point cloud in progress
This commit is contained in:
Chikashi Miyama
parent
4ba933ac3f
commit
fc5b6ef041
17 changed files with 663 additions and 211 deletions
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@ -24,10 +24,15 @@
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|
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||||
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|
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|
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|
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|
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</provider>
|
||||
|
|
@ -223,9 +202,11 @@
|
|||
<setting file="file://$PROJECT_DIR$/Assets/Scripts/PdConnection/PdArray.cs" root0="FORCE_HIGHLIGHTING" />
|
||||
<setting file="file://$APPLICATION_CONFIG_DIR$/resharper-host/DecompilerCache/decompiler/F5F8D912-CD82-4E63-93D1-35A9356AD96C/72/23a38ddc/MemoryMappedFile.cs" root0="SKIP_HIGHLIGHTING" />
|
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<setting file="file://$APPLICATION_CONFIG_DIR$/resharper-host/DecompilerCache/decompiler/D7AC571C-A2D0-4B2F-981D-0D886FA067CF/70/816727c9/IntPtr.cs" root0="SKIP_HIGHLIGHTING" />
|
||||
<setting file="file://$PROJECT_DIR$/Assets/Scripts/Visualizer/MeshController.cs" root0="FORCE_HIGHLIGHTING" />
|
||||
<setting file="file://$PROJECT_DIR$/Assets/ThridParty/Windows/Kinect/InfraredFrameReader.cs" root0="FORCE_HIGHLIGHTING" />
|
||||
<setting file="file://$PROJECT_DIR$/Assets/Scripts/VideoInput/Editor/UnitTest/ComponentFactoryTestCase.cs" root0="FORCE_HIGHLIGHTING" />
|
||||
<setting file="file://$APPLICATION_CONFIG_DIR$/resharper-host/DecompilerCache/decompiler/FF5F04D6-6C19-4D96-86AB-314B6714BDBF/04/13252895/TextureFormat.cs" root0="SKIP_HIGHLIGHTING" />
|
||||
<setting file="file://$APPLICATION_CONFIG_DIR$/resharper-host/DecompilerCache/decompiler/FF5F04D6-6C19-4D96-86AB-314B6714BDBF/ac/8ae67e56/Mesh.cs" root0="SKIP_HIGHLIGHTING" />
|
||||
<setting file="file://$APPLICATION_CONFIG_DIR$/resharper-host/DecompilerCache/decompiler/659CD5F0-C4CE-410C-B23A-6CADD71BB76F/2a/9fa3f41e/IOException.cs" root0="SKIP_HIGHLIGHTING" />
|
||||
<setting file="file://$PROJECT_DIR$/Assets/ThridParty/Editor/KinectCopyPluginDataHelper.cs" root0="FORCE_HIGHLIGHTING" />
|
||||
<setting file="file://$PROJECT_DIR$/Assets/ThridParty/KinectScript/KinectBuffer.cs" root0="FORCE_HIGHLIGHTING" />
|
||||
|
|
@ -236,10 +217,12 @@
|
|||
<setting file="file://$APPLICATION_CONFIG_DIR$/resharper-host/DecompilerCache/decompiler/2C24F0C1-857D-4078-B6D4-53F88E061A29/44/b50a5a54/UnmanagedMemoryAccessor.cs" root0="SKIP_HIGHLIGHTING" />
|
||||
<setting file="file://$PROJECT_DIR$/Assets/Scripts/VideoInput/ComponentFactory.cs" root0="FORCE_HIGHLIGHTING" />
|
||||
<setting file="file://$PROJECT_DIR$/Assets/Scripts/VideoInput/InfraredCamera.cs" root0="FORCE_HIGHLIGHTING" />
|
||||
<setting file="file://$PROJECT_DIR$/Assets/Scripts/Visualizer/PointCloudBehaviour.cs" root0="FORCE_HIGHLIGHTING" />
|
||||
<setting file="file://$PROJECT_DIR$/Assets/Scripts/Visualizer/WaveformVisualizerBehaviour.cs" root0="FORCE_HIGHLIGHTING" />
|
||||
<setting file="file://$APPLICATION_CONFIG_DIR$/resharper-host/DecompilerCache/decompiler/FF5F04D6-6C19-4D96-86AB-314B6714BDBF/26/658ea519/Texture2D.cs" root0="SKIP_HIGHLIGHTING" />
|
||||
<setting file="file://$PROJECT_DIR$/Assets/Scripts/VideoInput/Editor/UnitTest/KinectSensorTestCase.cs" root0="FORCE_HIGHLIGHTING" />
|
||||
<setting file="file://$PROJECT_DIR$/Assets/Scripts/Visualizer/PointCloudBehaviour.cs" root0="FORCE_HIGHLIGHTING" />
|
||||
<setting file="file://$PROJECT_DIR$/Assets/Scripts/Visualizer/IRPanelBehaviour.cs" root0="FORCE_HIGHLIGHTING" />
|
||||
<setting file="file://$PROJECT_DIR$/Assets/Shader/Vertex Modifier.shader" root0="FORCE_HIGHLIGHTING" />
|
||||
</component>
|
||||
<component name="IdeDocumentHistory">
|
||||
<option name="CHANGED_PATHS">
|
||||
|
|
@ -270,11 +253,16 @@
|
|||
<option value="$PROJECT_DIR$/Assets/Scripts/VideoInput/KinectManager.cs" />
|
||||
<option value="$PROJECT_DIR$/Assets/Scripts/VideoInput/KinectSensor.cs" />
|
||||
<option value="$PROJECT_DIR$/Assets/Scripts/Visualizer/PointCloud.cs" />
|
||||
<option value="$PROJECT_DIR$/Assets/Scripts/Visualizer/PointCloudBehaviour.cs" />
|
||||
<option value="$PROJECT_DIR$/Assets/Scripts/VideoInput/KinectManagerBehaviour.cs" />
|
||||
<option value="$PROJECT_DIR$/Assets/Scripts/Visualizer/WaveformVisualizerBehaviour.cs" />
|
||||
<option value="$PROJECT_DIR$/Assets/ThridParty/KinectView/Scripts/InfraredSourceManager.cs" />
|
||||
<option value="$PROJECT_DIR$/Assets/Scripts/VideoInput/InfraredCamera.cs" />
|
||||
<option value="$PROJECT_DIR$/Assets/Scripts/Visualizer/KinectVisualizationBehaviour.cs" />
|
||||
<option value="$PROJECT_DIR$/Assets/Scripts/Visualizer/MeshController.cs" />
|
||||
<option value="$PROJECT_DIR$/Assets/Scripts/Visualizer/IRPanelBehaviour.cs" />
|
||||
<option value="$PROJECT_DIR$/Assets/Shader/PointCloud.shader" />
|
||||
<option value="$PROJECT_DIR$/Assets/Shader/Vertex Modifier.shader" />
|
||||
<option value="$PROJECT_DIR$/Assets/Scripts/Visualizer/PointCloudBehaviour.cs" />
|
||||
</list>
|
||||
</option>
|
||||
</component>
|
||||
|
|
@ -292,6 +280,32 @@
|
|||
<pane id="UnityExplorer">
|
||||
<subPane>
|
||||
<expand>
|
||||
<path>
|
||||
<item name="" type="e068e287:UnityExplorerRootNode" />
|
||||
<item name="Assets" type="8711f2a6:AssetsRoot" />
|
||||
</path>
|
||||
<path>
|
||||
<item name="" type="e068e287:UnityExplorerRootNode" />
|
||||
<item name="Assets" type="8711f2a6:AssetsRoot" />
|
||||
<item name="Scripts" type="1045f7f1:UnityExplorerNode" />
|
||||
</path>
|
||||
<path>
|
||||
<item name="" type="e068e287:UnityExplorerRootNode" />
|
||||
<item name="Assets" type="8711f2a6:AssetsRoot" />
|
||||
<item name="Scripts" type="1045f7f1:UnityExplorerNode" />
|
||||
<item name="VideoInput" type="1045f7f1:UnityExplorerNode" />
|
||||
</path>
|
||||
<path>
|
||||
<item name="" type="e068e287:UnityExplorerRootNode" />
|
||||
<item name="Assets" type="8711f2a6:AssetsRoot" />
|
||||
<item name="Scripts" type="1045f7f1:UnityExplorerNode" />
|
||||
<item name="Visualizer" type="1045f7f1:UnityExplorerNode" />
|
||||
</path>
|
||||
<path>
|
||||
<item name="" type="e068e287:UnityExplorerRootNode" />
|
||||
<item name="Assets" type="8711f2a6:AssetsRoot" />
|
||||
<item name="Shader" type="1045f7f1:UnityExplorerNode" />
|
||||
</path>
|
||||
<path>
|
||||
<item name="" type="e068e287:UnityExplorerRootNode" />
|
||||
<item name="Packages" type="4e2708dd:PackagesRoot" />
|
||||
|
|
@ -360,7 +374,7 @@
|
|||
<updated>1562417892841</updated>
|
||||
<workItem from="1562417897686" duration="5014000" />
|
||||
<workItem from="1562427566179" duration="10564000" />
|
||||
<workItem from="1562481324968" duration="11109000" />
|
||||
<workItem from="1562481324968" duration="21303000" />
|
||||
</task>
|
||||
<task id="LOCAL-00001" summary="add Kinect Manager">
|
||||
<created>1562485186899</created>
|
||||
|
|
@ -373,7 +387,7 @@
|
|||
<servers />
|
||||
</component>
|
||||
<component name="TimeTrackingManager">
|
||||
<option name="totallyTimeSpent" value="26687000" />
|
||||
<option name="totallyTimeSpent" value="36881000" />
|
||||
</component>
|
||||
<component name="TodoView">
|
||||
<todo-panel id="selected-file">
|
||||
|
|
@ -388,14 +402,14 @@
|
|||
<frame x="-7" y="0" width="2164" height="1567" extended-state="0" />
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<editor active="true" />
|
||||
<layout>
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||||
<window_info content_ui="combo" id="Project" order="0" sideWeight="0.8331627" visible="true" weight="0.21910647" />
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|
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<window_info id="Favorites" order="2" side_tool="true" />
|
||||
<window_info anchor="bottom" id="Inspection Results" weight="0.32967034" />
|
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<window_info anchor="bottom" id="Message" order="0" />
|
||||
<window_info anchor="bottom" id="Find" order="1" />
|
||||
<window_info anchor="bottom" id="Run" order="2" />
|
||||
<window_info anchor="bottom" id="Debug" order="3" weight="0.3997253" />
|
||||
<window_info anchor="bottom" id="Debug" order="3" visible="true" weight="0.3997253" />
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||||
<window_info anchor="bottom" id="Cvs" order="4" weight="0.25" />
|
||||
<window_info anchor="bottom" id="Inspection" order="5" weight="0.4" />
|
||||
<window_info anchor="bottom" id="TODO" order="6" />
|
||||
|
|
@ -407,7 +421,7 @@
|
|||
<window_info anchor="bottom" id="Unit Tests" order="12" weight="0.32967034" />
|
||||
<window_info anchor="bottom" id="Terminal" order="13" weight="0.32967034" />
|
||||
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|
||||
<window_info active="true" anchor="bottom" id="Build" order="15" visible="true" weight="0.32898352" />
|
||||
<window_info anchor="bottom" id="Build" order="15" weight="0.32898352" />
|
||||
<window_info anchor="bottom" id="Performance Profiler" order="16" />
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<window_info anchor="right" id="Commander" internal_type="SLIDING" order="0" type="SLIDING" weight="0.4" />
|
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|
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|
|
@ -445,6 +459,12 @@
|
|||
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|
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|
||||
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|
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|
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|
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|
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|
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|
||||
|
|
@ -662,20 +682,6 @@
|
|||
<entry file="file://$PROJECT_DIR$/Assets/Materials/DebugPanel.mat">
|
||||
<provider selected="true" editor-type-id="text-editor" />
|
||||
</entry>
|
||||
<entry file="file://$PROJECT_DIR$/Assets/Scripts/VideoInput/KinectManagerBehaviour.cs">
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</folding>
|
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|
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</entry>
|
||||
<entry file="file://$PROJECT_DIR$/Assets/ThridParty/KinectView/Scripts/BodySourceView.cs">
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||||
<provider selected="true" editor-type-id="text-editor">
|
||||
<state relative-caret-position="829">
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|
|
@ -795,34 +801,6 @@
|
|||
</state>
|
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</entry>
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<entry file="file://$PROJECT_DIR$/Assets/Scripts/Visualizer/WaveformVisualizerBehaviour.cs">
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<provider selected="true" editor-type-id="text-editor">
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<provider selected="true" editor-type-id="text-editor">
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<provider selected="true" editor-type-id="text-editor">
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<state relative-caret-position="325">
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|
|
@ -921,20 +899,124 @@
|
|||
</state>
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||||
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<entry file="file://$PROJECT_DIR$/Assets/Scripts/VideoInput/KinectManagerBehaviour.cs">
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||||
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|
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|
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<entry file="file://$PROJECT_DIR$/Assets/Scripts/Visualizer/MeshController.cs">
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m_LocalRotation: {x: -0.7071068, y: 0, z: -0, w: 0.7071068}
|
||||
m_LocalPosition: {x: 0, y: 0, z: 0}
|
||||
m_LocalScale: {x: 1, y: 1, z: 1}
|
||||
m_Children: []
|
||||
m_Father: {fileID: 848915472}
|
||||
m_RootOrder: 0
|
||||
m_LocalEulerAnglesHint: {x: -90, y: 0, z: 0}
|
||||
--- !u!114 &2037885791
|
||||
MonoBehaviour:
|
||||
m_ObjectHideFlags: 0
|
||||
m_CorrespondingSourceObject: {fileID: 0}
|
||||
m_PrefabInstance: {fileID: 0}
|
||||
m_PrefabAsset: {fileID: 0}
|
||||
m_GameObject: {fileID: 2037885789}
|
||||
m_Enabled: 1
|
||||
m_EditorHideFlags: 0
|
||||
m_Script: {fileID: 11500000, guid: c0603bf64edb4c8885cefbc40ee206fe, type: 3}
|
||||
m_Name:
|
||||
m_EditorClassIdentifier:
|
||||
kinectManagerBehaviour: {fileID: 437875428}
|
||||
panel: {fileID: 2037885789}
|
||||
--- !u!23 &2037885792
|
||||
MeshRenderer:
|
||||
m_ObjectHideFlags: 0
|
||||
|
|
|
|||
21
UnityProject/Assets/Scripts/Visualizer/IRPanelBehaviour.cs
Normal file
21
UnityProject/Assets/Scripts/Visualizer/IRPanelBehaviour.cs
Normal file
|
|
@ -0,0 +1,21 @@
|
|||
using UnityEngine;
|
||||
using VideoInput;
|
||||
|
||||
namespace Visualizer
|
||||
{
|
||||
class IRPanelBehaviour : MonoBehaviour
|
||||
{
|
||||
#pragma warning disable 649
|
||||
[SerializeField] private KinectManagerBehaviour kinectManagerBehaviour;
|
||||
[SerializeField] private GameObject panel;
|
||||
#pragma warning restore 649
|
||||
|
||||
private Renderer renderer_;
|
||||
|
||||
void Start()
|
||||
{
|
||||
renderer_ = panel.GetComponent<Renderer>();
|
||||
renderer_.material.mainTexture = kinectManagerBehaviour.KinectSensor.InfraredCamera.Data;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
|
@ -0,0 +1,3 @@
|
|||
fileFormatVersion: 2
|
||||
guid: c0603bf64edb4c8885cefbc40ee206fe
|
||||
timeCreated: 1562443930
|
||||
24
UnityProject/Assets/Scripts/Visualizer/MeshController.cs
Normal file
24
UnityProject/Assets/Scripts/Visualizer/MeshController.cs
Normal file
|
|
@ -0,0 +1,24 @@
|
|||
using UnityEngine;
|
||||
|
||||
namespace Visualizer
|
||||
{
|
||||
public interface IMeshController
|
||||
{
|
||||
void Update();
|
||||
}
|
||||
|
||||
public class MeshController : IMeshController
|
||||
{
|
||||
private Vector3[] points_;
|
||||
|
||||
MeshController(int numPoints)
|
||||
{
|
||||
|
||||
}
|
||||
|
||||
|
||||
public void Update()
|
||||
{
|
||||
}
|
||||
}
|
||||
}
|
||||
|
|
@ -0,0 +1,3 @@
|
|||
fileFormatVersion: 2
|
||||
guid: 83939e86f988414c8ababcc62ccc727d
|
||||
timeCreated: 1562501315
|
||||
|
|
@ -3,22 +3,74 @@ using VideoInput;
|
|||
|
||||
namespace Visualizer
|
||||
{
|
||||
class PointCloudBehaviour : MonoBehaviour
|
||||
public class PointCloudBehaviour : MonoBehaviour
|
||||
{
|
||||
#pragma warning disable 649
|
||||
[SerializeField] private KinectManagerBehaviour kinectManagerBehaviour;
|
||||
[SerializeField] private GameObject debugPanel;
|
||||
[SerializeField] private MeshFilter meshFilter;
|
||||
#pragma warning restore 649
|
||||
|
||||
private Renderer renderer_;
|
||||
|
||||
void Start()
|
||||
private void Start()
|
||||
{
|
||||
renderer_ = debugPanel.GetComponent<Renderer>();
|
||||
renderer_.material.mainTexture = kinectManagerBehaviour.KinectSensor.InfraredCamera.Data;
|
||||
var texture = kinectManagerBehaviour.KinectSensor.InfraredCamera.Data;
|
||||
var numPixels = texture.height * texture.width;
|
||||
|
||||
meshFilter.mesh = new Mesh
|
||||
{
|
||||
vertices = MakeVertices(texture),
|
||||
uv = MakeTexCoord(texture)
|
||||
};
|
||||
meshFilter.mesh.SetIndices(MakeIndecies(numPixels), MeshTopology.Points, 0, false);
|
||||
gameObject.GetComponent<Renderer>().material.mainTexture = kinectManagerBehaviour.KinectSensor.InfraredCamera.Data;
|
||||
}
|
||||
|
||||
void Update()
|
||||
private void Update()
|
||||
{
|
||||
|
||||
}
|
||||
|
||||
private Vector3[] MakeVertices(Texture2D texture)
|
||||
{
|
||||
var vertices = new Vector3[texture.width * texture.height];
|
||||
for (var i = 0; i < texture.height; ++i)
|
||||
{
|
||||
var offset = texture.width * i;
|
||||
var hPhase = (float) i / texture.height;
|
||||
for (var j = 0; j < texture.width; ++j)
|
||||
{
|
||||
var wPhase = (float) j / texture.width;
|
||||
vertices[offset + j].x = wPhase * 10f - 5f;
|
||||
vertices[offset + j].y = hPhase * 10f - 5f;
|
||||
vertices[offset + j].z = 0f;
|
||||
}
|
||||
}
|
||||
return vertices;
|
||||
}
|
||||
|
||||
private Vector2[] MakeTexCoord(Texture2D texture)
|
||||
{
|
||||
var texCoords = new Vector2[texture.width * texture.height];
|
||||
for (var i = 0; i < texture.height; ++i)
|
||||
{
|
||||
var offset = texture.width * i;
|
||||
var hPhase = (float) i / texture.height;
|
||||
for (var j = 0; j < texture.width; ++j)
|
||||
{
|
||||
var wPhase = (float) j / texture.width;
|
||||
texCoords[offset + j].x = wPhase;
|
||||
texCoords[offset + j].y = hPhase;
|
||||
}
|
||||
}
|
||||
return texCoords;
|
||||
}
|
||||
|
||||
private int[] MakeIndecies(int numPixels)
|
||||
{
|
||||
var array = new int[numPixels];
|
||||
for (var i = 0; i < numPixels; ++i)
|
||||
array[i] = i;
|
||||
return array;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
|
@ -1,3 +1,3 @@
|
|||
fileFormatVersion: 2
|
||||
guid: c0603bf64edb4c8885cefbc40ee206fe
|
||||
timeCreated: 1562443930
|
||||
guid: ffecec984845420991cec1a5fcf11959
|
||||
timeCreated: 1562500684
|
||||
29
UnityProject/Assets/Shader/Vertex Modifier.shader
Normal file
29
UnityProject/Assets/Shader/Vertex Modifier.shader
Normal file
|
|
@ -0,0 +1,29 @@
|
|||
Shader "Vertex Modifier" {
|
||||
Properties {
|
||||
_MainTex ("Texture", 2D) = "depth" {}
|
||||
_Amount ("Height Adjustment", Float) = 1.0
|
||||
}
|
||||
SubShader {
|
||||
Tags { "RenderType" = "Opaque" }
|
||||
CGPROGRAM
|
||||
#pragma surface surf Lambert vertex:vert
|
||||
struct Input {
|
||||
float2 uv_MainTex;
|
||||
};
|
||||
|
||||
// Access the shaderlab properties
|
||||
float _Amount;
|
||||
sampler2D _MainTex;
|
||||
|
||||
// Vertex modifier function
|
||||
void vert (inout appdata_full v){
|
||||
v.vertex.z += _Amount * tex2Dlod(_MainTex, v.texcoord).r;
|
||||
}
|
||||
|
||||
// Surface shader function
|
||||
void surf (Input IN, inout SurfaceOutput o) {
|
||||
o.Albedo = float4(1.0f, 1.0f, 1.0f, 1.0f);
|
||||
}
|
||||
ENDCG
|
||||
}
|
||||
}
|
||||
9
UnityProject/Assets/Shader/Vertex Modifier.shader.meta
Normal file
9
UnityProject/Assets/Shader/Vertex Modifier.shader.meta
Normal file
|
|
@ -0,0 +1,9 @@
|
|||
fileFormatVersion: 2
|
||||
guid: 3ad3d923f892ff94d9b9e114f6293260
|
||||
ShaderImporter:
|
||||
externalObjects: {}
|
||||
defaultTextures: []
|
||||
nonModifiableTextures: []
|
||||
userData:
|
||||
assetBundleName:
|
||||
assetBundleVariant:
|
||||
12
UnityProject/UnityProject.userprefs
Normal file
12
UnityProject/UnityProject.userprefs
Normal file
|
|
@ -0,0 +1,12 @@
|
|||
<Properties StartupItem="Assembly-CSharp.csproj">
|
||||
<MonoDevelop.Ide.Workspace ActiveConfiguration="Debug" />
|
||||
<MonoDevelop.Ide.Workbench ActiveDocument="Temp\GeneratedFromSurface-Vertex Modifier.shader">
|
||||
<Files>
|
||||
<File FileName="Temp\GeneratedFromSurface-Vertex Modifier.shader" Line="1" Column="1" />
|
||||
</Files>
|
||||
</MonoDevelop.Ide.Workbench>
|
||||
<MonoDevelop.Ide.DebuggingService.Breakpoints>
|
||||
<BreakpointStore />
|
||||
</MonoDevelop.Ide.DebuggingService.Breakpoints>
|
||||
<MonoDevelop.Ide.DebuggingService.PinnedWatches />
|
||||
</Properties>
|
||||
Loading…
Reference in a new issue