Added glm. Updated widget to expose mouse focus. Added custom renderer with stippled line.
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#include <regex>
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#include <iostream>
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#include "render.h"
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#include "glm/vec3.hpp"
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#include "glm/vec4.hpp"
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#include "glm/gtc/type_ptr.hpp"
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//#include <GL/glext.h>
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static const char *vs_code = R"(
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#version 330
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layout (location = 0) in vec3 position;
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layout (location = 1) in vec4 in_color;
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out vec4 interp_color;
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out vec3 vertPos;
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flat out vec3 startPos;
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uniform mat4 mvp;
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void main() {
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vec4 pos = mvp * vec4(position, 1.0);
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gl_Position = pos;
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vertPos = pos.xyz / pos.w;
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startPos = vertPos;
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interp_color = in_color;
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}
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)";
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static const char *ps_code = R"(
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#version 330
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flat in vec3 startPos;
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in vec3 vertPos;
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in vec4 interp_color;
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out vec4 color;
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uniform vec2 u_resolution;
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float u_dashSize = 10; // make this uniform
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float u_gapSize = 10; // make this uniform
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void main() {
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vec2 dir = (vertPos.xy - startPos.xy) * u_resolution/2.0;
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float dist = length(dir);
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if (fract(dist / (u_dashSize + u_gapSize)) > u_dashSize/(u_dashSize + u_gapSize))
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discard;
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color = interp_color;
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}
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)";
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void grbl::program_renderer::render(glm::mat4 mvp, glm::vec2 viewport_size) {
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shader->bind();
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shader->set_mat4(glm::value_ptr(mvp), "mvp");
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shader->set_vec2(glm::value_ptr(viewport_size), "u_resolution");
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glBindVertexArray(vao_id);
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glDrawArrays(GL_LINES, 0, vertices_count);
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shader->unbind();
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// draw bit location
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}
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void grbl::program_renderer::update(const grbl::program& pgm, const grbl::machine& cnc) {
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if (!initialized) {
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shader = new shader_program(vs_code, ps_code);
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glGenBuffers(1, &vbo_id);
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glGenVertexArrays(1, &vao_id);
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// vertex format: x, y, z, r, g, b, a
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// stride: 28 bytes
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const GLsizei sizeOfVertexInBytes = 28;
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glBindVertexArray(vao_id);
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glBindBuffer(GL_ARRAY_BUFFER, vbo_id);
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glEnableVertexAttribArray(0); // vertices on stream 0
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glVertexAttribPointer(0, 3, GL_FLOAT, GL_FALSE, sizeOfVertexInBytes, (void *) 0);
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glEnableVertexAttribArray(1); // vertex colors on stream 1
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glVertexAttribPointer(1, 4, GL_FLOAT, GL_FALSE, sizeOfVertexInBytes, (void *) (sizeof(float) * 3));
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// unbind vao
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glBindVertexArray(0);
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initialized = true;
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}
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// update program with machine status
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// build vbo and vao
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vertices_count = build_vbo(pgm);
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}
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GLsizei grbl::program_renderer::build_vbo(const grbl::program& pgm) {
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static auto movement_re = std::regex(R"(([gG]0*1?\s+|[xXyYzZ]\s*[0-9\.\-]+))");
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bool is_tool_on = false;
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std::vector<float> buffer_data;
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glm::vec3 tool_pos;
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min_pos = max_pos = tool_pos = glm::vec3(0);
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for (auto& i: pgm.instructions) {
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if (i.type == grbl::instruction_type::gcode) {
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std::vector<std::string> tokens;
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std::smatch res;
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std::string::const_iterator start(i.command.cbegin());
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while (std::regex_search(start, i.command.cend(), res, movement_re)) {
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auto str = res[0].str();
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// make upper case
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std::transform(str.begin(), str.end(), str.begin(), ::toupper);
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// remove whitespace from things like "X 123.1234"
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str.erase(remove_if(str.begin(), str.end(), isspace), str.end());
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tokens.push_back(str);
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start = res.suffix().first;
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}
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if (!tokens.empty()) {
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auto new_pos = tool_pos;
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for (auto& t: tokens) {
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if (t[0] == 'X') {
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new_pos.x = std::stof(t.substr(1));
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} else if (t[0] == 'Y') {
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new_pos.y = std::stof(t.substr(1));
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} else if (t[0] == 'Z') {
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new_pos.z = std::stof(t.substr(1));
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}
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}
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bool has_g1 = tokens[0][0] == 'G' && std::stoi(tokens[0].substr(1)) == 1;
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bool has_g0 = tokens[0][0] == 'G' && std::stoi(tokens[0].substr(1)) == 0;
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bool is_plunge = has_g1 && tokens.size() > 1 && tokens[1][0] == 'Z';
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bool is_retract = has_g0 && tokens.size() > 1 && tokens[1][0] == 'Z';
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is_tool_on = has_g1 || (is_retract ? false : is_tool_on);
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auto from_color = glm::vec4(1.0f);
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auto to_color = glm::vec4(1.0f);
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if (is_tool_on) {
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from_color = glm::vec4(1, 0, 0, 1);
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to_color = glm::vec4(1, 0, 0, 1);
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}
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if (is_plunge) {
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to_color = glm::vec4(1, 0, 0, 1);
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} else if (is_retract) {
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to_color = glm::vec4(0, 1, 0, 1);
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}
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// from
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buffer_data.push_back(tool_pos.x);
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buffer_data.push_back(tool_pos.y);
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buffer_data.push_back(tool_pos.z);
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buffer_data.push_back(from_color.r);
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buffer_data.push_back(from_color.g);
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buffer_data.push_back(from_color.b);
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buffer_data.push_back(from_color.a);
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// to
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buffer_data.push_back(new_pos.x);
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buffer_data.push_back(new_pos.y);
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buffer_data.push_back(new_pos.z);
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buffer_data.push_back(to_color.r);
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buffer_data.push_back(to_color.g);
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buffer_data.push_back(to_color.b);
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buffer_data.push_back(to_color.a);
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// calculate extents
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min_pos.x = std::min(min_pos.x, new_pos.x);
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min_pos.y = std::min(min_pos.y, new_pos.y);
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min_pos.z = std::min(min_pos.z, new_pos.z);
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max_pos.x = std::max(max_pos.x, new_pos.x);
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max_pos.y = std::max(max_pos.y, new_pos.y);
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max_pos.z = std::max(max_pos.z, new_pos.z);
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tool_pos = new_pos;
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}
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}
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}
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const GLsizei sizeOfVertexInBytes = 28;
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glBindBuffer(GL_ARRAY_BUFFER, vbo_id);
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glBufferData(GL_ARRAY_BUFFER, sizeOfVertexInBytes * buffer_data.size(), buffer_data.data(), GL_DYNAMIC_DRAW);
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auto number_of_vertices = buffer_data.size() * sizeof(float) / sizeOfVertexInBytes;
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return number_of_vertices;
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}
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void check_compile_error(GLuint shader_id) {
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GLint isCompiled = 0;
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glGetShaderiv(shader_id, GL_COMPILE_STATUS, &isCompiled);
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if (!isCompiled) {
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GLint maxLength = 0;
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glGetShaderiv(shader_id, GL_INFO_LOG_LENGTH, &maxLength);
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//The maxLength includes the NULL character
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char errorLog[maxLength];
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glGetShaderInfoLog(shader_id, maxLength, &maxLength, &errorLog[0]);
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std::cerr << "Shader compile error: " << "(id: " << shader_id << ", code: " << isCompiled << ", bytes: "
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<< maxLength << ") - " << std::string(errorLog, maxLength);
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//Provide the infolog in whatever manor you deem best.
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//Exit with failure.
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glDeleteShader(shader_id); //Don't leak the shader.
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} else {
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std::cout << "Shader " << shader_id << " successfully compiled";
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}
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}
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void check_link_error(GLuint program_id) {
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GLint is_linked = 0;
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glGetShaderiv(program_id, GL_LINK_STATUS, &is_linked);
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if (!is_linked) {
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GLint maxLength = 0;
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glGetShaderiv(program_id, GL_INFO_LOG_LENGTH, &maxLength);
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//The maxLength includes the NULL character
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char errorLog[maxLength];
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glGetShaderInfoLog(program_id, maxLength, &maxLength, &errorLog[0]);
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std::cerr << "Shader program link error: " << "(id: " << program_id << ", code: " << is_linked << ", bytes: "
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<< maxLength << ") - " << std::string(errorLog, maxLength);
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//Provide the info log in whatever manner you deem best.
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//Exit with failure.
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glDeleteShader(program_id); //Don't leak the program shader.
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} else {
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std::cout << "Shader program " << program_id << " successfully linked";
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}
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}
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grbl::shader_program::shader_program(const char *vs_content, const char *ps_content)
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: shader_ids{0, 0},
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program_id{0} {
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shader_ids[0] = glCreateShader(GL_VERTEX_SHADER);
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glShaderSource(shader_ids[0], 1, &vs_content, NULL);
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glCompileShader(shader_ids[0]);
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int success;
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char infoLog[512];
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glGetShaderiv(shader_ids[0], GL_COMPILE_STATUS, &success);
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if (!success) {
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glGetShaderInfoLog(shader_ids[0], 512, NULL, infoLog);
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std::cout << "ERROR::SHADER::VERTEX::COMPILATION_FAILED\n" << infoLog << std::endl;
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}
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shader_ids[1] = glCreateShader(GL_FRAGMENT_SHADER);
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glShaderSource(shader_ids[1], 1, &ps_content, NULL);
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glCompileShader(shader_ids[1]);
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glGetShaderiv(shader_ids[1], GL_COMPILE_STATUS, &success);
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if (!success) {
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glGetShaderInfoLog(shader_ids[1], 512, NULL, infoLog);
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std::cout << "ERROR::SHADER::FRAGMENT::COMPILATION_FAILED\n" << infoLog << std::endl;
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}
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program_id = glCreateProgram();
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glAttachShader(program_id, shader_ids[0]);
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glAttachShader(program_id, shader_ids[1]);
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glLinkProgram(program_id);
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glGetProgramiv(program_id, GL_LINK_STATUS, &success);
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if (!success) {
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glGetProgramInfoLog(program_id, 512, NULL, infoLog);
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std::cout << "ERROR::SHADER::PROGRAM::COMPILATION_FAILED\n" << infoLog << std::endl;
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}
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glUseProgram(program_id);
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}
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grbl::shader_program::~shader_program() {
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glDetachShader(program_id, shader_ids[0]);
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glDetachShader(program_id, shader_ids[1]);
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glDeleteShader(shader_ids[0]);
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glDeleteShader(shader_ids[1]);
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glDeleteProgram(program_id);
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}
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void grbl::shader_program::bind() const {
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glUseProgram(program_id);
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}
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void grbl::shader_program::unbind() {
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glUseProgram(0);
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}
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int grbl::shader_program::get_uniform(const char *name) {
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if (uniform_cache.count(name) == 0) {
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uniform_cache[name] = glGetUniformLocation(program_id, name);
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}
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return uniform_cache[name];
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}
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void grbl::shader_program::set_mat3(float *matrix, const char *uniform_name) {
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GLint location = get_uniform(uniform_name);
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if (location != -1)
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glUniformMatrix3fv(location, 1, false, matrix);
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}
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void grbl::shader_program::set_mat4(float *matrix, const char *uniform_name) {
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GLint location = get_uniform(uniform_name);
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if (location != -1)
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glUniformMatrix4fv(location, 1, false, matrix);
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}
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void grbl::shader_program::set_vec2(float *value, const char *uniform_name) {
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GLint location = get_uniform(uniform_name);
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if (location != -1)
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glUniform2fv(location, 1, value);
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}
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void grbl::shader_program::set_vec3(float *value, const char *uniform_name) {
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GLint location = get_uniform(uniform_name);
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if (location != -1)
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glUniform3fv(location, 1, value);
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}
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void grbl::shader_program::set_vec4(float *value, const char *uniform_name) {
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GLint location = get_uniform(uniform_name);
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if (location != -1)
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glUniform4fv(location, 1, value);
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}
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void grbl::shader_program::set_int(int value, const char *uniform_name) {
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GLint location = get_uniform(uniform_name);
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if (location != -1)
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glUniform1i(location, value);
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}
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void grbl::shader_program::set_float(float value, const char *uniform_name) {
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GLint location = get_uniform(uniform_name);
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if (location != -1)
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glUniform1f(location, value);
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}
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