void ReprojectionError3D::computeXc(const T * const _pp, const T * const _distortionParams, const T * const _focals, const T * const _xc, T *residuals) const
{
Eigen::Map<Eigen::Matrix<T, 3, 1>> xc((T*)_xc);
Eigen::Map<Eigen::Matrix<T, 2, 1>> pp((T*)_pp);
Eigen::Map<Eigen::Matrix<T, TDistortionParamVector::RowsAtCompileTime, 1>> distortionParams((T*)_distortionParams);
Eigen::Map<Eigen::Matrix<T, 2, 1>> focals((T*)_focals);
if (CeresUtils::ToDouble(xc[2]) <= 0)
{
//Negative point
residuals[0] = T(1e3);
residuals[1] = T(1e3);
}
else
{
//Point in front of camera, proceed
Eigen::Matrix<T,2,1> p;
CameraModel::ProjectFromWorld(pp, distortionParams, focals, xc, p);
residuals[0] = (p[0] - T(mImgPoint[0])) / T(mScale);
residuals[1] = (p[1] - T(mImgPoint[1])) / T(mScale);
}
}
void WaterObject::setShaderParams( SceneRenderState *state, BaseMatInstance *mat, const WaterMatParams ¶mHandles )
{
MaterialParameters* matParams = mat->getMaterialParameters();
matParams->setSafe( paramHandles.mElapsedTimeSC, (F32)Sim::getCurrentTime() / 1000.0f );
// set vertex shader constants
//-----------------------------------
Point2F reflectTexSize( mPlaneReflector.reflectTex.getWidth(), mPlaneReflector.reflectTex.getHeight() );
matParams->setSafe( paramHandles.mReflectTexSizeSC, reflectTexSize );
static AlignedArray<Point2F> mConstArray( MAX_WAVES, sizeof( Point4F ) );
// Ripples...
for ( U32 i = 0; i < MAX_WAVES; i++ )
mConstArray[i].set( -mRippleDir[i].x, -mRippleDir[i].y );
matParams->setSafe( paramHandles.mRippleDirSC, mConstArray );
Point3F rippleSpeed( mRippleSpeed[0], mRippleSpeed[1], mRippleSpeed[2] );
matParams->setSafe( paramHandles.mRippleSpeedSC, rippleSpeed );
Point4F rippleMagnitude( mRippleMagnitude[0],
mRippleMagnitude[1],
mRippleMagnitude[2],
mOverallRippleMagnitude );
matParams->setSafe( paramHandles.mRippleMagnitudeSC, rippleMagnitude );
for ( U32 i = 0; i < MAX_WAVES; i++ )
{
Point2F texScale = mRippleTexScale[i];
if ( texScale.x > 0.0 )
texScale.x = 1.0 / texScale.x;
if ( texScale.y > 0.0 )
texScale.y = 1.0 / texScale.y;
mConstArray[i].set( texScale.x, texScale.y );
}
matParams->setSafe(paramHandles.mRippleTexScaleSC, mConstArray);
static AlignedArray<Point4F> mConstArray4F( 3, sizeof( Point4F ) );
F32 angle, cosine, sine;
for ( U32 i = 0; i < MAX_WAVES; i++ )
{
angle = mAtan2( mRippleDir[i].x, -mRippleDir[i].y );
cosine = mCos( angle );
sine = mSin( angle );
mConstArray4F[i].set( cosine, sine, -sine, cosine );
matParams->setSafe( paramHandles.mRippleMatSC, mConstArray4F );
}
// Waves...
for ( U32 i = 0; i < MAX_WAVES; i++ )
mConstArray[i].set( -mWaveDir[i].x, -mWaveDir[i].y );
matParams->setSafe( paramHandles.mWaveDirSC, mConstArray );
for ( U32 i = 0; i < MAX_WAVES; i++ )
mConstArray[i].set( mWaveSpeed[i], mWaveMagnitude[i] * mOverallWaveMagnitude );
matParams->setSafe( paramHandles.mWaveDataSC, mConstArray );
// Foam...
Point4F foamDir( mFoamDir[0].x, mFoamDir[0].y, mFoamDir[1].x, mFoamDir[1].y );
matParams->setSafe( paramHandles.mFoamDirSC, foamDir );
Point2F foamSpeed( mFoamSpeed[0], mFoamSpeed[1] );
matParams->setSafe( paramHandles.mFoamSpeedSC, foamSpeed );
//Point3F rippleMagnitude( mRippleMagnitude[0] * mOverallRippleMagnitude,
// mRippleMagnitude[1] * mOverallRippleMagnitude,
// mRippleMagnitude[2] * mOverallRippleMagnitude );
//matParams->setSafe( paramHandles.mRippleMagnitudeSC, rippleMagnitude );
Point4F foamTexScale( mFoamTexScale[0].x, mFoamTexScale[0].y, mFoamTexScale[1].x, mFoamTexScale[1].y );
for ( U32 i = 0; i < 4; i++ )
{
if ( foamTexScale[i] > 0.0f )
foamTexScale[i] = 1.0 / foamTexScale[i];
}
matParams->setSafe(paramHandles.mFoamTexScaleSC, foamTexScale);
// Other vert params...
matParams->setSafe( paramHandles.mUndulateMaxDistSC, mUndulateMaxDist );
// set pixel shader constants
//-----------------------------------
Point2F fogParams( mWaterFogData.density, mWaterFogData.densityOffset );
matParams->setSafe(paramHandles.mFogParamsSC, fogParams );
matParams->setSafe(paramHandles.mFarPlaneDistSC, (F32)state->getFarPlane() );
Point2F wetnessParams( mWaterFogData.wetDepth, mWaterFogData.wetDarkening );
matParams->setSafe(paramHandles.mWetnessParamsSC, wetnessParams );
Point3F distortionParams( mDistortStartDist, mDistortEndDist, mDistortFullDepth );
matParams->setSafe(paramHandles.mDistortionParamsSC, distortionParams );
LightInfo *sun = LIGHTMGR->getSpecialLight(LightManager::slSunLightType);
const ColorF &sunlight = state->getAmbientLightColor();
Point3F ambientColor = mEmissive ? Point3F::One : sunlight;
matParams->setSafe(paramHandles.mAmbientColorSC, ambientColor );
matParams->setSafe(paramHandles.mLightDirSC, sun->getDirection() );
Point4F foamParams( mOverallFoamOpacity, mFoamMaxDepth, mFoamAmbientLerp, mFoamRippleInfluence );
matParams->setSafe(paramHandles.mFoamParamsSC, foamParams );
Point4F miscParams( mFresnelBias, mFresnelPower, mClarity, mMiscParamW );
matParams->setSafe( paramHandles.mMiscParamsSC, miscParams );
Point4F specularParams( mSpecularColor.red, mSpecularColor.green, mSpecularColor.blue, mSpecularPower );
if ( !mEmissive )
{
const ColorF &sunColor = sun->getColor();
F32 brightness = sun->getBrightness();
specularParams.x *= sunColor.red * brightness;
specularParams.y *= sunColor.green * brightness;
specularParams.z *= sunColor.blue * brightness;
}
matParams->setSafe( paramHandles.mSpecularParamsSC, specularParams );
matParams->setSafe( paramHandles.mDepthGradMaxSC, mDepthGradientMax );
matParams->setSafe( paramHandles.mReflectivitySC, mReflectivity );
}
