#include <stdlib.h>
#include <OpenGLES/ES2/gl.h>
#include <OpenGLES/ES2/glext.h>
#include <syslog.h>
#include "glm/glm.hpp"
#include "glm/gtc/matrix_transform.hpp"
#include "glm/gtc/quaternion.hpp"
#include "glm/gtc/type_ptr.hpp"
#include "glm/gtx/matrix_decompose.hpp"

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Namespaces
	tango_gl

	tango_gl::util

Macros
#define	DEGREE_2_RADIANS 0.0174532925f

#define	GL_VERTEX_PROGRAM_POINT_SIZE 0x8642

#define	GLM_FORCE_RADIANS

#define	LOG_TAG "rtabmap"

#define	LOGD(...) __android_log_print(ANDROID_LOG_DEBUG,LOG_TAG,__VA_ARGS__)

#define	LOGE(...) __android_log_print(ANDROID_LOG_ERROR,LOG_TAG,__VA_ARGS__)

#define	LOGF(...) __android_log_print(ANDROID_LOG_FATAL,LOG_TAG,__VA_ARGS__)

#define	LOGI(...) __android_log_print(ANDROID_LOG_INFO,LOG_TAG,__VA_ARGS__)

#define	LOGW(...) __android_log_print(ANDROID_LOG_WARN,LOG_TAG,__VA_ARGS__)

#define	M_PI 3.1415926f

#define	RADIAN_2_DEGREE 57.2957795f

Functions
glm::vec3	tango_gl::util::ApplyTransform (const glm::mat4 &mat, const glm::vec3 &vec)

void	tango_gl::util::CheckGlError (const char *operation)

float	tango_gl::util::Clamp (float value, float min, float max)

GLuint	tango_gl::util::CreateProgram (const char vertex_source, const char fragment_source)

void	tango_gl::util::DecomposeMatrix (const glm::mat4 &transform_mat, glm::vec3 &translation, glm::quat &rotation, glm::vec3 &scale)

float	tango_gl::util::DistanceSquared (const glm::vec3 &v1, const glm::vec3 &v2)

glm::vec3	tango_gl::util::GetColumnFromMatrix (const glm::mat4 &mat, const int col)

glm::vec3	tango_gl::util::GetTranslationFromMatrix (const glm::mat4 &mat)

glm::vec3	tango_gl::util::LerpVector (const glm::vec3 &x, const glm::vec3 &y, float a)

void	tango_gl::util::PrintMatrix (const glm::mat4 &matrix)

void	tango_gl::util::PrintQuaternion (const glm::quat &quat)

void	tango_gl::util::PrintVector (const glm::vec3 &vector)

bool	tango_gl::util::SegmentAABBIntersect (const glm::vec3 &aabb_min, const glm::vec3 &aabb_max, const glm::vec3 &start, const glm::vec3 &end)