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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/render_gl3.c
+34 -6
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@@ -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);