Osg shadows and lighting

dart/gui/osg/CMakeLists.txt

@@ -7,7 +7,7 @@ endif()
 if(DART_BUILD_GUI_OSG)
 
   find_package(OpenSceneGraph 3.0 QUIET
-    COMPONENTS osg osgViewer osgManipulator osgGA osgDB)
+    COMPONENTS osg osgViewer osgManipulator osgGA osgDB osgShadow)
 
   # It seems that OPENSCENEGRAPH_FOUND will inadvertently get set to true when
   # OpenThreads is found, even if OpenSceneGraph is not installed. This is quite

dart/gui/osg/ShadowedWorldNode.cpp

@@ -0,0 +1,84 @@
+/*
+ * Copyright (c) 2011-2017, The DART development contributors
+ * All rights reserved.
+ *
+ * The list of contributors can be found at:
+ *   https://github.com/dartsim/dart/blob/master/LICENSE
+ *
+ * This file is provided under the following "BSD-style" License:
+ *   Redistribution and use in source and binary forms, with or
+ *   without modification, are permitted provided that the following
+ *   conditions are met:
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
+ *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
+ *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+ *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
+ *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
+ *   USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *   POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#include <osgShadow/ShadowedScene>
+#include <osgShadow/ShadowMap>
+
+#include "dart/gui/osg/ShadowedWorldNode.hpp"
+
+namespace dart {
+namespace gui {
+namespace osg {
+
+//==============================================================================
+ShadowedWorldNode::ShadowedWorldNode(std::shared_ptr<dart::simulation::World> _world)
+  : WorldNode(_world) {}
+
+//==============================================================================
+void ShadowedWorldNode::setupViewer()
+{
+  constexpr int ReceivesShadowTraversalMask = 0x2;
+  constexpr int CastsShadowTraversalMask = 0x1;
+
+  // Setup shadows
+  // Create the ShadowedScene
+  ::osg::ref_ptr<osgShadow::ShadowedScene> shadowedScene = new osgShadow::ShadowedScene;
+  shadowedScene->setReceivesShadowTraversalMask(ReceivesShadowTraversalMask);
+  shadowedScene->setCastsShadowTraversalMask(CastsShadowTraversalMask);
+  // Use the ShadowMap technique
+  ::osg::ref_ptr<osgShadow::ShadowMap> sm = new osgShadow::ShadowMap;
+  // increase the resolution of default shadow texture for higher quality
+  int mapres = std::pow(2, 13);
+  sm->setTextureSize(::osg::Vec2s(mapres,mapres));
+
+  // set the technique
+  shadowedScene->setShadowTechnique(sm.get());
+
+  // add the Viewer's root object to the shadowed scene
+  shadowedScene->addChild(mViewer->getRootGroup().get());
+
+  // save the shadowed scene
+  mShadowedScene = shadowedScene;
+  // get camera's home position
+  // it is resetted when changing the SceneData, which can lead to undesired behavior
+  ::osg::Vec3d eye, center, up;
+  mViewer->getCameraManipulator()->getHomePosition(eye, center, up);
+  // replace the viewer's scene data with the shadowed scene
+  mViewer->setSceneData(mShadowedScene.get());
+  // reset the home position
+  mViewer->getCameraManipulator()->setHomePosition(eye, center, up);
+  mViewer->home();
+}
+
+} // namespace osg
+} // namespace gui
+} // namespace dart

dart/gui/osg/ShadowedWorldNode.hpp

@@ -0,0 +1,65 @@
+/*
+ * Copyright (c) 2011-2017, The DART development contributors
+ * All rights reserved.
+ *
+ * The list of contributors can be found at:
+ *   https://github.com/dartsim/dart/blob/master/LICENSE
+ *
+ * This file is provided under the following "BSD-style" License:
+ *   Redistribution and use in source and binary forms, with or
+ *   without modification, are permitted provided that the following
+ *   conditions are met:
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
+ *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
+ *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+ *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
+ *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
+ *   USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *   POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef DART_GUI_OSG_SHADOWEDWORLDNODE_HPP_
+#define DART_GUI_OSG_SHADOWEDWORLDNODE_HPP_
+
+#include "dart/gui/osg/WorldNode.hpp"
+
+namespace dart {
+namespace gui {
+namespace osg {
+
+/// ShadowedWorldNode class encapsulates a World to be displayed in OpenSceneGraph with shadows
+class ShadowedWorldNode : public WorldNode
+{
+public:
+
+  /// Default constructor
+  explicit ShadowedWorldNode(std::shared_ptr<dart::simulation::World> _world = nullptr);
+
+protected:
+  /// Called when this world gets added to an dart::gui::osg::Viewer. Override
+  /// this function to customize the way your WorldNode starts up in an
+  /// dart::gui::osg::Viewer. Default behavior enables shadows.
+  void setupViewer();
+
+  /// Osg ShadowedScene for handling shadows
+  ::osg::ref_ptr<::osg::Group> mShadowedScene;
+
+};
+
+} // namespace osg
+} // namespace gui
+} // namespace dart
+
+#endif // DART_GUI_OSG_SHADOWEDWORLDNODE_HPP_

dart/gui/osg/Viewer.cpp

@@ -316,48 +316,50 @@ void Viewer::switchHeadlights(bool _on)
 
   if(_on)
   {
+    // Turn on lights
     if(getLight())
     {
-      getLight()->setAmbient(::osg::Vec4(0.1,0.1,0.1,1.0));
-      getLight()->setDiffuse(::osg::Vec4(0.8,0.8,0.8,1.0));
+      getLight()->setAmbient(::osg::Vec4(0.1,0.1,0.1,1.0)); // small ambient lighting is always desirable
+      getLight()->setDiffuse(::osg::Vec4(1.0,1.0,1.0,1.0));
       getLight()->setSpecular(::osg::Vec4(1.0,1.0,1.0,1.0));
     }
 
     if(mLight1)
     {
       mLight1->setAmbient(::osg::Vec4(0.0,0.0,0.0,1.0));
-      mLight1->setDiffuse(::osg::Vec4(0.0,0.0,0.0,1.0));
-      mLight1->setSpecular(::osg::Vec4(0.0,0.0,0.0,1.0));
+      mLight1->setDiffuse(::osg::Vec4(1.0,1.0,1.0,1.0));
+      mLight1->setSpecular(::osg::Vec4(1.0,1.0,1.0,1.0));
     }
 
     if(mLight2)
     {
       mLight2->setAmbient(::osg::Vec4(0.0,0.0,0.0,1.0));
-      mLight2->setDiffuse(::osg::Vec4(0.0,0.0,0.0,1.0));
-      mLight2->setSpecular(::osg::Vec4(0.0,0.0,0.0,1.0));
+      mLight1->setDiffuse(::osg::Vec4(1.0,1.0,1.0,1.0));
+      mLight1->setSpecular(::osg::Vec4(1.0,1.0,1.0,1.0));
     }
   }
   else
   {
+    // Turn off lights
     if(getLight())
     {
-      getLight()->setAmbient(::osg::Vec4(0.1,0.1,0.1,1.0));
+      getLight()->setAmbient(::osg::Vec4(0.1,0.1,0.1,1.0)); // small ambient lighting is always desirable
       getLight()->setDiffuse(::osg::Vec4(0.0,0.0,0.0,1.0));
       getLight()->setSpecular(::osg::Vec4(0.0,0.0,0.0,1.0));
     }
 
     if(mLight1)
     {
       mLight1->setAmbient(::osg::Vec4(0.0,0.0,0.0,1.0));
-      mLight1->setDiffuse(::osg::Vec4(0.7,0.7,0.7,1.0));
-      mLight1->setSpecular(::osg::Vec4(0.9,0.9,0.9,1.0));
+      mLight1->setDiffuse(::osg::Vec4(0.0,0.0,0.0,1.0));
+      mLight1->setSpecular(::osg::Vec4(0.0,0.0,0.0,1.0));
     }
 
     if(mLight2)
     {
       mLight2->setAmbient(::osg::Vec4(0.0,0.0,0.0,1.0));
-      mLight2->setDiffuse(::osg::Vec4(0.3,0.3,0.3,1.0));
-      mLight2->setSpecular(::osg::Vec4(0.4,0.4,0.4,1.0));
+      mLight2->setDiffuse(::osg::Vec4(0.0,0.0,0.0,1.0));
+      mLight2->setSpecular(::osg::Vec4(0.0,0.0,0.0,1.0));
     }
   }
 }
@@ -508,10 +510,13 @@ void Viewer::setUpwardsDirection(const ::osg::Vec3& _up)
     mOver = ::osg::Vec3(0,0,1)^_up;
   mOver.normalize();
 
-  ::osg::Vec3 p1 = mUpwards+mOver;
-  mLight1->setPosition(::osg::Vec4(p1[0], p1[1], p1[2], 0.0));
-  ::osg::Vec3 p2 = mUpwards-mOver;
-  mLight2->setPosition(::osg::Vec4(p2[0], p2[1], p2[2], 0.0));
+  ::osg::Vec3 p1 = mUpwards*2.+mOver;
+  mLight1->setPosition(::osg::Vec4(p1[0], p1[1], p1[2], 1.0)); // 1.0 at the end means point or spot light
+  // default is point light since the spot cutoff is set at 180 degrees by default
+  mLight1->setQuadraticAttenuation(1.); // enable quadratic attenuation for more realistic lighting
+  ::osg::Vec3 p2 = mUpwards*2.-mOver;
+  mLight2->setPosition(::osg::Vec4(p2[0], p2[1], p2[2], 1.0)); // 1.0 at the end means point or spot light
+  mLight2->setQuadraticAttenuation(1.); // enable quadratic attenuation for more realistic lighting
 }
 
 //==============================================================================