MotoGP: road reflections

本文详细介绍了如何通过简单的几何翻转技术,在摩托车比赛中实现实时水面反射,提升湿滑赛道的视觉表现。通过调整相机位置、高度及倾斜角度,以及在特定条件下淡出反射,实现了既不降低帧率又不重复绘制环境的效果。同时,通过增加水面纹理的不均匀性,模拟真实的水坑和水流,使整个赛道表面不再均匀光亮,进一步增强了真实感。

MotorGP路面反射采用的也是屏幕空间的反射,对原始的屏幕空间反射做了一些修改,对于摩托车还是按照真实物体的低精度模型进行渲染,树和远处的物体都是直接flip了一下,简单粗暴,效果也很不错。过几天下个MotorGP研究一下,应该和wow的方法很接近。

My final task on the quest for wet weather was figuring out what to do with the road surface. When roads get wet, they become reflective. It was particularly important to reflect the bikes, because we disabled shadows during wet races. Without either shadows or reflections, there would be nothing to tie the bikes to the ground, which can create a disturbing illusion where things appear to be floating in the air. But we also wanted to reflect the sky and surrounding scenery such as trees, buildings, and bridges.

Reflections are easy to implement. Mirror your geometry through the ground plane, then draw everything a second time, upside down.

Hang on a moment...

"Draw everything a second time"?  You're kidding, right?  :-) 

No way could I afford to draw the environment twice, even using simplified lower detail models. I had enough GPU juice to reflect the bikes and riders, but not enough for other scenery.

I was on the verge of giving up when I took a final look through our wet road reference photos, and had a crazy idea. I saw a tree, plus an upside down reflection of that same tree. If I had to recreate this in Photoshop, I'd just duplicate the tree image onto a second layer, then vertically flip it.

Surely not... That's way too simple and fundamentally mathematically wrong to have any chance of working in a 3D game...

I tested my theory in Photoshop by taking a photo of a sunny race, selecting the trees and buildings, and mirroring them onto a second layer.

Wow, that works surprisingly well! Not perfect, but promising. Let's see if I can cover up the flaws well enough to make this technique usable in practice...

Creating reflections by mirroring in 2D is only correct if the perspective vanishing point is the same as the ground plane:

  1. The ground must be flat
  2. The camera must be sitting on the ground
  3. The camera must be facing parallel to the ground

These things were not true in MotoGP, but they were close to being true:

  1. The ground was roughly flat, at least most of the time
  2. Cameras were rarely more than head height above the ground
  3. Cameras tended to face roughly forward

For the rare cases where this approximation went badly wrong, I wrote code to detect and fix the situation:

  1. If you were anywhere near a hill, I faded out the reflections (I told myself this was a feature, not a bug, because water flows downhill, so hills would naturally be less wet and therefore less shiny :-)
  2. If the camera was too high above the ground, I faded out the reflections
  3. If the camera was not parallel to the ground, I faded out the reflections (again not a bug! one could argue this was a crude approximation of Fresnel reflection)

Yee haw! Things are starting to look pretty darn good. But still not good enough...

Reflections of distant objects looked great, but the closer something was to the road surface, the more obvious the errors became. If an object was touching the road, it would look terrible if its reflection was even slightly wrong (for instance if the reflection of a bike wheel did not exactly join up with the original wheel).

Solution? Draw proper upside down bike reflections, to make sure they are in exactly the right place. Use the 2D vertical flip approximation for distant trees and buildings. Ask the artists to mark any pieces of scenery that are too close for this approximation to look good, and just leave those objects out of the reflection. For instance these trees are reflected in the road, but the blue and white crash barrier is not:

 image

Final algorithm:

  • Draw sky
  • Draw reflectable parts of the scenery
  • Copy backbuffer to reflection rendertarget, flipping it vertically
  • Fade rendertarget to grey if camera is near a hill, too high, or at too much of an angle
  • Draw bike and rider reflections to the rendertarget, using low detail models
  • Draw road surface to the main backbuffer, using a projective texturing shader that blends the road texture with the reflection image from the rendertarget
  • Draw non-reflectable scenery, bikes, riders, etc.

By stubbornly ignoring the fact that this technique was fundamentally bogus and incorrect, we achieved detailed reflections of sky and scenery, without having to sacrifice framerate and render everything twice:

image

Final problem: it looked too smooth and glassy, more like a mirror than a racetrack. So the artists drew a mottled pattern in the alpha channel of the road texture, and I changed the pixel shader to make this alpha data vary the amount of reflection for each pixel. This created the illusion of puddles, rivulets, etc, so the entire road surface was no longer equally shiny. By varying the alpha pattern, we could add variety and make the reflections look different from one track to another.

And that's all I have to say about wet weather effects. Putting it all together, here is the combined result of fogspray+wakesraindrops, and reflections:

image

Of course, technology has moved on since 2002. I highly recommend this paper by Natalya Tatarchuk, which applies 2006 era hardware to a similar set of problems.

内容概要:本文详细介绍了一种基于Simulink的表贴式永磁同步电机(SPMSM)有限控制集模型预测电流控制(FCS-MPCC)仿真系统。通过构建PMSM数学模型、坐标变换、MPC控制器、SVPWM调制等模块,实现了对电机定子电流的高精度跟踪控制,具备快速动态响应和低稳态误差的特点。文中提供了完整的仿真建模步骤、关键参数设置、核心MATLAB函数代码及仿真结果分析,涵盖转速、电流、转矩和三相电流波形,验证了MPC控制策略在动态性能、稳态精度和抗负载扰动方面的优越性,并提出了参数自整定、加权代价函数、模型预测转矩控制和弱磁扩速等优化方向。; 适合人群:自动化、电气工程及其相关专业本科生、研究生,以及从事电机控制算法研究与仿真的工程技术人员;具备一定的电机原理、自动控制理论和Simulink仿真基础者更佳; 使用场景及目标:①用于永磁同步电机模型预测控制的教学演示、课程设计或毕业设计项目;②作为电机先进控制算法(如MPC、MPTC)的仿真验证平台;③支撑科研中对控制性能优化(如动态响应、抗干扰能力)的研究需求; 阅读建议:建议读者结合Simulink环境动手搭建模型,深入理解各模块间的信号流向与控制逻辑,重点掌握预测模型构建、代价函数设计与开关状态选择机制,并可通过修改电机参数或控制策略进行拓展实验,以增强实践与创新能力。
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