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Reduce CPU usage with OpenGL display lists

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This commit is contained in:
PaulStoffregen 2016-02-18 03:05:20 -08:00
commit 403788d559
2 changed files with 33 additions and 19 deletions
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2
imuread.h
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@ -46,8 +46,6 @@ extern quat_t current_orientation;
extern void die(const char *format, ...) __attribute__ ((format (printf, 1, 2)));
extern void *malloc_or_die(size_t size);
extern void quad_to_rotation(const quat_t *quat, float *rmatrix);
extern void rotate(const magdata_t *in, magdata_t *out, const float *rmatrix);
extern int open_port(const char *name);
extern void read_serial_data(void);
extern void close_port(void);

50
visualize.c
View file

@ -6,7 +6,7 @@ magdata_t current_position;
quat_t current_orientation;
void quad_to_rotation(const quat_t *quat, float *rmatrix)
static void quad_to_rotation(const quat_t *quat, float *rmatrix)
{
float qx = quat->x;
float qy = quat->y;
@ -24,7 +24,7 @@ void quad_to_rotation(const quat_t *quat, float *rmatrix)
rmatrix[8] = 1.0f - 2.0f * qx * qx - 2.0f * qy * qy;
}
void rotate(const magdata_t *in, magdata_t *out, const float *rmatrix)
static void rotate(const magdata_t *in, magdata_t *out, const float *rmatrix)
{
if (out == NULL) return;
if (in == NULL || in->valid == 0) {
@ -49,6 +49,9 @@ typedef struct {
magdata_t caldata[MAGBUFFSIZE];
*/
static GLuint spherelist;
static GLuint spherelowreslist;
void display_callback(void)
{
int i;
@ -56,7 +59,6 @@ void display_callback(void)
float xoff, yoff, zoff;
float rotation[9];
magdata_t point, draw;
GLUquadric *sphere;
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
glColor3f(1, 0, 0); // set current color to red
@ -69,9 +71,6 @@ void display_callback(void)
zoff = -7.0;
if (hard_iron.valid) {
sphere = gluNewQuadric();
gluQuadricDrawStyle(sphere, GLU_FILL);
gluQuadricNormals(sphere, GLU_SMOOTH);
quad_to_rotation(&current_orientation, rotation);
for (i=0; i < MAGBUFFSIZE; i++) {
if (caldata[i].valid) {
@ -90,12 +89,15 @@ void display_callback(void)
draw.z * yscale + yoff,
draw.y * zscale + zoff
);
gluSphere(sphere, 0.08, 12, 10);
if (draw.y >= 0.0f) {
glCallList(spherelist);
} else {
glCallList(spherelowreslist);
}
glPopMatrix();
}
}
gluDeleteQuadric(sphere);
}
}
@ -113,23 +115,24 @@ void resize_callback(int width, int height)
}
const GLfloat light_ambient[] = { 0.0f, 0.0f, 0.0f, 1.0f };
const GLfloat light_diffuse[] = { 1.0f, 1.0f, 1.0f, 1.0f };
const GLfloat light_specular[] = { 1.0f, 1.0f, 1.0f, 1.0f };
const GLfloat light_position[] = { 2.0f, 5.0f, 5.0f, 0.0f };
static const GLfloat light_ambient[] = { 0.0f, 0.0f, 0.0f, 1.0f };
static const GLfloat light_diffuse[] = { 1.0f, 1.0f, 1.0f, 1.0f };
static const GLfloat light_specular[] = { 1.0f, 1.0f, 1.0f, 1.0f };
static const GLfloat light_position[] = { 2.0f, 5.0f, 5.0f, 0.0f };
const GLfloat mat_ambient[] = { 0.7f, 0.7f, 0.7f, 1.0f };
const GLfloat mat_diffuse[] = { 0.8f, 0.8f, 0.8f, 1.0f };
const GLfloat mat_specular[] = { 1.0f, 1.0f, 1.0f, 1.0f };
const GLfloat high_shininess[] = { 100.0f };
static const GLfloat mat_ambient[] = { 0.7f, 0.7f, 0.7f, 1.0f };
static const GLfloat mat_diffuse[] = { 0.8f, 0.8f, 0.8f, 1.0f };
static const GLfloat mat_specular[] = { 1.0f, 1.0f, 1.0f, 1.0f };
static const GLfloat high_shininess[] = { 100.0f };
void visualize_init(void)
{
GLUquadric *sphere;
glClearColor(1.0, 1.0, 1.0, 1.0);
glEnable(GL_CULL_FACE);
glCullFace(GL_BACK);
//glShadeModel(GL_FLAT);
//gluOrtho2D(0, 600, 0, 500);
glEnable(GL_DEPTH_TEST);
glDepthFunc(GL_LESS);
glEnable(GL_LIGHT0);
@ -144,6 +147,19 @@ void visualize_init(void)
glMaterialfv(GL_FRONT, GL_DIFFUSE, mat_diffuse);
glMaterialfv(GL_FRONT, GL_SPECULAR, mat_specular);
glMaterialfv(GL_FRONT, GL_SHININESS, high_shininess);
sphere = gluNewQuadric();
gluQuadricDrawStyle(sphere, GLU_FILL);
gluQuadricNormals(sphere, GLU_SMOOTH);
spherelist = glGenLists(1);
glNewList(spherelist, GL_COMPILE);
gluSphere(sphere, 0.08, 16, 14);
glEndList();
spherelowreslist = glGenLists(1);
glNewList(spherelowreslist, GL_COMPILE);
gluSphere(sphere, 0.08, 12, 10);
glEndList();
gluDeleteQuadric(sphere);
}