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PodmogilnyjIvan
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Thirdparty/Pangolin/include/pangolin/gl/gl.h
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273
Thirdparty/Pangolin/include/pangolin/gl/gl.h
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/* This file is part of the Pangolin Project.
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* http://github.com/stevenlovegrove/Pangolin
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*
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* Copyright (c) 2011 Steven Lovegrove
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*
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* Permission is hereby granted, free of charge, to any person
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* obtaining a copy of this software and associated documentation
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* files (the "Software"), to deal in the Software without
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* restriction, including without limitation the rights to use,
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* copy, modify, merge, publish, distribute, sublicense, and/or sell
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* copies of the Software, and to permit persons to whom the
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* Software is furnished to do so, subject to the following
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* conditions:
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*
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* The above copyright notice and this permission notice shall be
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* included in all copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
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* OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
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* HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
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* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
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* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
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* OTHER DEALINGS IN THE SOFTWARE.
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*/
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#pragma once
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#include <pangolin/display/viewport.h>
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#include <pangolin/gl/glinclude.h>
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#include <pangolin/image/image_io.h>
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#if defined(HAVE_EIGEN) && !defined(__CUDACC__) //prevent including Eigen in cuda files
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#define USE_EIGEN
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#endif
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#ifdef USE_EIGEN
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#include <Eigen/Core>
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#endif
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#include <cstdlib>
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#include <iostream>
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#include <math.h>
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namespace pangolin
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{
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////////////////////////////////////////////////
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// Interface
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////////////////////////////////////////////////
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class PANGOLIN_EXPORT GlTexture
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{
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public:
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//! internal_format normally one of GL_RGBA8, GL_LUMINANCE8, GL_INTENSITY16
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GlTexture(GLint width, GLint height, GLint internal_format = GL_RGBA8, bool sampling_linear = true, int border = 0, GLenum glformat = GL_RGBA, GLenum gltype = GL_UNSIGNED_BYTE, GLvoid* data = NULL );
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// Construct this texture from a CPU image
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GlTexture(const TypedImage& img, bool sampling_linear=true);
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//! Move Constructor / asignment
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GlTexture(GlTexture&& tex);
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GlTexture& operator=(GlTexture&& tex);
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//! Default constructor represents 'no texture'
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GlTexture();
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virtual ~GlTexture();
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bool IsValid() const;
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//! Delete OpenGL resources and fall back to representing 'no texture'
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void Delete();
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//! Reinitialise teture width / height / format
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virtual void Reinitialise(GLsizei width, GLsizei height, GLint internal_format = GL_RGBA8, bool sampling_linear = true, int border = 0, GLenum glformat = GL_RGBA, GLenum gltype = GL_UNSIGNED_BYTE, GLvoid* data = NULL );
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void Bind() const;
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void Unbind() const;
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//! data_layout normally one of GL_LUMINANCE, GL_RGB, ...
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//! data_type normally one of GL_UNSIGNED_BYTE, GL_UNSIGNED_SHORT, GL_FLOAT
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void Upload(const void* image, GLenum data_format = GL_LUMINANCE, GLenum data_type = GL_FLOAT);
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//! Upload data to texture, overwriting a sub-region of it.
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//! data ptr contains packed data_w x data_h of pixel data.
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void Upload(const void* data,
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GLsizei tex_x_offset, GLsizei tex_y_offset,
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GLsizei data_w, GLsizei data_h,
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GLenum data_format, GLenum data_type
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);
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void Load(const TypedImage& image, bool sampling_linear = true);
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void LoadFromFile(const std::string& filename, bool sampling_linear = true);
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void Download(void* image, GLenum data_layout = GL_LUMINANCE, GLenum data_type = GL_FLOAT) const;
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void Download(TypedImage& image) const;
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void CopyFrom(const GlTexture& tex);
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void Save(const std::string& filename, bool top_line_first = true);
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void SetLinear();
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void SetNearestNeighbour();
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void RenderToViewport(const bool flip) const;
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void RenderToViewport() const;
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void RenderToViewport(Viewport tex_vp, bool flipx=false, bool flipy=false) const;
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void RenderToViewportFlipY() const;
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void RenderToViewportFlipXFlipY() const;
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GLint internal_format;
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GLuint tid;
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GLint width;
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GLint height;
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private:
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// Private copy constructor
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GlTexture(const GlTexture&) {}
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};
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struct PANGOLIN_EXPORT GlRenderBuffer
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{
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GlRenderBuffer();
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GlRenderBuffer(GLint width, GLint height, GLint internal_format = GL_DEPTH_COMPONENT24);
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void Reinitialise(GLint width, GLint height, GLint internal_format = GL_DEPTH_COMPONENT24);
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//! Move Constructor
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GlRenderBuffer(GlRenderBuffer&& tex);
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~GlRenderBuffer();
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GLint width;
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GLint height;
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GLuint rbid;
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private:
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// Private copy constructor
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GlRenderBuffer(const GlRenderBuffer&) {}
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};
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struct PANGOLIN_EXPORT GlFramebuffer
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{
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GlFramebuffer();
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~GlFramebuffer();
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GlFramebuffer(GlTexture& colour, GlRenderBuffer& depth);
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GlFramebuffer(GlTexture& colour0, GlTexture& colour1, GlRenderBuffer& depth);
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GlFramebuffer(GlTexture& colour0, GlTexture& colour1, GlTexture& colour2, GlRenderBuffer& depth);
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GlFramebuffer(GlTexture& colour0, GlTexture& colour1, GlTexture& colour2, GlTexture& colour3, GlRenderBuffer& depth);
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void Bind() const;
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void Unbind() const;
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void Reinitialise();
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// Attach Colour texture to frame buffer
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// Return attachment texture is bound to (e.g. GL_COLOR_ATTACHMENT0_EXT)
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GLenum AttachColour(GlTexture& tex);
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// Attach Depth render buffer to frame buffer
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void AttachDepth(GlRenderBuffer& rb);
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GLuint fbid;
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unsigned attachments;
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};
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enum GlBufferType
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{
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GlUndefined = 0,
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GlArrayBuffer = GL_ARRAY_BUFFER, // VBO's, CBO's, NBO's
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GlElementArrayBuffer = GL_ELEMENT_ARRAY_BUFFER, // IBO's
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#ifndef HAVE_GLES
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GlPixelPackBuffer = GL_PIXEL_PACK_BUFFER, // PBO's
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GlPixelUnpackBuffer = GL_PIXEL_UNPACK_BUFFER,
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GlShaderStorageBuffer = GL_SHADER_STORAGE_BUFFER
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#endif
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};
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// This encapsulates a GL Buffer object.
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struct PANGOLIN_EXPORT GlBufferData
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{
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//! Default constructor represents 'no buffer'
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GlBufferData();
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GlBufferData(GlBufferType buffer_type, GLuint size_bytes, GLenum gluse = GL_DYNAMIC_DRAW, const unsigned char* data = 0 );
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virtual ~GlBufferData();
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void Free();
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//! Move Constructor
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GlBufferData(GlBufferData&& tex);
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GlBufferData& operator=(GlBufferData&& tex);
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bool IsValid() const;
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size_t SizeBytes() const;
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void Reinitialise(GlBufferType buffer_type, GLuint size_bytes, GLenum gluse = GL_DYNAMIC_DRAW, const unsigned char* data = 0 );
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void Bind() const;
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void Unbind() const;
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void Upload(const GLvoid* data, GLsizeiptr size_bytes, GLintptr offset = 0);
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void Download(GLvoid* ptr, GLsizeiptr size_bytes, GLintptr offset = 0) const;
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GLuint bo;
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GlBufferType buffer_type;
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GLenum gluse;
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GLuint size_bytes;
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private:
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GlBufferData(const GlBufferData&) {}
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};
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// This encapsulates a GL Buffer object, also storing information about its contents.
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// You should try to use GlBufferData instead.
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struct PANGOLIN_EXPORT GlBuffer : public GlBufferData
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{
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//! Default constructor represents 'no buffer'
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GlBuffer();
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GlBuffer(GlBufferType buffer_type, GLuint num_elements, GLenum datatype, GLuint count_per_element, GLenum gluse = GL_DYNAMIC_DRAW );
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GlBuffer(const GlBuffer&) = delete;
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//! Move Constructor
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GlBuffer(GlBuffer&& tex);
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GlBuffer& operator=(GlBuffer&& tex);
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void Reinitialise(GlBufferType buffer_type, GLuint num_elements, GLenum datatype, GLuint count_per_element, GLenum gluse, const unsigned char* data = nullptr );
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void Reinitialise(GlBuffer const& other );
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void Resize(GLuint num_elements);
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GLenum datatype;
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GLuint num_elements;
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GLuint count_per_element;
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};
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class PANGOLIN_EXPORT GlSizeableBuffer
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: public pangolin::GlBuffer
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{
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public:
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GlSizeableBuffer(pangolin::GlBufferType buffer_type, GLuint initial_num_elements, GLenum datatype, GLuint count_per_element, GLenum gluse = GL_DYNAMIC_DRAW );
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void Clear();
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#ifdef USE_EIGEN
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template<typename Derived>
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void Add(const Eigen::DenseBase<Derived>& vec);
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template<typename Derived>
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void Update(const Eigen::DenseBase<Derived>& vec, size_t position = 0);
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#endif
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size_t start() const;
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size_t size() const;
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protected:
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void CheckResize(size_t num_verts);
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size_t NextSize(size_t min_size) const;
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size_t m_num_verts;
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};
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size_t GlFormatChannels(GLenum data_layout);
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size_t GlDataTypeBytes(GLenum type);
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}
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// Include implementation
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#include <pangolin/gl/gl.hpp>
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