static int gear_load_shaders(gear_t* self)
{
assert(self);
LOGD("debug");
// face shaders
self->face_program = a3d_shader_make_source(FACE_VSHADER, FACE_FSHADER);
if(self->face_program == 0)
return 0;
self->face_attribute_vertex = glGetAttribLocation(self->face_program, "vertex");
self->face_uniform_color = glGetUniformLocation(self->face_program, "color");
self->face_uniform_mvp = glGetUniformLocation(self->face_program, "mvp");
// outward teeth shaders
self->outward_program = a3d_shader_make_source(OUTWARD_VSHADER, OUTWARD_FSHADER);
if(self->outward_program == 0)
goto fail_outward_program;
self->outward_attribute_vertex = glGetAttribLocation(self->outward_program, "vertex");
self->outward_attribute_normal = glGetAttribLocation(self->outward_program, "normal");
self->outward_uniform_color = glGetUniformLocation(self->outward_program, "color");
self->outward_uniform_nm = glGetUniformLocation(self->outward_program, "nm");
self->outward_uniform_mvp = glGetUniformLocation(self->outward_program, "mvp");
// cylinder shaders
self->cylinder_program = a3d_shader_make_source(CYLINDER_VSHADER, CYLINDER_FSHADER);
if(self->cylinder_program == 0)
goto fail_cylinder_program;
self->cylinder_attribute_vertex = glGetAttribLocation(self->cylinder_program, "vertex");
self->cylinder_attribute_normal = glGetAttribLocation(self->cylinder_program, "normal");
self->cylinder_uniform_color = glGetUniformLocation(self->cylinder_program, "color");
self->cylinder_uniform_nm = glGetUniformLocation(self->cylinder_program, "nm");
self->cylinder_uniform_mvp = glGetUniformLocation(self->cylinder_program, "mvp");
GLenum e = A3D_GL_GETERROR();
if(e != GL_NO_ERROR)
goto fail_error;
// success
return 1;
// failure
fail_error:
glDeleteProgram(self->cylinder_program);
fail_cylinder_program:
glDeleteProgram(self->outward_program);
fail_outward_program:
glDeleteProgram(self->face_program);
return 0;
}
void lzs_renderer_draw(lzs_renderer_t* self)
{
assert(self);
LOGD("debug");
double t0 = a3d_utime();
// stretch screen to 800x480
glMatrixMode(GL_PROJECTION);
glLoadIdentity();
glOrthof(0.0f, SCREEN_W, SCREEN_H, 0.0f, 0.0f, 2.0f);
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
// draw camera
glEnable(GL_TEXTURE_EXTERNAL_OES);
glEnableClientState(GL_TEXTURE_COORD_ARRAY);
glBindTexture(GL_TEXTURE_EXTERNAL_OES, self->texid);
glVertexPointer(3, GL_FLOAT, 0, VERTEX);
glTexCoordPointer(2, GL_FLOAT, 0, COORDS);
glDrawArrays(GL_TRIANGLE_FAN, 0, 4);
glDisableClientState(GL_TEXTURE_COORD_ARRAY);
glDisable(GL_TEXTURE_EXTERNAL_OES);
utime_update("setup", &t0);
// capture buffers
GLint format = TEXGZ_BGRA;
GLint type = GL_UNSIGNED_BYTE;
glGetIntegerv(GL_IMPLEMENTATION_COLOR_READ_FORMAT_OES, &format);
glGetIntegerv(GL_IMPLEMENTATION_COLOR_READ_TYPE_OES, &type);
if((format == TEXGZ_BGRA) && (type == GL_UNSIGNED_BYTE))
{
LOGD("readpixels format=0x%X, type=0x%X", format, type);
// TODO - check for texgz errors
// process buffers
texgz_tex_t* bc = self->buffer_color;
texgz_tex_t* bg = self->buffer_gray;
texgz_tex_t* bsx = self->buffer_sx;
texgz_tex_t* bsy = self->buffer_sy;
glReadPixels(self->sphero_x - RADIUS_BALL, (SCREEN_H - self->sphero_y - 1) - RADIUS_BALL,
bc->width, bc->height, bc->format, bc->type, (void*) bc->pixels);
#ifdef DEBUG_BUFFERS
texgz_tex_export(bc, "/sdcard/laser-shark/color.texgz");
#endif
utime_update("readpixels", &t0);
texgz_tex_computegray(bc, bg);
utime_update("computegray", &t0);
texgz_tex_computeedges3x3(bg, bsx, bsy);
utime_update("computeedges", &t0);
// compute peak
{
int x;
int y;
int peak_x = 0;
int peak_y = 0;
float peak = 0.0f;
float* gpixels = (float*) bg->pixels;
float* xpixels = (float*) bsx->pixels;
float* ypixels = (float*) bsy->pixels;
for(x = 0; x < bg->width; ++x)
{
for(y = 0; y < bg->height; ++y)
{
int idx = bg->width*y + x;
// compute magnitude squared
float magsq = xpixels[idx]*xpixels[idx] + ypixels[idx]*ypixels[idx];
gpixels[idx] = magsq;
if(magsq > peak)
{
peak_x = x;
peak_y = y;
peak = magsq;
}
}
}
LOGD("peak=%f, peak_x=%i, peak_y=%i", peak, peak_x, peak_y);
utime_update("computepeak", &t0);
#ifdef DEBUG_BUFFERS
texgz_tex_export(bg, "/sdcard/laser-shark/peak.texgz");
#endif
// move sphero center to match peak
self->sphero_x += (float) peak_x - (float) bg->width / 2.0f;
self->sphero_y -= (float) peak_y - (float) bg->height / 2.0f;
}
}
else
{
LOGE("unsupported format=0x%X, type=0x%X", format, type);
}
// compute phone X, Y center
compute_position(self, SCREEN_CX, SCREEN_CY, &self->phone_X, &self->phone_Y);
// compute sphero X, Y
compute_position(self, self->sphero_x, self->sphero_y, &self->sphero_X, &self->sphero_Y);
utime_update("computeposition", &t0);
// compute goal
float dx = self->phone_X - self->sphero_X;
float dy = self->phone_Y - self->sphero_Y;
float a = fix_angle(atan2f(dx, dy) * 180.0f / M_PI);
self->sphero_goal = a - self->sphero_heading_offset;
// compute speed
float dotp = cosf((a - self->sphero_heading) * M_PI / 180.0f);
if(dotp > 0.0f)
{
// linearly interpolate speed based on the turning angle
self->sphero_speed = SPEED_MAX*dotp + SPEED_MIN*(1.0f - dotp);
}
else
{
// go slow to turn around
self->sphero_speed = SPEED_MIN;
}
// draw camera cross-hair
{
float x = SCREEN_CX;
float y = SCREEN_CY;
float r = RADIUS_CROSS;
limit_position(r, &x, &y);
lzs_renderer_crosshair(y - r, x - r, y + r, x + r, 1.0f, 0.0f, 0.0f);
}
// draw sphero search box
{
float r = RADIUS_BALL;
limit_position(r, &self->sphero_x, &self->sphero_y);
float x = self->sphero_x;
float y = self->sphero_y;
lzs_renderer_drawbox(y - r, x - r, y + r, x + r, 0.0f, 1.0f, 0.0f, 0);
}
lzs_renderer_step(self);
// draw string
a3d_texstring_printf(self->string_sphero, "sphero: head=%i, x=%0.1f, y=%0.1f, spd=%0.2f, goal=%i", (int) fix_angle(self->sphero_heading + self->sphero_heading_offset), self->sphero_X, self->sphero_Y, self->sphero_speed, (int) fix_angle(self->sphero_goal));
a3d_texstring_printf(self->string_phone, "phone: heading=%i, slope=%i, x=%0.1f, y=%0.1f", (int) fix_angle(self->phone_heading), (int) fix_angle(self->phone_slope), self->phone_X, self->phone_Y);
a3d_texstring_draw(self->string_sphero, 400.0f, 16.0f, 800, 480);
a3d_texstring_draw(self->string_phone, 400.0f, 16.0f + self->string_sphero->size, 800, 480);
a3d_texstring_draw(self->string_fps, (float) SCREEN_W - 16.0f, (float) SCREEN_H - 16.0f, SCREEN_W, SCREEN_H);
utime_update("draw", &t0);
//texgz_tex_t* screen = texgz_tex_new(SCREEN_W, SCREEN_H, SCREEN_W, SCREEN_H, TEXGZ_UNSIGNED_BYTE, TEXGZ_BGRA, NULL);
//glReadPixels(0, 0, screen->width, screen->height, screen->format, screen->type, (void*) screen->pixels);
//texgz_tex_export(screen, "/sdcard/laser-shark/screen.texgz");
//texgz_tex_delete(&screen);
A3D_GL_GETERROR();
}
/***********************************************************
* Generate a gear wheel. *
* *
* Input: inner_radius - radius of hole at center *
* outer_radius - radius at center of teeth *
* width - width of gear *
* teeth - number of teeth *
* tooth_depth - depth of tooth *
***********************************************************/
static int gear_generate(gear_t* self,
float inner_radius, float outer_radius, float width,
int teeth, float tooth_depth)
{
assert(self);
LOGD("debug");
a3d_glsm_t* glsm = a3d_glsm_new();
if(glsm == NULL)
{
return 0;
}
int i;
float r0, r1, r2, dz;
float a0, a1, a2, a3;
float u, v, len;
r0 = inner_radius;
r1 = outer_radius - tooth_depth / 2.0f;
r2 = outer_radius + tooth_depth / 2.0f;
dz = 0.5f * width;
// TODO - generate texture coordinates for "shinny"
// draw front face
// GL_TRIANGLE_STRIP
a3d_glsm_begin(glsm);
for(i = 0; i < teeth; i++)
{
gear_angle(i, teeth, &a0, &a1, &a2, &a3);
a3d_glsm_vertex3f(glsm, r0 * cosf(a0), r0 * sinf(a0), dz);
a3d_glsm_vertex3f(glsm, r1 * cosf(a0), r1 * sinf(a0), dz);
a3d_glsm_vertex3f(glsm, r0 * cosf(a0), r0 * sinf(a0), dz);
a3d_glsm_vertex3f(glsm, r1 * cosf(a3), r1 * sinf(a3), dz);
}
a3d_glsm_vertex3f(glsm, r0 * cosf(0.0f), r0 * sinf(0.0f), dz);
a3d_glsm_vertex3f(glsm, r1 * cosf(0.0f), r1 * sinf(0.0f), dz);
a3d_glsm_end(glsm);
// buffer front face
if(a3d_glsm_status(glsm) != A3D_GLSM_COMPLETE) goto fail;
self->front_ec = glsm->ec;
glBindBuffer(GL_ARRAY_BUFFER, self->front_vid);
glBufferData(GL_ARRAY_BUFFER, 3 * glsm->ec * sizeof(GLfloat), glsm->vb, GL_STATIC_DRAW);
// draw front sides of teeth
// GL_TRIANGLES
a3d_glsm_begin(glsm);
for(i = 0; i < teeth; i++)
{
gear_angle(i, teeth, &a0, &a1, &a2, &a3);
a3d_glsm_vertex3f(glsm, r1 * cosf(a0), r1 * sinf(a0), dz); // 0
a3d_glsm_vertex3f(glsm, r2 * cosf(a1), r2 * sinf(a1), dz); // 1
a3d_glsm_vertex3f(glsm, r2 * cosf(a2), r2 * sinf(a2), dz); // 2
a3d_glsm_vertex3f(glsm, r1 * cosf(a0), r1 * sinf(a0), dz); // 0
a3d_glsm_vertex3f(glsm, r2 * cosf(a2), r2 * sinf(a2), dz); // 2
a3d_glsm_vertex3f(glsm, r1 * cosf(a3), r1 * sinf(a3), dz); // 3
}
a3d_glsm_end(glsm);
// buffer front sides of teeth
if(a3d_glsm_status(glsm) != A3D_GLSM_COMPLETE) goto fail;
self->front_teeth_ec = glsm->ec;
glBindBuffer(GL_ARRAY_BUFFER, self->front_teeth_vid);
glBufferData(GL_ARRAY_BUFFER, 3 * glsm->ec * sizeof(GLfloat), glsm->vb, GL_STATIC_DRAW);
// draw back face
// GL_TRIANGLE_STRIP
a3d_glsm_begin(glsm);
for(i = 0; i < teeth; i++)
{
gear_angle(i, teeth, &a0, &a1, &a2, &a3);
a3d_glsm_vertex3f(glsm, r1 * cosf(a0), r1 * sinf(a0), -dz);
a3d_glsm_vertex3f(glsm, r0 * cosf(a0), r0 * sinf(a0), -dz);
a3d_glsm_vertex3f(glsm, r1 * cosf(a3), r1 * sinf(a3), -dz);
a3d_glsm_vertex3f(glsm, r0 * cosf(a0), r0 * sinf(a0), -dz);
}
a3d_glsm_vertex3f(glsm, r1 * cosf(0.0f), r1 * sinf(0.0f), -dz);
a3d_glsm_vertex3f(glsm, r0 * cosf(0.0f), r0 * sinf(0.0f), -dz);
a3d_glsm_end(glsm);
// buffer back face
if(a3d_glsm_status(glsm) != A3D_GLSM_COMPLETE) goto fail;
self->back_ec = glsm->ec;
glBindBuffer(GL_ARRAY_BUFFER, self->back_vid);
glBufferData(GL_ARRAY_BUFFER, 3 * glsm->ec * sizeof(GLfloat), glsm->vb, GL_STATIC_DRAW);
// draw back sides of teeth
// GL_TRIANGLES
a3d_glsm_begin(glsm);
for(i = 0; i < teeth; i++)
{
gear_angle(i, teeth, &a0, &a1, &a2, &a3);
a3d_glsm_vertex3f(glsm, r1 * cosf(a3), r1 * sinf(a3), -dz); // 0
a3d_glsm_vertex3f(glsm, r2 * cosf(a2), r2 * sinf(a2), -dz); // 1
a3d_glsm_vertex3f(glsm, r2 * cosf(a1), r2 * sinf(a1), -dz); // 2
a3d_glsm_vertex3f(glsm, r1 * cosf(a3), r1 * sinf(a3), -dz); // 0
a3d_glsm_vertex3f(glsm, r2 * cosf(a1), r2 * sinf(a1), -dz); // 2
a3d_glsm_vertex3f(glsm, r1 * cosf(a0), r1 * sinf(a0), -dz); // 3
}
a3d_glsm_end(glsm);
// buffer back sides of teeth
if(a3d_glsm_status(glsm) != A3D_GLSM_COMPLETE) goto fail;
self->back_teeth_ec = glsm->ec;
glBindBuffer(GL_ARRAY_BUFFER, self->back_teeth_vid);
glBufferData(GL_ARRAY_BUFFER, 3 * glsm->ec * sizeof(GLfloat), glsm->vb, GL_STATIC_DRAW);
// draw outward faces of teeth
// GL_TRIANGLE_STRIP
// repeated vertices are necessary to achieve flat shading in ES2
a3d_glsm_begin(glsm);
for(i = 0; i < teeth; i++)
{
gear_angle(i, teeth, &a0, &a1, &a2, &a3);
if(i > 0)
{
a3d_glsm_vertex3f(glsm, r1 * cosf(a0), r1 * sinf(a0), dz);
a3d_glsm_vertex3f(glsm, r1 * cosf(a0), r1 * sinf(a0), -dz);
}
u = r2 * cosf(a1) - r1 * cosf(a0);
v = r2 * sinf(a1) - r1 * sinf(a0);
len = sqrtf(u * u + v * v);
u /= len;
v /= len;
a3d_glsm_normal3f(glsm, v, -u, 0.0f);
a3d_glsm_vertex3f(glsm, r1 * cosf(a0), r1 * sinf(a0), dz);
a3d_glsm_vertex3f(glsm, r1 * cosf(a0), r1 * sinf(a0), -dz);
a3d_glsm_vertex3f(glsm, r2 * cosf(a1), r2 * sinf(a1), dz);
a3d_glsm_vertex3f(glsm, r2 * cosf(a1), r2 * sinf(a1), -dz);
a3d_glsm_normal3f(glsm, cosf(a0), sinf(a0), 0.0f);
a3d_glsm_vertex3f(glsm, r2 * cosf(a1), r2 * sinf(a1), dz);
a3d_glsm_vertex3f(glsm, r2 * cosf(a1), r2 * sinf(a1), -dz);
a3d_glsm_vertex3f(glsm, r2 * cosf(a2), r2 * sinf(a2), dz);
a3d_glsm_vertex3f(glsm, r2 * cosf(a2), r2 * sinf(a2), -dz);
u = r1 * cosf(a3) - r2 * cosf(a2);
v = r1 * sinf(a3) - r2 * sinf(a2);
a3d_glsm_normal3f(glsm, v, -u, 0.0f);
a3d_glsm_vertex3f(glsm, r2 * cosf(a2), r2 * sinf(a2), dz);
a3d_glsm_vertex3f(glsm, r2 * cosf(a2), r2 * sinf(a2), -dz);
a3d_glsm_vertex3f(glsm, r1 * cosf(a3), r1 * sinf(a3), dz);
a3d_glsm_vertex3f(glsm, r1 * cosf(a3), r1 * sinf(a3), -dz);
a3d_glsm_normal3f(glsm, cosf(a0), sinf(a0), 0.0f);
a3d_glsm_vertex3f(glsm, r1 * cosf(a3), r1 * sinf(a3), dz);
a3d_glsm_vertex3f(glsm, r1 * cosf(a3), r1 * sinf(a3), -dz);
}
a3d_glsm_vertex3f(glsm, r1 * cosf(0.0f), r1 * sinf(0.0f), dz);
a3d_glsm_vertex3f(glsm, r1 * cosf(0.0f), r1 * sinf(0.0f), -dz);
a3d_glsm_end(glsm);
// buffer outward faces of teeth
if(a3d_glsm_status(glsm) != A3D_GLSM_COMPLETE) goto fail;
self->outward_ec = glsm->ec;
glBindBuffer(GL_ARRAY_BUFFER, self->outward_vid);
glBufferData(GL_ARRAY_BUFFER, 3 * glsm->ec * sizeof(GLfloat), glsm->vb, GL_STATIC_DRAW);
glBindBuffer(GL_ARRAY_BUFFER, self->outward_nid);
glBufferData(GL_ARRAY_BUFFER, 3 * glsm->ec * sizeof(GLfloat), glsm->nb, GL_STATIC_DRAW);
// draw inside radius cylinder
// GL_TRIANGLE_STRIP
a3d_glsm_begin(glsm);
for(i = 0; i < teeth; i++)
{
gear_angle(i, teeth, &a0, &a1, &a2, &a3);
a3d_glsm_normal3f(glsm, -cosf(a0), -sinf(a0), 0.0f);
a3d_glsm_vertex3f(glsm, r0 * cosf(a0), r0 * sinf(a0), -dz);
a3d_glsm_vertex3f(glsm, r0 * cosf(a0), r0 * sinf(a0), dz);
}
a3d_glsm_normal3f(glsm, -cosf(0.0f), -sinf(0.0f), 0.0f);
a3d_glsm_vertex3f(glsm, r0 * cosf(0.0f), r0 * sinf(0.0f), -dz);
a3d_glsm_vertex3f(glsm, r0 * cosf(0.0f), r0 * sinf(0.0f), dz);
a3d_glsm_end(glsm);
// buffer inside radius cylinder
if(a3d_glsm_status(glsm) != A3D_GLSM_COMPLETE) goto fail;
self->cylinder_ec = glsm->ec;
glBindBuffer(GL_ARRAY_BUFFER, self->cylinder_vid);
glBufferData(GL_ARRAY_BUFFER, 3 * glsm->ec * sizeof(GLfloat), glsm->vb, GL_STATIC_DRAW);
glBindBuffer(GL_ARRAY_BUFFER, self->cylinder_nid);
glBufferData(GL_ARRAY_BUFFER, 3 * glsm->ec * sizeof(GLfloat), glsm->nb, GL_STATIC_DRAW);
GLenum e = A3D_GL_GETERROR();
if(e != GL_NO_ERROR)
goto fail;
// success
glBindBuffer(GL_ARRAY_BUFFER, 0);
a3d_glsm_delete(&glsm);
return 1;
// failure
fail:
glBindBuffer(GL_ARRAY_BUFFER, 0);
a3d_glsm_delete(&glsm);
return 0;
}
