OSG shadows

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/Viewer.cpp

@@ -35,6 +35,13 @@
 #include <osg/OperationThread>
 #include <osgDB/WriteFile>
 
+#include <osgShadow/ShadowedScene>
+#include <osgShadow/ShadowVolume>
+#include <osgShadow/ShadowTexture>
+#include <osgShadow/ShadowMap>
+#include <osgShadow/StandardShadowMap>
+#include <osgShadow/SoftShadowMap>
+
 #include "dart/gui/osg/Viewer.hpp"
 #include "dart/gui/osg/TrackballManipulator.hpp"
 #include "dart/gui/osg/DefaultEventHandler.hpp"
@@ -190,7 +197,7 @@ void ViewerAttachment::attach(Viewer* newViewer)
 }
 
 //==============================================================================
-Viewer::Viewer(const ::osg::Vec4& clearColor)
+Viewer::Viewer(const ::osg::Vec4& clearColor, bool shadowsOn, ShadowType shadowType)
   : mImageSequenceNum(0),
     mImageDigits(0),
     mRecording(false),
@@ -206,6 +213,11 @@ Viewer::Viewer(const ::osg::Vec4& clearColor)
     mAllowSimulation(true),
     mHeadlights(true)
 {
+  enableShadows(shadowsOn, shadowType);
+
+  // add the physics group to the root group
+  mRootGroup->addChild(mPhysicsGroup);
+
   setCameraManipulator(new osg::TrackballManipulator);
   addInstructionText("Left-click:   Interaction\n");
   addInstructionText("Right-click:  Rotate view\n");
@@ -215,12 +227,12 @@ Viewer::Viewer(const ::osg::Vec4& clearColor)
   mDefaultEventHandler = new DefaultEventHandler(this);
   // ^ Cannot construct this in the initialization list, because its constructor calls member functions of this object
 
-  setSceneData(mRootGroup);
   addEventHandler(mDefaultEventHandler);
-  setupDefaultLights();
   getCamera()->setClearColor(clearColor);
 
   getCamera()->setFinalDrawCallback(new SaveScreen(this));
+
+  setSceneData(mRootGroup.get());
 }
 
 //==============================================================================
@@ -375,7 +387,7 @@ void Viewer::addWorldNode(WorldNode* _newWorldNode, bool _active)
     return;
 
   mWorldNodes[_newWorldNode] = _active;
-  mRootGroup->addChild(_newWorldNode);
+  mPhysicsGroup->addChild(_newWorldNode);
   if(_active)
     _newWorldNode->simulate(mSimulating);
   _newWorldNode->mViewer = this;
@@ -389,7 +401,7 @@ void Viewer::removeWorldNode(WorldNode* _oldWorldNode)
   if(it == mWorldNodes.end())
     return;
 
-  mRootGroup->removeChild(it->first);
+  mPhysicsGroup->removeChild(it->first);
   mWorldNodes.erase(it);
 }
 
@@ -401,7 +413,7 @@ void Viewer::removeWorldNode(std::shared_ptr<dart::simulation::World> _oldWorld)
   if(nullptr == node)
     return;
 
-  mRootGroup->removeChild(node);
+  mPhysicsGroup->removeChild(node);
   mWorldNodes.erase(node);
 }
 
@@ -474,7 +486,7 @@ void Viewer::setupDefaultLights()
   setUpwardsDirection(mUpwards);
   switchHeadlights(true);
 
-  ::osg::ref_ptr<::osg::StateSet> lightSS = mRootGroup->getOrCreateStateSet();
+  ::osg::ref_ptr<::osg::StateSet> lightSS = mPhysicsGroup->getOrCreateStateSet();
 
   mLight1->setLightNum(1);
   mLightSource1->setLight(mLight1);
@@ -490,8 +502,8 @@ void Viewer::setupDefaultLights()
   mLightGroup->removeChild(mLightSource2);
   mLightGroup->addChild(mLightSource2);
 
-  mRootGroup->removeChild(mLightGroup);
-  mRootGroup->addChild(mLightGroup);
+  mPhysicsGroup->removeChild(mLightGroup);
+  mPhysicsGroup->addChild(mLightGroup);
 }
 
 //==============================================================================
@@ -831,6 +843,100 @@ const ::osg::ref_ptr<::osg::Group>& Viewer::getRootGroup() const
   return mRootGroup;
 }
 
+//==============================================================================
+const ::osg::ref_ptr<::osg::Group>& Viewer::getPhysicsGroup() const
+{
+  return mPhysicsGroup;
+}
+
+//==============================================================================
+bool Viewer::isShadowed() const
+{
+  return mShadowed;
+}
+
+//==============================================================================
+void Viewer::enableShadows(bool _enable, ShadowType type)
+{
+  if(!mPhysicsGroup) {
+    // Flags for shadowing; maybe this needs to be global?
+    constexpr int ReceivesShadowTraversalMask = 0x2;
+    constexpr int CastsShadowTraversalMask = 0x1;
+
+    // Setup shadows
+    // Create one ShadowedScene for each light
+    ::osg::ref_ptr<osgShadow::ShadowedScene> shadowedScene = new osgShadow::ShadowedScene;
+    shadowedScene->setReceivesShadowTraversalMask(ReceivesShadowTraversalMask);
+    shadowedScene->setCastsShadowTraversalMask(CastsShadowTraversalMask);
+
+    // set the physics group
+    mPhysicsGroup = shadowedScene.get();
+    mPhysicsGroup->getOrCreateStateSet();
+
+    setupDefaultLights();
+  }
+
+  if(_enable) {
+    switch(type) {
+      case ShadowType::STANDARD_SHADOW_MAP:
+        {
+        // Use the StandardShadowMap technique
+        ::osg::ref_ptr<osgShadow::StandardShadowMap> ssm = new osgShadow::StandardShadowMap;
+        // we are using Light1 because this is the highest one (on up direction)
+        ssm->setLight(mLight1);
+        // set the technique
+        static_cast<osgShadow::ShadowedScene*>(mPhysicsGroup.get())->setShadowTechnique(ssm.get());
+        break;
+        }
+      case ShadowType::SOFT_SHADOW_MAP:
+        {
+        // Use the SoftShadowMap technique
+        ::osg::ref_ptr<osgShadow::SoftShadowMap> softsm = new osgShadow::SoftShadowMap;
+        // we are using Light1 because this is the highest one (on up direction)
+        softsm->setLight(mLight1);
+        // set the technique
+        static_cast<osgShadow::ShadowedScene*>(mPhysicsGroup.get())->setShadowTechnique(softsm.get());
+        break;
+        }
+      case ShadowType::SHADOW_TEXTURE:
+        {
+        // Use the ShadowTexture technique
+        ::osg::ref_ptr<osgShadow::ShadowTexture> st = new osgShadow::ShadowTexture;
+        // set the technique
+        static_cast<osgShadow::ShadowedScene*>(mPhysicsGroup.get())->setShadowTechnique(st.get());
+        break;
+        }
+      case ShadowType::SHADOW_VOLUME:
+        {
+        // hint to tell viewer to request stencil buffer when setting up windows
+        ::osg::DisplaySettings::instance()->setMinimumNumStencilBits(8);
+        // Use the ShadowVolume technique
+        ::osg::ref_ptr<osgShadow::ShadowVolume> sv = new osgShadow::ShadowVolume;
+        // set the technique
+        static_cast<osgShadow::ShadowedScene*>(mPhysicsGroup.get())->setShadowTechnique(sv.get());
+        break;
+        }
+      default: // SHADOW_MAP
+        {
+        // 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));
+        // we are using Light1 because this is the highest one (on up direction)
+        sm->setLight(mLight1);
+        // set the technique
+        static_cast<osgShadow::ShadowedScene*>(mPhysicsGroup.get())->setShadowTechnique(sm.get());
+        break;
+        }
+    }
+  }
+  else
+    static_cast<osgShadow::ShadowedScene*>(mPhysicsGroup.get())->setShadowTechnique(0);
+
+  mShadowed = _enable;
+}
+
 } // namespace osg
 } // namespace gui
 } // namespace dart

dart/gui/osg/Viewer.hpp

@@ -115,9 +115,18 @@ class Viewer : public osgViewer::Viewer, public dart::common::Subject
 {
 public:
 
+  enum ShadowType {
+    SHADOW_MAP = 0,
+    STANDARD_SHADOW_MAP,
+    SOFT_SHADOW_MAP,
+    SHADOW_TEXTURE,
+    SHADOW_VOLUME
+    // TODO: Add more techniques
+  };
+
   /// Constructor for dart::gui::osg::Viewer. This will automatically create the
   /// default event handler.
-  Viewer(const ::osg::Vec4& clearColor = ::osg::Vec4(0.9,0.9,0.9,1.0));
+  Viewer(const ::osg::Vec4& clearColor = ::osg::Vec4(0.9,0.9,0.9,1.0), bool shadowsOn = false, ShadowType shadowType = ShadowType::SHADOW_MAP);
 
   /// Destructor
   virtual ~Viewer();
@@ -288,6 +297,12 @@ class Viewer : public osgViewer::Viewer, public dart::common::Subject
   /// Get the root ::osg::Group of this Viewer
   const ::osg::ref_ptr<::osg::Group>& getRootGroup() const;
 
+  /// Get the physics root ::osg::Group of this Viewer
+  const ::osg::ref_ptr<::osg::Group>& getPhysicsGroup() const;
+
+  bool isShadowed() const;
+  void enableShadows(bool _enable = true, ShadowType type = ShadowType::SHADOW_MAP);
+
 protected:
 
   friend class SaveScreen;
@@ -319,6 +334,12 @@ class Viewer : public osgViewer::Viewer, public dart::common::Subject
   /// The root node of this Viewer
   ::osg::ref_ptr<::osg::Group> mRootGroup;
 
+  /// The DART physics node of this Viewer
+  ::osg::ref_ptr<::osg::Group> mPhysicsGroup;
+
+  /// Whether the shadows are enabled
+  bool mShadowed;
+
   /// The Group Node containing light sources
   ::osg::ref_ptr<::osg::Group> mLightGroup;