void OptSO3::computeJacobian(Matrix3f&J, Matrix3f& R, float N)
{
Rot2Device(R);
//cout<<"computeJacobian"<<endl;
J = Matrix3f::Zero();
robustSquaredAngleCostFctJacobianGPU(J.data(), d_J,
d_q_, d_weights_, d_z, d_mu_, sigma_sq_, w_,h_);
J /= N;
};
void PhongShadowProgram::setTransformMatrices(const Affine3& viewMatrix, const Affine3& modelMatrix, const Matrix4& PV)
{
const Affine3f VM = (viewMatrix * modelMatrix).cast<float>();
const Matrix3f N = VM.linear();
const Matrix4f PVM = (PV * modelMatrix.matrix()).cast<float>();
if(useUniformBlockToPassTransformationMatrices){
transformBlockBuffer.write(modelViewMatrixIndex, VM);
transformBlockBuffer.write(normalMatrixIndex, N);
transformBlockBuffer.write(MVPIndex, PVM);
transformBlockBuffer.flush();
} else {
glUniformMatrix4fv(modelViewMatrixLocation, 1, GL_FALSE, VM.data());
glUniformMatrix3fv(normalMatrixLocation, 1, GL_FALSE, N.data());
glUniformMatrix4fv(MVPLocation, 1, GL_FALSE, PVM.data());
for(int i=0; i < numShadows_; ++i){
ShadowInfo& shadow = shadowInfos[i];
const Matrix4f BPVM = (shadow.BPV * modelMatrix.matrix()).cast<float>();
glUniformMatrix4fv(shadow.shadowMatrixLocation, 1, GL_FALSE, BPVM.data());
}
}
}
/// Initialize a uniform parameter with a 3x3 matrix
void setUniform(const std::string &name, const Matrix3f &mat, bool warn = true) {
glUniformMatrix3fv(uniform(name, warn), 1, GL_FALSE, mat.data());
}