OglShapeRenderer class is an implementation of MbsShapeRenderer that render a MbsShape3D using Open GL. More...

#include <OglShapeRenderer.hh>

Inheritance diagram for OglShapeRenderer:

Public Member Functions
	OglShapeRenderer (std::string vertex_file, std::string fragment_file, MbsWorld3D w, OglWorldRenderer world_rend)
	Constructor. More...

virtual	~OglShapeRenderer ()
	destructor of the OglShapeRenderer More...

virtual void	Init (std::vector< glm::vec3 > vertices, std::vector< glm::vec3 > colors, std::vector< glm::vec3 > normals, std::vector< unsigned int > indexes)
	Init the current shape renderer: create Ogl object necessary to represnet the shape. More...

virtual void	Update (glm::mat4 model_mat, glm::mat4 MVP, glm::mat3 M_inv_trans, MbsWorld3D *world_3d, float shiny_mat, glm::vec3 const &specular_mat, float transparency)
	Execute the necessary code to render this shape: Update the Ogl transform and add it to the pipeline. More...

virtual void	ShadowDepth (int index)
	update of the shadow depth buffer More...

virtual void	SetModelMat (glm::mat4 const &model_mat)
	set the model matrix More...

Protected Member Functions
void	LightsInit (float shiny_mat, glm::vec3 const &specular_mat, float transparency)
	initalize the lights More...

void	LightsUpdate ()
	update the lights More...

std::string	StringLoc (const char *fieldName, size_t index)
	generate a string to get the location of a specific field (to communicate with fragment shader), without property More...

std::string	StringLoc (const char fieldName, const char propertyName, size_t index)
	generate a string to get the location of a specific field (to communicate with fragment shader), with property More...

void	MVPDepth (int index)
	update mvpDepth and depthBiasMVP (uniform matrices for shadow shaders) More...

Protected Attributes
glm::mat4	model_mat
	model matrix ==> the same as the one stored in MbsShape3D More...

int	nb_indexes
	size of the indexes vector More...

MbsWorld3D *	world_3d
	3D world More...

OglWorldRenderer *	world_rend
	reference to the world renderer that creat this shape renderer More...

std::vector< ShaderLight >	sh_lights
	shaders for lights More...

int	shader_flag
	flag for shaders More...

Shader	shader
	main shader More...

Shader *	depth_shader
	depth shader More...

std::vector< GLuint >	lightPosID
	ID of the light position. More...

std::vector< GLuint >	lightColID
	ID of the light color. More...

std::vector< GLuint >	lightAttID
	ID of the light attenuation. More...

std::vector< GLuint >	lightAmbID
	ID of the light ambiance. More...

std::vector< GLuint >	lightConAngID
	ID of the light cone angle (for spots) More...

std::vector< GLuint >	lightConDirID
	ID of the light cone direction (for spots) More...

GLuint	mvpID
	ID of the MVP matrix. More...

GLuint	modelMatID
	ID of the model matrix. More...

GLuint	MInvTransID
	ID of transpose and inverse of the model matrix. More...

glm::mat4	biasMatrix
	bias matrix More...

std::vector< glm::mat4 >	mvpDepth
	MVP depth matrix. More...

std::vector< glm::mat4 >	depthBiasMVP
	depth bias More...

std::string	depth_vert_sh
	vertex depth shader path More...

std::string	depth_frag_sh
	fragment depth shader path More...

bool	light_init
	flag to know if the ligth is initialized More...

GLuint	VAO_id
	VAO. More...

GLuint	VBO_vertex_id
	VBO for vertices. More...

GLuint	VBO_color_id
	VBO for colors. More...

GLuint	VBO_normal_id
	VBO for normals. More...

GLuint	VBO_indexes_id
	VBO for indexes. More...

GLuint	transID
	ID of the transparency. More...

GLuint	nbLightsID
	ID of the number of lights. More...

GLuint	cameraID
	ID of the camera. More...

GLuint	shininessID
	ID of the shininess (shape material) More...

GLuint	specularID
	ID of the specular value (shape material) More...

std::vector< GLuint >	depthBiasID
	ID of the depth bias. More...

std::vector< GLuint >	shadowMapID
	ID of the shadow map. More...

std::vector< GLuint >	shadowBiasID
	ID of the shadow bias. More...

std::vector< GLuint >	spreadID
	ID of the spread factor for Poisson disk. More...

std::vector< GLuint >	mvpDepthID
	ID of the depth matrices MVP. More...

std::vector< GLuint >	frameBuffer
	frame buffer More...

std::vector< GLuint >	depthTexture
	depth textures More...

std::vector< int >	depth_semi_x_width
	X semi width of the shadow map depth textures (in pixels) More...

std::vector< int >	depth_semi_y_width
	X semi width of the shadow map depth textures (in pixels) More...

std::vector< float >	depth_ratio_width
	ration between the X and Y width components of the depth texture More...

Detailed Description

OglShapeRenderer class is an implementation of MbsShapeRenderer that render a MbsShape3D using Open GL.

Constructor & Destructor Documentation

◆ OglShapeRenderer()

OglShapeRenderer	(	std::string	vertex_file,
		std::string	fragment_file,
		MbsWorld3D *	wrld3d,
		OglWorldRenderer *	wr
	)

Constructor.

constructor of an OglShapeRenderer

OglShapeRenderer implements the necessary functions to render a MbsShape3D using OpenGL.

Parameters

[in]	vertex_file	vertex shader file to load (with path)
[in]	fragment_file	fragment shader file to load (with path)
[in]	world_3d	3D world
[in]	wr	the MbsWorldRenderer object associated to this renderer

◆ ~OglShapeRenderer()

~OglShapeRenderer ( )

virtual

destructor of the OglShapeRenderer

Member Function Documentation

◆ Init()

void Init	(	std::vector< glm::vec3 >	vertices,
		std::vector< glm::vec3 >	colors,
		std::vector< glm::vec3 >	normals,
		std::vector< unsigned int >	indexes
	)

virtual

Init the current shape renderer: create Ogl object necessary to represnet the shape.

initialize the shape renderer by giving the parameters of the shape (vertices, colors, normals, ...)

Parameters

[in]	vertices	the vertices of the shape that must be rendered by this ShapeRenderer
[in]	colors	the colors associated to the vertices defined in vertices
[in]	normals	the normals associated to the vertices defined in vertices
[in]	indexes	the vertex indices defining the triangles of the shape (i.e. the connectivity)

Implements MbsShapeRenderer.

◆ LightsInit()

void LightsInit	(	float	shiny_mat,
		glm::vec3 const &	specular_mat,
		float	transparency
	)

protected

initalize the lights

◆ LightsUpdate()

void LightsUpdate ( )

protected

update the lights

◆ MVPDepth()

void MVPDepth ( int index )

protected

update mvpDepth and depthBiasMVP (uniform matrices for shadow shaders)

Parameters

[in] index ID of the current active light, and so the current depth texture

◆ SetModelMat()

virtual void SetModelMat ( glm::mat4 const & model_mat )

inlinevirtual

set the model matrix

Implements MbsShapeRenderer.

◆ ShadowDepth()

void ShadowDepth ( int index )

virtual

update of the shadow depth buffer

Parameters

[in] index ID of the current active light, and so the current depth texture

Implements MbsShapeRenderer.

◆ StringLoc() [1/2]

std::string StringLoc	(	const char *	fieldName,
		const char *	propertyName,
		size_t	index
	)

protected

generate a string to get the location of a specific field (to communicate with fragment shader), with property

Parameters

[in]	fieldName	name of the field
[in]	propertyName	name of the property
[in]	index	ID

Returns: requested string

◆ StringLoc() [2/2]

std::string StringLoc	(	const char *	fieldName,
		size_t	index
	)

protected

generate a string to get the location of a specific field (to communicate with fragment shader), without property

Parameters

[in]	fieldName	name of the field
[in]	index	ID

Returns: requested string

◆ Update()

void Update	(	glm::mat4	model_mat,
		glm::mat4	MVP,
		glm::mat3	M_inv_trans,
		MbsWorld3D *	world_3d,
		float	shiny_mat,
		glm::vec3 const &	specular_mat,
		float	transparency
	)

virtual

Execute the necessary code to render this shape: Update the Ogl transform and add it to the pipeline.

update the shape position

Parameters

[in]	model_mat	the transformation matrix setting the position/orientation of the shape
[in]	MVP	the transformation matrix from the model to the view
[in]	M_inv_trans	the inverse of the transformation matrix
[in]	world_3d	the MbsWorld3D in which the shape must be rendered
[in]	shiny_mat	the shiny_mat property of the shape
[in]	specular_mat	the specular_mat property of the shape
[in]	transparency	the transparency property of the shape

Implements MbsShapeRenderer.

Member Data Documentation

◆ biasMatrix

glm::mat4 biasMatrix

protected

bias matrix

◆ cameraID

GLuint cameraID

protected

ID of the camera.

◆ depth_frag_sh

std::string depth_frag_sh

protected

fragment depth shader path

◆ depth_ratio_width

std::vector<float> depth_ratio_width

protected

ration between the X and Y width components of the depth texture

◆ depth_semi_x_width

std::vector<int> depth_semi_x_width

protected

X semi width of the shadow map depth textures (in pixels)

◆ depth_semi_y_width

std::vector<int> depth_semi_y_width

protected

X semi width of the shadow map depth textures (in pixels)

◆ depth_shader

Shader* depth_shader

protected

depth shader

◆ depth_vert_sh

std::string depth_vert_sh

protected

vertex depth shader path

◆ depthBiasID

std::vector<GLuint> depthBiasID

protected

ID of the depth bias.

◆ depthBiasMVP

std::vector<glm::mat4> depthBiasMVP

protected

depth bias

◆ depthTexture

std::vector<GLuint> depthTexture

protected

depth textures

◆ frameBuffer

std::vector<GLuint> frameBuffer

protected

frame buffer

◆ light_init

bool light_init

protected

flag to know if the ligth is initialized

◆ lightAmbID

std::vector<GLuint> lightAmbID

protected

ID of the light ambiance.

◆ lightAttID

std::vector<GLuint> lightAttID

protected

ID of the light attenuation.

◆ lightColID

std::vector<GLuint> lightColID

protected

ID of the light color.

◆ lightConAngID

std::vector<GLuint> lightConAngID

protected

ID of the light cone angle (for spots)

◆ lightConDirID

std::vector<GLuint> lightConDirID

protected

ID of the light cone direction (for spots)

◆ lightPosID

std::vector<GLuint> lightPosID

protected

ID of the light position.

◆ MInvTransID

GLuint MInvTransID

protected

ID of transpose and inverse of the model matrix.

◆ model_mat

glm::mat4 model_mat

protected

model matrix ==> the same as the one stored in MbsShape3D

◆ modelMatID

GLuint modelMatID

protected

ID of the model matrix.

◆ mvpDepth

std::vector<glm::mat4> mvpDepth

protected

MVP depth matrix.

◆ mvpDepthID

std::vector<GLuint> mvpDepthID

protected

ID of the depth matrices MVP.

◆ mvpID

GLuint mvpID

protected

ID of the MVP matrix.

◆ nb_indexes

int nb_indexes

protected

size of the indexes vector

◆ nbLightsID

GLuint nbLightsID

protected

ID of the number of lights.

◆ sh_lights

std::vector<ShaderLight> sh_lights

protected

shaders for lights

◆ shader

Shader shader

protected

main shader

◆ shader_flag

int shader_flag

protected

flag for shaders

◆ shadowBiasID

std::vector<GLuint> shadowBiasID

protected

ID of the shadow bias.

◆ shadowMapID

std::vector<GLuint> shadowMapID

protected

ID of the shadow map.

◆ shininessID

GLuint shininessID

protected

ID of the shininess (shape material)

◆ specularID

GLuint specularID

protected

ID of the specular value (shape material)

◆ spreadID

std::vector<GLuint> spreadID

protected

ID of the spread factor for Poisson disk.

◆ transID

GLuint transID

protected

ID of the transparency.

◆ VAO_id

GLuint VAO_id

protected

VAO.

◆ VBO_color_id

GLuint VBO_color_id

protected

VBO for colors.

◆ VBO_indexes_id

GLuint VBO_indexes_id

protected

VBO for indexes.

◆ VBO_normal_id

GLuint VBO_normal_id

protected

VBO for normals.

◆ VBO_vertex_id

GLuint VBO_vertex_id

protected

VBO for vertices.

◆ world_3d

MbsWorld3D* world_3d

protected

3D world

◆ world_rend

OglWorldRenderer* world_rend

protected

reference to the world renderer that creat this shape renderer

The documentation for this class was generated from the following files:

mbs_common/mbs_realtime/open_gl/renderer/ogl/OglShapeRenderer.hh
mbs_common/mbs_realtime/open_gl/renderer/ogl/OglShapeRenderer.cc

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ OglShapeRenderer()

◆ ~OglShapeRenderer()

Member Function Documentation

◆ Init()

◆ LightsInit()

◆ LightsUpdate()

◆ MVPDepth()

◆ SetModelMat()

◆ ShadowDepth()

◆ StringLoc() [1/2]

◆ StringLoc() [2/2]

◆ Update()

Member Data Documentation

◆ biasMatrix

◆ cameraID

◆ depth_frag_sh

◆ depth_ratio_width

◆ depth_semi_x_width

◆ depth_semi_y_width

◆ depth_shader

◆ depth_vert_sh

◆ depthBiasID

◆ depthBiasMVP

◆ depthTexture

◆ frameBuffer

◆ light_init

◆ lightAmbID

◆ lightAttID

◆ lightColID

◆ lightConAngID

◆ lightConDirID

◆ lightPosID

◆ MInvTransID

◆ model_mat

◆ modelMatID

◆ mvpDepth

◆ mvpDepthID

◆ mvpID

◆ nb_indexes

◆ nbLightsID

◆ sh_lights

◆ shader

◆ shader_flag

◆ shadowBiasID

◆ shadowMapID

◆ shininessID

◆ specularID

◆ spreadID

◆ transID

◆ VAO_id

◆ VBO_color_id

◆ VBO_indexes_id

◆ VBO_normal_id

◆ VBO_vertex_id

◆ world_3d

◆ world_rend