/**
* Allocates and initializes OpenGL resources needed by the plane renderer. Must be
* called on the OpenGL thread, typically in
* {@link GLSurfaceView.Renderer#onSurfaceCreated(GL10, EGLConfig)}.
*
* @param context Needed to access shader source.
*/
public void CreateOnGlThread(Context context)
{
ShaderUtil.CheckGLError(TAG, "before create");
var buffers = new int[1];
GLES20.GlGenBuffers(1, buffers, 0);
mVbo = buffers[0];
GLES20.GlBindBuffer(GLES20.GlArrayBuffer, mVbo);
mVboSize = INITIAL_BUFFER_POINTS * BYTES_PER_POINT;
GLES20.GlBufferData(GLES20.GlArrayBuffer, mVboSize, null, GLES20.GlDynamicDraw);
GLES20.GlBindBuffer(GLES20.GlArrayBuffer, 0);
ShaderUtil.CheckGLError(TAG, "buffer alloc");
int vertexShader = ShaderUtil.LoadGLShader(TAG, context,
GLES20.GlVertexShader, Resource.Raw.point_cloud_vertex);
int passthroughShader = ShaderUtil.LoadGLShader(TAG, context,
GLES20.GlFragmentShader, Resource.Raw.passthrough_fragment);
mProgramName = GLES20.GlCreateProgram();
GLES20.GlAttachShader(mProgramName, vertexShader);
GLES20.GlAttachShader(mProgramName, passthroughShader);
GLES20.GlLinkProgram(mProgramName);
GLES20.GlUseProgram(mProgramName);
ShaderUtil.CheckGLError(TAG, "program");
mPositionAttribute = GLES20.GlGetAttribLocation(mProgramName, "a_Position");
mColorUniform = GLES20.GlGetUniformLocation(mProgramName, "u_Color");
mModelViewProjectionUniform = GLES20.GlGetUniformLocation(
mProgramName, "u_ModelViewProjection");
mPointSizeUniform = GLES20.GlGetUniformLocation(mProgramName, "u_PointSize");
ShaderUtil.CheckGLError(TAG, "program params");
}
/**
* Creates and initializes OpenGL resources needed for rendering the model.
*
* @param context Context for loading the shader and below-named model and texture assets.
* @param objAssetName Name of the OBJ file containing the model geometry.
* @param diffuseTextureAssetName Name of the PNG file containing the diffuse texture map.
*/
public void CreateOnGlThread(Context context, string objAssetName, string diffuseTextureAssetName)
{
// Read the texture.
var textureBitmap = BitmapFactory.DecodeStream(context.Assets.Open(diffuseTextureAssetName));
GLES20.GlActiveTexture(GLES20.GlTexture0);
GLES20.GlGenTextures(mTextures.Length, mTextures, 0);
GLES20.GlBindTexture(GLES20.GlTexture2d, mTextures[0]);
GLES20.GlTexParameteri(GLES20.GlTexture2d,
GLES20.GlTextureMinFilter, GLES20.GlLinearMipmapLinear);
GLES20.GlTexParameteri(GLES20.GlTexture2d,
GLES20.GlTextureMagFilter, GLES20.GlLinear);
GLUtils.TexImage2D(GLES20.GlTexture2d, 0, textureBitmap, 0);
GLES20.GlGenerateMipmap(GLES20.GlTexture2d);
GLES20.GlBindTexture(GLES20.GlTexture2d, 0);
textureBitmap.Recycle();
ShaderUtil.CheckGLError(TAG, "Texture loading");
// Read the obj file.
var objInputStream = context.Assets.Open(objAssetName);
var obj = ObjReader.Read(objInputStream);
// Prepare the Obj so that its structure is suitable for
// rendering with OpenGL:
// 1. Triangulate it
// 2. Make sure that texture coordinates are not ambiguous
// 3. Make sure that normals are not ambiguous
// 4. Convert it to single-indexed data
obj = ObjUtils.ConvertToRenderable(obj);
// OpenGL does not use Java arrays. ByteBuffers are used instead to provide data in a format
// that OpenGL understands.
// Obtain the data from the OBJ, as direct buffers:
IntBuffer wideIndices = ObjData.GetFaceVertexIndices(obj, 3);
FloatBuffer vertices = ObjData.GetVertices(obj);
FloatBuffer texCoords = ObjData.GetTexCoords(obj, 2);
FloatBuffer normals = ObjData.GetNormals(obj);
// Convert int indices to shorts for GL ES 2.0 compatibility
ShortBuffer indices = ByteBuffer.AllocateDirect(2 * wideIndices.Limit())
.Order(ByteOrder.NativeOrder()).AsShortBuffer();
while (wideIndices.HasRemaining)
{
indices.Put((short)wideIndices.Get());
}
indices.Rewind();
var buffers = new int[2];
GLES20.GlGenBuffers(2, buffers, 0);
mVertexBufferId = buffers[0];
mIndexBufferId = buffers[1];
// Load vertex buffer
mVerticesBaseAddress = 0;
mTexCoordsBaseAddress = mVerticesBaseAddress + 4 * vertices.Limit();
mNormalsBaseAddress = mTexCoordsBaseAddress + 4 * texCoords.Limit();
int totalBytes = mNormalsBaseAddress + 4 * normals.Limit();
GLES20.GlBindBuffer(GLES20.GlArrayBuffer, mVertexBufferId);
GLES20.GlBufferData(GLES20.GlArrayBuffer, totalBytes, null, GLES20.GlStaticDraw);
GLES20.GlBufferSubData(
GLES20.GlArrayBuffer, mVerticesBaseAddress, 4 * vertices.Limit(), vertices);
GLES20.GlBufferSubData(
GLES20.GlArrayBuffer, mTexCoordsBaseAddress, 4 * texCoords.Limit(), texCoords);
GLES20.GlBufferSubData(
GLES20.GlArrayBuffer, mNormalsBaseAddress, 4 * normals.Limit(), normals);
GLES20.GlBindBuffer(GLES20.GlArrayBuffer, 0);
// Load index buffer
GLES20.GlBindBuffer(GLES20.GlElementArrayBuffer, mIndexBufferId);
mIndexCount = indices.Limit();
GLES20.GlBufferData(
GLES20.GlElementArrayBuffer, 2 * mIndexCount, indices, GLES20.GlStaticDraw);
GLES20.GlBindBuffer(GLES20.GlElementArrayBuffer, 0);
ShaderUtil.CheckGLError(TAG, "OBJ buffer load");
int vertexShader = ShaderUtil.LoadGLShader(TAG, context,
GLES20.GlVertexShader, Resource.Raw.object_vertex);
int fragmentShader = ShaderUtil.LoadGLShader(TAG, context,
GLES20.GlFragmentShader, Resource.Raw.object_fragment);
mProgram = GLES20.GlCreateProgram();
GLES20.GlAttachShader(mProgram, vertexShader);
GLES20.GlAttachShader(mProgram, fragmentShader);
GLES20.GlLinkProgram(mProgram);
GLES20.GlUseProgram(mProgram);
ShaderUtil.CheckGLError(TAG, "Program creation");
mModelViewUniform = GLES20.GlGetUniformLocation(mProgram, "u_ModelView");
mModelViewProjectionUniform =
GLES20.GlGetUniformLocation(mProgram, "u_ModelViewProjection");
mPositionAttribute = GLES20.GlGetAttribLocation(mProgram, "a_Position");
mNormalAttribute = GLES20.GlGetAttribLocation(mProgram, "a_Normal");
mTexCoordAttribute = GLES20.GlGetAttribLocation(mProgram, "a_TexCoord");
mTextureUniform = GLES20.GlGetUniformLocation(mProgram, "u_Texture");
mLightingParametersUniform = GLES20.GlGetUniformLocation(mProgram, "u_LightingParameters");
mMaterialParametersUniform = GLES20.GlGetUniformLocation(mProgram, "u_MaterialParameters");
ShaderUtil.CheckGLError(TAG, "Program parameters");
Android.Opengl.Matrix.SetIdentityM(mModelMatrix, 0);
}
/**
* Draws the model.
*
* @param cameraView A 4x4 view matrix, in column-major order.
* @param cameraPerspective A 4x4 projection matrix, in column-major order.
* @param lightIntensity Illumination intensity. Combined with diffuse and specular material
* properties.
* @see #setBlendMode(BlendMode)
* @see #updateModelMatrix(float[], float)
* @see #setMaterialProperties(float, float, float, float)
* @see android.opengl.Matrix
*/
public void Draw(float[] cameraView, float[] cameraPerspective, float lightIntensity)
{
ShaderUtil.CheckGLError(TAG, "Before draw");
// Build the ModelView and ModelViewProjection matrices
// for calculating object position and light.
Android.Opengl.Matrix.MultiplyMM(mModelViewMatrix, 0, cameraView, 0, mModelMatrix, 0);
Android.Opengl.Matrix.MultiplyMM(mModelViewProjectionMatrix, 0, cameraPerspective, 0, mModelViewMatrix, 0);
GLES20.GlUseProgram(mProgram);
// Set the lighting environment properties.
Android.Opengl.Matrix.MultiplyMV(mViewLightDirection, 0, mModelViewMatrix, 0, LIGHT_DIRECTION, 0);
normalizeVec3(mViewLightDirection);
GLES20.GlUniform4f(mLightingParametersUniform,
mViewLightDirection[0], mViewLightDirection[1], mViewLightDirection[2], lightIntensity);
// Set the object material properties.
GLES20.GlUniform4f(mMaterialParametersUniform, mAmbient, mDiffuse, mSpecular,
mSpecularPower);
// Attach the object texture.
GLES20.GlActiveTexture(GLES20.GlTexture0);
GLES20.GlBindTexture(GLES20.GlTexture2d, mTextures[0]);
GLES20.GlUniform1i(mTextureUniform, 0);
// Set the vertex attributes.
GLES20.GlBindBuffer(GLES20.GlArrayBuffer, mVertexBufferId);
GLES20.GlVertexAttribPointer(
mPositionAttribute, COORDS_PER_VERTEX, GLES20.GlFloat, false, 0, mVerticesBaseAddress);
GLES20.GlVertexAttribPointer(
mNormalAttribute, 3, GLES20.GlFloat, false, 0, mNormalsBaseAddress);
GLES20.GlVertexAttribPointer(
mTexCoordAttribute, 2, GLES20.GlFloat, false, 0, mTexCoordsBaseAddress);
GLES20.GlBindBuffer(GLES20.GlArrayBuffer, 0);
// Set the ModelViewProjection matrix in the shader.
GLES20.GlUniformMatrix4fv(
mModelViewUniform, 1, false, mModelViewMatrix, 0);
GLES20.GlUniformMatrix4fv(
mModelViewProjectionUniform, 1, false, mModelViewProjectionMatrix, 0);
// Enable vertex arrays
GLES20.GlEnableVertexAttribArray(mPositionAttribute);
GLES20.GlEnableVertexAttribArray(mNormalAttribute);
GLES20.GlEnableVertexAttribArray(mTexCoordAttribute);
if (mBlendMode != BlendMode.Null)
{
GLES20.GlDepthMask(false);
GLES20.GlEnable(GLES20.GlBlend);
switch (mBlendMode)
{
case BlendMode.Shadow:
// Multiplicative blending function for Shadow.
GLES20.GlBlendFunc(GLES20.GlZero, GLES20.GlOneMinusSrcAlpha);
break;
case BlendMode.Grid:
// Grid, additive blending function.
GLES20.GlBlendFunc(GLES20.GlSrcAlpha, GLES20.GlOneMinusSrcAlpha);
break;
}
}
GLES20.GlBindBuffer(GLES20.GlElementArrayBuffer, mIndexBufferId);
GLES20.GlDrawElements(GLES20.GlTriangles, mIndexCount, GLES20.GlUnsignedShort, 0);
GLES20.GlBindBuffer(GLES20.GlElementArrayBuffer, 0);
if (mBlendMode != BlendMode.Null)
{
GLES20.GlDisable(GLES20.GlBlend);
GLES20.GlDepthMask(true);
}
// Disable vertex arrays
GLES20.GlDisableVertexAttribArray(mPositionAttribute);
GLES20.GlDisableVertexAttribArray(mNormalAttribute);
GLES20.GlDisableVertexAttribArray(mTexCoordAttribute);
GLES20.GlBindTexture(GLES20.GlTexture2d, 0);
ShaderUtil.CheckGLError(TAG, "After draw");
}
/**
* Draws the collection of tracked planes, with closer planes hiding more distant ones.
*
* @param allPlanes The collection of planes to draw.
* @param cameraPose The pose of the camera, as returned by {@link Frame#getPose()}
* @param cameraPerspective The projection matrix, as returned by
* {@link Session#getProjectionMatrix(float[], int, float, float)}
*/
public void DrawPlanes(IEnumerable <Plane> allPlanes, Pose cameraPose, float[] cameraPerspective)
{
// Planes must be sorted by distance from camera so that we draw closer planes first, and
// they occlude the farther planes.
List <SortablePlane> sortedPlanes = new List <SortablePlane>();
float[] normal = new float[3];
float cameraX = cameraPose.Tx();
float cameraY = cameraPose.Ty();
float cameraZ = cameraPose.Tz();
foreach (var plane in allPlanes)
{
if (plane.TrackingState != TrackingState.Tracking || plane.SubsumedBy != null)
{
continue;
}
var center = plane.CenterPose;
// Get transformed Y axis of plane's coordinate system.
center.GetTransformedAxis(1, 1.0f, normal, 0);
// Compute dot product of plane's normal with vector from camera to plane center.
float distance = (cameraX - center.Tx()) * normal[0] +
(cameraY - center.Ty()) * normal[1] + (cameraZ - center.Tz()) * normal[2];
if (distance < 0)
{ // Plane is back-facing.
continue;
}
sortedPlanes.Add(new SortablePlane(distance, plane));
}
sortedPlanes.Sort((x, y) => x.Distance.CompareTo(y.Distance));
var cameraView = new float[16];
cameraPose.Inverse().ToMatrix(cameraView, 0);
// Planes are drawn with additive blending, masked by the alpha channel for occlusion.
// Start by clearing the alpha channel of the color buffer to 1.0.
GLES20.GlClearColor(1, 1, 1, 1);
GLES20.GlColorMask(false, false, false, true);
GLES20.GlClear(GLES20.GlColorBufferBit);
GLES20.GlColorMask(true, true, true, true);
// Disable depth write.
GLES20.GlDepthMask(false);
// Additive blending, masked by alpha chanel, clearing alpha channel.
GLES20.GlEnable(GLES20.GlBlend);
GLES20.GlBlendFuncSeparate(
GLES20.GlDstAlpha, GLES20.GlOne, // RGB (src, dest)
GLES20.GlZero, GLES20.GlOneMinusSrcAlpha); // ALPHA (src, dest)
// Set up the shader.
GLES20.GlUseProgram(mPlaneProgram);
// Attach the texture.
GLES20.GlActiveTexture(GLES20.GlTexture0);
GLES20.GlBindTexture(GLES20.GlTexture2d, mTextures[0]);
GLES20.GlUniform1i(mTextureUniform, 0);
// Shared fragment uniforms.
GLES20.GlUniform4fv(mGridControlUniform, 1, GRID_CONTROL, 0);
// Enable vertex arrays
GLES20.GlEnableVertexAttribArray(mPlaneXZPositionAlphaAttribute);
ShaderUtil.CheckGLError(TAG, "Setting up to draw planes");
foreach (var sortedPlane in sortedPlanes)
{
var plane = sortedPlane.Plane;
float[] planeMatrix = new float[16];
plane.CenterPose.ToMatrix(planeMatrix, 0);
updatePlaneParameters(planeMatrix, plane.ExtentX,
plane.ExtentZ, plane.Polygon);
// Get plane index. Keep a map to assign same indices to same planes.
int planeIndex = -1;
if (!mPlaneIndexMap.TryGetValue(plane, out planeIndex))
{
planeIndex = Java.Lang.Integer.ValueOf(mPlaneIndexMap.Count).IntValue();
mPlaneIndexMap.Add(plane, planeIndex);
}
// Set plane color. Computed deterministically from the Plane index.
int colorIndex = planeIndex % PLANE_COLORS_RGBA.Length;
colorRgbaToFloat(mPlaneColor, PLANE_COLORS_RGBA[colorIndex]);
GLES20.GlUniform4fv(mLineColorUniform, 1, mPlaneColor, 0);
GLES20.GlUniform4fv(mDotColorUniform, 1, mPlaneColor, 0);
// Each plane will have its own angle offset from others, to make them easier to
// distinguish. Compute a 2x2 rotation matrix from the angle.
float angleRadians = planeIndex * 0.144f;
float uScale = DOTS_PER_METER;
float vScale = DOTS_PER_METER * EQUILATERAL_TRIANGLE_SCALE;
mPlaneAngleUvMatrix[0] = +(float)Math.Cos(angleRadians) * uScale;
mPlaneAngleUvMatrix[1] = -(float)Math.Sin(angleRadians) * uScale;
mPlaneAngleUvMatrix[2] = +(float)Math.Sin(angleRadians) * vScale;
mPlaneAngleUvMatrix[3] = +(float)Math.Cos(angleRadians) * vScale;
GLES20.GlUniformMatrix2fv(mPlaneUvMatrixUniform, 1, false, mPlaneAngleUvMatrix, 0);
Draw(cameraView, cameraPerspective);
}
// Clean up the state we set
GLES20.GlDisableVertexAttribArray(mPlaneXZPositionAlphaAttribute);
GLES20.GlBindTexture(GLES20.GlTexture2d, 0);
GLES20.GlDisable(GLES20.GlBlend);
GLES20.GlDepthMask(true);
ShaderUtil.CheckGLError(TAG, "Cleaning up after drawing planes");
}