CustomPSSMShadowCameraSetup.hh

Go to the documentation of this file.

/*
 * Copyright (C) 2017 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/

#ifndef GAZEBO_RENDERING_CUSTOMPSSMSHADOWCAMERASETUP_HH_
#define GAZEBO_RENDERING_CUSTOMPSSMSHADOWCAMERASETUP_HH_

#include "gazebo/rendering/ogre_gazebo.h"

#include "gazebo/util/system.hh"

namespace gazebo
{
  namespace rendering
  {
    class GAZEBO_VISIBLE CustomPSSM3 : public Ogre::RTShader::IntegratedPSSM3
    {
      public: CustomPSSM3() {}

      // Documentation inherited
      public: virtual const Ogre::String &getType() const override;

      protected: virtual bool resolveParameters(
                  Ogre::RTShader::ProgramSet *_programSet) override;

      public: static Ogre::String Type;
    };

    class GAZEBO_VISIBLE CustomPSSM3Factory :
        public Ogre::RTShader::SubRenderStateFactory
    {
      // Documentation inherited.
      public: virtual const Ogre::String &getType() const override;

      // Documentation inherited.
      public: virtual Ogre::RTShader::SubRenderState *createInstance(
                  Ogre::ScriptCompiler *_compiler,
                  Ogre::PropertyAbstractNode *_prop,
                  Ogre::Pass *_pass,
                  Ogre::RTShader::SGScriptTranslator *_translator) override;

      // Documentation inherited
      protected: virtual Ogre::RTShader::SubRenderState *createInstanceImpl()
                  override;
    };

    class GAZEBO_VISIBLE CustomPSSMShadowCameraSetup
          : public Ogre::PSSMShadowCameraSetup
    {
      public: CustomPSSMShadowCameraSetup();

      public: ~CustomPSSMShadowCameraSetup();

      void calculateShadowMappingMatrix(const Ogre::SceneManager &_sm,
          const Ogre::Camera &_cam, const Ogre::Light &_light,
          Ogre::Matrix4 *_out_view, Ogre::Matrix4 *_outProj,
          Ogre::Camera *_outCam) const;

      public: Ogre::Matrix4 buildViewMatrix(const Ogre::Vector3 &_pos,
          const Ogre::Vector3 &_dir, const Ogre::Vector3 & _up) const;

      public: virtual void getZUpFocusedShadowCamera(
          const Ogre::SceneManager *_sm, const Ogre::Camera *_cam,
          const Ogre::Viewport *_vp, const Ogre::Light *_light,
          Ogre::Camera *_texCam, size_t _iteration) const;

      public: virtual void getShadowCamera(const Ogre::SceneManager *_sm,
          const Ogre::Camera *_cam, const Ogre::Viewport *_vp,
          const Ogre::Light *_light, Ogre::Camera *_texCam, size_t _iteration)
          const override;
    };

    class GAZEBO_VISIBLE CustomGLSLProgramWriter :
        public Ogre::RTShader::GLSLProgramWriter
    {
      public: CustomGLSLProgramWriter();

      public: ~CustomGLSLProgramWriter() = default;
    };

    class GAZEBO_VISIBLE CustomGLSLProgramWriterFactory :
        public Ogre::RTShader::ProgramWriterFactory
    {
      public: CustomGLSLProgramWriterFactory();

      public: ~CustomGLSLProgramWriterFactory() = default;

      public: const Ogre::String &getTargetLanguage() const override;

      public: virtual Ogre::RTShader::ProgramWriter* create() override;
    };
  }
}

#endif