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agv_pro_ros2/rtabmap/app/android/jni/tango-gl/axis.cpp
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2025-07-14 11:34:38 +08:00

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2.9 KiB
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/*
* Copyright 2014 Google Inc. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
#include "tango-gl/axis.h"
#include "tango-gl/shaders.h"
namespace tango_gl {
static const float float_vertices[] = {0.0f, 0.0f, 0.0f, 1.0f, 0.0f, 0.0f,
0.0f, 0.0f, 0.0f, 0.0f, 1.0f, 0.0f,
0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 1.0f};
static const float float_colors[] = {
1.0f, 0.0f, 0.0f, 1.0f, 1.0f, 0.0f, 0.0f, 1.0f, 0.0f, 1.0f, 0.0f, 1.0f,
0.0f, 1.0f, 0.0f, 1.0f, 0.0f, 0.0f, 1.0f, 1.0f, 0.0f, 0.0f, 1.0f, 1.0f};
Axis::Axis() : Line(3.0f, GL_LINES) {
// Implement SetShader here, not using the dedault one.
shader_program_ =
util::CreateProgram(shaders::GetColorVertexShader().c_str(),
shaders::GetBasicFragmentShader().c_str());
if (!shader_program_) {
LOGE("Could not create program.");
}
uniform_mvp_mat_ = glGetUniformLocation(shader_program_, "mvp");
attrib_colors_ = glGetAttribLocation(shader_program_, "color");
attrib_vertices_ = glGetAttribLocation(shader_program_, "vertex");
size_t size = sizeof(float_vertices) / (sizeof(float) * 3);
for (size_t i = 0; i < size; i++) {
vec_vertices_.push_back(glm::vec3(float_vertices[i * 3],
float_vertices[i * 3 + 1],
float_vertices[i * 3 + 2]));
vec_colors_.push_back(
glm::vec4(float_colors[i * 4], float_colors[i * 4 + 1],
float_colors[i * 4 + 2], float_colors[i * 4 + 3]));
}
}
void Axis::Render(const glm::mat4& projection_mat,
const glm::mat4& view_mat) const {
glUseProgram(shader_program_);
glLineWidth(line_width_);
glm::mat4 model_mat = GetTransformationMatrix();
glm::mat4 mvp_mat = projection_mat * view_mat * model_mat;
glUniformMatrix4fv(uniform_mvp_mat_, 1, GL_FALSE, glm::value_ptr(mvp_mat));
glEnableVertexAttribArray(attrib_vertices_);
glVertexAttribPointer(attrib_vertices_, 3, GL_FLOAT, GL_FALSE,
sizeof(glm::vec3), &vec_vertices_[0]);
glEnableVertexAttribArray(attrib_colors_);
glVertexAttribPointer(attrib_colors_, 4, GL_FLOAT, GL_FALSE,
sizeof(glm::vec4), &vec_colors_[0]);
glDrawArrays(render_mode_, 0, vec_vertices_.size());
glDisableVertexAttribArray(attrib_vertices_);
glDisableVertexAttribArray(attrib_colors_);
glUseProgram(0);
}
} // namespace tango_gl