shadow maps in gazebo useable

asked 2016-11-04 08:41:26 -0600

Fischbi gravatar image

is it possible to use shadow maps in gazebo? To make my simulation more dynamic I want to precompute the shadows and other thing but couldn't find it so far.... Thanks for any help!

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if I understand correctly, you already have a precomuted shadow map texture and just want to apply it to the scene? There is a tutorial on using lightmap: http://gazebosim.org/tutorials?tut=lightmap. You could do something similar and apply the prebaked shadow map texture to the ground plane?

iche033 gravatar imageiche033 ( 2016-11-04 16:08:51 -0600 )edit

thank you! yes that's right, I want to use precomputed shadows. I've already thought about your idea before but because of other objects and size it would be better if shadows were separated from the texture (too much effort for the whole thing). Do you know if this is somehow possible ?

Fischbi gravatar imageFischbi ( 2016-11-07 09:55:32 -0600 )edit

when you say "better if shadows were separated from texture", do you mean you have a separate shadow map texture and don't want to it to be baked into the ground plane texture?

iche033 gravatar imageiche033 ( 2016-11-07 12:18:14 -0600 )edit

yes, that's right.

Fischbi gravatar imageFischbi ( 2016-11-11 08:01:11 -0600 )edit

you maybe able to update the material script to use a multi-pass material. The first pass applies the normal ground plane texture and the second pass applies the shadow map. Gazebo uses ogre material scripts so if you google ogre multipass material, there should be some examples.

iche033 gravatar imageiche033 ( 2016-11-11 16:10:39 -0600 )edit