first commit

iq_sim/models/ocean/materials/programs/GLSL/Waves.frag

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+// Copyright (c) 2016 The UUV Simulator Authors.
+// All rights reserved.
+//
+// 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.
+
+// Input parameters
+uniform sampler2D bumpMap;
+uniform samplerCube cubeMap;
+uniform vec4 deepColor;
+uniform vec4 shallowColor;
+uniform float fresnelPower;
+uniform float hdrMultiplier;
+
+// Input computed in vertex shader
+varying mat3 rotMatrix;
+varying vec3 eyeVec;
+varying vec2 bumpCoord;
+
+void main(void)
+{
+    // Apply bump mapping to normal vector to make waves look more detailed:
+    vec4 bump = texture2D(bumpMap, bumpCoord)*2.0 - 1.0;
+    vec3 N = normalize(rotMatrix * bump.xyz);
+
+    // Reflected ray:
+    vec3 E = normalize(eyeVec);
+    vec3 R = reflect(E, N);
+    // Gazebo requires rotated cube map lookup.
+    R = vec3(R.x, R.z, R.y);
+
+    // Get environment color of reflected ray:
+    vec4 envColor = textureCube(cubeMap, R, 0.0);
+
+	// Cheap hdr effect:
+    envColor.rgb *= (envColor.r+envColor.g+envColor.b)*hdrMultiplier;
+
+	// Compute refraction ratio (Fresnel):
+    float facing = 1.0 - dot(-E, N);
+    float refractionRatio = clamp(pow(facing, fresnelPower), 0.0, 1.0);
+
+    // Refracted ray only considers deep and shallow water colors:
+    vec4 waterColor = mix(shallowColor, deepColor, facing);
+
+    // Perform linear interpolation between reflection and refraction.
+    vec4 color = mix(waterColor, envColor, refractionRatio);
+    gl_FragColor = vec4(color.xyz, 0.9);
+}

iq_sim/models/ocean/materials/programs/GLSL/Waves.vert

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+// Copyright (c) 2016 The UUV Simulator Authors.
+// All rights reserved.
+//
+// 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.s
+
+// Input parameters
+uniform vec3 eyePos;
+uniform float rescale;
+uniform vec2 bumpScale;
+uniform vec2 bumpSpeed;
+uniform float time;
+uniform float frequency;
+uniform float amplitude;
+uniform float steepness;
+
+// Output variables
+varying mat3 rotMatrix;
+varying vec3 eyeVec;
+varying vec2 bumpCoord;
+
+// Compute linear combination of Gerstner waves as described in
+// GPU Gems, chapter 01: "Effective Water Simulation from Physical Models"
+// http://http.developer.nvidia.com/GPUGems/gpugems_ch01.html
+
+// Information regarding a single wave
+struct WaveParameters {
+    float w;   // frequency
+    float a;   // amplitude
+    float phi; // phase constant of speed
+    vec2 d;    // horizontal direction of wave
+	float q;   // steepness for Gerstner wave (q=0: rolling sine waves)
+};
+
+void main(void)
+{
+    // Use combination of three waves. Values here are chosen rather arbitrarily.
+    // Other parameters might lead to better-looking waves.
+
+    #define N_WAVES 3
+    WaveParameters waves[N_WAVES];
+    waves[0] = WaveParameters(frequency, 0.6*amplitude, 0.5, vec2(-1, 0), steepness);
+    waves[1] = WaveParameters(3.2*frequency, 0.4*amplitude, 1.7, vec2(-0.7, 0.7), 1.5*steepness);
+	waves[2] = WaveParameters(1.8*frequency, 0.3*amplitude, 1.0, vec2(0.7, 0.7), 0.8*steepness);
+
+    vec4 P = gl_Vertex;
+
+    // Iteratively compute binormal, tangent, and normal vectors:
+    vec3 B = vec3(1.0, 0.0, 0.0);
+    vec3 T = vec3(0.0, 1.0, 0.0);
+    vec3 N = vec3(0.0, 0.0, 1.0);
+
+	// Wave synthesis using linear combination of Gerstner waves
+	for(int i = 0; i < N_WAVES; ++i)
+	{
+	    // Evaluate wave equation:
+        float angle = dot(waves[i].d, P.xy)*waves[i].w + time*waves[i].phi;
+		float c = cos(angle);
+		float s = sin(angle);
+        float q = waves[i].q;
+
+        // Displacement of point due to wave (Eq. 9)
+		P.x += q*waves[i].a*c*waves[i].d.x;
+		P.y += q*waves[i].a*c*waves[i].d.y;
+		P.z += waves[i].a*s;
+
+        // Modify normals due to wave displacement (Eq. 10-12)
+		float wa = waves[i].a*waves[i].w;
+		float qwas = q*wa*s;
+		float wac = wa*c;
+		float dx = waves[i].d.x;
+		float dy = waves[i].d.y;
+		float dxy = dx*dy;
+
+		B += vec3(-qwas*dx*dx, -qwas*dxy, wac*dx);
+		T += vec3(-qwas*dxy, -qwas*dy*dy, wac*dy);
+		N += vec3(-dx*wac, -dy*wac, -qwas);
+	}
+
+    // Compute (Surf2World * Rescale) matrix
+    B = normalize(B)*rescale;
+    T = normalize(T)*rescale;
+    N = normalize(N);
+	rotMatrix = mat3(B, T, N);
+
+	gl_Position = gl_ModelViewProjectionMatrix*P;
+
+	// Compute texture coordinates for bump map
+	bumpCoord = gl_MultiTexCoord0.xy*bumpScale + time*bumpSpeed;
+
+	eyeVec = P.xyz - eyePos; // eye position in vertex space
+}

iq_sim/models/ocean/materials/scripts/ocean.material

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+material Seabox
+{
+  receive_shadows off
+  technique
+  {
+    pass
+    {
+       ambient 0.616687 0.90461 1 0.7
+       diffuse 0.616687 0.90461 1 0.7
+       specular 1 1 1 1 20
+       emissive 0.0 0.0 0.0 1.0
+       scene_blend alpha_blend
+
+    }
+  }
+}
+
+vertex_program GLSL/WavesVS glsl
+{
+  source ../programs/GLSL/Waves.vert
+}
+
+fragment_program GLSL/WavesFS glsl
+{
+  source ../programs/GLSL/Waves.frag
+}
+
+material Waves_GLSL
+{
+  technique GLSL
+  {
+    pass
+    {
+      scene_blend alpha_blend
+      vertex_program_ref GLSL/WavesVS
+      {
+        param_named_auto eyePos camera_position_object_space
+        param_named_auto time time_0_x 100.0
+        param_named rescale float 0.5
+        param_named bumpScale float2 25 25
+        param_named bumpSpeed float2 0.01 0.01
+        param_named frequency float 0.028
+        param_named amplitude float 0.1
+        param_named steepness float 1.0
+      }
+
+      fragment_program_ref GLSL/WavesFS
+      {
+        param_named deepColor float4 0 0.05 0.1 1.0
+        param_named shallowColor float4 0 0.2 0.3 1.0
+        param_named fresnelPower float 5
+        param_named hdrMultiplier float 0.4
+        param_named bumpMap int 0
+        param_named cubeMap int 1
+      }
+
+      texture_unit
+      {
+        texture ../textures/normals.dds
+        tex_coord_set 0
+        scale 0.1 0.1
+        filtering linear linear linear
+      }
+
+      texture_unit
+      {
+        cubic_texture ../textures/clouds.jpg combinedUVW
+        tex_address_mode clamp
+        tex_coord_set 1
+        filtering linear linear linear
+      }
+    }
+  }
+}

iq_sim/models/ocean/model.config

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+<?xml version="1.0"?>
+<!-- Copyright (c) 2016 Robert Bosch GmbH, Germany.
+     All rights reserved.
+
+    This file is licensed under the Apache 2.0 license found in the
+    LICENSE file in the root directory of this source tree.
+-->
+<model>
+  <name>ocean</name>
+  <version>1.0</version>
+  <sdf version="1.6">model.sdf</sdf>
+
+  <author>
+    <name>Sebastian Scherer</name>
+    <email>sebastian.scherer2@de.bosch.com</email>
+  </author>
+
+  <description>
+    Ocean box with rendering of a ocean sea state.
+  </description>
+
+</model>

iq_sim/models/ocean/model.sdf

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+<?xml version="1.0" ?>
+<!-- Copyright (c) 2016 The UUV Simulator Authors.
+     All rights reserved.
+
+     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.
+
+     Re-scaled by Louise Poubel
+-->
+<sdf version="1.6">
+<model name="ocean">
+  <static>true</static>
+  <link name="ocean_link">
+    <visual name="ocean_visual1">
+      <pose>0 0 0 0 0 0</pose>
+      <geometry>
+        <mesh>
+          <uri>model://ocean/meshes/mesh.dae</uri>
+          <scale>1.1 1.1 0.45</scale>
+        </mesh>
+      </geometry>
+      <material>
+        <script>
+          <uri>model://ocean/materials/scripts/ocean.material</uri>
+          <name>Waves_GLSL</name>
+        </script>
+      </material>
+      <laser_retro>-1</laser_retro>
+    </visual>
+    <visual name="ocean_below">
+      <pose>0 0 0 0 0 0</pose>
+      <geometry>
+        <mesh>
+          <uri>model://ocean/meshes/mesh_below.dae</uri>
+          <scale>0.45 0.45 0.45</scale>
+        </mesh>
+      </geometry>
+      <material>
+        <script>
+          <uri>model://ocean/materials/scripts/ocean.material</uri>
+          <name>Waves_GLSL</name>
+        </script>
+      </material>
+      <laser_retro>-1</laser_retro>
+    </visual>
+  </link>
+</model>
+</sdf>