Merge pull request #41 from googlesamples/release-quine

release-quine
googlearchive · Jun 25, 2015 · 7235635 · 7235635
2 parents 17cc3c9 + 3be6258
commit 7235635
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Showing 11 changed files with 226 additions and 41 deletions.
diff --git a/point-cloud-jni-example/app/src/main/jni/tango_pointcloud.cpp b/point-cloud-jni-example/app/src/main/jni/tango_pointcloud.cpp
@@ -248,10 +248,12 @@ bool RenderFrame() {
   axis->Render(cam->GetProjectionMatrix(), cam->GetViewMatrix());
 
   // Render point cloud based on depth buffer and depth frame transformation.
-  pointcloud->Render(
-      cam->GetProjectionMatrix(), cam->GetViewMatrix(), oc_2_ow_mat_depth,
-      TangoData::GetInstance().depth_buffer_size * 3,
-      static_cast<float*>(TangoData::GetInstance().depth_buffer));
+  if (TangoData::GetInstance().cur_pose_data.status_code == TANGO_POSE_VALID) {
+    pointcloud->Render(
+        cam->GetProjectionMatrix(), cam->GetViewMatrix(), oc_2_ow_mat_depth,
+        TangoData::GetInstance().depth_buffer_size * 3,
+        static_cast<float*>(TangoData::GetInstance().depth_buffer));
+  }
 
   grid->SetPosition(glm::vec3(0.0f, 0.0f, 0.0f) - kHeightOffset);
   // Render grid.

diff --git a/tango-gl/cube.cpp b/tango-gl/cube.cpp
@@ -19,21 +19,38 @@
 namespace tango_gl {
 
 static const GLfloat const_vertices[] = {
-    -1.0f, -1.0f, 1.0f, 1.0f, -1.0f, 1.0f,  1.0f,  1.0f,
-    1.0f,  -1.0f, 1.0f, 1.0f, -1.0f, -1.0f, -1.0f, 1.0f,
-    -1.0f, -1.0f, 1.0f, 1.0f, -1.0f, -1.0f, 1.0f,  -1.0f};
+    -1.0f, 1.0f,  1.0f,  -1.0f, -1.0f, 1.0f,  1.0f,  1.0f,  1.0f,  -1.0f, -1.0f,
+    1.0f,  1.0f,  -1.0f, 1.0f,  1.0f,  1.0f,  1.0f,  1.0f,  1.0f,  1.0f,  1.0f,
+    -1.0f, 1.0f,  1.0f,  1.0f,  -1.0f, 1.0f,  -1.0f, 1.0f,  1.0f,  -1.0f, -1.0f,
+    1.0f,  1.0f,  -1.0f, 1.0f,  1.0f,  -1.0f, 1.0f,  -1.0f, -1.0f, -1.0f, 1.0f,
+    -1.0f, 1.0f,  -1.0f, -1.0f, -1.0f, -1.0f, -1.0f, -1.0f, 1.0f,  -1.0f, -1.0f,
+    1.0f,  -1.0f, -1.0f, -1.0f, -1.0f, -1.0f, 1.0f,  1.0f,  -1.0f, -1.0f, -1.0f,
+    -1.0f, -1.0f, 1.0f,  -1.0f, 1.0f,  1.0f,  -1.0f, 1.0f,  -1.0f, -1.0f, 1.0f,
+    1.0f,  1.0f,  1.0f,  -1.0f, -1.0f, 1.0f,  1.0f,  1.0f,  1.0f,  1.0f,  1.0f,
+    1.0f,  -1.0f, 1.0f,  -1.0f, -1.0f, 1.0f,  -1.0f, 1.0f,  -1.0f, -1.0f, -1.0f,
+    1.0f,  -1.0f, 1.0f,  -1.0f, -1.0f, 1.0f,  -1.0f, -1.0f, -1.0f};
 
-static const GLushort const_indices[] = {0, 1, 2, 2, 3, 0, 3, 2, 6, 6, 7, 3,
-                                         7, 6, 5, 5, 4, 7, 4, 0, 3, 3, 7, 4,
-                                         0, 4, 5, 5, 1, 0, 1, 5, 6, 6, 2, 1};
+static const GLfloat const_normals[] = {
+    0.0f,  0.0f,  1.0f,  0.0f,  0.0f,  1.0f,  0.0f,  0.0f,  1.0f,  0.0f,  0.0f,
+    1.0f,  0.0f,  0.0f,  1.0f,  0.0f,  0.0f,  1.0f,  1.0f,  0.0f,  0.0f,  1.0f,
+    0.0f,  0.0f,  1.0f,  0.0f,  0.0f,  1.0f,  0.0f,  0.0f,  1.0f,  0.0f,  0.0f,
+    1.0f,  0.0f,  0.0f,  0.0f,  0.0f,  -1.0f, 0.0f,  0.0f,  -1.0f, 0.0f,  0.0f,
+    -1.0f, 0.0f,  0.0f,  -1.0f, 0.0f,  0.0f,  -1.0f, 0.0f,  0.0f,  -1.0f, -1.0f,
+    0.0f,  0.0f,  -1.0f, 0.0f,  0.0f,  -1.0f, 0.0f,  0.0f,  -1.0f, 0.0f,  0.0f,
+    -1.0f, 0.0f,  0.0f,  -1.0f, 0.0f,  0.0f,  0.0f,  1.0f,  0.0f,  0.0f,  1.0f,
+    0.0f,  0.0f,  1.0f,  0.0f,  0.0f,  1.0f,  0.0f,  0.0f,  1.0f,  0.0f,  0.0f,
+    1.0f,  0.0f,  0.0f,  -1.0f, 0.0f,  0.0f,  -1.0f, 0.0f,  0.0f,  -1.0f, 0.0f,
+    0.0f,  -1.0f, 0.0f,  0.0f,  -1.0f, 0.0f,  0.0f,  -1.0f, 0.0f};
 
 Cube::Cube() {
-  SetShader();
+  SetShader(true);
   std::vector<GLfloat> vertices(
       const_vertices,
       const_vertices + sizeof(const_vertices) / sizeof(GLfloat));
-  std::vector<GLushort> indices(
-      const_indices, const_indices + sizeof(const_indices) / sizeof(GLushort));
-  SetVertices(vertices, indices);
+  std::vector<GLfloat> normals(
+      const_normals, const_normals + sizeof(const_normals) / sizeof(GLfloat));
+  SetVertices(vertices, normals);
+  glm::vec3 point_light = glm::vec3(0.5f, 2, 0.5f);
+  SetLightPosition(point_light);
 }
 }  // namespace tango_gl
diff --git a/tango-gl/drawable_object.cpp b/tango-gl/drawable_object.cpp
@@ -53,4 +53,10 @@ void DrawableObject::SetVertices(const std::vector<GLfloat>& vertices,
   vertices_ = vertices;
   indices_ = indices;
 }
+
+void DrawableObject::SetVertices(const std::vector<GLfloat>& vertices,
+                                 const std::vector<GLfloat>& normals) {
+  vertices_ = vertices;
+  normals_ = normals;
 }
+}  // namespace tango_gl
diff --git a/tango-gl/include/tango-gl/drawable_object.h b/tango-gl/include/tango-gl/drawable_object.h
@@ -38,6 +38,8 @@ class DrawableObject : public Transform {
   void SetVertices(const std::vector<GLfloat>& vertices);
   void SetVertices(const std::vector<GLfloat>& vertices,
                    const std::vector<GLushort>& indices);
+  void SetVertices(const std::vector<GLfloat>& vertices,
+                   const std::vector<GLfloat>& normals);
   virtual void Render(const glm::mat4& projection_mat,
                       const glm::mat4& view_mat) const = 0;
 
@@ -48,10 +50,13 @@ class DrawableObject : public Transform {
   float alpha_;
   std::vector<GLushort> indices_;
   std::vector<GLfloat> vertices_;
+  std::vector<GLfloat> normals_;
+
   GLuint shader_program_;
   GLuint uniform_color_;
   GLuint uniform_mvp_mat_;
   GLuint attrib_vertices_;
+  GLuint attrib_normals_;
 };
 }  // namespace tango_gl
 #endif  // TANGO_GL_DRAWABLE_OBJECT_H_
diff --git a/tango-gl/include/tango-gl/mesh.h b/tango-gl/include/tango-gl/mesh.h
@@ -22,7 +22,16 @@
 namespace tango_gl {
 class Mesh : public DrawableObject {
  public:
+  void SetShader();
+  void SetShader(bool is_lighting_on);
+  void SetLightPosition(const glm::vec3& light_position);
   void Render(const glm::mat4& projection_mat, const glm::mat4& view_mat) const;
+
+ protected:
+  bool is_lighting_on_;
+  glm::vec3 light_position_;
+  GLuint uniform_mv_mat_;
+  GLuint uniform_light_pos_;
 };
 }  // namespace tango_gl
 #endif  // TANGO_GL_MESH_H_
diff --git a/tango-gl/include/tango-gl/obj_loader.h b/tango-gl/include/tango-gl/obj_loader.h
@@ -23,27 +23,38 @@
 
 namespace tango_gl {
 namespace obj_loader {
-//  Load standard .obj file into vertices, indices and normals vectors,
+//  Load standard .obj file into vertices, indices or normals vectors,
 //  OBJ file can be exported from 3D tools like 3ds Max, when exporting,
-//  faces must be triangulated. A readable file should look like
+//  faces must be triangulated.
+//  A readable file with only vertices should look like
 //  "v 1.00 2.00 3.00
 //   ...
 //   f 1 2 3
+//   ..."
+//
+//  If exported with normals, file should look like
+//  "v 1.00 2.00 3.00
+//   ...
+//   f 1//1 2//3 3//4
 //   ...
 //   vn 1.00 2.00 3.00
 //   ..."
-//
-//  this can be used with Polygon:
+//  this can be used with Mesh:
 //
 //  std::vector<GLfloat> vertices;
 //  std::vector<GLushort> indices;
 //  std::vector<GLfloat> normals;
-//  tango_gl::obj_loader::LoadOBJData("/sdcard/model.obj", vertices, indices,
-//    normals);
-//  polygon->SetMeshData(vertices, indices);
-//
+//  tango_gl::obj_loader::LoadOBJData("/sdcard/model.obj", vertices, indices);
+//  mesh->SetVertices(vertices, indices);
+//  or
+//  tango_gl::obj_loader::LoadOBJData("/sdcard/model.obj", vertices, normals);
+//  mesh->SetVertices(vertices, normals);
+
+bool LoadOBJData(const char* path, std::vector<GLfloat>& vertices,
+                 std::vector<GLushort>& indices);
+
   bool LoadOBJData(const char* path, std::vector<GLfloat>& vertices,
-                    std::vector<GLushort>& indices, std::vector<GLfloat>& normals);
+                   std::vector<GLfloat>& normals);
 }  // namespace obj_loader
 }  // namespace tango_gl
 #endif  // TANGO_GL_OBJ_LOADER
diff --git a/tango-gl/include/tango-gl/shaders.h b/tango-gl/include/tango-gl/shaders.h
@@ -26,6 +26,7 @@ std::string GetBasicFragmentShader();
 std::string GetColorVertexShader();
 std::string GetVideoOverlayVertexShader();
 std::string GetVideoOverlayFragmentShader();
+std::string GetShadedVertexShader();
 }  // namespace shaders
 }  // namespace tango_gl
 #endif  // TANGO_GL_SHADERS_H_
diff --git a/tango-gl/mesh.cpp b/tango-gl/mesh.cpp
@@ -15,26 +15,78 @@
  */
 
 #include "tango-gl/mesh.h"
+#include "tango-gl/shaders.h"
 
 namespace tango_gl {
+void Mesh::SetShader() {
+  DrawableObject::SetShader();
+  is_lighting_on_ = false;
+}
+
+void Mesh::SetShader(bool is_lighting_on) {
+  if (is_lighting_on) {
+    shader_program_ =
+        util::CreateProgram(shaders::GetShadedVertexShader().c_str(),
+                            shaders::GetBasicFragmentShader().c_str());
+    if (!shader_program_) {
+      LOGE("Could not create program.");
+    }
+    uniform_mvp_mat_ = glGetUniformLocation(shader_program_, "mvp");
+    uniform_mv_mat_ = glGetUniformLocation(shader_program_, "mv");
+    uniform_light_pos_ = glGetUniformLocation(shader_program_, "lightPos");
+    uniform_color_ = glGetUniformLocation(shader_program_, "color");
+
+    attrib_vertices_ = glGetAttribLocation(shader_program_, "vertex");
+    attrib_normals_ = glGetAttribLocation(shader_program_, "normal");
+    is_lighting_on_ = true;
+  } else {
+    SetShader();
+  }
+}
+
+void Mesh::SetLightPosition(const glm::vec3& light_position) {
+  light_position_ = light_position;
+}
 
 void Mesh::Render(const glm::mat4& projection_mat,
                   const glm::mat4& view_mat) const {
-  if (indices_.empty()) return;
   glUseProgram(shader_program_);
   glm::mat4 model_mat = GetTransformationMatrix();
-  glm::mat4 mvp_mat = projection_mat * view_mat * model_mat;
+  glm::mat4 mv_mat = view_mat * model_mat;
+  glm::mat4 mvp_mat = projection_mat * mv_mat;
   glUniformMatrix4fv(uniform_mvp_mat_, 1, GL_FALSE, glm::value_ptr(mvp_mat));
+  glUniform4f(uniform_color_, red_, green_, blue_, alpha_);
+
+  if (is_lighting_on_) {
+    glUniformMatrix4fv(uniform_mv_mat_, 1, GL_FALSE, glm::value_ptr(mv_mat));
+
+    glEnableVertexAttribArray(attrib_normals_);
+    glVertexAttribPointer(attrib_normals_, 3, GL_FLOAT, GL_FALSE,
+                          3 * sizeof(GLfloat), &normals_[0]);
+
+    glm::vec4 light = glm::vec4(light_position_.x, light_position_.y,
+                                light_position_.z, 1.0f);
+    glm::vec4 transformed_light = view_mat * light;
+    glUniform3fv(uniform_light_pos_, 1, glm::value_ptr(transformed_light));
+  }
 
   glEnableVertexAttribArray(attrib_vertices_);
-  glVertexAttribPointer(attrib_vertices_, 3, GL_FLOAT, GL_FALSE,
-                        3 * sizeof(GLfloat), vertices_.data());
-  glUniform4f(uniform_color_, red_, green_, blue_, alpha_);
-  glDrawElements(GL_TRIANGLES, indices_.size(), GL_UNSIGNED_SHORT,
-                 indices_.data());
+
+  if (!indices_.empty()) {
+    glVertexAttribPointer(attrib_vertices_, 3, GL_FLOAT, GL_FALSE,
+                          3 * sizeof(GLfloat), vertices_.data());
+    glDrawElements(GL_TRIANGLES, indices_.size(), GL_UNSIGNED_SHORT,
+                   indices_.data());
+  } else {
+    glVertexAttribPointer(attrib_vertices_, 3, GL_FLOAT, GL_FALSE,
+                          3 * sizeof(GLfloat), &vertices_[0]);
+    glDrawArrays(GL_TRIANGLES, 0, vertices_.size() / 3);
+  }
 
   glDisableVertexAttribArray(attrib_vertices_);
+  if (is_lighting_on_) {
+    glDisableVertexAttribArray(attrib_normals_);
+  }
   glUseProgram(0);
 }
-
 }  // namespace tango_gl
diff --git a/tango-gl/obj_loader.cpp b/tango-gl/obj_loader.cpp
@@ -18,8 +18,8 @@
 #include "tango-gl/obj_loader.h"
 
 namespace tango_gl {
-bool obj_loader::LoadOBJData(const char *path, std::vector<GLfloat>& vertices,
-                    std::vector<GLushort>& indices, std::vector<GLfloat>& normals) {
+bool obj_loader::LoadOBJData(const char* path, std::vector<GLfloat>& vertices,
+                             std::vector<GLushort>& indices) {
   FILE *file = fopen(path, "r");
   if (file == NULL) {
     LOGE("Failed to open file: %s", path);
@@ -43,15 +43,51 @@ bool obj_loader::LoadOBJData(const char *path, std::vector<GLfloat>& vertices,
       vertices.push_back(vertex[2]);
     } else if (strcmp(lineHeader, "f") == 0) {
       GLushort vertexIndex[3];
-      int matches = fscanf(file, "%hu %hu %hu\n", &vertexIndex[0], &vertexIndex[1],
-                           &vertexIndex[2]);
+      int matches = fscanf(file, "%hu %hu %hu\n", &vertexIndex[0],
+                           &vertexIndex[1], &vertexIndex[2]);
       if (matches != 3) {
         LOGE("Format of 'f int int int' required for each face line");
         return false;
       }
       indices.push_back(vertexIndex[0] - 1);
       indices.push_back(vertexIndex[1] - 1);
       indices.push_back(vertexIndex[2] - 1);
+    }
+    else {
+      char comments_buffer[1000];
+      fgets(comments_buffer, 1000, file);
+    }
+  }
+  fclose(file);
+  return true;
+}
+
+bool obj_loader::LoadOBJData(const char* path, std::vector<GLfloat>& vertices,
+                             std::vector<GLfloat>& normals) {
+  std::vector<unsigned int> vertexIndices, normalIndices;
+  std::vector<GLfloat> temp_vertices, temp_normals;
+
+  FILE* file = fopen(path, "r");
+  if (file == NULL) {
+    LOGE("Failed to open file: %s", path);
+    return false;
+  }
+
+  while (1) {
+    char lineHeader[128];
+    int res = fscanf(file, "%s", lineHeader);
+    if (res == EOF) break;
+    if (strcmp(lineHeader, "v") == 0) {
+      GLfloat vertex[3];
+      int matches =
+          fscanf(file, "%f %f %f\n", &vertex[0], &vertex[1], &vertex[2]);
+      if (matches != 3) {
+        LOGE("Format of 'v float float float' required for each vertice line");
+        return false;
+      }
+      temp_vertices.push_back(vertex[0]);
+      temp_vertices.push_back(vertex[1]);
+      temp_vertices.push_back(vertex[2]);
     } else if (strcmp(lineHeader, "vn") == 0) {
       GLfloat normal[3];
       int matches =
@@ -60,18 +96,44 @@ bool obj_loader::LoadOBJData(const char *path, std::vector<GLfloat>& vertices,
         LOGE("Format of 'vn float float float' required for each normal line");
         return false;
       }
-      normals.push_back(normal[0]);
-      normals.push_back(normal[1]);
-      normals.push_back(normal[2]);
-    }
-    else {
+      temp_normals.push_back(normal[0]);
+      temp_normals.push_back(normal[1]);
+      temp_normals.push_back(normal[2]);
+    } else if (strcmp(lineHeader, "f") == 0) {
+      GLushort vertexIndex[3];
+      GLushort normalIndex[3];
+      int matches = fscanf(file, "%hu//%hu %hu//%hu %hu//%hu\n",
+                           &vertexIndex[0], &normalIndex[0], &vertexIndex[1],
+                           &normalIndex[1], &vertexIndex[2], &normalIndex[2]);
+      if (matches != 6) {
+        LOGE("Format of 'f int//int int//int int//int' required for each face");
+        return false;
+      }
+      // .obj file is 1-indexed, so subtract 1 from all indices.
+      vertexIndices.push_back(vertexIndex[0] - 1);
+      vertexIndices.push_back(vertexIndex[1] - 1);
+      vertexIndices.push_back(vertexIndex[2] - 1);
+      normalIndices.push_back(normalIndex[0] - 1);
+      normalIndices.push_back(normalIndex[1] - 1);
+      normalIndices.push_back(normalIndex[2] - 1);
+    } else {
       char comments_buffer[1000];
       fgets(comments_buffer, 1000, file);
     }
   }
 
+  for (unsigned int i = 0; i < vertexIndices.size(); i++) {
+    unsigned int vertexIndex = vertexIndices[i];
+    unsigned int normalIndex = normalIndices[i];
+
+    vertices.push_back(temp_vertices[vertexIndex * 3]);
+    vertices.push_back(temp_vertices[vertexIndex * 3 + 1]);
+    vertices.push_back(temp_vertices[vertexIndex * 3 + 2]);
+    normals.push_back(temp_normals[normalIndex * 3]);
+    normals.push_back(temp_normals[normalIndex * 3 + 1]);
+    normals.push_back(temp_normals[normalIndex * 3 + 2]);
+  }
   fclose(file);
   return true;
 }
-
 }  // namespace tango_gl