Expose more light parameters

MRPT · Jul 2, 2023 · e720005 · e720005
1 parent 899b6e6
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diff --git a/doc/source/doxygen-docs/changelog.md b/doc/source/doxygen-docs/changelog.md
@@ -1,5 +1,10 @@
 \page changelog Change Log
 
+# Version 2.10.0: UNRELEASED
+- Changes in libraries:
+  - \ref mrpt_opengl_grp
+    - Move the parameter eyeDistance2lightShadowExtension from TRenderMatrices to mrpt::opengl::TLightParameters so it can be changed from user code (ABI change).
+
 # Version 2.9.4: Released July 1st, 2023
 - Python:
   - pymrpt now ships stub `.pyi` files, for IDEs to autocomplete MRPT Python programs.

diff --git a/libs/opengl/include/mrpt/opengl/TLightParameters.h b/libs/opengl/include/mrpt/opengl/TLightParameters.h
@@ -38,6 +38,13 @@ struct TLightParameters
 	float shadow_bias = 1e-5, shadow_bias_cam2frag = 1e-5,
 		  shadow_bias_normal = 1e-4;
 
+	/** Multiplier from eye distance to the length size of the squared area in
+	 * which to evaluate shadow casting by unidirectional light.
+	 * Unitless (meter/meter).
+	 * \note (New in MRPT 2.10.0)
+	 */
+	double eyeDistance2lightShadowExtension = 2.0;
+
 	void writeToStream(mrpt::serialization::CArchive& out) const;
 	void readFromStream(mrpt::serialization::CArchive& in);
 

diff --git a/libs/opengl/include/mrpt/opengl/TRenderMatrices.h b/libs/opengl/include/mrpt/opengl/TRenderMatrices.h
@@ -12,6 +12,7 @@
 #include <mrpt/img/TCamera.h>
 #include <mrpt/math/CMatrixFixed.h>
 #include <mrpt/math/TPoint3D.h>
+#include <mrpt/opengl/opengl_frwds.h>
 
 namespace mrpt::opengl
 {
@@ -84,11 +85,6 @@ struct TRenderMatrices
 	double azimuth = .0, elev = .0;
 	double eyeDistance = 1.0f;
 
-	/** Multiplier from eye distance to the length size of the squared area in
-	 * which to evaluate shadow casting by unidirectional light.
-	 */
-	double eyeDistance2lightShadowExtension = 1.5;
-
 	/** In pixels. This may be smaller than the total render window. */
 	uint32_t viewport_width = 640, viewport_height = 480;
 
@@ -121,7 +117,7 @@ struct TRenderMatrices
 
 	/** Updates light_pv */
 	void computeLightProjectionMatrix(
-		float zmin, float zmax, const mrpt::math::TVector3Df& direction);
+		float zmin, float zmax, const TLightParameters& lp);
 
 	/** Especial case for custom parameters of Orthographic projection.
 	 *  Equivalent to `p_matrix = ortho(...);`.

diff --git a/libs/opengl/src/TLightParameters.cpp b/libs/opengl/src/TLightParameters.cpp
@@ -18,7 +18,7 @@ using namespace std;
 
 void TLightParameters::writeToStream(mrpt::serialization::CArchive& out) const
 {
-	const uint8_t version = 2;
+	const uint8_t version = 3;
 	out << version;
 
 	out << diffuse << ambient << specular << direction << color;
@@ -44,11 +44,11 @@ void TLightParameters::readFromStream(mrpt::serialization::CArchive& in)
 		break;
 		case 1:
 		case 2:
+		case 3:
 			in >> diffuse >> ambient >> specular >> direction >> color;
 			if (version >= 2)
-			{
 				in >> shadow_bias >> shadow_bias_cam2frag >> shadow_bias_normal;
-			}
+			if (version >= 3) in >> eyeDistance2lightShadowExtension;
 			break;
 		default: MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(version);
 	};

diff --git a/libs/opengl/src/TRenderMatrices.cpp b/libs/opengl/src/TRenderMatrices.cpp
@@ -12,6 +12,7 @@
 #include <mrpt/containers/yaml.h>
 #include <mrpt/math/geometry.h>	 // crossProduct3D()
 #include <mrpt/math/ops_containers.h>  // dotProduct()
+#include <mrpt/opengl/TLightParameters.h>
 #include <mrpt/opengl/TRenderMatrices.h>
 
 #include <Eigen/Dense>
@@ -151,26 +152,26 @@ static void azimuthElevationFromDirection(
 }
 
 void TRenderMatrices::computeLightProjectionMatrix(
-	float zmin, float zmax, const mrpt::math::TVector3Df& direction)
+	float zmin, float zmax, const TLightParameters& lp)
 {
 	m_last_light_z_near = zmin;
 	m_last_light_z_far = zmax;
 
-	float dist = eyeDistance * eyeDistance2lightShadowExtension;
+	float dist = eyeDistance * lp.eyeDistance2lightShadowExtension;
 	light_p = OrthoProjectionMatrix(-dist, dist, -dist, dist, zmin, zmax);
 
 	// "up" vector from elevation:
 
 	float azim = 0, elevation = 0;
-	azimuthElevationFromDirection(direction, elevation, azim);
+	azimuthElevationFromDirection(lp.direction, elevation, azim);
 
 	const auto lightUp = mrpt::math::TVector3Df(
 		-cos(azim) * sin(elevation),  // x
 		-sin(azim) * sin(elevation),  // y
 		cos(elevation)	// z
 	);
 
-	light_v = LookAt(pointing - direction * zmax * 0.5, pointing, lightUp);
+	light_v = LookAt(pointing - lp.direction * zmax * 0.5, pointing, lightUp);
 
 	light_pv.asEigen() = light_p.asEigen() * light_v.asEigen();
 

diff --git a/libs/opengl/src/Viewport.cpp b/libs/opengl/src/Viewport.cpp
@@ -1302,7 +1302,7 @@ void Viewport::updateMatricesFromCamera(const CCamera& myCamera) const
 
 	// Compute the directional light projection matrix (light_pv)
 	_.computeLightProjectionMatrix(
-		m_lightShadowClipMin, m_lightShadowClipMax, m_light.direction);
+		m_lightShadowClipMin, m_lightShadowClipMax, m_light);
 
 	_.initialized = true;
 }