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

48 lines
1.6 KiB
C++

/*
* 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/grid.h"
namespace tango_gl {
// Initialize Grid with x and y grid count,
// qx, quantity in x
// qy, quantity in y.
Grid::Grid(float density, int qx, int qy) : Line(1.0f, GL_LINES) {
SetShader();
// 3 float in 1 vertex, 2 vertices form a line.
// Horizontal line and vertical line forms the grid.
float width = density * qx / 2;
float height = density * qy / 2;
// Horizontal line.
for (int i = 0; i < (qy + 1); i++) {
for (int j = 0; j < (qx + 1); j++) {
vec_vertices_.push_back(glm::vec3(-width + j*density, 0.0f, -height + i * density));
vec_vertices_.push_back(glm::vec3(-width+ + (j+1)*density, 0.0f, -height + i * density));
}
}
for (int i = 0; i < (qx + 1); i++) {
for (int j = 0; j < (qy + 1); j++) {
vec_vertices_.push_back(glm::vec3(-width + i * density, 0.0f, -height + j*density));
vec_vertices_.push_back(glm::vec3(-width + i * density, 0.0f, -height + (j+1)*density));
}
}
}
} // namespace tango_gl