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Update wave shaders for vulkan #3

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merged 3 commits into from
Aug 25, 2023
Merged

Update wave shaders for vulkan #3

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d1fd4a2
fix shaders for vulkan
iche033 Aug 14, 2023
463099d
fix shaders
iche033 Aug 16, 2023
e2dca17
merge from main
iche033 Aug 22, 2023
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2 changes: 2 additions & 0 deletions README.md
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Original file line number Diff line number Diff line change
Expand Up @@ -5,6 +5,8 @@ Usage:
```
git clone https://github.com/gazebosim/harmonic_demo

cd harmonic_demo

export GZ_SIM_RESOURCE_PATH=`pwd`/harmonic_demo:$GZ_SIM_RESOURCE_PATH

gz sim -v 4 "harmonic_demo/harmonic.sdf"
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28 changes: 18 additions & 10 deletions harmonic_demo/Coast Waves 2/materials/programs/GerstnerWaves_fs_330.glsl
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Expand Up @@ -13,48 +13,56 @@
// See the License for the specific language governing permissions and
// limitations under the License.

#version 330
#version ogre_glsl_ver_330

////////// Input parameters //////////
// Textures
uniform samplerCube cubeMap;
uniform sampler2D bumpMap;
vulkan_layout( ogre_t0 ) uniform texture2D bumpMap;
vulkan_layout( ogre_t1 ) uniform textureCube cubeMap;

vulkan( layout( ogre_s0 ) uniform sampler texSampler0 );
vulkan( layout( ogre_s1 ) uniform sampler texSampler1 );

// Colors
uniform vec4 deepColor;
uniform vec4 shallowColor;
uniform float fresnelPower;
uniform float hdrMultiplier;
vulkan( layout( ogre_P0 ) uniform Params { )
uniform vec4 deepColor;
uniform vec4 shallowColor;
uniform float fresnelPower;
uniform float hdrMultiplier;
vulkan( }; )

////////// Input computed in vertex shader //////////
vulkan_layout( location = 0 )
in block
{
mat3 rotMatrix;
vec3 eyeVec;
vec2 bumpCoord;
} inPs;

vulkan_layout( location = 0 )
out vec4 fragColor;

void main()
{
// Apply bump mapping to normal vector to make waves look more detailed:
vec4 bump = texture(bumpMap, inPs.bumpCoord)*2.0 - 1.0;
vec4 bump = texture(vkSampler2D(bumpMap, texSampler0),
inPs.bumpCoord)*2.0 - 1.0;
vec3 N = normalize(inPs.rotMatrix * bump.xyz);

// Reflected ray:
vec3 E = normalize(inPs.eyeVec);
vec3 R = reflect(E, N);

// negate z for use with the skybox texture that comes with ign-rendering
// negate z for use with the skybox texture that comes with gz-rendering
R = vec3(R.x, R.y, -R.z);

// uncomment this line if using other textures that are Y up
// Gazebo requires rotated cube map lookup.
// R = vec3(R.x, R.z, R.y);

// Get environment color of reflected ray:
vec4 envColor = texture(cubeMap, R, 0.0);
vec4 envColor = texture(vkSamplerCube(cubeMap, texSampler1), R, 0.0);

// Cheap hdr effect:
envColor.rgb *= (envColor.r+envColor.g+envColor.b)*hdrMultiplier;
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56 changes: 31 additions & 25 deletions harmonic_demo/Coast Waves 2/materials/programs/GerstnerWaves_vs_330.glsl
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Expand Up @@ -32,32 +32,40 @@
//
// The derivative terms (Tangent, Binormal, Normal) have been
// updated to be consistent with this convention.
//

#version 330

in vec4 vertex;
in vec4 uv0;
uniform mat4 worldviewproj_matrix;

/////////// Input parameters //////////
// Waves
uniform int Nwaves;
uniform vec3 camera_position_object_space;
uniform float rescale;
uniform vec2 bumpScale;
uniform vec2 bumpSpeed;
uniform float t;
uniform vec3 amplitude;
uniform vec3 wavenumber;
uniform vec3 omega;
uniform vec3 steepness;
uniform vec2 dir0;
uniform vec2 dir1;
uniform vec2 dir2;
uniform float tau;

// original concept:
// https://developer.nvidia.com/gpugems/gpugems/part-i-natural-effects/chapter-1-effective-water-simulation-physical-models


#version ogre_glsl_ver_330

vulkan_layout( OGRE_POSITION ) in vec4 vertex;
vulkan_layout( OGRE_TEXCOORD0 ) in vec4 uv0;

vulkan( layout( ogre_P0 ) uniform Params { )
uniform mat4 worldviewproj_matrix;

/////////// Input parameters //////////
// Waves
uniform int Nwaves;
uniform vec3 camera_position_object_space;
uniform float rescale;
uniform vec2 bumpScale;
uniform vec2 bumpSpeed;
uniform float t;
uniform vec3 amplitude;
uniform vec3 wavenumber;
uniform vec3 omega;
uniform vec3 steepness;
uniform vec2 dir0;
uniform vec2 dir1;
uniform vec2 dir2;
uniform float tau;
vulkan( }; )

/////////// Output variables to fragment shader //////////
vulkan_layout( location = 0 )
out block
{
mat3 rotMatrix;
Expand All @@ -78,8 +86,6 @@ struct WaveParameters {
float q; // steepness for Gerstner wave (q=0: rolling sine waves)
};



out gl_PerVertex
{
vec4 gl_Position;
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68 changes: 59 additions & 9 deletions harmonic_demo/harmonic.sdf
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@@ -1,23 +1,40 @@
<sdf version="1.6">
<world name="ModelTest">
<gravity>0 0 0</gravity>
<world name="harmonic">

<physics name="1ms" type="ignored">
<max_step_size>0.001</max_step_size>
<real_time_factor>1.0</real_time_factor>
</physics>
<plugin
filename="gz-sim-physics-system"
name="gz::sim::systems::Physics">
</plugin>
<plugin
filename="gz-sim-sensors-system"
name="gz::sim::systems::Sensors">
<render_engine>ogre2</render_engine>
</plugin>
<plugin
filename="gz-sim-user-commands-system"
name="gz::sim::systems::UserCommands">
</plugin>
<plugin
filename="gz-sim-scene-broadcaster-system"
name="gz::sim::systems::SceneBroadcaster">
</plugin>

<gravity>0 0 -9.8</gravity>
<scene>
<ambient>1 1 1</ambient>
<grid>false</grid>
<sky></sky>
</scene>
<light type="directional" name="point_01">
<light type="directional" name="sun">
<cast_shadows>true</cast_shadows>
<pose>0 0 20 -1.3 0 0.5</pose>
<diffuse>0.8 0.8 0.8 1</diffuse>
<specular>0.1 0.1 0.1 1</specular>
<intensity>2</intensity>
<attenuation>
<range>600</range>
<constant>0</constant>
<linear>1</linear>
<quadratic>0.001</quadratic>
</attenuation>
</light>
<include>
<name>Lake House</name>
Expand Down Expand Up @@ -102,6 +119,39 @@
<name>Vanity</name>
<uri>Vanity</uri>
</include>


<model name="camera">
<static>true</static>
<pose>-9 -7.5 15 0.0, 0.4, 1.38</pose>
<link name="link">
<pose>0.05 0.05 0.05 0 0 0</pose>
<visual name="visual">
<geometry>
<box>
<size>0.1 0.1 0.1</size>
</box>
</geometry>
</visual>
<sensor name="camera" type="camera">
<camera>
<horizontal_fov>1.57</horizontal_fov>
<image>
<width>320</width>
<height>240</height>
</image>
<clip>
<near>0.1</near>
<far>100</far>
</clip>
</camera>
<always_on>1</always_on>
<update_rate>30</update_rate>
<visualize>true</visualize>
</sensor>
</link>
</model>

</world>
</sdf>