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Merge pull request StanfordVL#47 from fxia22/shadow
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Add shadow in renderer
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@fxia22
fxia22 authored Jun 16, 2020
2 parents 48cc526 + 7f039c8 commit 9aee067
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Showing 8 changed files with 233 additions and 49 deletions.
3 changes: 2 additions & 1 deletion examples/demo/simulator_example.py
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Original file line number Diff line number Diff line change
Expand Up @@ -10,7 +10,8 @@

def main():
config = parse_config('../configs/turtlebot_demo.yaml')
s = Simulator(mode='gui', image_width=512, image_height=512)
s = Simulator(mode='gui', image_width=512, image_height=512,enable_shadow=True)

scene = BuildingScene('Rs',
build_graph=True,
pybullet_load_texture=True)
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70 changes: 59 additions & 11 deletions gibson2/core/render/cpp/Mesh_renderer.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -363,6 +363,7 @@ class MeshRendererContext{

void render_meshrenderer_post() {
glDisable(GL_DEPTH_TEST);
glBindFramebuffer(GL_FRAMEBUFFER, 0);
}

std::string getstring_meshrenderer() {
Expand Down Expand Up @@ -406,6 +407,18 @@ class MeshRendererContext{
return data;
}

py::array_t<float> readbuffer_meshrenderer_shadow_depth(int width, int height, GLuint fb2, GLuint texture_id) {
glBindFramebuffer(GL_FRAMEBUFFER, fb2);
glReadBuffer(GL_COLOR_ATTACHMENT3);
py::array_t<float> data = py::array_t<float>(3 * width * height);
py::buffer_info buf = data.request();
float* ptr = (float *) buf.ptr;
glReadPixels(0, 0, width, height, GL_RGB, GL_FLOAT, ptr);
glBindTexture(GL_TEXTURE_2D, texture_id);
glTexImage2D(GL_TEXTURE_2D, 0,GL_RGB, width, height, 0, GL_RGB, GL_FLOAT, ptr);
return data;
}

void clean_meshrenderer(std::vector<GLuint> texture1, std::vector<GLuint> texture2, std::vector<GLuint> fbo, std::vector<GLuint> vaos, std::vector<GLuint> vbos) {
glDeleteTextures(texture1.size(), texture1.data());
glDeleteTextures(texture2.size(), texture2.data());
Expand Down Expand Up @@ -536,10 +549,8 @@ class MeshRendererContext{
}
glDeleteShader(vertexShader);
glDeleteShader(fragmentShader);
int texUnitUniform = glGetUniformLocation(shaderProgram, "texUnit");
py::list result;
result.append(shaderProgram);
result.append(texUnitUniform);
return result;
}

Expand Down Expand Up @@ -580,61 +591,77 @@ class MeshRendererContext{
glBindVertexArray(0);
}

void initvar_instance(int shaderProgram, py::array_t<float> V, py::array_t<float> P, py::array_t<float> pose_trans, py::array_t<float> pose_rot, py::array_t<float> lightpos, py::array_t<float> lightcolor) {
void initvar_instance(int shaderProgram, py::array_t<float> V, py::array_t<float> lightV, int enable_shadow, py::array_t<float> P,
py::array_t<float> pose_trans, py::array_t<float> pose_rot, py::array_t<float> lightpos, py::array_t<float> lightcolor) {
glUseProgram(shaderProgram);
float *Vptr = (float *) V.request().ptr;
float *lightVptr = (float *) lightV.request().ptr;
float *Pptr = (float *) P.request().ptr;
float *transptr = (float *) pose_trans.request().ptr;
float *rotptr = (float *) pose_rot.request().ptr;
float *lightposptr = (float *) lightpos.request().ptr;
float *lightcolorptr = (float *) lightcolor.request().ptr;
glUniformMatrix4fv(glGetUniformLocation(shaderProgram, "V"), 1, GL_TRUE, Vptr);
glUniformMatrix4fv(glGetUniformLocation(shaderProgram, "lightV"), 1, GL_TRUE, lightVptr);
glUniformMatrix4fv(glGetUniformLocation(shaderProgram, "P"), 1, GL_FALSE, Pptr);
glUniformMatrix4fv(glGetUniformLocation(shaderProgram, "pose_trans"), 1, GL_FALSE, transptr);
glUniformMatrix4fv(glGetUniformLocation(shaderProgram, "pose_rot"), 1, GL_TRUE, rotptr);
glUniform3f(glGetUniformLocation(shaderProgram, "light_position"), lightposptr[0], lightposptr[1], lightposptr[2]);
glUniform3f(glGetUniformLocation(shaderProgram, "light_color"), lightcolorptr[0], lightcolorptr[1], lightcolorptr[2]);
glUniform1i(glGetUniformLocation(shaderProgram, "shadow_pass"), enable_shadow);
}

void init_material_instance(int shaderProgram, float instance_color, py::array_t<float> diffuse_color, float use_texture) {
void init_material_instance(int shaderProgram, float instance_color, py::array_t<float> diffuse_color, int
use_texture) {
float *diffuse_ptr = (float *) diffuse_color.request().ptr;
glUniform3f(glGetUniformLocation(shaderProgram, "instance_color"), instance_color, 0, 0);
glUniform3f(glGetUniformLocation(shaderProgram, "diffuse_color"), diffuse_ptr[0], diffuse_ptr[1], diffuse_ptr[2]);
glUniform1f(glGetUniformLocation(shaderProgram, "use_texture"), use_texture);
glUniform1i(glGetUniformLocation(shaderProgram, "use_texture"), (GLint)use_texture);
glUniform1i(glGetUniformLocation(shaderProgram, "texUnit"), 0);
glUniform1i(glGetUniformLocation(shaderProgram, "depthMap"), 1);
}

void draw_elements_instance(bool flag, int texture_id, int texUnitUniform, int vao, int face_size, py::array_t<unsigned int> faces, GLuint fb) {
void draw_elements_instance(bool flag, int texture_id, int depth_texture_id, int vao, int
face_size, py::array_t<unsigned int> faces, GLuint fb) {
glActiveTexture(GL_TEXTURE0);
if (flag) glBindTexture(GL_TEXTURE_2D, texture_id);
glUniform1i(texUnitUniform, 0);
glActiveTexture(GL_TEXTURE1);
glBindTexture(GL_TEXTURE_2D, depth_texture_id);
glBindVertexArray(vao);
glBindFramebuffer(GL_FRAMEBUFFER, fb);
unsigned int *ptr = (unsigned int *) faces.request().ptr;
glDrawElements(GL_TRIANGLES, face_size, GL_UNSIGNED_INT, ptr);

}

void initvar_instance_group(int shaderProgram, py::array_t<float> V, py::array_t<float> P, py::array_t<float> lightpos, py::array_t<float> lightcolor) {
void initvar_instance_group(int shaderProgram, py::array_t<float> V, py::array_t<float> lightV, int enable_shadow, py::array_t<float>
P, py::array_t<float>
lightpos, py::array_t<float> lightcolor) {
glUseProgram(shaderProgram);
float *Vptr = (float *) V.request().ptr;
float *lightVptr = (float *) lightV.request().ptr;
float *Pptr = (float *) P.request().ptr;
float *lightposptr = (float *) lightpos.request().ptr;
float *lightcolorptr = (float *) lightcolor.request().ptr;
glUniformMatrix4fv(glGetUniformLocation(shaderProgram, "V"), 1, GL_TRUE, Vptr);
glUniformMatrix4fv(glGetUniformLocation(shaderProgram, "lightV"), 1, GL_TRUE, lightVptr);
glUniformMatrix4fv(glGetUniformLocation(shaderProgram, "P"), 1, GL_FALSE, Pptr);
glUniform3f(glGetUniformLocation(shaderProgram, "light_position"), lightposptr[0], lightposptr[1], lightposptr[2]);
glUniform3f(glGetUniformLocation(shaderProgram, "light_color"), lightcolorptr[0], lightcolorptr[1], lightcolorptr[2]);
glUniform1i(glGetUniformLocation(shaderProgram, "shadow_pass"), enable_shadow);
}

void init_material_pos_instance(int shaderProgram, py::array_t<float> pose_trans, py::array_t<float> pose_rot, float instance_color, py::array_t<float> diffuse_color, float use_texture) {
void init_material_pos_instance(int shaderProgram, py::array_t<float> pose_trans, py::array_t<float> pose_rot, float
instance_color, py::array_t<float> diffuse_color, int use_texture) {
float *transptr = (float *) pose_trans.request().ptr;
float *rotptr = (float *) pose_rot.request().ptr;
float *diffuse_ptr = (float *) diffuse_color.request().ptr;
glUniformMatrix4fv(glGetUniformLocation(shaderProgram, "pose_trans"), 1, GL_FALSE, transptr);
glUniformMatrix4fv(glGetUniformLocation(shaderProgram, "pose_rot"), 1, GL_TRUE, rotptr);
glUniform3f(glGetUniformLocation(shaderProgram, "instance_color"), instance_color, 0, 0);
glUniform3f(glGetUniformLocation(shaderProgram, "diffuse_color"), diffuse_ptr[0], diffuse_ptr[1], diffuse_ptr[2]);
glUniform1f(glGetUniformLocation(shaderProgram, "use_texture"), use_texture);
glUniform1i(glGetUniformLocation(shaderProgram, "use_texture"), (GLint)use_texture);
glUniform1i(glGetUniformLocation(shaderProgram, "texUnit"), 0);
glUniform1i(glGetUniformLocation(shaderProgram, "depthMap"), 1);
}


Expand All @@ -655,6 +682,7 @@ class MeshRendererContext{

void render_tensor_post() {
glDisable(GL_DEPTH_TEST);
glBindFramebuffer(GL_FRAMEBUFFER, 0);
}

void cglBindVertexArray(int vao) {
Expand Down Expand Up @@ -702,6 +730,21 @@ class MeshRendererContext{
return texture;
}

int allocateTexture(int w, int h) {
GLuint texture;
glGenTextures(1, &texture);
glPixelStorei(GL_UNPACK_ALIGNMENT, 1);
glBindTexture(GL_TEXTURE_2D, texture);
glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_NEAREST);
glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_REPEAT);
glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_REPEAT);
glTexImage2D(GL_TEXTURE_2D, 0, GL_RGB, w, h, 0, GL_RGBA,
GL_FLOAT, NULL);
return texture;
}


};


Expand All @@ -721,14 +764,19 @@ PYBIND11_MODULE(MeshRendererContext, m) {
pymodule.def("render_meshrenderer_post", &MeshRendererContext::render_meshrenderer_post, "post-executed functions in MeshRenderer.render");
pymodule.def("getstring_meshrenderer", &MeshRendererContext::getstring_meshrenderer, "return GL version string");
pymodule.def("readbuffer_meshrenderer", &MeshRendererContext::readbuffer_meshrenderer, "read pixel buffer");
pymodule.def("readbuffer_meshrenderer_shadow_depth", &MeshRendererContext::readbuffer_meshrenderer_shadow_depth,
"read pixel buffer");

pymodule.def("clean_meshrenderer", &MeshRendererContext::clean_meshrenderer, "clean meshrenderer");
pymodule.def("setup_framebuffer_meshrenderer", &MeshRendererContext::setup_framebuffer_meshrenderer, "setup framebuffer in meshrenderer");

pymodule.def("setup_framebuffer_meshrenderer_ms", &MeshRendererContext::setup_framebuffer_meshrenderer_ms, "setup framebuffer in meshrenderer with MSAA");
pymodule.def("blit_buffer", &MeshRendererContext::blit_buffer, "blit buffer");

pymodule.def("compile_shader_meshrenderer", &MeshRendererContext::compile_shader_meshrenderer, "compile vertex and fragment shader");
pymodule.def("load_object_meshrenderer", &MeshRendererContext::load_object_meshrenderer, "load object into VAO and VBO");
pymodule.def("loadTexture", &MeshRendererContext::loadTexture, "load texture function");
pymodule.def("allocateTexture", &MeshRendererContext::allocateTexture, "load texture function");

// class MeshRendererG2G
pymodule.def("render_tensor_pre", &MeshRendererContext::render_tensor_pre, "pre-executed functions in MeshRendererG2G.render");
Expand Down
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