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Light.cpp
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Light.cpp
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/******************************************************************************
* SOFA, Simulation Open-Framework Architecture, development version *
* (c) 2006-2018 INRIA, USTL, UJF, CNRS, MGH *
* *
* This program is free software; you can redistribute it and/or modify it *
* under the terms of the GNU Lesser General Public License as published by *
* the Free Software Foundation; either version 2.1 of the License, or (at *
* your option) any later version. *
* *
* This program is distributed in the hope that it will be useful, but WITHOUT *
* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or *
* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License *
* for more details. *
* *
* You should have received a copy of the GNU Lesser General Public License *
* along with this program. If not, see <http://www.gnu.org/licenses/>. *
*******************************************************************************
* Authors: The SOFA Team and external contributors (see Authors.txt) *
* *
* Contact information: contact@sofa-framework.org *
******************************************************************************/
//
// C++ Implementation: Light
//
// Description:
//
//
// Author: The SOFA team </www.sofa-framework.org>, (C) 2007
//
// Copyright: See COPYING file that comes with this distribution
//
//
#include <SofaOpenglVisual/Light.h>
#include <sofa/core/visual/VisualParams.h>
#include <SofaOpenglVisual/LightManager.h>
#include <sofa/helper/system/glu.h>
#include <sofa/core/ObjectFactory.h>
#include <sofa/simulation/Simulation.h>
namespace sofa
{
namespace component
{
namespace visualmodel
{
SOFA_DECL_CLASS(Light)
SOFA_DECL_CLASS(DirectionalLight)
//Register DirectionalLight in the Object Factory
int DirectionalLightClass = core::RegisterObject("A directional light illuminating the scene with parallel rays of light (can cast shadows).")
.add< DirectionalLight >()
;
SOFA_DECL_CLASS(PositionalLight)
//Register PositionalLight in the Object Factory
int PositionalLightClass = core::RegisterObject("A positional light illuminating the scene."
"The light has a location from which the ray are starting in all direction (cannot cast shadows for now)")
.add< PositionalLight >()
;
SOFA_DECL_CLASS(SpotLight)
//Register SpotLight in the Object Factory
int SpotLightClass = core::RegisterObject("A spot light illuminating the scene."
"The light has a location and a illumination cone restricting the directions"
"taken by the rays of light (can cast shadows).")
.add< SpotLight >()
;
using sofa::defaulttype::Vector3;
#ifdef SOFA_HAVE_GLEW
const std::string Light::PATH_TO_GENERATE_DEPTH_TEXTURE_VERTEX_SHADER = "shaders/softShadows/VSM/generate_depth_texture.vert";
const std::string Light::PATH_TO_GENERATE_DEPTH_TEXTURE_FRAGMENT_SHADER = "shaders/softShadows/VSM/generate_depth_texture.frag";
const std::string Light::PATH_TO_BLUR_TEXTURE_VERTEX_SHADER = "shaders/softShadows/VSM/blur_texture.vert";
const std::string Light::PATH_TO_BLUR_TEXTURE_FRAGMENT_SHADER = "shaders/softShadows/VSM/blur_texture.frag";
#endif
Light::Light()
: m_lightID(0), m_shadowTexWidth(0),m_shadowTexHeight(0)
, d_color(initData(&d_color, defaulttype::RGBAColor(1.0,1.0,1.0,1.0), "color", "Set the color of the light. (default=[1.0,1.0,1.0,1.0])"))
, d_shadowTextureSize(initData(&d_shadowTextureSize, (GLuint)0, "shadowTextureSize", "[Shadowing] Set size for shadow texture "))
, d_drawSource(initData(&d_drawSource, (bool) false, "drawSource", "Draw Light Source"))
, d_zNear(initData(&d_zNear, "zNear", "[Shadowing] Light's ZNear"))
, d_zFar(initData(&d_zFar, "zFar", "[Shadowing] Light's ZFar"))
, d_shadowsEnabled(initData(&d_shadowsEnabled, (bool) true, "shadowsEnabled", "[Shadowing] Enable Shadow from this light"))
, d_softShadows(initData(&d_softShadows, (bool) false, "softShadows", "[Shadowing] Turn on Soft Shadow from this light"))
, d_shadowFactor(initData(&d_shadowFactor, (float) 1.0, "shadowFactor", "[Shadowing] Shadow Factor (decrease/increase darkness)"))
, d_VSMLightBleeding(initData(&d_VSMLightBleeding, (float) 0.05, "VSMLightBleeding", "[Shadowing] (VSM only) Light bleeding paramter"))
, d_VSMMinVariance(initData(&d_VSMMinVariance, (float) 0.001, "VSMMinVariance", "[Shadowing] (VSM only) Minimum variance parameter"))
, d_textureUnit(initData(&d_textureUnit, (unsigned short) 1, "textureUnit", "[Shadowing] Texture unit for the genereated shadow texture"))
, d_modelViewMatrix(initData(&d_modelViewMatrix, "modelViewMatrix", "[Shadowing] ModelView Matrix"))
, d_projectionMatrix(initData(&d_projectionMatrix, "projectionMatrix", "[Shadowing] Projection Matrix"))
, b_needUpdate(false)
{
helper::vector<float>& wModelViewMatrix = *d_modelViewMatrix.beginEdit();
helper::vector<float>& wProjectionMatrix = *d_projectionMatrix.beginEdit();
wModelViewMatrix.resize(16);
wProjectionMatrix.resize(16);
d_modelViewMatrix.endEdit();
d_projectionMatrix.endEdit();
//Set Read-Only as we dont want to modify it with the GUI
d_modelViewMatrix.setReadOnly(true);
d_projectionMatrix.setReadOnly(true);
d_shadowTextureSize.setReadOnly(true);
}
Light::~Light()
{
}
void Light::setID(const GLint& id)
{
m_lightID = id;
}
void Light::init()
{
sofa::core::objectmodel::BaseContext* context = this->getContext();
LightManager* lm = context->core::objectmodel::BaseContext::get<LightManager>();
if(lm)
{
msg_info() << "This light is now attached to the light manager: '"<< lm->getName() << "'.";
lm->putLight(this);
d_shadowsEnabled.setParent(&(lm->d_shadowsEnabled));
d_softShadows.setParent(&(lm->d_softShadowsEnabled));
}
else
{
msg_warning() << "No LightManager found." ;
}
if(!d_shadowsEnabled.getValue() && d_softShadows.getValue()){
if(d_softShadows.isSet() && d_shadowsEnabled.isSet()){
msg_warning() << "Soft shadow is specified but 'shadowEnable' is set to false. " << msgendl
"To remove this warning message you need to synchronize the softShadow & shadowEnable parameters." << msgendl ;
}
}
if(!d_shadowsEnabled.getValue()){
if( d_shadowTextureSize.isSet() ){
msg_warning() << "Shadow is not enabled. The 'shadowTextureSize' parameter is not used but has been set." << msgendl
"To remove this warning message you can:" << msgendl
" - set the 'shadowEnabled' parameter to true." << msgendl
" - unset the 'shadowTextureSize' values.";
}
if( d_shadowFactor.isSet() ){
msg_warning() << "Shadow is not enabled. The 'shadowFactor' parameter is not used but has been set." << msgendl
"To remove this warning message you can:" << msgendl
" - set the 'shadowEnabled' parameter to true." << msgendl
" - unset the 'shadowFactor' values.";
}
if( d_textureUnit.isSet() ){
msg_warning() << "Shadow is not enabled. The 'textureUnit' parameter is not used but has been set." << msgendl
"To remove this warning message you can:" << msgendl
" - set the 'shadowEnabled' parameter to true." << msgendl
" - unset the 'textureUnit' values.";
}
if( d_zNear.isSet() ){
msg_warning() << "Shadow is not enabled. The 'zNear' parameter is not used but has been set." << msgendl
"To remove this warning message you can:" << msgendl
" - set the 'shadowEnabled' parameter to true." << msgendl
" - unset the 'zNear' values.";
}
if( d_zFar.isSet() ){
msg_warning() << "Shadow is not enabled. The 'zFar' parameter is not used but has been set." << msgendl
"To remove this warning message you can:" << msgendl
" - set the 'shadowEnabled' parameter to true." << msgendl
" - unset the 'zFar' values.";
}
}
if(!d_softShadows.getValue()){
if( d_VSMLightBleeding.isSet() ){
msg_warning() << "Soft shadow is not enabled. The 'VSMLightBleeding' parameter is not used but has been set." << msgendl
"To remove this warning message you can:" << msgendl
" - set the 'softShadows' parameter to true." << msgendl
" - unset the 'VSMLightBleeding' values.";
}
if( d_VSMMinVariance.isSet() ){
msg_warning() << "Soft shadow is not enabled. The 'VSMMinVariance' parameter is not used but has been set." << msgendl
"To remove this warning message you can:" << msgendl
" - set the 'softShadows' parameter to true." << msgendl
" - unset the 'VMSMinVariance' values.";
}
}
if (!d_zNear.isSet())
{
d_zNear.setReadOnly(true);
}
if (!d_zFar.isSet())
{
d_zFar.setReadOnly(true);
}
}
void Light::initVisual()
{
//init Shadow part
computeShadowMapSize();
//Shadow part
//Shadow texture init
#ifdef SOFA_HAVE_GLEW
m_shadowFBO = std::unique_ptr<helper::gl::FrameBufferObject>(
new helper::gl::FrameBufferObject(true, true, true));
m_blurHFBO = std::unique_ptr<helper::gl::FrameBufferObject>(
new helper::gl::FrameBufferObject(false,false,true));
m_blurVFBO = std::unique_ptr<helper::gl::FrameBufferObject>(
new helper::gl::FrameBufferObject(false,false,true));
m_depthShader = sofa::core::objectmodel::New<OglShader>();
m_blurShader = sofa::core::objectmodel::New<OglShader>();
m_shadowFBO->init(m_shadowTexWidth, m_shadowTexHeight);
m_blurHFBO->init(m_shadowTexWidth, m_shadowTexHeight);
m_blurVFBO->init(m_shadowTexWidth, m_shadowTexHeight);
m_depthShader->vertFilename.addPath(PATH_TO_GENERATE_DEPTH_TEXTURE_VERTEX_SHADER,true);
m_depthShader->fragFilename.addPath(PATH_TO_GENERATE_DEPTH_TEXTURE_FRAGMENT_SHADER,true);
m_depthShader->init();
m_depthShader->initVisual();
m_blurShader->vertFilename.addPath(PATH_TO_BLUR_TEXTURE_VERTEX_SHADER,true);
m_blurShader->fragFilename.addPath(PATH_TO_BLUR_TEXTURE_FRAGMENT_SHADER,true);
m_blurShader->init();
m_blurShader->initVisual();
#endif // SOFA_HAVE_GLEW
}
void Light::updateVisual()
{
if (!b_needUpdate) return;
computeShadowMapSize();
b_needUpdate = false;
}
void Light::reinit()
{
b_needUpdate = true;
}
void Light::drawLight()
{
if (b_needUpdate)
updateVisual();
glLightf(GL_LIGHT0+m_lightID, GL_SPOT_CUTOFF, 180.0);
GLfloat c[4] = { (GLfloat)d_color.getValue()[0], (GLfloat)d_color.getValue()[1], (GLfloat)d_color.getValue()[2], 1.0 };
glLightfv(GL_LIGHT0+m_lightID, GL_AMBIENT, c);
glLightfv(GL_LIGHT0+m_lightID, GL_DIFFUSE, c);
glLightfv(GL_LIGHT0+m_lightID, GL_SPECULAR, c);
glLightf(GL_LIGHT0+m_lightID, GL_LINEAR_ATTENUATION, 0.0);
}
void Light::preDrawShadow(core::visual::VisualParams* /* vp */)
{
if (b_needUpdate)
updateVisual();
glMatrixMode(GL_PROJECTION);
glPushMatrix();
glMatrixMode(GL_MODELVIEW);
glPushMatrix();
#ifdef SOFA_HAVE_GLEW
m_depthShader->setFloat(0, "u_zFar", this->getZFar());
m_depthShader->setFloat(0, "u_zNear", this->getZNear());
m_depthShader->setInt(0, "u_lightType", this->getLightType());
m_depthShader->setFloat(0, "u_shadowFactor", d_shadowFactor.getValue());
m_depthShader->start();
m_shadowFBO->start();
#endif
}
const GLfloat* Light::getOpenGLProjectionMatrix()
{
return m_lightMatProj;
}
const GLfloat* Light::getOpenGLModelViewMatrix()
{
return m_lightMatModelview;
}
void Light::postDrawShadow()
{
#ifdef SOFA_HAVE_GLEW
//Unbind fbo
m_shadowFBO->stop();
m_depthShader->stop();
#endif
glMatrixMode(GL_PROJECTION);
glPopMatrix();
glMatrixMode(GL_MODELVIEW);
glPopMatrix();
if(d_softShadows.getValue())
blurDepthTexture();
}
void Light::blurDepthTexture()
{
#ifdef SOFA_HAVE_GLEW
float vxmax, vymax;
float vxmin, vymin;
float txmax, tymax;
float txmin, tymin;
txmin = tymin = 0.0;
vxmin = vymin = -1.0;
vxmax = vymax = txmax = tymax = 1.0;
glMatrixMode(GL_PROJECTION);
glPushMatrix();
glLoadIdentity();
glMatrixMode(GL_MODELVIEW);
glPushMatrix();
glLoadIdentity();
m_blurHFBO->start();
glEnable(GL_TEXTURE_2D);
glBindTexture(GL_TEXTURE_2D, m_shadowFBO->getColorTexture());
m_blurShader->setFloat(0, "mapDimX", (GLfloat) m_shadowTexWidth);
m_blurShader->setInt(0, "orientation", 0);
m_blurShader->start();
glBegin(GL_QUADS);
{
glTexCoord3f(txmin,tymax,0.0); glVertex3f(vxmin,vymax,0.0);
glTexCoord3f(txmax,tymax,0.0); glVertex3f(vxmax,vymax,0.0);
glTexCoord3f(txmax,tymin,0.0); glVertex3f(vxmax,vymin,0.0);
glTexCoord3f(txmin,tymin,0.0); glVertex3f(vxmin,vymin,0.0);
}
glEnd();
m_blurShader->stop();
glBindTexture(GL_TEXTURE_2D, 0);
m_blurHFBO->stop();
m_blurVFBO->start();
glEnable(GL_TEXTURE_2D);
glBindTexture(GL_TEXTURE_2D, m_blurHFBO->getColorTexture());
m_blurShader->setFloat(0, "mapDimX", (GLfloat) m_shadowTexWidth);
m_blurShader->setInt(0, "orientation", 1);
m_blurShader->start();
glBegin(GL_QUADS);
{
glTexCoord3f(txmin,tymax,0.0); glVertex3f(vxmin,vymax,0.0);
glTexCoord3f(txmax,tymax,0.0); glVertex3f(vxmax,vymax,0.0);
glTexCoord3f(txmax,tymin,0.0); glVertex3f(vxmax,vymin,0.0);
glTexCoord3f(txmin,tymin,0.0); glVertex3f(vxmin,vymin,0.0);
}
glEnd();
m_blurShader->stop();
glBindTexture(GL_TEXTURE_2D, 0);
m_blurVFBO->stop();
glMatrixMode(GL_PROJECTION);
glPopMatrix();
glMatrixMode(GL_MODELVIEW);
glPopMatrix();
#endif
}
void Light::computeShadowMapSize()
{
// Current viewport
GLint viewport[4];
glGetIntegerv(GL_VIEWPORT, viewport);
GLint windowWidth = viewport[2];
GLint windowHeight = viewport[3];
if (d_shadowTextureSize.getValue() <= 0)
{
//Get the size of the shadow map
if (windowWidth >= 1024 && windowHeight >= 1024)
{
m_shadowTexWidth = m_shadowTexHeight = 1024;
}
else if (windowWidth >= 512 && windowHeight >= 512)
{
m_shadowTexWidth = m_shadowTexHeight = 512;
}
else if (windowWidth >= 256 && windowHeight >= 256)
{
m_shadowTexWidth = m_shadowTexHeight = 256;
}
else
{
m_shadowTexWidth = m_shadowTexHeight = 128;
}
}
else
m_shadowTexWidth = m_shadowTexHeight = d_shadowTextureSize.getValue();
}
GLuint Light::getShadowMapSize()
{
return m_shadowTexWidth;
}
GLfloat Light::getZNear()
{
return d_zNear.getValue();
}
GLfloat Light::getZFar()
{
return d_zFar.getValue();
}
DirectionalLight::DirectionalLight()
: d_direction(initData(&d_direction, (Vector3) Vector3(0,0,-1), "direction", "Set the direction of the light"))
{
}
DirectionalLight::~DirectionalLight()
{
}
void DirectionalLight::drawLight()
{
Light::drawLight();
GLfloat dir[4];
dir[0]=(GLfloat)(d_direction.getValue()[0]);
dir[1]=(GLfloat)(d_direction.getValue()[1]);
dir[2]=(GLfloat)(d_direction.getValue()[2]);
dir[3]=0.0; // directional
glLightfv(GL_LIGHT0+m_lightID, GL_POSITION, dir);
}
void DirectionalLight::draw(const core::visual::VisualParams* )
{
}
void DirectionalLight::drawSource(const core::visual::VisualParams* vparams)
{
SOFA_UNUSED(vparams);
}
void DirectionalLight::computeOpenGLModelViewMatrix(GLfloat mat[16], const sofa::defaulttype::Vector3 &direction)
{
//1-compute bounding box
sofa::core::visual::VisualParams* vp = sofa::core::visual::VisualParams::defaultInstance();
const sofa::defaulttype::BoundingBox& sceneBBox = vp->sceneBBox();
Vector3 center = (sceneBBox.minBBox() + sceneBBox.maxBBox()) * 0.5;
Vector3 posLight = center;
posLight[0] = sceneBBox.maxBBox()[0] - sceneBBox.minBBox()[0] * 0.5;
posLight[1] = sceneBBox.maxBBox()[1] - sceneBBox.minBBox()[1] * 0.5;
posLight[2] = sceneBBox.minBBox()[2];
//2-compute orientation to fit the bbox from light's pov
// bounding box in light space = frustrum
double epsilon = 0.0000001;
Vector3 zAxis = -direction;
zAxis.normalize();
Vector3 yAxis(0, 1, 0);
if (fabs(zAxis[0]) < epsilon && fabs(zAxis[2]) < epsilon)
{
if (zAxis[1] > 0)
yAxis = Vector3(0, 0, -1);
else
yAxis = Vector3(0, 0, 1);
}
Vector3 xAxis = yAxis.cross(zAxis);
xAxis.normalize();
yAxis = zAxis.cross(xAxis);
yAxis.normalize();
defaulttype::Quat q;
q = q.createQuaterFromFrame(xAxis, yAxis, zAxis);
for (unsigned int i = 0; i < 3; i++)
{
mat[i * 4] = xAxis[i];
mat[i * 4 + 1] = yAxis[i];
mat[i * 4 + 2] = zAxis[i];
}
//translation
mat[12] = 0;
mat[13] = 0;
mat[14] = (sceneBBox.maxBBox()[2] - sceneBBox.minBBox()[2])*-0.5;
//w
mat[15] = 1;
//Save output as data for external shaders
//we transpose it to get a standard matrix (and not OpenGL formatted)
helper::vector<float>& wModelViewMatrix = *d_modelViewMatrix.beginEdit();
for (unsigned int i = 0; i < 4; i++)
for (unsigned int j = 0; j < 4; j++)
{
wModelViewMatrix[i * 4 + j] = mat[j * 4 + i];
}
d_modelViewMatrix.endEdit();
}
void DirectionalLight::computeOpenGLProjectionMatrix(GLfloat mat[16], float& left, float& right, float& top, float& bottom, float& zNear, float& zFar)
{
mat[0] = 2 / (right - left);
mat[4] = 0.0;
mat[8] = 0.0;
mat[12] = -1 * (right + left) / (right - left);
mat[1] = 0.0;
mat[5] = 2 / (top - bottom);
mat[9] = 0.0;
mat[13] = -1 * (top + bottom) / (top - bottom);
mat[2] = 0;
mat[6] = 0;
mat[10] = -2 / (zFar - zNear);
mat[14] = -1 * (zFar + zNear) / (zFar - zNear);
mat[3] = 0.0;
mat[7] = 0.0;
mat[11] = 0.0;
mat[15] = 1.0;
//Save output as data for external shaders
//we transpose it to get a standard matrix (and not OpenGL formatted)
helper::vector<float>& wProjectionMatrix = *d_projectionMatrix.beginEdit();
for (unsigned int i = 0; i < 4; i++)
for (unsigned int j = 0; j < 4; j++)
{
wProjectionMatrix[i * 4 + j] = mat[j * 4 + i];
}
d_projectionMatrix.endEdit();
}
void DirectionalLight::computeClippingPlane(const core::visual::VisualParams* vp, float& left, float& right, float& top, float& bottom, float& zNear, float& zFar )
{
const sofa::defaulttype::BoundingBox& sceneBBox = vp->sceneBBox();
Vector3 minBBox = sceneBBox.minBBox();
Vector3 maxBBox = sceneBBox.maxBBox();
float maxLength = (maxBBox - minBBox).norm();
left = maxLength * -0.5;
right = maxLength * 0.5;
top = maxLength * 0.5;
bottom = maxLength * -0.5;
zNear = 0.0 - maxLength*0.01;
zFar = maxLength;
//if (d_zNear.isSet())
// zNear = d_zNear.getValue();
//else
d_zNear.setValue(zNear);
//if (d_zFar.isSet())
// zFar = d_zFar.getValue();
//else
d_zFar.setValue(zFar);
}
void DirectionalLight::preDrawShadow(core::visual::VisualParams* vp)
{
float zNear = -1e10, left= -1e10, bottom = -1e10;
float zFar = 1e10, right = 1e10, top = 1e10;
Light::preDrawShadow(vp);
const Vector3& dir = d_direction.getValue();
computeClippingPlane(vp, left, right, top, bottom, zNear, zFar);
glMatrixMode(GL_PROJECTION);
glLoadIdentity();
computeOpenGLProjectionMatrix(m_lightMatProj, left, right, top, bottom, zNear, zFar);
glMultMatrixf(m_lightMatProj);
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
computeOpenGLModelViewMatrix(m_lightMatModelview, dir);
glMultMatrixf(m_lightMatModelview);
glViewport(0, 0, m_shadowTexWidth, m_shadowTexHeight);
glClearColor(1.0, 1.0, 1.0, 1.0);
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
glEnable(GL_DEPTH_TEST);
}
GLuint DirectionalLight::getDepthTexture()
{
//return debugVisualShadowTexture;
//return shadowTexture;
#ifdef SOFA_HAVE_GLEW
return m_shadowFBO->getDepthTexture();
#else
return 0;
#endif
}
GLuint DirectionalLight::getColorTexture()
{
#ifdef SOFA_HAVE_GLEW
if (d_softShadows.getValue())
return m_blurVFBO->getColorTexture();
else
return m_shadowFBO->getColorTexture();
#else
return 0;
#endif
}
PositionalLight::PositionalLight()
: d_fixed(initData(&d_fixed, (bool) false, "fixed", "Fix light position from the camera"))
, d_position(initData(&d_position, (Vector3) Vector3(-0.7,0.3,0.0), "position", "Set the position of the light"))
, d_attenuation(initData(&d_attenuation, (float) 0.0, "attenuation", "Set the attenuation of the light"))
{
}
PositionalLight::~PositionalLight()
{
}
void PositionalLight::drawLight()
{
Light::drawLight();
GLfloat pos[4];
pos[0]=(GLfloat)(d_position.getValue()[0]);
pos[1]=(GLfloat)(d_position.getValue()[1]);
pos[2]=(GLfloat)(d_position.getValue()[2]);
pos[3]=1.0; // positional
if (d_fixed.getValue())
{
glMatrixMode(GL_PROJECTION);
glPushMatrix();
glLoadIdentity();
glLightfv(GL_LIGHT0+m_lightID, GL_POSITION, pos);
glPopMatrix();
glMatrixMode(GL_MODELVIEW);
}
else
glLightfv(GL_LIGHT0+m_lightID, GL_POSITION, pos);
glLightf(GL_LIGHT0+m_lightID, GL_LINEAR_ATTENUATION, d_attenuation.getValue());
}
void PositionalLight::drawSource(const core::visual::VisualParams* /*vparams*/)
{
Vector3 sceneMinBBox, sceneMaxBBox;
sofa::simulation::getSimulation()->computeBBox((sofa::simulation::Node*)this->getContext(), sceneMinBBox.ptr(), sceneMaxBBox.ptr());
float scale = (float)((sceneMaxBBox - sceneMinBBox).norm());
scale *= 0.01f;
GLUquadric* quad = gluNewQuadric();
const Vector3& pos = d_position.getValue();
const auto& col = d_color.getValue();
glDisable(GL_LIGHTING);
glColor3fv((float*)col.data());
glPushMatrix();
glTranslated(pos[0], pos[1], pos[2]);
gluSphere(quad, 1.0f*scale, 16, 16);
glPopMatrix();
glEnable(GL_LIGHTING);
}
void PositionalLight::draw(const core::visual::VisualParams* vparams)
{
if (d_drawSource.getValue() && vparams->displayFlags().getShowVisualModels())
{
drawSource(vparams) ;
}
}
SpotLight::SpotLight()
: d_direction(initData(&d_direction, (Vector3) Vector3(0,0,-1), "direction", "Set the direction of the light"))
, d_cutoff(initData(&d_cutoff, (float) 30.0, "cutoff", "Set the angle (cutoff) of the spot"))
, d_exponent(initData(&d_exponent, (float) 1.0, "exponent", "Set the exponent of the spot"))
, d_lookat(initData(&d_lookat, false, "lookat", "If true, direction specify the point at which the spotlight should be pointed to"))
{
}
SpotLight::~SpotLight()
{
}
void SpotLight::drawLight()
{
PositionalLight::drawLight();
defaulttype::Vector3 d = d_direction.getValue();
if (d_lookat.getValue()) d -= d_position.getValue();
d.normalize();
GLfloat dir[3]= {(GLfloat)(d[0]), (GLfloat)(d[1]), (GLfloat)(d[2])};
if (d_fixed.getValue())
{
glMatrixMode(GL_PROJECTION);
glPushMatrix();
glLoadIdentity();
}
glLightf(GL_LIGHT0+m_lightID, GL_SPOT_CUTOFF, d_cutoff.getValue());
glLightfv(GL_LIGHT0+m_lightID, GL_SPOT_DIRECTION, dir);
glLightf(GL_LIGHT0+m_lightID, GL_SPOT_EXPONENT, d_exponent.getValue());
if (d_fixed.getValue())
{
glPopMatrix();
glMatrixMode(GL_MODELVIEW);
}
}
void SpotLight::drawSource(const core::visual::VisualParams* vparams)
{
float zNear, zFar;
computeClippingPlane(vparams, zNear, zFar);
Vector3 dir = d_direction.getValue();
if (d_lookat.getValue())
dir -= d_position.getValue();
computeOpenGLProjectionMatrix(m_lightMatProj, m_shadowTexWidth, m_shadowTexHeight, 2 * d_cutoff.getValue(), zNear, zFar);
computeOpenGLModelViewMatrix(m_lightMatModelview, d_position.getValue(), dir);
float baseLength = zFar * tanf(this->d_cutoff.getValue() * M_PI / 180);
float tipLength = (baseLength*0.5) * (zNear/ zFar);
Vector3 direction;
if(d_lookat.getValue())
direction = this->d_direction.getValue() - this->d_position.getValue();
else
direction = this->d_direction.getValue();
direction.normalize();
Vector3 base = this->getPosition() + direction*zFar;
Vector3 tip = this->getPosition() + direction*zNear;
std::vector<Vector3> centers;
centers.push_back(this->getPosition());
vparams->drawTool()->setPolygonMode(0, true);
vparams->drawTool()->setLightingEnabled(false);
vparams->drawTool()->drawSpheres(centers, zNear*0.1,d_color.getValue());
vparams->drawTool()->drawCone(base, tip, baseLength, tipLength, d_color.getValue());
vparams->drawTool()->setLightingEnabled(true);
vparams->drawTool()->setPolygonMode(0, false);
}
void SpotLight::draw(const core::visual::VisualParams* vparams)
{
float zNear, zFar;
computeClippingPlane(vparams, zNear, zFar);
Vector3 dir = d_direction.getValue();
if (d_lookat.getValue())
dir -= d_position.getValue();
computeOpenGLProjectionMatrix(m_lightMatProj, m_shadowTexWidth, m_shadowTexHeight, 2 * d_cutoff.getValue(), zNear, zFar);
computeOpenGLModelViewMatrix(m_lightMatModelview, d_position.getValue(), dir);
if (d_drawSource.getValue() && vparams->displayFlags().getShowVisualModels())
{
drawSource(vparams) ;
}
}
void SpotLight::computeClippingPlane(const core::visual::VisualParams* vp, float& zNear, float& zFar)
{
zNear = 1e10;
zFar = -1e10;
const sofa::defaulttype::BoundingBox& sceneBBox = vp->sceneBBox();
const Vector3 &pos = d_position.getValue();
Vector3 dir = d_direction.getValue();
if (d_lookat.getValue())
dir -= d_position.getValue();
double epsilon = 0.0000001;
Vector3 zAxis = -dir;
zAxis.normalize();
Vector3 yAxis(0, 1, 0);
if (fabs(zAxis[0]) < epsilon && fabs(zAxis[2]) < epsilon)
{
if (zAxis[1] > 0)
yAxis = Vector3(0, 0, -1);
else
yAxis = Vector3(0, 0, 1);
}
Vector3 xAxis = yAxis.cross(zAxis);
xAxis.normalize();
yAxis = zAxis.cross(xAxis);
yAxis.normalize();
defaulttype::Quat q;
q = q.createQuaterFromFrame(xAxis, yAxis, dir);
if (!d_zNear.isSet() || !d_zFar.isSet())
{
//compute zNear, zFar from light point of view
for (int corner = 0; corner<8; ++corner)
{
Vector3 p(
(corner & 1) ? sceneBBox.minBBox().x() : sceneBBox.maxBBox().x(),
(corner & 2) ? sceneBBox.minBBox().y() : sceneBBox.maxBBox().y(),
(corner & 4) ? sceneBBox.minBBox().z() : sceneBBox.maxBBox().z());
p = q.rotate(p - pos);
double z = -p[2];
if (z < zNear) zNear = z;
if (z > zFar) zFar = z;
}
msg_info() << "zNear = " << zNear << " zFar = " << zFar ;
if (zNear <= 0)
zNear = 1;
if (zFar >= 1000.0)
zFar = 1000.0;
if (zFar <= 0)
{
zNear = vp->zNear();
zFar = vp->zFar();
}
if (zNear > 0 && zFar < 1000)
{
zNear *= 0.8; // add some margin
zFar *= 1.2;
if (zNear < zFar*0.01)
zNear = zFar*0.01;
if (zNear < 0.1) zNear = 0.1;
if (zFar < 2.0) zFar = 2.0;
}
d_zNear.setValue(zNear);
d_zFar.setValue(zFar);
}
else
{
zNear = d_zNear.getValue();
zFar = d_zFar.getValue();
}
}
void SpotLight::preDrawShadow(core::visual::VisualParams* vp)
{
float zNear = -1e10, zFar = 1e10;
const Vector3 &pos = d_position.getValue();
Vector3 dir = d_direction.getValue();
if (d_lookat.getValue())
dir -= d_position.getValue();
Light::preDrawShadow(vp);
computeClippingPlane(vp, zNear, zFar);
glMatrixMode(GL_PROJECTION);
glLoadIdentity();
computeOpenGLProjectionMatrix(m_lightMatProj, m_shadowTexWidth, m_shadowTexHeight, 2 * d_cutoff.getValue(), zNear, zFar);
glMultMatrixf(m_lightMatProj);
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
computeOpenGLModelViewMatrix(m_lightMatModelview, pos, dir);
glMultMatrixf(m_lightMatModelview);
glViewport(0, 0, m_shadowTexWidth, m_shadowTexHeight);
glClear(GL_DEPTH_BUFFER_BIT);
glEnable(GL_DEPTH_TEST);
}
void SpotLight::computeOpenGLModelViewMatrix(GLfloat mat[16], const sofa::defaulttype::Vector3 &position, const sofa::defaulttype::Vector3 &direction)
{
double epsilon = 0.0000001;
Vector3 zAxis = -direction;
zAxis.normalize();
Vector3 yAxis(0, 1, 0);
if (fabs(zAxis[0]) < epsilon && fabs(zAxis[2]) < epsilon)
{
if (zAxis[1] > 0)
yAxis = Vector3(0, 0, -1);
else
yAxis = Vector3(0, 0, 1);
}
Vector3 xAxis = yAxis.cross(zAxis);
xAxis.normalize();
yAxis = zAxis.cross(xAxis);
yAxis.normalize();
for (unsigned int i = 0; i < 3; i++)
{
mat[i * 4] = xAxis[i];
mat[i * 4 + 1] = yAxis[i];
mat[i * 4 + 2] = zAxis[i];
}
sofa::defaulttype::Quat q;
q = sofa::defaulttype::Quat::createQuaterFromFrame(xAxis, yAxis, zAxis);
Vector3 origin = q.inverseRotate(-position);
//translation
mat[12] = origin[0];
mat[13] = origin[1];
mat[14] = origin[2];
//w
mat[15] = 1;
//Save output as data for external shaders
//we transpose it to get a standard matrix (and not OpenGL formatted)
helper::vector<float>& wModelViewMatrix = *d_modelViewMatrix.beginEdit();
for (unsigned int i = 0; i < 4; i++)
for (unsigned int j = 0; j < 4; j++)
{
wModelViewMatrix[i * 4 + j] = mat[j * 4 + i];
}
d_modelViewMatrix.endEdit();
}
void SpotLight::computeOpenGLProjectionMatrix(GLfloat mat[16], float width, float height, float fov, float zNear, float zFar)
{
float scale = 1.0 / tan(fov * M_PI / 180 * 0.5);
float aspect = width / height;
float pm00 = scale / aspect;
float pm11 = scale;
mat[0] = pm00; // FocalX
mat[4] = 0.0;
mat[8] = 0.0;
mat[12] = 0.0;
mat[1] = 0.0;
mat[5] = pm11; // FocalY
mat[9] = 0.0;
mat[13] = 0.0;
mat[2] = 0;
mat[6] = 0;
mat[10] = -(zFar + zNear) / (zFar - zNear);
mat[14] = -2.0 * zFar * zNear / (zFar - zNear);;
mat[3] = 0.0;
mat[7] = 0.0;
mat[11] = -1.0;
mat[15] = 0.0;
//Save output as data for external shaders
//we transpose it to get a standard matrix (and not OpenGL formatted)
helper::vector<float>& wProjectionMatrix = *d_projectionMatrix.beginEdit();
for (unsigned int i = 0; i < 4; i++)