1 /* 2 * Copyright (C) 2016 The Android Open Source Project 3 * 4 * Licensed under the Apache License, Version 2.0 (the "License"); 5 * you may not use this file except in compliance with the License. 6 * You may obtain a copy of the License at 7 * 8 * http://www.apache.org/licenses/LICENSE-2.0 9 * 10 * Unless required by applicable law or agreed to in writing, software 11 * distributed under the License is distributed on an "AS IS" BASIS, 12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 13 * See the License for the specific language governing permissions and 14 * limitations under the License. 15 */ 16 package com.android.cts.verifier.sensors.sixdof.Renderer.RenderUtils; 17 18 import com.android.cts.verifier.sensors.sixdof.Renderer.Renderable.ConeRenderable; 19 import com.android.cts.verifier.sensors.sixdof.Utils.MathsUtils; 20 21 import static com.android.cts.verifier.sensors.sixdof.Utils.MathsUtils.X; 22 import static com.android.cts.verifier.sensors.sixdof.Utils.MathsUtils.Y; 23 import static com.android.cts.verifier.sensors.sixdof.Utils.MathsUtils.Z; 24 25 import android.opengl.Matrix; 26 27 /** 28 * Manages the model matrix of the direction cone. 29 */ 30 public class ConeModelMatrixCalculator extends ModelMatrixCalculator { 31 float[] mUpVector; 32 33 public ConeModelMatrixCalculator(int toRotate, float[] upVector) { 34 super(toRotate); 35 mUpVector = upVector; 36 } 37 38 public void updateModelMatrix(float[] translation, float[] quaternion, float[] lookAtPosition) { 39 float[] convertedTranslation = MathsUtils.convertToOpenGlCoordinates(translation, mToRotate); 40 // Calculate the extrinsics based model matrix with current pose data. 41 float[] newModelMatrix = calculateModelMatrix(convertedTranslation, quaternion); 42 43 // Extract the information we need from calculated model matrix. (Just the translation). 44 float[] translationMatrix = new float[MathsUtils.MATRIX_4X4]; 45 Matrix.setIdentityM(translationMatrix, 0); 46 Matrix.translateM(translationMatrix, 0, newModelMatrix[MATRIX_4X4_TRANSLATION_X], 47 newModelMatrix[MATRIX_4X4_TRANSLATION_Y], newModelMatrix[MATRIX_4X4_TRANSLATION_Z]); 48 49 float[] openGlRingPosition = MathsUtils.convertToOpenGlCoordinates(lookAtPosition, mToRotate); 50 float[] rotationTransformation = new float[MathsUtils.MATRIX_4X4]; 51 // Calculate direction vector. 52 float[] relativeVector = new float[MathsUtils.VECTOR_3D]; 53 for (int i = 0; i < relativeVector.length; i++) { 54 relativeVector[i] = openGlRingPosition[i] - convertedTranslation[i]; 55 } 56 Matrix.setIdentityM(rotationTransformation, 0); 57 // Calculate look at rotation transformation. 58 // Has to be relative to the origin otherwise we get some warping of the cone. 59 MathsUtils.setLookAtM(rotationTransformation, 60 // Where we are. 61 0.0f, 0.0f, 0.0f, 62 // What we want to look at. 63 relativeVector[X], relativeVector[Y], relativeVector[Z], 64 // Up direction. 65 mUpVector[X], mUpVector[Y], mUpVector[Z]); 66 67 // Apply translation to the look at matrix. 68 Matrix.multiplyMM(mModelMatrix, 0, translationMatrix, 0, rotationTransformation, 0); 69 } 70 71 /** 72 * Rotations that need to be done before rotating. Used for calculating the CONE_OFFSET. 73 * 74 * @return The offset that the cone needs to be at. 75 */ 76 @Override 77 protected float[] getRequiredTranslations() { 78 return ConeRenderable.CONE_OFFSET; 79 } 80 } 81
