chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

In place change to reverse Z rendering and 32 bit float offscreen depth buffer

Browse Source
This commit is contained in:
Levi Burner
2023-07-11 14:10:14 -04:00
parent 14f1386fc0
commit d32eb6bd12
9 changed files with 24 additions and 161 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/render/render_gl3.c
+10 -38
View File
@@ -498,11 +498,7 @@ static void initGL3(const mjvScene* scn, const mjrContext* con) {
// common options
glDisable(GL_BLEND);
glEnable(GL_NORMALIZE);
if (con->depthMapping == mjDB_ONETOZERO) {
glClipControl(GL_LOWER_LEFT, GL_ZERO_TO_ONE);
} else {
glClipControl(GL_LOWER_LEFT, GL_NEGATIVE_ONE_TO_ONE);
}
glClipControl(GL_LOWER_LEFT, GL_ZERO_TO_ONE);
glEnable(GL_DEPTH_TEST);
glDepthMask(GL_TRUE);
if (scn->flags[mjRND_CULL_FACE]) {
@@ -511,19 +507,11 @@ static void initGL3(const mjvScene* scn, const mjrContext* con) {
glDisable(GL_CULL_FACE);
}
glShadeModel(GL_SMOOTH);
if (con->depthMapping == mjDB_ONETOZERO) {
glDepthFunc(GL_GEQUAL);
} else {
glDepthFunc(GL_LEQUAL);
}
glDepthFunc(GL_GEQUAL);
glDepthRange(0, 1);
glAlphaFunc(GL_GEQUAL, 0.99f);
glClearColor(0, 0, 0, 0);
if (con->depthMapping == mjDB_ONETOZERO) {
glClearDepth(0);
} else {
glClearDepth(1);
}
glClearDepth(0);
glClearStencil(0);
glTexEnvi(GL_TEXTURE_ENV, GL_TEXTURE_ENV_MODE, GL_MODULATE);
@@ -613,11 +601,9 @@ static void setView(int view, mjrRect viewport, const mjvScene* scn, const mjrCo
// set projection
glMatrixMode(GL_PROJECTION);
glLoadIdentity();
if (con->depthMapping == mjDB_ONETOZERO) {
// account for GL_ZERO_TO_ONE and reverse Z
glTranslatef(0,0,0.5);
glScalef(1,1,-0.5);
}
// reverse Z rendering mapping (znear, zfar) -> (1, 0)
glTranslatef(0,0,0.5);
glScalef(1,1,-0.5);
glFrustum(cam.frustum_center - halfwidth,
cam.frustum_center + halfwidth,
cam.frustum_bottom,
@@ -690,24 +676,12 @@ void mjr_render(mjrRect viewport, mjvScene* scn, const mjrContext* con) {
float temp[4], headpos[3], forward[3], skyboxdst;
float camProject[16], camView[16], lightProject[16], lightView[16];
double clipplane[4];
float biasMatrixOneToZero[16] = {
float biasMatrix[16] = {
0.5f, 0.0f, 0.0f, 0.0f,
0.0f, 0.5f, 0.0f, 0.0f,
0.0f, 0.0f, 1.0f, 0.0f,
0.5f, 0.5f, 0.0f, 1.0f
};
float biasMatrixNegOneToOne[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
};
float* biasMatrix;
if (con->depthMapping == mjDB_ONETOZERO) {
biasMatrix = biasMatrixOneToZero;
} else {
biasMatrix = biasMatrixNegOneToOne;
}
float tempMatrix[16], textureMatrix[16];
mjvGeom *thisgeom, tempgeom;
@@ -1056,11 +1030,9 @@ void mjr_render(mjrRect viewport, mjvScene* scn, const mjrContext* con) {
// set projection: from light viewpoint
glMatrixMode(GL_PROJECTION);
glLoadIdentity();
if (con->depthMapping == mjDB_ONETOZERO) {
// account for GL_ZERO_TO_ONE and reverse Z
glTranslatef(0,0,0.5);
glScalef(1,1,-0.5);
}
// reverse Z rendering mapping (znear, zfar) -> (1, 0)
glTranslatef(0,0,0.5);
glScalef(1,1,-0.5);
if (thislight->directional) {
glOrtho(-con->shadowClip, con->shadowClip,
-con->shadowClip, con->shadowClip,