85 lines
2.4 KiB
C++
85 lines
2.4 KiB
C++
#include <iostream>
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#include <GL/glew.h>
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#include <pangolin/pangolin.h>
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#include <pangolin/gl/glcuda.h>
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#include <pangolin/gl/glvbo.h>
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#include <cuda_runtime.h>
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#include <cuda_gl_interop.h>
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#include <vector_types.h>
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using namespace pangolin;
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using namespace std;
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// Mesh size
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const int mesh_width=256;
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const int mesh_height=256;
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extern "C" void launch_kernel(float4* dVertexArray, uchar4* dColourArray, unsigned int width, unsigned int height, float time);
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int main( int /*argc*/, char* argv[] )
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{
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// cudaGLSetGLDevice(0);
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pangolin::CreateWindowAndBind("Main",640,480);
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glewInit();
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// 3D Mouse handler requires depth testing to be enabled
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glEnable(GL_DEPTH_TEST);
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// Create vertex and colour buffer objects and register them with CUDA
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GlBufferCudaPtr vertex_array(
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GlArrayBuffer, mesh_width*mesh_height, GL_FLOAT, 4,
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cudaGraphicsMapFlagsWriteDiscard, GL_STREAM_DRAW
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);
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GlBufferCudaPtr colour_array(
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GlArrayBuffer, mesh_width*mesh_height, GL_UNSIGNED_BYTE, 4,
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cudaGraphicsMapFlagsWriteDiscard, GL_STREAM_DRAW
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);
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// Define Camera Render Object (for view / scene browsing)
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pangolin::OpenGlRenderState s_cam(
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ProjectionMatrix(640,480,420,420,320,240,0.1,1000),
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ModelViewLookAt(-0,2,-2, 0,0,0, AxisY)
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);
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const int UI_WIDTH = 180;
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// Add named OpenGL viewport to window and provide 3D Handler
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View& d_cam = pangolin::Display("cam")
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.SetBounds(0.0, 1.0, Attach::Pix(UI_WIDTH), 1.0, -640.0f/480.0f)
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.SetHandler(new Handler3D(s_cam));
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// Add named Panel and bind to variables beginning 'ui'
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// A Panel is just a View with a default layout and input handling
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View& d_panel = pangolin::CreatePanel("ui")
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.SetBounds(0.0, 1.0, 0.0, Attach::Pix(UI_WIDTH));
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// Default hooks for exiting (Esc) and fullscreen (tab).
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for(int frame=0; !pangolin::ShouldQuit(); ++frame)
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{
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static double time = 0;
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static Var<double> delta("ui.time delta", 0.001, 0, 0.005);
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glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
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d_cam.Activate(s_cam);
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glColor3f(1.0,1.0,1.0);
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{
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CudaScopedMappedPtr var(vertex_array);
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CudaScopedMappedPtr car(colour_array);
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launch_kernel((float4*)*var,(uchar4*)*car,mesh_width,mesh_height,time);
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time += delta;
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}
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pangolin::RenderVboCbo(vertex_array, colour_array);
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// Swap frames and Process Events
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pangolin::FinishFrame();
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}
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return 0;
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}
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