OpenGlTransform.java
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00001 /*
00002  * Copyright (C) 2011 Google Inc.
00003  *
00004  * Licensed under the Apache License, Version 2.0 (the "License"); you may not
00005  * use this file except in compliance with the License. You may obtain a copy of
00006  * the License at
00007  *
00008  * http://www.apache.org/licenses/LICENSE-2.0
00009  *
00010  * Unless required by applicable law or agreed to in writing, software
00011  * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
00012  * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
00013  * License for the specific language governing permissions and limitations under
00014  * the License.
00015  */
00016 
00017 package org.ros.android.view.visualization;
00018 
00019 import org.ros.rosjava_geometry.Transform;
00020 
00021 import java.nio.FloatBuffer;
00022 
00023 import javax.microedition.khronos.opengles.GL10;
00024 
00031 public class OpenGlTransform {
00032 
00033   private static final ThreadLocal<FloatBuffer> buffer = new ThreadLocal<FloatBuffer>() {
00034     @Override
00035     protected FloatBuffer initialValue() {
00036       return FloatBuffer.allocate(16);
00037     };
00038 
00039     @Override
00040     public FloatBuffer get() {
00041       FloatBuffer buffer = super.get();
00042       buffer.clear();
00043       return buffer;
00044     };
00045   };
00046 
00047   private OpenGlTransform() {
00048     // Utility class.
00049   }
00050 
00059   public static void apply(GL10 gl, Transform transform) {
00060     FloatBuffer matrix = buffer.get();
00061     for (double value : transform.toMatrix()) {
00062       matrix.put((float) value);
00063     }
00064     matrix.position(0);
00065     gl.glMultMatrixf(matrix);
00066   }
00067 }


android_core
Author(s): Damon Kohler
autogenerated on Thu Jun 6 2019 21:20:07