tango-gl/include/tango-gl/util.h
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1 /*
2  * Copyright 2014 Google Inc. All Rights Reserved.
3  *
4  * Licensed under the Apache License, Version 2.0 (the "License");
5  * you may not use this file except in compliance with the License.
6  * You may obtain a copy of the License at
7  *
8  * http://www.apache.org/licenses/LICENSE-2.0
9  *
10  * Unless required by applicable law or agreed to in writing, software
11  * distributed under the License is distributed on an "AS IS" BASIS,
12  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13  * See the License for the specific language governing permissions and
14  * limitations under the License.
15  */
16 
17 #ifndef TANGO_GL_GL_UTIL_H_
18 #define TANGO_GL_GL_UTIL_H_
19 #define GLM_FORCE_RADIANS
20 
21 #define GL_VERTEX_PROGRAM_POINT_SIZE 0x8642
22 
23 #include <stdlib.h>
24 #include <jni.h>
25 #include <android/log.h>
26 #include <GLES2/gl2.h>
27 #include <GLES2/gl2ext.h>
28 
29 #include "glm/glm.hpp"
31 #include "glm/gtc/quaternion.hpp"
32 #include "glm/gtc/type_ptr.hpp"
34 
35 #define LOG_TAG "rtabmap"
36 #ifdef DISABLE_LOG
37 #define LOGD(...) ;
38 #define LOGI(...) ;
39 #define LOGW(...) ;
40 #else
41 #define LOGD(...) __android_log_print(ANDROID_LOG_DEBUG,LOG_TAG,__VA_ARGS__)
42 #define LOGI(...) __android_log_print(ANDROID_LOG_INFO,LOG_TAG,__VA_ARGS__)
43 #define LOGW(...) __android_log_print(ANDROID_LOG_WARN,LOG_TAG,__VA_ARGS__)
44 #endif
45 #define LOGE(...) __android_log_print(ANDROID_LOG_ERROR,LOG_TAG,__VA_ARGS__)
46 #define LOGF(...) __android_log_print(ANDROID_LOG_FATAL,LOG_TAG,__VA_ARGS__)
47 
48 #ifndef M_PI
49 #define M_PI 3.1415926f
50 #endif
51 
52 #define RADIAN_2_DEGREE 57.2957795f
53 #define DEGREE_2_RADIANS 0.0174532925f
54 
55 namespace tango_gl {
56 namespace util {
57  void CheckGlError(const char* operation);
58 
59  GLuint CreateProgram(const char* vertex_source,
60  const char* fragment_source);
61 
62  void DecomposeMatrix(const glm::mat4& transform_mat,
63  glm::vec3& translation,
65  glm::vec3& scale);
66 
67  // Get a 3x1 column from the upper 3x4 of a transformation matrix. Columns
68  // 0, 1, 2 are the rotation/scale portion, and column 3 is the translation.
69  glm::vec3 GetColumnFromMatrix(const glm::mat4& mat, const int col);
70 
71  // Get the translation component of a transformation matrix.
73 
74  float Clamp(float value, float min, float max);
75  void PrintMatrix(const glm::mat4& matrix);
76  void PrintVector(const glm::vec3& vector);
77  void PrintQuaternion(const glm::quat& quat);
78 
79  glm::vec3 LerpVector(const glm::vec3& x, const glm::vec3& y, float a);
80  float DistanceSquared(const glm::vec3& v1, const glm::vec3& v2);
81 
82  bool SegmentAABBIntersect(const glm::vec3& aabb_min, const glm::vec3& aabb_max,
83  const glm::vec3& start, const glm::vec3& end);
84 
85  glm::vec3 ApplyTransform(const glm::mat4& mat, const glm::vec3& vec);
86 
87 } // namespace util
88 } // namespace tango_gl
89 #endif // TANGO_GL_RENDERER_GL_UTIL
GLM_FUNC_DECL genType min(genType const &x, genType const &y)
glm::vec3 GetTranslationFromMatrix(const glm::mat4 &mat)
Definition: util.cpp:161
void PrintQuaternion(const glm::quat &quat)
Definition: util.cpp:184
highp_quat quat
Quaternion of default single-precision floating-point numbers.
Definition: fwd.hpp:68
GLM_FUNC_DECL detail::tmat4x4< T, P > scale(detail::tmat4x4< T, P > const &m, detail::tvec3< T, P > const &v)
GLuint CreateProgram(const char *vertex_source, const char *fragment_source)
Definition: util.cpp:75
unsigned int GLuint
Definition: dummy.cpp:78
float DistanceSquared(const glm::vec3 &v1, const glm::vec3 &v2)
Definition: util.cpp:193
void PrintMatrix(const glm::mat4 &matrix)
Definition: util.cpp:170
glm::vec3 ApplyTransform(const glm::mat4 &mat, const glm::vec3 &vec)
Definition: util.cpp:237
float Clamp(float value, float min, float max)
Definition: util.cpp:165
glm::vec3 LerpVector(const glm::vec3 &x, const glm::vec3 &y, float a)
Definition: util.cpp:189
GLM_FUNC_DECL detail::tquat< T, P > rotation(detail::tvec3< T, P > const &orig, detail::tvec3< T, P > const &dest)
void PrintVector(const glm::vec3 &vector)
Definition: util.cpp:179
void CheckGlError(const char *operation)
Definition: util.cpp:43
GLM_FUNC_DECL genType max(genType const &x, genType const &y)
glm::vec3 GetColumnFromMatrix(const glm::mat4 &mat, const int col)
Definition: util.cpp:157
bool SegmentAABBIntersect(const glm::vec3 &aabb_min, const glm::vec3 &aabb_max, const glm::vec3 &start, const glm::vec3 &end)
Definition: util.cpp:198
void DecomposeMatrix(const glm::mat4 &transform_mat, glm::vec3 &translation, glm::quat &rotation, glm::vec3 &scale)
Definition: util.cpp:115


rtabmap
Author(s): Mathieu Labbe
autogenerated on Mon Dec 14 2020 03:37:06