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Support reversed Z rendering and float32 offscreen depth buffer

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Combined, both options greatly improve camera depth accuracy compared to
OpenGL default Z mapping and int24 depth buffer.

Requires GL_ARB_clip_control and ARB_depth_buffer_float extensions
This commit is contained in:
Levi Burner
2023-06-14 14:42:42 -04:00
parent e1549376f6
commit fc7b212369
10 changed files with 193 additions and 17 deletions
Download Patch File Download Diff File Expand all files Collapse all files
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;