box.geom: GLSL 1.50

ogre_media/materials/glsl150/box.geom

@@ -23,8 +23,9 @@ in VertexData {
 	vec4 color;
 } vdata[];
 
-
-out vec4 gl_TexCoord[];
+// Use exactly these names to map onto gl_Color and gl_TexCoord used by fragment shaders
+out vec4 color;
+out vec2 TexCoord;
 
 layout(points) in;
 layout(triangle_strip, max_vertices=24) out;
@@ -43,12 +44,12 @@ void emitVertex( int side, vec4 x, vec4 y, vec4 z, vec3 tex, vec4 size_factor )
   vec4 pos_rel = tex.x*x + tex.y*y + tex.z*z;
   vec4 pos = gl_in[0].gl_Position + vec4( pos_rel * size_factor );
   gl_Position = worldviewproj_matrix * pos;
-  gl_TexCoord[0] = vec4( tex.x*0.5+0.5, tex.y*0.5+0.5, 0.0, 0.0 );
+  TexCoord = vec2(tex.x*0.5+0.5, tex.y*0.5+0.5);
 
 #ifdef WITH_LIGHTING
-    gl_FrontColor = vec4( vdata[0].color.rgb * lightness[side], vdata[0].color.a );
+    color = vec4( vdata[0].color.rgb * lightness[side], vdata[0].color.a );
 #else
-    gl_FrontColor = vdata[0].color;
+    color = vdata[0].color;
 #endif
 
 #ifdef WITH_DEPTH

ogre_media/materials/glsl150/glsl150.program

@@ -78,3 +78,13 @@ vertex_program rviz/glsl150/pass_pos_color.vert glsl
 {
   source pass_pos_color.vert
 }
+
+fragment_program rviz/glsl150/smooth_square.frag glsl
+{
+  source smooth_square.frag
+  default_params
+  {
+    param_named_auto highlight custom 5
+    param_named_auto alpha custom 1
+  }
+}

ogre_media/materials/glsl150/smooth_square.frag

@@ -0,0 +1,34 @@
+#version 150
+
+// rasterizes a smooth square with ax,ay in [-0.5..0.5]
+
+uniform vec4 highlight;
+uniform float alpha;
+
+in vec4 color;
+in vec2 TexCoord;
+
+out vec4 FragColor;
+
+void main()
+{
+  const float outer = 0.48;
+  const float inner = 0.45;
+  float ax = TexCoord.x-0.5;
+  float ay = TexCoord.y-0.5;
+
+  // blending factor, varying between 0.0 (at the border) and 1.0 (at the center of the square)
+  float blend = smoothstep(-outer, -inner, ay) * (1.0 - smoothstep(inner, outer, ay)) *
+                smoothstep(-outer, -inner, ax) * (1.0 - smoothstep(inner, outer, ax));
+
+#if 1 // high contrast edge (dark edge on light surface / light edge on dark surface)
+  float inv_blend = 1.0 - blend;
+  vec3 col = blend * color.rgb + (sign(0.5 - length(vec3(color.rgb))) * vec3(0.2, 0.2, 0.2) + color.rgb) * inv_blend;
+#else // alternatively: make color at edge darker
+  vec3 col = (0.5 + 0.5*blend) * color.rgb;
+#endif
+
+  col = col + col * highlight.rgb;
+
+  FragColor = vec4(col.rgb, alpha * color.a);
+}

ogre_media/materials/scripts150/point_cloud_box.material

@@ -1,6 +1,6 @@
 material rviz/PointCloudBox
 {
-  /* This material should only be used with glsl < 1.50 */
+  /* This material should only be used with glsl >= 1.50 */
 
   // the 'gp' techniques need one input vertex per box
   // and use geometry shaders to create the geometry
@@ -11,7 +11,7 @@ material rviz/PointCloudBox
     {
       vertex_program_ref   rviz/glsl150/pass_pos_color.vert {}
       geometry_program_ref rviz/glsl150/box.geom(with_lighting) {}
-      fragment_program_ref rviz/glsl120/smooth_square.frag {}
+      fragment_program_ref rviz/glsl150/smooth_square.frag {}
     }
   }