rtabmap: cube.cpp Source File

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00001 /*
00002  * Copyright 2014 Google Inc. All Rights Reserved.
00003  *
00004  * Licensed under the Apache License, Version 2.0 (the "License");
00005  * you may not use this file except in compliance with the License.
00006  * You may obtain a copy of 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,
00012  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
00013  * See the License for the specific language governing permissions and
00014  * limitations under the License.
00015  */
00016 
00017 #include "tango-gl/cube.h"
00018 
00019 namespace tango_gl {
00020 
00021 static const GLfloat const_vertices[] = {
00022     -1.0f, 1.0f,  1.0f,  -1.0f, -1.0f, 1.0f,  1.0f,  1.0f,  1.0f,  -1.0f, -1.0f,
00023     1.0f,  1.0f,  -1.0f, 1.0f,  1.0f,  1.0f,  1.0f,  1.0f,  1.0f,  1.0f,  1.0f,
00024     -1.0f, 1.0f,  1.0f,  1.0f,  -1.0f, 1.0f,  -1.0f, 1.0f,  1.0f,  -1.0f, -1.0f,
00025     1.0f,  1.0f,  -1.0f, 1.0f,  1.0f,  -1.0f, 1.0f,  -1.0f, -1.0f, -1.0f, 1.0f,
00026     -1.0f, 1.0f,  -1.0f, -1.0f, -1.0f, -1.0f, -1.0f, -1.0f, 1.0f,  -1.0f, -1.0f,
00027     1.0f,  -1.0f, -1.0f, -1.0f, -1.0f, -1.0f, 1.0f,  1.0f,  -1.0f, -1.0f, -1.0f,
00028     -1.0f, -1.0f, 1.0f,  -1.0f, 1.0f,  1.0f,  -1.0f, 1.0f,  -1.0f, -1.0f, 1.0f,
00029     1.0f,  1.0f,  1.0f,  -1.0f, -1.0f, 1.0f,  1.0f,  1.0f,  1.0f,  1.0f,  1.0f,
00030     1.0f,  -1.0f, 1.0f,  -1.0f, -1.0f, 1.0f,  -1.0f, 1.0f,  -1.0f, -1.0f, -1.0f,
00031     1.0f,  -1.0f, 1.0f,  -1.0f, -1.0f, 1.0f,  -1.0f, -1.0f, -1.0f};
00032 
00033 static const GLfloat const_normals[] = {
00034     0.0f,  0.0f,  1.0f,  0.0f,  0.0f,  1.0f,  0.0f,  0.0f,  1.0f,  0.0f,  0.0f,
00035     1.0f,  0.0f,  0.0f,  1.0f,  0.0f,  0.0f,  1.0f,  1.0f,  0.0f,  0.0f,  1.0f,
00036     0.0f,  0.0f,  1.0f,  0.0f,  0.0f,  1.0f,  0.0f,  0.0f,  1.0f,  0.0f,  0.0f,
00037     1.0f,  0.0f,  0.0f,  0.0f,  0.0f,  -1.0f, 0.0f,  0.0f,  -1.0f, 0.0f,  0.0f,
00038     -1.0f, 0.0f,  0.0f,  -1.0f, 0.0f,  0.0f,  -1.0f, 0.0f,  0.0f,  -1.0f, -1.0f,
00039     0.0f,  0.0f,  -1.0f, 0.0f,  0.0f,  -1.0f, 0.0f,  0.0f,  -1.0f, 0.0f,  0.0f,
00040     -1.0f, 0.0f,  0.0f,  -1.0f, 0.0f,  0.0f,  0.0f,  1.0f,  0.0f,  0.0f,  1.0f,
00041     0.0f,  0.0f,  1.0f,  0.0f,  0.0f,  1.0f,  0.0f,  0.0f,  1.0f,  0.0f,  0.0f,
00042     1.0f,  0.0f,  0.0f,  -1.0f, 0.0f,  0.0f,  -1.0f, 0.0f,  0.0f,  -1.0f, 0.0f,
00043     0.0f,  -1.0f, 0.0f,  0.0f,  -1.0f, 0.0f,  0.0f,  -1.0f, 0.0f};
00044 
00045 Cube::Cube() {
00046   SetShader(true);
00047   std::vector<GLfloat> vertices(
00048       const_vertices,
00049       const_vertices + sizeof(const_vertices) / sizeof(GLfloat));
00050   std::vector<GLfloat> normals(
00051       const_normals, const_normals + sizeof(const_normals) / sizeof(GLfloat));
00052   SetVertices(vertices, normals);
00053 }
00054 }  // namespace tango_gl