public void Draw(OpenTKWrapper.CLGLInterop.GLAdvancedRender glw)
{
if (Visible)
{
GL.Disable(EnableCap.Lighting);
GL.Color4(0.5f, 0.5f, 0.5f, 0.5f);
GL.PolygonMode(MaterialFace.FrontAndBack, PolygonMode.Fill);
GL.Begin(BeginMode.Quads);
GL.Vertex3(bbox.minPoint.x, bbox.minPoint.y, bbox.maxPoint.z);
GL.Vertex3(bbox.maxPoint.x, bbox.minPoint.y, bbox.maxPoint.z);
GL.Vertex3(bbox.maxPoint.x, bbox.maxPoint.y, bbox.maxPoint.z);
GL.Vertex3(bbox.minPoint.x, bbox.maxPoint.y, bbox.maxPoint.z);
GL.End();
GL.LineWidth(2.0f);
GL.PolygonMode(MaterialFace.FrontAndBack, PolygonMode.Line);
GL.Color3(0.82f, 0.0f, 0f);
GL.Begin(BeginMode.Quads);
GL.Vertex3(bbox.minPoint.x, bbox.minPoint.y, bbox.minPoint.z);
GL.Vertex3(bbox.maxPoint.x, bbox.minPoint.y, bbox.minPoint.z);
GL.Vertex3(bbox.maxPoint.x, bbox.maxPoint.y, bbox.minPoint.z);
GL.Vertex3(bbox.minPoint.x, bbox.maxPoint.y, bbox.minPoint.z);
GL.Vertex3(bbox.minPoint.x, bbox.minPoint.y, bbox.maxPoint.z);
GL.Vertex3(bbox.maxPoint.x, bbox.minPoint.y, bbox.maxPoint.z);
GL.Vertex3(bbox.maxPoint.x, bbox.maxPoint.y, bbox.maxPoint.z);
GL.Vertex3(bbox.minPoint.x, bbox.maxPoint.y, bbox.maxPoint.z);
GL.Vertex3(bbox.minPoint.x, bbox.minPoint.y, bbox.minPoint.z);
GL.Vertex3(bbox.minPoint.x, bbox.minPoint.y, bbox.maxPoint.z);
GL.Vertex3(bbox.maxPoint.x, bbox.minPoint.y, bbox.maxPoint.z);
GL.Vertex3(bbox.maxPoint.x, bbox.minPoint.y, bbox.minPoint.z);
GL.Vertex3(bbox.minPoint.x, bbox.maxPoint.y, bbox.minPoint.z);
GL.Vertex3(bbox.minPoint.x, bbox.maxPoint.y, bbox.maxPoint.z);
GL.Vertex3(bbox.maxPoint.x, bbox.maxPoint.y, bbox.maxPoint.z);
GL.Vertex3(bbox.maxPoint.x, bbox.maxPoint.y, bbox.minPoint.z);
GL.Vertex3(bbox.minPoint.x, bbox.minPoint.y, bbox.minPoint.z);
GL.Vertex3(bbox.minPoint.x, bbox.minPoint.y, bbox.maxPoint.z);
GL.Vertex3(bbox.minPoint.x, bbox.maxPoint.y, bbox.maxPoint.z);
GL.Vertex3(bbox.minPoint.x, bbox.maxPoint.y, bbox.minPoint.z);
GL.Vertex3(bbox.maxPoint.x, bbox.minPoint.y, bbox.minPoint.z);
GL.Vertex3(bbox.maxPoint.x, bbox.minPoint.y, bbox.maxPoint.z);
GL.Vertex3(bbox.maxPoint.x, bbox.maxPoint.y, bbox.maxPoint.z);
GL.Vertex3(bbox.maxPoint.x, bbox.maxPoint.y, bbox.minPoint.z);
GL.End();
GL.PushMatrix();
GL.MultMatrix(ref GroundPlane);
GL.Translate(0, 0, -bbox.maxPoint.z);
GL.Color4(0.0f, 0.0f, 0.82f, 0.5f);
GL.PolygonMode(MaterialFace.FrontAndBack, PolygonMode.Fill);
GL.Begin(BeginMode.Quads);
GL.Vertex3(bbox.minPoint.x, bbox.minPoint.y, bbox.maxPoint.z - GROUND_THICKNESS * 0.5f);
GL.Vertex3(bbox.maxPoint.x, bbox.minPoint.y, bbox.maxPoint.z - GROUND_THICKNESS * 0.5f);
GL.Vertex3(bbox.maxPoint.x, bbox.maxPoint.y, bbox.maxPoint.z - GROUND_THICKNESS * 0.5f);
GL.Vertex3(bbox.minPoint.x, bbox.maxPoint.y, bbox.maxPoint.z - GROUND_THICKNESS * 0.5f);
GL.End();
GL.LineWidth(2.0f);
GL.PolygonMode(MaterialFace.FrontAndBack, PolygonMode.Line);
GL.Color3(0.0f, 0.0f, 0.82f);
GL.Begin(BeginMode.Quads);
GL.Vertex3(bbox.minPoint.x, bbox.minPoint.y, bbox.maxPoint.z - GROUND_THICKNESS * 0.5f);
GL.Vertex3(bbox.maxPoint.x, bbox.minPoint.y, bbox.maxPoint.z - GROUND_THICKNESS * 0.5f);
GL.Vertex3(bbox.maxPoint.x, bbox.maxPoint.y, bbox.maxPoint.z - GROUND_THICKNESS * 0.5f);
GL.Vertex3(bbox.minPoint.x, bbox.maxPoint.y, bbox.maxPoint.z - GROUND_THICKNESS * 0.5f);
GL.End();
GL.PopMatrix();
GL.Enable(EnableCap.Lighting);
GL.PolygonMode(MaterialFace.FrontAndBack, PolygonMode.Fill);
GL.Color3(0.5f, 0.5f, 0.8f);
sphere.Draw();
GL.Color3(1.0f, 1.0f, 1.0f);
}
}
public void Initialize(BaseCameraApplication app, OpenTKWrapper.CLGLInterop.GLAdvancedRender glw)
{
try
{
CLCalc.Program.Compile(app.GetPrimaryDevice().GetPreprocessCode() + src);
}
catch (BuildProgramFailureComputeException ex)
{
System.Console.WriteLine(ex.Message);
Environment.Exit(1);
}
kernelCopyImage = new CLCalc.Program.Kernel("CopyImageToMesh");
BoundingBox bbox = app.GetPrimaryDevice().GetBoundingBox();
int w = app.GetPrimaryDevice().GetDepthImage().Width;
int h = app.GetPrimaryDevice().GetDepthImage().Height;
int size = w * h;
ColorData = new float[16 * size];
PositionData = new float[16 * size];
NormalData = new float[12 * size];
for (int i = 0; i < size; i++)
{
PositionData[4 * i] = (i / w) - w / 2;
PositionData[4 * i + 2] = i % w - h / 2;
PositionData[4 * i + 1] = i % 7;
PositionData[4 * i + 3] = 1.0f;
}
GL.GenBuffers(3, QuadMeshBufs);
GL.BindBuffer(BufferTarget.ArrayBuffer, QuadMeshBufs[0]);
GL.BufferData(BufferTarget.ArrayBuffer, (IntPtr)(ColorData.Length * sizeof(float)), ColorData, BufferUsageHint.StreamDraw);
GL.BindBuffer(BufferTarget.ArrayBuffer, QuadMeshBufs[1]);
GL.BufferData(BufferTarget.ArrayBuffer, (IntPtr)(PositionData.Length * sizeof(float)), PositionData, BufferUsageHint.StreamDraw);//Notice STREAM DRAW
GL.BindBuffer(BufferTarget.ArrayBuffer, QuadMeshBufs[2]);
GL.BufferData(BufferTarget.ArrayBuffer, (IntPtr)(NormalData.Length * sizeof(float)), NormalData, BufferUsageHint.StreamDraw);//Notice STREAM DRAW
colorBuffer = new CLCalc.Program.Variable(QuadMeshBufs[0], typeof(float));
positionBuffer = new CLCalc.Program.Variable(QuadMeshBufs[1], typeof(float));
normalBuffer = new CLCalc.Program.Variable(QuadMeshBufs[2], typeof(float));
GL.BindBuffer(BufferTarget.ArrayBuffer, 0);
GL.Enable(EnableCap.Blend);
}
public void Initialize(BaseCameraApplication app, OpenTKWrapper.CLGLInterop.GLAdvancedRender glw)
{
}
public void Draw(OpenTKWrapper.CLGLInterop.GLAdvancedRender glw)
{
GL.Enable(EnableCap.Lighting);
if (Visible)
{
GL.PolygonMode(MaterialFace.FrontAndBack, PolygonMode.Fill);
GL.EnableClientState(ArrayCap.VertexArray);
if (ShowColor)
{
GL.Disable(EnableCap.Lighting);
GL.EnableClientState(ArrayCap.ColorArray);
GL.BindBuffer(BufferTarget.ArrayBuffer, QuadMeshBufs[0]);
GL.ColorPointer(4, ColorPointerType.Float, 0, 0);
GL.BindBuffer(BufferTarget.ArrayBuffer, QuadMeshBufs[1]);
GL.VertexPointer(4, VertexPointerType.Float, 0, 0);
GL.DrawArrays(BeginMode.Quads, 0, PositionData.Length / 4);
GL.DisableClientState(ArrayCap.ColorArray);
}
else
{
GL.Enable(EnableCap.Lighting);
GL.EnableClientState(ArrayCap.NormalArray);
GL.Color3(0.8f, 0.4f, 0.2f);
GL.BindBuffer(BufferTarget.ArrayBuffer, QuadMeshBufs[2]);
GL.NormalPointer(NormalPointerType.Float, 0, 0);
GL.BindBuffer(BufferTarget.ArrayBuffer, QuadMeshBufs[1]);
GL.VertexPointer(4, VertexPointerType.Float, 0, 0);
GL.DrawArrays(BeginMode.Quads, 0, PositionData.Length / 4);
GL.Color3(1.0f, 1.0f, 1.0f);
GL.DisableClientState(ArrayCap.NormalArray);
}
GL.DisableClientState(ArrayCap.VertexArray);
}
if (WireFrame)
{
GL.LineWidth(2.0f);
GL.PolygonMode(MaterialFace.FrontAndBack, PolygonMode.Line);
GL.EnableClientState(ArrayCap.VertexArray);
GL.EnableClientState(ArrayCap.NormalArray);
if (ShowColor)
{
GL.Color3(0.1f, 0.1f, 0.2f);
}
else
{
GL.Color3(0.4f, 0.2f, 0.1f);
}
GL.BindBuffer(BufferTarget.ArrayBuffer, QuadMeshBufs[2]);
GL.NormalPointer(NormalPointerType.Float, 0, 0);
GL.BindBuffer(BufferTarget.ArrayBuffer, QuadMeshBufs[1]);
GL.VertexPointer(4, VertexPointerType.Float, 0, 0);
GL.DrawArrays(BeginMode.Quads, 0, PositionData.Length / 4);
GL.Color3(1.0f, 1.0f, 1.0f);
GL.DisableClientState(ArrayCap.NormalArray);
}
GL.DisableClientState(ArrayCap.VertexArray);
GL.BindBuffer(BufferTarget.ArrayBuffer, 0);
}
