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Fix rendering of reflection for transparent geoms.

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PiperOrigin-RevId: 462589429
Change-Id: Ibda2d2b83cb43804644fecfe3a1e2a8496f3de56
This commit is contained in:
Saran Tunyasuvunakool
2022-07-22 04:08:16 -07:00
committed by Copybara-Service
parent b849023069
commit 95b6327bb5
1 changed files with 47 additions and 14 deletions
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src/render/render_gl3.c
+47 -14
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@@ -450,6 +450,27 @@ static void renderGeom(const mjvGeom* geom, int mode, const float* headpos,
void renderGeomReflection(int id, float reflectance, float headpos[3],
mjvScene* scn, const mjrContext* con) {
float old_rgb[3];
// save rgb, modulate rgb by this->reflectance
for (int k=0; k<3; k++) {
old_rgb[k] = scn->geoms[id].rgba[k];
scn->geoms[id].rgba[k] *= reflectance;
}
// render
renderGeom(scn->geoms+id, mjrRND_NORMAL, headpos, scn, con);
// restore rgb
for (int k=0; k<3; k++) {
scn->geoms[id].rgba[k] = old_rgb[k];
}
}
//----------------------------- high-level 3D rendering --------------------------------------------
// init, with or without special effects
@@ -890,23 +911,35 @@ void mjr_render(mjrRect viewport, mjvScene* scn, const mjrContext* con) {
glEnable(GL_LIGHT0+j);
}
// render reflected scene except for thisgeom
for (int j=0; j<ngeom; j++)
if (i!=j) {
// save rgb, modulate rgb by this->reflectance
for (int k=0; k<3; k++) {
temp[k] = scn->geoms[j].rgba[k];
scn->geoms[j].rgba[k] *= thisgeom->reflectance;
}
// render reflected non-transparent geoms, except for thisgeom
for (int j=0; j<ngeom; j++) {
if (!scn->geoms[j].transparent && i!=j) {
renderGeomReflection(j, thisgeom->reflectance, headpos, scn, con);
}
}
// render
renderGeom(scn->geoms+j, mjrRND_NORMAL, headpos, scn, con);
// restore rgb
for (int k=0; k<3; k++) {
scn->geoms[j].rgba[k] = temp[k];
// render reflected transparent geoms, except for thisgeom
glDepthMask(GL_FALSE);
glEnable(GL_BLEND);
if (scn->flags[mjRND_ADDITIVE]) {
glBlendFunc(GL_SRC_ALPHA, GL_ONE);
} else {
glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
}
for (int j=0; j<nt; j++) {
if (i!=scn->geomorder[j]) {
renderGeomReflection(scn->geomorder[j], thisgeom->reflectance, headpos, scn, con);
}
}
if (!scn->flags[mjRND_ADDITIVE]) {
for (int j=nt-1; j>=0; j--) {
if (i!=scn->geomorder[j]) {
renderGeomReflection(scn->geomorder[j], thisgeom->reflectance, headpos, scn, con);
}
}
}
glDepthMask(GL_TRUE);
glDisable(GL_BLEND);
// disable lights
for (int j=0; j<nlight; j++) {