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Merge pull request #978 from aftersomemath:depth-precision-in-place

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PiperOrigin-RevId: 572961667
Change-Id: I69011ddf835ae286e30e7f84cca67867cfe94fa4
This commit is contained in:
Copybara-Service
2023-10-12 11:18:36 -07:00
parent 493ae95d69 c6961b77d7
commit 59164702ab
14 changed files with 194 additions and 34 deletions
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src/render/glad/glad.c
+15 -3
View File
@@ -12,7 +12,7 @@
// See the License for the specific language governing permissions and
// limitations under the License.
//
// Based on the OpenGL loader generated by glad 0.1.35 on Mon Mar 21 12:42:33 2022.
// Based on the OpenGL loader generated by glad 0.1.34 on Thu Jun 22 14:40:03 2023.
//
// The original generated code is distributed under CC0.
// https://creativecommons.org/publicdomain/zero/1.0/
@@ -22,6 +22,8 @@
// APIs: gl=1.5
// Profile: compatibility
// Extensions:
// GL_ARB_clip_control,
// GL_ARB_depth_buffer_float,
// GL_ARB_framebuffer_object,
// GL_ARB_seamless_cube_map,
// GL_ARB_vertex_buffer_object,
@@ -32,9 +34,9 @@
// Reproducible: False
//
// Commandline:
// --profile="compatibility" --api="gl=1.5" --generator="c" --spec="gl" --extensions="GL_ARB_framebuffer_object,GL_ARB_seamless_cube_map,GL_ARB_vertex_buffer_object,GL_KHR_debug"
// --profile="compatibility" --api="gl=1.5" --generator="c" --spec="gl" --extensions="GL_ARB_clip_control,GL_ARB_depth_buffer_float,GL_ARB_framebuffer_object,GL_ARB_seamless_cube_map,GL_ARB_vertex_buffer_object,GL_KHR_debug"
// Online:
// https://glad.dav1d.de/#profile=compatibility&language=c&specification=gl&loader=on&api=gl%3D1.5&extensions=GL_ARB_framebuffer_object&extensions=GL_ARB_seamless_cube_map&extensions=GL_ARB_vertex_buffer_object&extensions=GL_KHR_debug
// https://glad.dav1d.de/#profile=compatibility&language=c&specification=gl&loader=on&api=gl%3D1.5&extensions=GL_ARB_clip_control&extensions=GL_ARB_depth_buffer_float&extensions=GL_ARB_framebuffer_object&extensions=GL_ARB_seamless_cube_map&extensions=GL_ARB_vertex_buffer_object&extensions=GL_KHR_debug
#if defined(__GNUC__) && !defined(__clang__)
#pragma GCC diagnostic push
@@ -829,10 +831,13 @@ PFNGLWINDOWPOS3IPROC mjGlad_glWindowPos3i = NULL;
PFNGLWINDOWPOS3IVPROC mjGlad_glWindowPos3iv = NULL;
PFNGLWINDOWPOS3SPROC mjGlad_glWindowPos3s = NULL;
PFNGLWINDOWPOS3SVPROC mjGlad_glWindowPos3sv = NULL;
int mjGLAD_GL_ARB_clip_control = 0;
int mjGLAD_GL_ARB_depth_buffer_float = 0;
int mjGLAD_GL_ARB_framebuffer_object = 0;
int mjGLAD_GL_ARB_seamless_cube_map = 0;
int mjGLAD_GL_ARB_vertex_buffer_object = 0;
int mjGLAD_GL_KHR_debug = 0;
PFNGLCLIPCONTROLPROC mjGlad_glClipControl = NULL;
PFNGLISRENDERBUFFERPROC mjGlad_glIsRenderbuffer = NULL;
PFNGLBINDRENDERBUFFERPROC mjGlad_glBindRenderbuffer = NULL;
PFNGLDELETERENDERBUFFERSPROC mjGlad_glDeleteRenderbuffers = NULL;
@@ -1355,6 +1360,10 @@ static void mjGlad_load_GL_VERSION_1_5(GLADloadproc load) {
mjGlad_glGetBufferParameteriv = (PFNGLGETBUFFERPARAMETERIVPROC)load("glGetBufferParameteriv");
mjGlad_glGetBufferPointerv = (PFNGLGETBUFFERPOINTERVPROC)load("glGetBufferPointerv");
}
static void mjGlad_load_GL_ARB_clip_control(GLADloadproc load) {
if(!mjGLAD_GL_ARB_clip_control) return;
mjGlad_glClipControl = (PFNGLCLIPCONTROLPROC)load("glClipControl");
}
static void mjGlad_load_GL_ARB_framebuffer_object(GLADloadproc load) {
if(!mjGLAD_GL_ARB_framebuffer_object) return;
mjGlad_glIsRenderbuffer = (PFNGLISRENDERBUFFERPROC)load("glIsRenderbuffer");
@@ -1419,6 +1428,8 @@ static void mjGlad_load_GL_KHR_debug(GLADloadproc load) {
}
static int mjGlad_find_extensionsGL(void) {
if (!mjGlad_get_exts()) return 0;
mjGLAD_GL_ARB_clip_control = mjGlad_has_ext("GL_ARB_clip_control");
mjGLAD_GL_ARB_depth_buffer_float = mjGlad_has_ext("GL_ARB_depth_buffer_float");
mjGLAD_GL_ARB_framebuffer_object = mjGlad_has_ext("GL_ARB_framebuffer_object");
mjGLAD_GL_ARB_seamless_cube_map = mjGlad_has_ext("GL_ARB_seamless_cube_map");
mjGLAD_GL_ARB_vertex_buffer_object = mjGlad_has_ext("GL_ARB_vertex_buffer_object");
@@ -1491,6 +1502,7 @@ int mjGladLoadGLUnsafe(void) {
mjGlad_load_GL_VERSION_1_5(mjGlad_get_proc);
if (!mjGlad_find_extensionsGL()) return 0;
mjGlad_load_GL_ARB_clip_control(mjGlad_get_proc);
mjGlad_load_GL_ARB_framebuffer_object(mjGlad_get_proc);
mjGlad_load_GL_ARB_vertex_buffer_object(mjGlad_get_proc);
mjGlad_load_GL_KHR_debug(mjGlad_get_proc);
src/render/glad/glad.h
+25 -3
View File
@@ -12,7 +12,7 @@
// See the License for the specific language governing permissions and
// limitations under the License.
//
// Based on the OpenGL loader generated by glad 0.1.35 on Mon Mar 21 12:42:33 2022.
// Based on the OpenGL loader generated by glad 0.1.34 on Thu Jun 22 14:40:03 2023.
//
// The original generated code is distributed under CC0.
// https://creativecommons.org/publicdomain/zero/1.0/
@@ -22,6 +22,8 @@
// APIs: gl=1.5
// Profile: compatibility
// Extensions:
// GL_ARB_clip_control,
// GL_ARB_depth_buffer_float,
// GL_ARB_framebuffer_object,
// GL_ARB_seamless_cube_map,
// GL_ARB_vertex_buffer_object,
@@ -32,9 +34,9 @@
// Reproducible: False
//
// Commandline:
// --profile="compatibility" --api="gl=1.5" --generator="c" --spec="gl" --extensions="GL_ARB_framebuffer_object,GL_ARB_seamless_cube_map,GL_ARB_vertex_buffer_object,GL_KHR_debug"
// --profile="compatibility" --api="gl=1.5" --generator="c" --spec="gl" --extensions="GL_ARB_clip_control,GL_ARB_depth_buffer_float,GL_ARB_framebuffer_object,GL_ARB_seamless_cube_map,GL_ARB_vertex_buffer_object,GL_KHR_debug"
// Online:
// https://glad.dav1d.de/#profile=compatibility&language=c&specification=gl&loader=on&api=gl%3D1.5&extensions=GL_ARB_framebuffer_object&extensions=GL_ARB_seamless_cube_map&extensions=GL_ARB_vertex_buffer_object&extensions=GL_KHR_debug
// https://glad.dav1d.de/#profile=compatibility&language=c&specification=gl&loader=on&api=gl%3D1.5&extensions=GL_ARB_clip_control&extensions=GL_ARB_depth_buffer_float&extensions=GL_ARB_framebuffer_object&extensions=GL_ARB_seamless_cube_map&extensions=GL_ARB_vertex_buffer_object&extensions=GL_KHR_debug
#ifndef MUJOCO_SRC_RENDER_GLAD_GLAD_H_
#define MUJOCO_SRC_RENDER_GLAD_GLAD_H_
@@ -2304,6 +2306,15 @@ typedef void (APIENTRYP PFNGLGETBUFFERPOINTERVPROC)(GLenum target, GLenum pname,
GLAPI PFNGLGETBUFFERPOINTERVPROC mjGlad_glGetBufferPointerv;
#define glGetBufferPointerv mjGlad_glGetBufferPointerv
#endif
#define GL_LOWER_LEFT 0x8CA1
#define GL_UPPER_LEFT 0x8CA2
#define GL_NEGATIVE_ONE_TO_ONE 0x935E
#define GL_ZERO_TO_ONE 0x935F
#define GL_CLIP_ORIGIN 0x935C
#define GL_CLIP_DEPTH_MODE 0x935D
#define GL_DEPTH_COMPONENT32F 0x8CAC
#define GL_DEPTH32F_STENCIL8 0x8CAD
#define GL_FLOAT_32_UNSIGNED_INT_24_8_REV 0x8DAD
#define GL_INVALID_FRAMEBUFFER_OPERATION 0x0506
#define GL_FRAMEBUFFER_ATTACHMENT_COLOR_ENCODING 0x8210
#define GL_FRAMEBUFFER_ATTACHMENT_COMPONENT_TYPE 0x8211
@@ -2487,6 +2498,17 @@ GLAPI PFNGLGETBUFFERPOINTERVPROC mjGlad_glGetBufferPointerv;
#define GL_STACK_OVERFLOW_KHR 0x0503
#define GL_STACK_UNDERFLOW_KHR 0x0504
#define GL_DISPLAY_LIST 0x82E7
#ifndef GL_ARB_clip_control
#define GL_ARB_clip_control 1
GLAPI int mjGLAD_GL_ARB_clip_control;
typedef void (APIENTRYP PFNGLCLIPCONTROLPROC)(GLenum origin, GLenum depth);
GLAPI PFNGLCLIPCONTROLPROC mjGlad_glClipControl;
#define glClipControl mjGlad_glClipControl
#endif
#ifndef GL_ARB_depth_buffer_float
#define GL_ARB_depth_buffer_float 1
GLAPI int mjGLAD_GL_ARB_depth_buffer_float;
#endif
#ifndef GL_ARB_framebuffer_object
#define GL_ARB_framebuffer_object 1
GLAPI int mjGLAD_GL_ARB_framebuffer_object;
src/render/render_context.c
+13 -8
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@@ -1062,7 +1062,7 @@ static void makeShadow(const mjModel* m, mjrContext* con) {
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_CLAMP_TO_EDGE);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_CLAMP_TO_EDGE);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_COMPARE_MODE, GL_COMPARE_R_TO_TEXTURE);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_COMPARE_FUNC, GL_LEQUAL);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_COMPARE_FUNC, GL_GEQUAL);
glTexParameteri(GL_TEXTURE_2D, GL_DEPTH_TEXTURE_MODE, GL_INTENSITY);
glTexGeni(GL_S, GL_TEXTURE_GEN_MODE, GL_EYE_LINEAR);
glTexGeni(GL_T, GL_TEXTURE_GEN_MODE, GL_EYE_LINEAR);
@@ -1126,11 +1126,14 @@ static void makeOff(mjrContext* con) {
mju_error("Could not allocate offscreen depth and stencil buffer");
}
glBindRenderbuffer(GL_RENDERBUFFER, con->offDepthStencil);
GLenum depth_buffer_format =
mjGLAD_GL_ARB_depth_buffer_float ? GL_DEPTH32F_STENCIL8 : GL_DEPTH24_STENCIL8;
if (con->offSamples) {
glRenderbufferStorageMultisample(GL_RENDERBUFFER, con->offSamples, GL_DEPTH24_STENCIL8,
glRenderbufferStorageMultisample(GL_RENDERBUFFER, con->offSamples, depth_buffer_format,
con->offWidth, con->offHeight);
} else {
glRenderbufferStorage(GL_RENDERBUFFER, GL_DEPTH24_STENCIL8, con->offWidth, con->offHeight);
glRenderbufferStorage(GL_RENDERBUFFER, depth_buffer_format, con->offWidth, con->offHeight);
}
glFramebufferRenderbuffer(GL_FRAMEBUFFER, GL_DEPTH_STENCIL_ATTACHMENT,
GL_RENDERBUFFER, con->offDepthStencil);
@@ -1169,7 +1172,7 @@ static void makeOff(mjrContext* con) {
mju_error("Could not allocate offscreen depth and stencil buffer_r");
}
glBindRenderbuffer(GL_RENDERBUFFER, con->offDepthStencil_r);
glRenderbufferStorage(GL_RENDERBUFFER, GL_DEPTH24_STENCIL8, con->offWidth, con->offHeight);
glRenderbufferStorage(GL_RENDERBUFFER, depth_buffer_format, con->offWidth, con->offHeight);
glFramebufferRenderbuffer(GL_FRAMEBUFFER, GL_DEPTH_STENCIL_ATTACHMENT,
GL_RENDERBUFFER, con->offDepthStencil_r);
@@ -1535,7 +1538,6 @@ void mjr_makeContext_offSize(const mjModel* m, mjrContext* con, int fontscale,
glPixelStorei(GL_PACK_ALIGNMENT, 1);
glPixelStorei(GL_UNPACK_ALIGNMENT, 1);
// free previous context
mjr_freeContext(con);
// no model: offscreen and font only
@@ -1607,6 +1609,9 @@ void mjr_makeContext_offSize(const mjModel* m, mjrContext* con, int fontscale,
// set default color pixel format for mjr_readPixels
con->readPixelFormat = GL_RGB;
// set default depth mapping for mjr_readPixels
con->readDepthMap = mjDEPTH_ZERONEAR;
}
@@ -1830,10 +1835,10 @@ MJAPI void mjr_resizeOffscreen(int width, int height, mjrContext* con) {
glBindRenderbuffer(GL_RENDERBUFFER, con->offDepthStencil);
if (con->offSamples) {
glRenderbufferStorageMultisample(GL_RENDERBUFFER, con->offSamples, GL_DEPTH24_STENCIL8,
glRenderbufferStorageMultisample(GL_RENDERBUFFER, con->offSamples, GL_DEPTH32F_STENCIL8,
con->offWidth, con->offHeight);
} else {
glRenderbufferStorage(GL_RENDERBUFFER, GL_DEPTH24_STENCIL8, con->offWidth, con->offHeight);
glRenderbufferStorage(GL_RENDERBUFFER, GL_DEPTH32F_STENCIL8, con->offWidth, con->offHeight);
}
if (con->offSamples) {
@@ -1841,6 +1846,6 @@ MJAPI void mjr_resizeOffscreen(int width, int height, mjrContext* con) {
glRenderbufferStorage(GL_RENDERBUFFER, GL_RGBA8, con->offWidth, con->offHeight);
glBindRenderbuffer(GL_RENDERBUFFER, con->offDepthStencil_r);
glRenderbufferStorage(GL_RENDERBUFFER, GL_DEPTH24_STENCIL8, con->offWidth, con->offHeight);
glRenderbufferStorage(GL_RENDERBUFFER, GL_DEPTH32F_STENCIL8, con->offWidth, con->offHeight);
}
}
src/render/render_gl2.c
+20 -1
View File
@@ -14,6 +14,7 @@
#include "render/render_gl2.h"
#include <math.h>
#include <string.h>
#include <stdio.h>
@@ -92,6 +93,23 @@ void mjr_restoreBuffer(const mjrContext* con) {
static inline void flipDepthIfRequired(float* depth, mjrRect viewport, const mjrContext* con) {
if (con->readDepthMap == mjDEPTH_ZERONEAR) {
int npixel = viewport.width * viewport.height;
for (int i = 0; i < npixel; i++) {
depth[i] = 1.0 - depth[i]; // Reverse the reversed Z buffer
}
} else if (!mjGLAD_GL_ARB_clip_control) {
mju_warning("ARB_clip_control unavailable while mjDEPTH_ZEROFAR requested, "
"depth accuracy will be limited");
} else if (!mjGLAD_GL_ARB_depth_buffer_float) {
mju_warning("ARB_depth_buffer_float unavailable while mjDEPTH_ZEROFAR requested, "
"depth accuracy will be limited");
}
}
// read pixels from current OpenGL framebuffer to client buffer
// viewport is in OpenGL framebuffer; client buffer starts at (0,0)
void mjr_readPixels(unsigned char* rgb, float* depth,
@@ -115,6 +133,7 @@ void mjr_readPixels(unsigned char* rgb, float* depth,
if (depth) {
glReadPixels(viewport.left, viewport.bottom, viewport.width, viewport.height,
GL_DEPTH_COMPONENT, GL_FLOAT, depth);
flipDepthIfRequired(depth, viewport, con);
}
}
@@ -159,6 +178,7 @@ void mjr_readPixels(unsigned char* rgb, float* depth,
if (depth) {
glReadPixels(viewport.left, viewport.bottom, viewport.width, viewport.height,
GL_DEPTH_COMPONENT, GL_FLOAT, depth);
flipDepthIfRequired(depth, viewport, con);
}
// restore currentBuffer
@@ -432,7 +452,6 @@ void mjr_text(int font, const char* txt, const mjrContext* con,
static int draw_overlay(int font, mjrRect viewport, int skip, int gridpos,
float red, float green, float blue,
const char* overlay, const mjrContext* con) {
int pos, ncthis, nc, nr, W, H, flg_big = (font == mjFONT_BIG);
int PAD = 5, sz = mjMIN(mjMAXOVERLAY, (int)strlen(overlay));
char text[mjMAXOVERLAY];
src/render/render_gl3.c
+34 -6
View File
@@ -580,6 +580,9 @@ static void initGL3(const mjvScene* scn, const mjrContext* con) {
// common options
glDisable(GL_BLEND);
glEnable(GL_NORMALIZE);
if (mjGLAD_GL_ARB_clip_control) {
glClipControl(GL_LOWER_LEFT, GL_ZERO_TO_ONE);
}
glEnable(GL_DEPTH_TEST);
glDepthMask(GL_TRUE);
if (scn->flags[mjRND_CULL_FACE]) {
@@ -588,11 +591,11 @@ static void initGL3(const mjvScene* scn, const mjrContext* con) {
glDisable(GL_CULL_FACE);
}
glShadeModel(GL_SMOOTH);
glDepthFunc(GL_LEQUAL);
glDepthFunc(GL_GEQUAL);
glDepthRange(0, 1);
glAlphaFunc(GL_GEQUAL, 0.99f);
glClearColor(0, 0, 0, 0);
glClearDepth(1);
glClearDepth(0);
glClearStencil(0);
glTexEnvi(GL_TEXTURE_ENV, GL_TEXTURE_ENV_MODE, GL_MODULATE);
@@ -682,6 +685,15 @@ static void setView(int view, mjrRect viewport, const mjvScene* scn, const mjrCo
// set projection
glMatrixMode(GL_PROJECTION);
glLoadIdentity();
if (mjGLAD_GL_ARB_clip_control) {
// reverse Z rendering mapping [znear, zfar] -> [1, 0] (ndc)
glTranslatef(0.0f, 0.0f, 0.5f);
glScalef(1.0f, 1.0f, -0.5f);
}
else {
// reverse Z rendering mapping without shift [znear, zfar] -> [1, -1] (ndc)
glScalef(1.0f, 1.0f, -1.0f);
}
glFrustum(cam.frustum_center - halfwidth,
cam.frustum_center + halfwidth,
cam.frustum_bottom,
@@ -757,9 +769,15 @@ void mjr_render(mjrRect viewport, mjvScene* scn, const mjrContext* con) {
float biasMatrix[16] = {
0.5f, 0.0f, 0.0f, 0.0f,
0.0f, 0.5f, 0.0f, 0.0f,
0.0f, 0.0f, 0.5f, 0.0f,
0.5f, 0.5f, 0.5f, 1.0f
0.0f, 0.0f, 1.0f, 0.0f,
0.5f, 0.5f, 0.0f, 1.0f
};
if (!mjGLAD_GL_ARB_clip_control) {
// account for conversion from ndc to window coordinates
biasMatrix[2*4+2] = 0.5;
biasMatrix[3*4+2] = 0.5;
}
float tempMatrix[16], textureMatrix[16];
mjvGeom *thisgeom, tempgeom;
mjvLight *thislight;
@@ -884,7 +902,7 @@ void mjr_render(mjrRect viewport, mjvScene* scn, const mjrContext* con) {
}
// render with stereo
for (int view=(stereo?0:-1); view < (stereo?2:0); view++) {
for (int view = (stereo ? 0 : -1); view < (stereo ? 2 : 0); view++) {
// change drawbuffer for QUADBUFFERED stereo
if (stereo == mjSTEREO_QUADBUFFERED) {
if (con->windowDoublebuffer) {
@@ -1107,6 +1125,15 @@ void mjr_render(mjrRect viewport, mjvScene* scn, const mjrContext* con) {
// set projection: from light viewpoint
glMatrixMode(GL_PROJECTION);
glLoadIdentity();
if (mjGLAD_GL_ARB_clip_control) {
// reverse Z rendering mapping [znear, zfar] -> [1, 0] (ndc)
glTranslatef(0.0f, 0.0f, 0.5f);
glScalef(1.0f, 1.0f, -0.5f);
}
else {
// reverse Z rendering mapping without shift [znear, zfar] -> [1, -1] (ndc)
glScalef(1.0f, 1.0f, -1.0f);
}
if (thislight->directional) {
glOrtho(-con->shadowClip, con->shadowClip,
-con->shadowClip, con->shadowClip,
@@ -1127,7 +1154,8 @@ void mjr_render(mjrRect viewport, mjvScene* scn, const mjrContext* con) {
glBindFramebuffer(GL_FRAMEBUFFER, con->shadowFBO);
glDrawBuffer(GL_NONE);
glClear(GL_DEPTH_BUFFER_BIT);
glViewport(1, 1, con->shadowSize-2, con->shadowSize-2); // avoid infinite shadows from edges
glViewport(
1, 1, con->shadowSize-2, con->shadowSize-2); // avoid infinite shadows from edges
glCullFace(GL_FRONT);
glShadeModel(GL_FLAT);
glDisable(GL_LIGHTING);