void update_rotation(const GLVector<XYZ>& rotation) {
#ifndef M_PI
#define M_PI 3.14159265359
#endif
static const double to_rad = 1.0 / 180.0 * M_PI;
GLMatrix mx;
mx.set_data(0, 0, 1);
mx.set_data(1, 1, cos(rotation[0] * to_rad));
mx.set_data(1, 2, sin(rotation[0] * to_rad));
mx.set_data(2, 2, mx.get_data(1, 1));
mx.set_data(2, 1, -mx.get_data(1, 2));
mx.set_data(3, 3, 1);
GLMatrix my;
my.set_data(0, 0, cos(rotation[1] * to_rad));
my.set_data(0, 2, -sin(rotation[1] * to_rad));
my.set_data(1, 1, 1);
my.set_data(2, 0, -my.get_data(0, 2));
my.set_data(2, 2, my.get_data(0, 0));
my.set_data(3, 3, 1);
GLMatrix mz;
mz.set_data(0, 0, cos(rotation[2] * to_rad));
mz.set_data(0, 1, sin(rotation[2] * to_rad));
mz.set_data(1, 0, -mz.get_data(0, 1));
mz.set_data(1, 1, mz.get_data(0, 0));
mz.set_data(2, 2, 1);
mz.set_data(3, 3, 1);
update_rotation(mz * my * mx);
}
void display(void)
{
///////////////////////////////////////////////////////////////////////////
// Update
//Tao
time_update = time_update + delta;
//
glm::mat4 model = glm::translate(update_rotation(), glm::vec3(-0.5, -0.5, 0.0));
glm::mat4 mvp = persp * view * model;
//Tao
glUniform1f(location_uniform,time_update);
///////////////////////////////////////////////////////////////////////////
// Render
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
// Shader and vertex buffers already bound
glUniformMatrix4fv(u_modelViewPerspectiveLocation,1,GL_FALSE,&mvp[0][0]);
glDrawElements(GL_LINES, numberOfIndices, GL_UNSIGNED_SHORT,0);
glutPostRedisplay();
glutSwapBuffers();
}