);
+  f += ShadowSimple(shadowMap2, lightSpacePos2);
+  f += ShadowSimple(shadowMap3, lightSpacePos3);
+  f += ShadowSimple(shadowMap4, lightSpacePos4);
+  f += ShadowSimple(shadowMap5, lightSpacePos5);
+  f = clamp(f, 0.0f, 1.0f);
+  if (f > 0.0f)
+    outColor = vec4(0.0, 0.0, 0.0, 1.0);
+
+  gl_FragColor = outColor;
+}

media/materials/programs/point_light_shadow_demo_vp.glsl

@@ -0,0 +1,34 @@
+#version 120
+
+uniform mat4 worldMatrix;
+uniform mat4 worldViewMatrix;
+uniform mat4 viewProjMatrix;
+
+uniform mat4 texViewProjMatrix0;
+uniform mat4 texViewProjMatrix1;
+uniform mat4 texViewProjMatrix2;
+uniform mat4 texViewProjMatrix3;
+uniform mat4 texViewProjMatrix4;
+uniform mat4 texViewProjMatrix5;
+varying vec4 lightSpacePos0;
+varying vec4 lightSpacePos1;
+varying vec4 lightSpacePos2;
+varying vec4 lightSpacePos3;
+varying vec4 lightSpacePos4;
+varying vec4 lightSpacePos5;
+
+varying vec4 worldPos;
+
+void main()
+{
+  worldPos = worldMatrix * gl_Vertex;
+  gl_Position = viewProjMatrix * worldPos;
+
+  lightSpacePos0 = texViewProjMatrix0 * worldPos;
+  lightSpacePos1 = texViewProjMatrix1 * worldPos;
+  lightSpacePos2 = texViewProjMatrix2 * worldPos;
+  lightSpacePos3 = texViewProjMatrix3 * worldPos;
+  lightSpacePos4 = texViewProjMatrix4 * worldPos;
+  lightSpacePos5 = texViewProjMatrix5 * worldPos;
+}
+

media/materials/scripts/CMakeLists.txt

@@ -18,6 +18,7 @@ noise.compositor
 oculus.material
 perpixel.program
 picker.material
+point_light_shadow_demo.material
 ShadowCaster.material
 shadow_caster.program
 ShadowCaster.program