/usr/share/gazebo-9/media/materials/programs/point_receiver_fp.glsl is in gazebo9-common 9.0.0+dfsg5-3ubuntu1.
This file is owned by root:root, with mode 0o644.
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1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 | uniform vec3 derived_light_diffuse_color;
uniform vec4 derived_light_specular_color;
uniform float surface_shininess;
uniform vec4 light_position_view_space;
uniform vec4 light_attenuation;
uniform sampler2D diffuse_map;
varying vec3 vertex_world_view_pos;
varying vec3 vertex_world_norm;
void main()
{
float specular = 0.0;
// Normalized fragment normal
vec3 norm = normalize(vertex_world_norm);
// Direction from the fragment to the light
vec3 lightDirView = light_position_view_space.xyz - vertex_world_view_pos.xyz * light_position_view_space.w;
// light_position_view_space.w == 0 for directional lights
float lightDist = length(lightDirView);
lightDirView = normalize(lightDirView);
float lambertTerm = max( dot(norm, lightDirView), 0.0 );
//////////////////////////////////////////////////////////////////////////////
// COMPUTE DIFFUSE CONTRIBUTION
vec4 diffuse_tex = texture2D(diffuse_map, gl_TexCoord[0].st);
vec4 diffuse_contrib = vec4(derived_light_diffuse_color * diffuse_tex.rgb *
lambertTerm,1.0);
//////////////////////////////////////////////////////////////////////////////
// COMPUTE SPOT AND SPECULAR COMPONENTS
if (lambertTerm > 0.0 && lightDist <= light_attenuation.x)
{
vec3 view = -normalize(vertex_world_view_pos.xyz);
vec3 halfway = normalize( view + lightDirView );
float nDotH = dot(norm, halfway);
float fAtten = 1.0 / (light_attenuation.y +
light_attenuation.z*lightDist +
light_attenuation.w*lightDist*lightDist);
// Works for all light types
specular = pow(clamp(nDotH, 0.0, 1.0), surface_shininess) * fAtten;
}
vec4 specular_contrib = specular * derived_light_specular_color;
gl_FragColor = (diffuse_contrib + specular_contrib);
}
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