XYOrthographicRenderer.java

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/*
 * Copyright (C) 2011 Google Inc.
 *
 * 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.
 */

package org.ros.android.view.visualization;

import android.opengl.GLSurfaceView;
import org.ros.android.view.visualization.layer.Layer;
import org.ros.android.view.visualization.layer.TfLayer;
import org.ros.namespace.GraphName;

import javax.microedition.khronos.egl.EGLConfig;
import javax.microedition.khronos.opengles.GL10;

public class XYOrthographicRenderer implements GLSurfaceView.Renderer {

  private static final Color BACKGROUND_COLOR = new Color(0.87f, 0.87f, 0.87f, 1.f);

  private final VisualizationView view;

  public XYOrthographicRenderer(VisualizationView view) {
    this.view = view;
  }

  @Override
  public void onSurfaceChanged(GL10 gl, int width, int height) {
    Viewport viewport = new Viewport(width, height);
    viewport.apply(gl);
    view.getCamera().setViewport(viewport);
    gl.glMatrixMode(GL10.GL_MODELVIEW);
    gl.glEnable(GL10.GL_BLEND);
    gl.glBlendFunc(GL10.GL_SRC_ALPHA, GL10.GL_ONE_MINUS_SRC_ALPHA);
    gl.glDisable(GL10.GL_DEPTH_TEST);
    gl.glClearColor(BACKGROUND_COLOR.getRed(), BACKGROUND_COLOR.getGreen(),
        BACKGROUND_COLOR.getBlue(), BACKGROUND_COLOR.getAlpha());
    for (Layer layer : view.getLayers()) {
      layer.onSurfaceChanged(view, gl, width, height);
    }
  }

  @Override
  public void onDrawFrame(GL10 gl) {
    gl.glClear(GL10.GL_COLOR_BUFFER_BIT);
    gl.glLoadIdentity();
    view.getCamera().apply(gl);
    drawLayers(gl);
  }

  private void drawLayers(GL10 gl) {
    for (Layer layer : view.getLayers()) {
      gl.glPushMatrix();
      if (layer instanceof TfLayer) {
        GraphName layerFrame = ((TfLayer) layer).getFrame();
        if (layerFrame != null && view.getCamera().applyFrameTransform(gl, layerFrame)) {
          layer.draw(view, gl);
        }
      } else {
        layer.draw(view, gl);
      }
      gl.glPopMatrix();
    }
  }

  @Override
  public void onSurfaceCreated(GL10 gl, EGLConfig config) {
    for (Layer layer : view.getLayers()) {
      layer.onSurfaceCreated(view, gl, config);
    }
  }
}