osgpcl::SurfelFactory<PointT, NormalT>::SurfelFactory(float radius)
{
const char *vertShader = {
"#version 120\n"
"void main(){\n"
" gl_Position = gl_ModelViewProjectionMatrix * gl_Vertex;\n"
" gl_FrontColor = gl_Color;\n"
" gl_TexCoord[0] = gl_MultiTexCoord0;\n"
"}\n"
};
const char *geomShader = {
"#version 120\n"
"#extension GL_EXT_geometry_shader4 : enable\n"
"#define PI_6 3.1456/6\n"
"#define PI_3 3.1456/3\n"
"#define PI2 3.1456*2\n"
"uniform float radius;\n"
"void main( void )\n"
"{\n"
"for( int i = 0 ; i < 1 ; i++ ){\n"
"vec4 center = gl_PositionIn [ i ]; \n"
"gl_FrontColor = gl_FrontColorIn[ i ]; \n"
"gl_TexCoord[0] = gl_TexCoordIn [ i ][ 0 ];\n"
"gl_Position = center;\n"
"EmitVertex();\n"
"gl_Position = center+ gl_ModelViewProjectionMatrix*vec4(1.0 , 0.0,0,0)*radius;\n"
"EmitVertex();\n"
"gl_Position = center+ gl_ModelViewProjectionMatrix*vec4(0.866025403784 , 0.5 ,0, 0)*radius;\n"
"EmitVertex();\n"
"for(float theta = PI_3; theta <= PI2; theta+= PI_6){\n"
" gl_Position = center;\n"
" EmitVertex();\n"
" gl_Position = center+ gl_ModelViewProjectionMatrix*vec4(cos(theta) , sin(theta) , 0,0)*radius;\n"
" EmitVertex();\n"
"}\n"
"}\n"
"}\n"
};
osg::ref_ptr<osg::Program> surfel_program = new osg::Program;
surfel_program->setName("Surfel");
surfel_program->addShader(new osg::Shader(osg::Shader::VERTEX, vertShader));
surfel_program->addShader(new osg::Shader(osg::Shader::GEOMETRY, geomShader));
surfel_program->setParameter(GL_GEOMETRY_VERTICES_OUT_EXT, 3 + 24);
surfel_program->setParameter(GL_GEOMETRY_INPUT_TYPE_EXT, GL_POINTS);
surfel_program->setParameter(GL_GEOMETRY_OUTPUT_TYPE_EXT, GL_TRIANGLE_STRIP);
stateset_ = new osg::StateSet;
stateset_->setAttribute(surfel_program);
osg::Uniform *uradius(new osg::Uniform("radius", radius));
stateset_->addUniform(uradius);
stateset_->setMode(GL_LIGHTING, osg::StateAttribute::OFF);
}
osgpcl::SurfelFactoryI<PointT, NormalT, IntensityT>::SurfelFactoryI(float radius) {
const char* vertShader = {
"#version 120\n"
"varying out vec3 normpt;\n"
"void main(){\n"
" gl_Position = gl_ModelViewProjectionMatrix * gl_Vertex;\n"
" gl_FrontColor = gl_Color;\n"
" gl_TexCoord[0] = gl_MultiTexCoord0;\n"
" normpt=gl_NormalMatrix * gl_Normal;\n"
"}\n"
};
const char* geomShader = {
"#version 120\n"
"#extension GL_EXT_geometry_shader4 : enable\n"
"#define PI_6 3.1456/6\n"
"#define PI_3 3.1456/3\n"
"#define PI2 3.1456*2\n"
"uniform float radius;\n"
"varying in vec3 normpt[1];\n"
"void main( void )\n"
"{\n"
"vec3 normal = normpt[0];\n"
"mat4 nrot; nrot[0]= vec4(1,0,0,0); nrot[1] =vec4(0,1,0,0); nrot[2]= vec4(0,0,1,0); nrot[3]= vec4(0,0,0,1);\n"
"nrot[2][0]=normal[0]; nrot[2][1]=normal[1]; nrot[2][2]=normal[2];\n"
"vec3 ax ; if (abs(normal[0])>0.5) { ax =vec3(0,1,0) ;} else ax = vec3(1,0,0); \n"
"ax = normalize( ax -normal*dot(ax,normal)); nrot[0][0]=ax[0]; nrot[0][1]=ax[1]; nrot[0][2]=ax[2];\n"
"ax = normalize(cross(normal,ax)); nrot[1][0]=ax[0]; nrot[1][1]=ax[1]; nrot[1][2]=ax[2];\n"
"for( int i = 0 ; i < 1 ; i++ ){\n"
"vec4 center = gl_PositionIn [ i ]; \n"
"gl_FrontColor = gl_FrontColorIn[ i ]; \n"
"gl_TexCoord[0] = gl_TexCoordIn [ i ][ 0 ];\n"
"gl_Position = center;\n"
"EmitVertex();\n"
"gl_Position = center+ nrot*vec4(1.0 , 0.0,0,0)*radius;\n"
"EmitVertex();\n"
"gl_Position = center+ nrot*vec4(0.866025403784 , 0.5 ,0, 0)*radius;\n"
"EmitVertex();\n"
"for(float theta = PI_3; theta <= PI2; theta+= PI_6){\n"
" gl_Position = center;\n"
" EmitVertex();\n"
" gl_Position = center+ nrot*vec4(cos(theta) , sin(theta) , 0,0)*radius;\n"
" EmitVertex();\n"
"}\n"
"}\n"
"}\n"
};
osg::ref_ptr<osg::Program> surfel_program = new osg::Program;
surfel_program->setName( "Surfel" );
surfel_program->addShader( new osg::Shader( osg::Shader::VERTEX, vertShader ) );
surfel_program->addShader( new osg::Shader( osg::Shader::GEOMETRY, geomShader ) );
surfel_program->setParameter( GL_GEOMETRY_VERTICES_OUT_EXT, 3+24 );
surfel_program->setParameter( GL_GEOMETRY_INPUT_TYPE_EXT, GL_POINTS );
surfel_program->setParameter( GL_GEOMETRY_OUTPUT_TYPE_EXT, GL_TRIANGLE_STRIP );
stateset_ = new osg::StateSet;
stateset_->setAttribute(surfel_program);
osg::Uniform* uradius( new osg::Uniform( "radius", radius ) );
stateset_->addUniform( uradius );
stateset_->setMode( GL_LIGHTING, osg::StateAttribute::OFF );
}