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

45 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/line.h"
namespace tango_gl {
Line::Line(float line_width, GLenum render_mode) {
line_width_ = line_width;
render_mode_ = render_mode;
}
void Line::SetLineWidth(const float pixels) { line_width_ = pixels; }
void Line::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));
glUniform4f(uniform_color_, red_, green_, blue_, alpha_);
glEnableVertexAttribArray(attrib_vertices_);
glVertexAttribPointer(attrib_vertices_, 3, GL_FLOAT, GL_FALSE,
sizeof(glm::vec3), &vec_vertices_[0]);
glDrawArrays(render_mode_, 0, vec_vertices_.size());
glDisableVertexAttribArray(attrib_vertices_);
glUseProgram(0);
}
} // namespace tango_gl