From 22ea6d639eb0e975353c40f0672e94b36017ab50 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Tim=20=C3=9Cbelh=C3=B6r?= <t.uebelhoer@irt.rwth-aachen.de>
Date: Fri, 1 Mar 2019 13:07:21 +0100
Subject: [PATCH] fixed specular lighting
---
.vscode/launch.json | 2 +-
conanfile.py | 2 +-
include/scigl_render/shader/simple.vs | 8 ++++++--
include/scigl_render/shader/texture.fs | 6 +++---
model/monkey.3ds | 2 +-
model/monkey.blend | 4 ++--
package.xml | 2 +-
src/example/scigl_viewer.cpp | 8 ++++++--
src/scene/mesh.cpp | 2 +-
9 files changed, 22 insertions(+), 14 deletions(-)
diff --git a/.vscode/launch.json b/.vscode/launch.json
index ecc3836..2294c9c 100644
--- a/.vscode/launch.json
+++ b/.vscode/launch.json
@@ -9,7 +9,7 @@
"type": "cppdbg",
"request": "launch",
"program": "${workspaceFolder}/build/bin/scigl_viewer",
- "args": ["${workspaceFolder}/model/beckenkamm.dae"],
+ "args": ["${workspaceFolder}/model/monkey.blend"],
"stopAtEntry": false,
"cwd": "${workspaceFolder}",
"environment": [],
diff --git a/conanfile.py b/conanfile.py
index b89961d..c2729bf 100644
--- a/conanfile.py
+++ b/conanfile.py
@@ -3,7 +3,7 @@ from conans import ConanFile, CMake
class SciglRenderConan(ConanFile):
name = "scigl_render"
- version = "0.3"
+ version = "0.4"
license = "MIT"
url = "https://git.rwth-aachen.de/robo_guide/scigl_render"
description = ("Library to simplify rendering objects via OpenGL."
diff --git a/include/scigl_render/shader/simple.vs b/include/scigl_render/shader/simple.vs
index f060ce1..2d9db8c 100644
--- a/include/scigl_render/shader/simple.vs
+++ b/include/scigl_render/shader/simple.vs
@@ -1,16 +1,20 @@
R""(
#version 330 core
layout (location = 0) in vec3 position;
+
uniform mat4 model_matrix;
uniform mat4 view_matrix;
uniform mat4 projection_matrix;
+
out float depth;
+out vec3 world_position;
// simple linear transformation into projection space
void main()
{
- vec4 local_pos = vec4(position, 1.0);
- vec4 view_pos = view_matrix * model_matrix * local_pos;
+ vec4 local_position = vec4(position, 1.0);
+ world_position = (model_matrix * local_position).xyz;
+ vec4 view_pos = view_matrix * vec4(world_position, 1.0);
depth = view_pos.z;
gl_Position = projection_matrix * view_pos;
})""
\ No newline at end of file
diff --git a/include/scigl_render/shader/texture.fs b/include/scigl_render/shader/texture.fs
index 8f4f67f..235fd6e 100644
--- a/include/scigl_render/shader/texture.fs
+++ b/include/scigl_render/shader/texture.fs
@@ -32,15 +32,15 @@ void main()
vec3 diffuse_color = material.diffuse + diffuse_texture_strength
* texture(texture0, texture_coordinate).xyz;
float diff = max(dot(normal, light_direction), 0.0);
- vec3 diffuse = diff * diffuse_color;
+ vec3 diffuse = diff * diffuse_color * light_color;
// specular
vec3 view_direction = normalize(camera_position - world_position);
vec3 reflection_direction = reflect(-light_direction, normal);
float spec = pow(max(dot(view_direction, reflection_direction), 0.0),
material.shininess);
- vec3 specular = material.specular * spec;
+ vec3 specular = spec * material.specular * light_color;
// combined
- vec3 result = (ambient + diffuse + specular) * light_color;
+ vec3 result = ambient + diffuse + specular;
fragment_color = vec4(result, 1.0);
}
)""
\ No newline at end of file
diff --git a/model/monkey.3ds b/model/monkey.3ds
index 58aac10..acce76c 100644
--- a/model/monkey.3ds
+++ b/model/monkey.3ds
@@ -1,3 +1,3 @@
version https://git-lfs.github.com/spec/v1
-oid sha256:3e3f7ba7b28a7ba92a680b8f02ac848e9a43ae98de088f6c6e468264d221a508
+oid sha256:fcd144e99a0cce6f39b1e7b2158aafea10e12138ef3dc6edacbdece069b184bb
size 15959
diff --git a/model/monkey.blend b/model/monkey.blend
index 71e82c7..dc13584 100644
--- a/model/monkey.blend
+++ b/model/monkey.blend
@@ -1,3 +1,3 @@
version https://git-lfs.github.com/spec/v1
-oid sha256:324ff7b630d6ed00bc1684991a39f44b3ee04b99da10beda39140de93b468dd4
-size 479060
+oid sha256:abdad4657db2421ec9966e81f9944a22824ea49afa5825ca1beee42ed6e8e34d
+size 499076
diff --git a/package.xml b/package.xml
index cbe6de2..1e3cb31 100644
--- a/package.xml
+++ b/package.xml
@@ -2,7 +2,7 @@
<?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="2">
<name>scigl_render</name>
- <version>0.3</version>
+ <version>0.4</version>
<description>
Library to simplify rendering objects via OpenGL. The intendet use case
is scientific (e.g. probabalistic filtering). It is not supposed to be a
diff --git a/src/example/scigl_viewer.cpp b/src/example/scigl_viewer.cpp
index 111cdf7..927c10d 100644
--- a/src/example/scigl_viewer.cpp
+++ b/src/example/scigl_viewer.cpp
@@ -67,7 +67,11 @@ int main(int argc, char *argv[])
camera_intrinsics.c_y = 310;
camera_intrinsics.f_x = 511;
camera_intrinsics.f_y = 513;
- camera_intrinsics.dist_coeffs[0] = 5;
+ camera_intrinsics.dist_coeffs[0] = 4.1925421198910247e-02;
+ camera_intrinsics.dist_coeffs[1] = -9.6463442423611379e-02;
+ camera_intrinsics.dist_coeffs[2] = -2.3391717576772839e-03;
+ camera_intrinsics.dist_coeffs[3] = 5.8792609967242386e-04;
+ camera_intrinsics.dist_coeffs[4] = 4.9171950039135250e-02;
CvCamera camera(camera_intrinsics);
// Test if Cartesian -> Quaternion works
CartesianPose camera_pose = {glm::vec3(0, 0, 0), glm::vec3(0, 0, 0)};
@@ -77,7 +81,7 @@ int main(int argc, char *argv[])
model.pose.position = glm::vec3(0, 0, 0.5);
model.pose.orientation.x = 0.707;
model.pose.orientation.w = 0.707;
- light.position = glm::vec3(0, 0, 0);
+ light.position = glm::vec3(0, -0.1, 0);
light.color = glm::vec3(1, 1, 1);
// main loop
diff --git a/src/scene/mesh.cpp b/src/scene/mesh.cpp
index a1f9f1a..8275996 100644
--- a/src/scene/mesh.cpp
+++ b/src/scene/mesh.cpp
@@ -67,7 +67,7 @@ Mesh::Mesh(const aiMesh *mesh, const aiScene *scene)
material.diffuse = convert_color(diffuse_color);
}
aiColor3D specular_color;
- if (AI_SUCCESS == ai_material->Get(AI_MATKEY_COLOR_DIFFUSE, specular_color))
+ if (AI_SUCCESS == ai_material->Get(AI_MATKEY_COLOR_SPECULAR, specular_color))
{
material.specular = convert_color(specular_color);
}
--
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