Java Code Examples for processing.core.PMatrix3D#apply()

/**
     * *
     * Works only in 3D mode with beginDraw3D(). Change the currernt matrix to
     * the location of another PaperScreen. This could be used for drawing
     * objects or putting lights at another PaperScreen location.
     *
     * @param paperScreen PaperScreen to go to.
     */
    public void goTo(PaperScreen paperScreen) {

        if (this.isDrawingOnScreen == true) {
            throw new RuntimeException("Impossible to draw on another board. You need to draw using beginDraw3D() to do so.");
        }

//        if (this.currentGraphics != graphics) {
//            throw new RuntimeException("The given graphics context is not valid. Use the one given by beginDraw3D().");
//        }
        // get the location of this board...
        PMatrix3D loc = this.getLocation().get();
        loc.invert();
        loc.apply(paperScreen.getLocation());

        applyMatrix(loc);
    }
 

public PMatrix3D getProjection(){
  pg_shadowmap.updateProjmodelview();

  // 1) create shadowmap matrix, 
  //    to transform positions from camera-space to the shadowmap-space (light-space)
  PMatrix3D mat_shadow = new PMatrix3D();
  // ndc (shadowmap) -> normalized (shadowmap) 
  //         [-1,+1] -> [0,1]
  mat_shadow.scale(0.5f);
  mat_shadow.translate(1,1,1);

  // model (world) -> modelview (shadowmap) -> ndc (shadowmap)
  mat_shadow.apply(pg_shadowmap.projection);
  
  return mat_shadow;
}
 

public PMatrix3D getShadowmapMatrix(){
  // 1) create shadowmap matrix, 
  //    to transform positions from camera-space to the shadowmap-space (light-space)
  PMatrix3D mat_shadow = new PMatrix3D();
  // ndc (shadowmap) -> normalized (shadowmap) 
  //         [-1,+1] -> [0,1]
  mat_shadow.scale(0.5f);
  mat_shadow.translate(1,1,1);

  // model (world) -> modelview (shadowmap) -> ndc (shadowmap)
  mat_shadow.apply(pg_shadowmap.projmodelview);
  
  return mat_shadow;
}
 

public PMatrix3D getTransfoRelativeTo(Camera camera, MarkerBoard board2) {

        PMatrix3D tr1 = getTransfoMat(camera);
        PMatrix3D tr2 = board2.getTransfoMat(camera);

        tr2.apply(tr1);
        return tr2;
    }
 

/**
 * Get a copy of the overall transform (after tracking and second
 * transform).
 *
 * @param camera
 * @return
 */
public PMatrix3D getLocation(Camera camera) {
    if ((!markerBoard.isTrackedBy(camera) && !this.useManualLocation)) {
        return extrinsics.get();
    }
    PMatrix3D combinedTransfos = getMainLocation(camera);
    combinedTransfos.apply(extrinsics);
    return combinedTransfos;
}
 

private PVector getRelativePos(PVector v) {

        PMatrix3D location = this.getLocation().get();
        location.translate(v.x, v.y, v.z);
        PMatrix3D t = tableInv.get();
        t.apply(location);
        PVector tableRelativePos = new PVector(t.m03, t.m13, t.m23);

        return tableRelativePos;
    }
 

public void setup() {
    
    surface.setLocation(viewport_x, viewport_y);
    
    float SCENE_SCALE = 1000;
    
    capture = new DwFrameCapture(this, "examples/");
    font12 = createFont("../data/SourceCodePro-Regular.ttf", 12);

    cam = new PeasyCam(this, 0, 0, 0, SCENE_SCALE);
    perspective(60 * DEG_TO_RAD, width/(float)height, 2, SCENE_SCALE * 250);

    group_bulletbodies = createShape(GROUP);
    
//    Vector3f min = new Vector3f(-200, -200,    0);
//    Vector3f max = new Vector3f(+200, +200, +400);
//    physics = new BPhysics(min, max);
    physics = new BPhysics(); // no bounding box
    physics.world.setGravity(new Vector3f(0, 0, -300));
   
    pg_render = (PGraphics3D) createGraphics(width, height, P3D);
    pg_render.smooth(0);
    pg_render.beginDraw();
    pg_render.endDraw();
    
    
    // compute scene bounding-sphere
    DwBoundingSphere scene_bs = new DwBoundingSphere();
    scene_bs.set(0, 0, 200, 450);
    PMatrix3D mat_bs = scene_bs.getUnitSphereMatrix();

    // matrix, to place (centering, scaling) the scene in the viewport
    mat_scene_view = new PMatrix3D();
    mat_scene_view.scale(SCENE_SCALE);
    mat_scene_view.apply(mat_bs);

    // matrix, to place the scene in the skylight renderer
    mat_scene_bounds = mat_scene_view.get();
    mat_scene_bounds.invert();
    mat_scene_bounds.preApply(mat_bs);

    // callback for rendering the scene
    DwSceneDisplay scene_display = new DwSceneDisplay(){
      @Override
      public void display(PGraphics3D canvas) {
        displayScene(canvas);  
      }
    };
    
    // library context
    context = new DwPixelFlow(this);
    context.print();
    context.printGL();
    
    // postprocessing filters
    filter = DwFilter.get(context);
    
    // init skylight renderer
    skylight = new DwSkyLight(context, scene_display, mat_scene_bounds);
    
    // parameters for sky-light
    skylight.sky.param.iterations     = 50;
    skylight.sky.param.solar_azimuth  = 0;
    skylight.sky.param.solar_zenith   = 0;
    skylight.sky.param.sample_focus   = 1; // full sphere sampling
    skylight.sky.param.intensity      = 1.0f;
    skylight.sky.param.rgb            = new float[]{1,1,1};
    skylight.sky.param.shadowmap_size = 512; // quality vs. performance
    
    // parameters for sun-light
    skylight.sun.param.iterations     = 50;
    skylight.sun.param.solar_azimuth  = 35;
    skylight.sun.param.solar_zenith   = 65;
    skylight.sun.param.sample_focus   = 0.1f;
    skylight.sun.param.intensity      = 1.0f;
    skylight.sun.param.rgb            = new float[]{1,1,1};
    skylight.sun.param.shadowmap_size = 512;
    
    // postprocessing AA
    smaa = new SMAA(context);
    pg_aa = (PGraphics3D) createGraphics(width, height, P3D);
    pg_aa.smooth(0);
    pg_aa.textureSampling(5);
    
    
    dof = new DepthOfField(context);
    geombuffer = new DwScreenSpaceGeometryBuffer(context, scene_display);
    
    pg_tmp = (PGraphics3D) createGraphics(width, height, P3D);
    pg_tmp.smooth(0);
    DwUtils.changeTextureFormat(pg_tmp, GL2.GL_RGBA16F, GL2.GL_RGBA, GL2.GL_FLOAT);

    
    // fresh start
    reset();
    
    frameRate(60);
  }
 

void setUniforms() {

    // 1) modelview (camera) -> model (world)
    PMatrix3D mat_modelviewInv = geombuffer.pg_geom.modelviewInv.get();

    // camera -> world -> shadowmap
    PMatrix3D mat_shadow = shadowmap.getShadowmapMatrix();
    mat_shadow.apply(mat_modelviewInv);
    mat_shadow.transpose(); // processing
    
    PMatrix3D mat_shadow_normal = mat_shadow.get();
    mat_shadow_normal.invert();
    mat_shadow_normal.transpose(); // processing
    
    PMatrix3D mat_shadow_normal_modelview = shadowmap.getModelView().get();
    mat_shadow_normal_modelview.apply(mat_modelviewInv);
    mat_shadow_normal_modelview.transpose(); // processing
    mat_shadow_normal_modelview.invert();
    mat_shadow_normal_modelview.transpose(); // processing
    
    PMatrix3D mat_shadow_normal_projection = shadowmap.getProjection().get();
    mat_shadow_normal_projection.invert();
    mat_shadow_normal_projection.transpose(); // processing
    
//    PMatrix3D mat_shadow_modelview = new PMatrix3D(shadowmap.pg_shadowmap.modelview);
//    mat_shadow_modelview.apply(mat_modelviewInv);
//    mat_shadow_modelview.transpose();

    // 2) transform light direction into camera space = inverse-transpose-modelView * direction
    mat_modelviewInv.transpose();
    PVector light_dir_cameraspace = mat_modelviewInv.mult(shadowmap.lightdir, null);
    light_dir_cameraspace.normalize();
    
    // projection matrix of the geometry buffer
    PMatrix3D mat_projection = geombuffer.pg_geom.projection.get();
    mat_projection.transpose(); // processing
    
    // temporal averaging
    float pass_mix = RENDER_PASS/(RENDER_PASS+1.0f);
    
    float w_shadow = shadowmap.pg_shadowmap.width;
    float h_shadow = shadowmap.pg_shadowmap.height;
    
    // shadow offset
    float shadow_map_size = Math.min(w_shadow, h_shadow);
    float shadow_bias_mag = 0.33f/shadow_map_size;
    
//    shadow_bias_mag = scene_scale/ shadow_map_size;

    
//    PMatrix3D mat_screen_to_eye = new PMatrix3D();
//    mat_screen_to_eye.scale(w, h, 1);
//    mat_screen_to_eye.scale(0.5f);
//    mat_screen_to_eye.translate(1,1,1);
//    mat_screen_to_eye.apply(pg.projection);
//    mat_screen_to_eye.invert();
//    mat_screen_to_eye.transpose(); // processing, row-col switch
    

    
    // 3) update shader uniforms
    shader.set("mat_projection"              , mat_projection                    );
    shader.set("mat_shadow"                  , mat_shadow                        );
    shader.set("mat_shadow_normal_modelview" , mat_shadow_normal_modelview , true);
    shader.set("mat_shadow_normal_projection", mat_shadow_normal_projection, true);
//    shader.set("mat_shadow_normal", mat_shadow_normal);
//    shader.set("mat_screen_to_eye", mat_screen_to_eye);
//    shader.set("mat_shadow_modelview", mat_shadow_modelview);
    shader.set("dir_light", light_dir_cameraspace);
    shader.set("pass_mix", pass_mix);
    shader.set("wh_shadow", w_shadow, h_shadow); // should match the dimensions of the shading buffers
    shader.set("shadow_bias_mag", shadow_bias_mag);

    
//    getBuffer(buf_mat_projection              , mat_projection                    );
//    getBuffer(buf_mat_shadow                  , mat_shadow                        );
//    getBuffer(buf_mat_shadow_normal_modelview , mat_shadow_normal_modelview , true);
//    getBuffer(buf_mat_shadow_normal_projection, mat_shadow_normal_projection, true);
//
//    boolean transpose = !false;
//    shader_.uniformMatrix4fv("mat_projection"              , 1, transpose, buf_mat_projection              , 0);
//    shader_.uniformMatrix4fv("mat_shadow"                  , 1, transpose, buf_mat_shadow                  , 0);
//    shader_.uniformMatrix3fv("mat_shadow_normal_modelview" , 1, transpose, buf_mat_shadow_normal_modelview , 0);
//    shader_.uniformMatrix3fv("mat_shadow_normal_projection", 1, transpose, buf_mat_shadow_normal_projection, 0);
//    shader_.uniform3f       ("dir_light", light_dir_cameraspace.x, light_dir_cameraspace.y, light_dir_cameraspace.z);
//    shader_.uniform1f       ("pass_mix", pass_mix);
//    shader_.uniform2f       ("wh_shadow", w_shadow, h_shadow);
//    shader_.uniform1f       ("shadow_bias_mag", shadow_bias_mag);
  }
 

public void updateMouseAction(){
  
  if(obj_sel == null){
    if(mouseX >= 0 && mouseX <  pg_pick.width && mouseY >= 0 && mouseY <  pg_pick.height) {
      int idx_curr = pg_pick.pixels[mouseY * pg_pick.width + mouseX];
      
      if(idx_prev != -1){
        scene_objects[idx_prev].shp_render.setFill(col_prev);
        idx_prev = -1;
      }
      
      // no mouse-over, just return
      if(idx_curr == 0){
        return;
      }

      // mouse-over, change fill color
      idx_curr &= 0x00FFFFFF;
      col_prev =  scene_objects[idx_curr].shp_render.getFill(0);
      scene_objects[idx_curr].shp_render.setFill(color(255, 64, 0));
      idx_prev = idx_curr;
      
      // mouse-over AND selection mode is active -> keep the object, and
      // keep a backup of its transformation matrix
      if(SELECT_OBJECT){
        obj_sel = scene_objects[idx_curr];
        obj_mat.set(obj_sel.mat);
        obj_off = null;
      }
    } 
  }
  
  // object selected and ready to be moved
  if(obj_sel != null){
    PGraphics3D pg_canvas = (PGraphics3D) this.g;
    
    // build object matrix
    PMatrix3D mvp = pg_canvas.projmodelview.get();
    mvp.apply(obj_mat);
    
    transform.useCurrentTransformationMatrix(pg_canvas, mvp);

    // transform object to screen-coords
    float[] screen = new float[4];
    float[] world  = new float[4];
    transform.worldToScreen(world, screen);
    
    // respect mouse-offset (to object center)
    if(obj_off == null){
      obj_off = new float[2];
      obj_off[0] = mouseX - screen[0];
      obj_off[1] = mouseY - screen[1];
    }
    
    // transform object (new screen-coords!) back to world-coords
    screen[0] = mouseX - obj_off[0];
    screen[1] = mouseY - obj_off[1];
    transform.screenToWorld(screen, world);

    // modify object matrix
    obj_sel.mat.set(obj_mat);
    obj_sel.mat.translate(world[0], world[1], world[2]);
    obj_sel.udpateShapesTransform();
  }
}
 

public void setup() {
    
    surface.setLocation(viewport_x, viewport_y);
    
    float SCENE_SCALE = 1000;
    
    capture = new DwFrameCapture(this, "examples/");
    
    font12 = createFont("../data/SourceCodePro-Regular.ttf", 12);
    font96 = createFont("../data/SourceCodePro-Regular.ttf", 32);
    
    cam = new PeasyCam(this, 0, 0, 0, SCENE_SCALE);
    perspective(60 * DEG_TO_RAD, width/(float)height, 2, SCENE_SCALE * 250);

    group_bulletbodies = createShape(GROUP);
    
//    Vector3f min = new Vector3f(-300, -300,    0);
//    Vector3f max = new Vector3f(+300, +300, +1000);
//    physics = new BPhysics(min, max);
    physics = new BPhysics(); // no bounding box
    physics.world.setGravity(new Vector3f(0, 0, -30));
   
    pg_render = (PGraphics3D) createGraphics(width, height, P3D);
    pg_render.smooth(0);
    pg_render.beginDraw();
    pg_render.endDraw();
    
    
    // compute scene bounding-sphere
    DwBoundingSphere scene_bs = new DwBoundingSphere();
    scene_bs.set(0, 0, 200, 450);
    PMatrix3D mat_bs = scene_bs.getUnitSphereMatrix();

    // matrix, to place (centering, scaling) the scene in the viewport
    mat_scene_view = new PMatrix3D();
    mat_scene_view.scale(SCENE_SCALE);
    mat_scene_view.apply(mat_bs);

    // matrix, to place the scene in the skylight renderer
    mat_scene_bounds = mat_scene_view.get();
    mat_scene_bounds.invert();
    mat_scene_bounds.preApply(mat_bs);

    // callback for rendering the scene
    DwSceneDisplay scene_display = new DwSceneDisplay(){
      @Override
      public void display(PGraphics3D canvas) {
        displayScene(canvas);  
      }
    };
    
    // library context
    context = new DwPixelFlow(this);
    context.print();
    context.printGL();
    
    // postprocessing filters
    filter = DwFilter.get(context);
    
    // init skylight renderer
    skylight = new DwSkyLight(context, scene_display, mat_scene_bounds);
    
    // parameters for sky-light
    skylight.sky.param.iterations     = 50;
    skylight.sky.param.solar_azimuth  = 0;
    skylight.sky.param.solar_zenith   = 0;
    skylight.sky.param.sample_focus   = 1; // full sphere sampling
    skylight.sky.param.intensity      = 1.0f;
    skylight.sky.param.rgb            = new float[]{1,1,1};
    skylight.sky.param.shadowmap_size = 512; // quality vs. performance
    
    // parameters for sun-light
    skylight.sun.param.iterations     = 50;
    skylight.sun.param.solar_azimuth  = 35;
    skylight.sun.param.solar_zenith   = 65;
    skylight.sun.param.sample_focus   = 0.1f;
    skylight.sun.param.intensity      = 1.0f;
    skylight.sun.param.rgb            = new float[]{1,1,1};
    skylight.sun.param.shadowmap_size = 512;
    
    // postprocessing AA
    smaa = new SMAA(context);
    pg_aa = (PGraphics3D) createGraphics(width, height, P3D);
    pg_aa.smooth(0);
    pg_aa.textureSampling(5);
    
    
    dof = new DepthOfField(context);
    geombuffer = new DwScreenSpaceGeometryBuffer(context, scene_display);
    
    pg_tmp = (PGraphics3D) createGraphics(width, height, P3D);
    pg_tmp.smooth(0);
    DwUtils.changeTextureFormat(pg_tmp, GL2.GL_RGBA16F, GL2.GL_RGBA, GL2.GL_FLOAT);
    
    // fresh start
    reset();
    createBuildings(BUILDING);
    frameRate(60);
  }
 

private void computeCorners() {

        PMatrix3D pos = null;

        if (useManualConrers) {
            return;
        }

        if (usePaperLocation) {
            pos = paperScreen.getLocation();
        }

        if (useBoardLocation) {
            pos = board.getTransfoMat(camera).get();
        }

        if (pos == null) {
            throw new RuntimeException("ERROR in TrackedView, report this.");
        }

        PMatrix3D tmp = new PMatrix3D();

        tmp.apply(pos);

        for (int i = 0; i < 4; i++) {
            corner3DPos[i] = new PVector();
        }
        if (isYUp) {

            // bottom left
            tmp.translate(topLeftCorner.x, topLeftCorner.y);
            corner3DPos[0].x = tmp.m03;
            corner3DPos[0].y = tmp.m13;
            corner3DPos[0].z = tmp.m23;

            // bottom right
            tmp.translate(captureSizeMM.x, 0);
            corner3DPos[1].x = tmp.m03;
            corner3DPos[1].y = tmp.m13;
            corner3DPos[1].z = tmp.m23;

            // top right
            tmp.translate(0, -captureSizeMM.y, 0);
            corner3DPos[2].x = tmp.m03;
            corner3DPos[2].y = tmp.m13;
            corner3DPos[2].z = tmp.m23;

            // top left
            tmp.translate(-captureSizeMM.x, 0, 0);
            corner3DPos[3].x = tmp.m03;
            corner3DPos[3].y = tmp.m13;
            corner3DPos[3].z = tmp.m23;

        } else {

            // TODO: use BottowLeftCorner here ?!! 
            // top left
            tmp.translate(topLeftCorner.x, paperScreen.getDrawingSize().y - topLeftCorner.y);
            corner3DPos[3].x = tmp.m03;
            corner3DPos[3].y = tmp.m13;
            corner3DPos[3].z = tmp.m23;

            // top right
            tmp.translate(captureSizeMM.x, 0);
            corner3DPos[2].x = tmp.m03;
            corner3DPos[2].y = tmp.m13;
            corner3DPos[2].z = tmp.m23;

            // bottom right
            tmp.translate(0, -captureSizeMM.y, 0);
            corner3DPos[1].x = tmp.m03;
            corner3DPos[1].y = tmp.m13;
            corner3DPos[1].z = tmp.m23;

            // bottom left
            tmp.translate(-captureSizeMM.x, 0, 0);
            corner3DPos[0].x = tmp.m03;
            corner3DPos[0].y = tmp.m13;
            corner3DPos[0].z = tmp.m23;
        }

        screenPixelCoordinates.clear();
        for (int i = 0; i < 4; i++) {
            screenPixelCoordinates.add(camera.pdp.worldToPixel(corner3DPos[i], true));
        }
        cornersSet = true;
    }
 

public void setup() {
  
  surface.setLocation(viewport_x, viewport_y);
  
  float SCENE_SCALE = 1000;
  
  // for screenshot
  capture = new DwFrameCapture(this, "examples/");
  
  font12 = createFont("../data/SourceCodePro-Regular.ttf", 12);

  cam = new PeasyCam(this, 0, 0, 0, SCENE_SCALE);
  perspective(60 * DEG_TO_RAD, width/(float)height, 2, SCENE_SCALE * 250);

  group_bulletbodies = createShape(GROUP);
  
  physics = new MyBPhysics(); // no bounding box
  physics.world.setGravity(new Vector3f(0, 0, -100));
 
  pg_render = (PGraphics3D) createGraphics(width, height, P3D);
  pg_render.smooth(0);
  pg_render.beginDraw();
  pg_render.endDraw();
  
  
  // compute scene bounding-sphere
  DwBoundingSphere scene_bs = new DwBoundingSphere();
  scene_bs.set(0, 0, 200, 450);
  PMatrix3D mat_bs = scene_bs.getUnitSphereMatrix();

  // matrix, to place (centering, scaling) the scene in the viewport
  mat_scene_view = new PMatrix3D();
  mat_scene_view.scale(SCENE_SCALE);
  mat_scene_view.apply(mat_bs);

  // matrix, to place the scene in the skylight renderer
  mat_scene_bounds = mat_scene_view.get();
  mat_scene_bounds.invert();
  mat_scene_bounds.preApply(mat_bs);

  // callback for rendering the scene
  DwSceneDisplay scene_display = new DwSceneDisplay(){
    @Override
    public void display(PGraphics3D canvas) {
      displayScene(canvas);  
    }
  };
  
  // library context
  context = new DwPixelFlow(this);
  context.print();
  context.printGL();
  
  // postprocessing filters
  filter = DwFilter.get(context);
  
  // init skylight renderer
  skylight = new DwSkyLight(context, scene_display, mat_scene_bounds);
  
  // parameters for sky-light
  skylight.sky.param.iterations     = 50;
  skylight.sky.param.solar_azimuth  = 0;
  skylight.sky.param.solar_zenith   = 0;
  skylight.sky.param.sample_focus   = 1; // full sphere sampling
  skylight.sky.param.intensity      = 1.0f;
  skylight.sky.param.rgb            = new float[]{1,1,1};
  skylight.sky.param.shadowmap_size = 512; // quality vs. performance
  
  // parameters for sun-light
  skylight.sun.param.iterations     = 50;
  skylight.sun.param.solar_azimuth  = 35;
  skylight.sun.param.solar_zenith   = 65;
  skylight.sun.param.sample_focus   = 0.1f;
  skylight.sun.param.intensity      = 1.0f;
  skylight.sun.param.rgb            = new float[]{1,1,1};
  skylight.sun.param.shadowmap_size = 512;
  
  // postprocessing AA
  smaa = new SMAA(context);
  pg_aa = (PGraphics3D) createGraphics(width, height, P3D);
  pg_aa.smooth(0);
  pg_aa.textureSampling(5);
  
  
  dof = new DepthOfField(context);
  geombuffer = new DwScreenSpaceGeometryBuffer(context, scene_display);
  
  pg_tmp = (PGraphics3D) createGraphics(width, height, P3D);
  pg_tmp.smooth(0);
  DwUtils.changeTextureFormat(pg_tmp, GL2.GL_RGBA16F, GL2.GL_RGBA, GL2.GL_FLOAT);
  
  // fresh start
  reset();
  
  createFractureShape();
  
  frameRate(60);
}
 

public void setup() {
  
  surface.setLocation(viewport_x, viewport_y);
  
  float SCENE_SCALE = 1000;
  
  // for screenshot
  capture = new DwFrameCapture(this, "examples/");
  
  font12 = createFont("../data/SourceCodePro-Regular.ttf", 12);

  cam = new PeasyCam(this, 0, 0, 0, SCENE_SCALE);
  perspective(60 * DEG_TO_RAD, width/(float)height, 2, SCENE_SCALE * 250);

  group_bulletbodies = createShape(GROUP);
  
  physics = new BPhysics(); // no bounding box
  physics.world.setGravity(new Vector3f(0, 0, -50));
 
  pg_render = (PGraphics3D) createGraphics(width, height, P3D);
  pg_render.smooth(0);
  pg_render.beginDraw();
  pg_render.endDraw();
  
  
  // compute scene bounding-sphere
  DwBoundingSphere scene_bs = new DwBoundingSphere();
  scene_bs.set(0, 0, 200, 450);
  PMatrix3D mat_bs = scene_bs.getUnitSphereMatrix();

  // matrix, to place (centering, scaling) the scene in the viewport
  mat_scene_view = new PMatrix3D();
  mat_scene_view.scale(SCENE_SCALE);
  mat_scene_view.apply(mat_bs);

  // matrix, to place the scene in the skylight renderer
  mat_scene_bounds = mat_scene_view.get();
  mat_scene_bounds.invert();
  mat_scene_bounds.preApply(mat_bs);

  // callback for rendering the scene
  DwSceneDisplay scene_display = new DwSceneDisplay(){
    @Override
    public void display(PGraphics3D canvas) {
      displayScene(canvas);  
    }
  };
  
  // library context
  context = new DwPixelFlow(this);
  context.print();
  context.printGL();
  
  // postprocessing filters
  filter = DwFilter.get(context);
  
  // init skylight renderer
  skylight = new DwSkyLight(context, scene_display, mat_scene_bounds);
  
  // parameters for sky-light
  skylight.sky.param.iterations     = 50;
  skylight.sky.param.solar_azimuth  = 0;
  skylight.sky.param.solar_zenith   = 0;
  skylight.sky.param.sample_focus   = 1; // full sphere sampling
  skylight.sky.param.intensity      = 1.0f;
  skylight.sky.param.rgb            = new float[]{1,1,1};
  skylight.sky.param.shadowmap_size = 512; // quality vs. performance
  
  // parameters for sun-light
  skylight.sun.param.iterations     = 50;
  skylight.sun.param.solar_azimuth  = 35;
  skylight.sun.param.solar_zenith   = 70;
  skylight.sun.param.sample_focus   = 0.1f;
  skylight.sun.param.intensity      = 1.0f;
  skylight.sun.param.rgb            = new float[]{1,1,1};
  skylight.sun.param.shadowmap_size = 512;
  
  // postprocessing AA
  smaa = new SMAA(context);
  pg_aa = (PGraphics3D) createGraphics(width, height, P3D);
  pg_aa.smooth(0);
  pg_aa.textureSampling(5);
  
  
  dof = new DepthOfField(context);
  geombuffer = new DwScreenSpaceGeometryBuffer(context, scene_display);
  
  pg_tmp = (PGraphics3D) createGraphics(width, height, P3D);
  pg_tmp.smooth(0);
  DwUtils.changeTextureFormat(pg_tmp, GL2.GL_RGBA16F, GL2.GL_RGBA, GL2.GL_FLOAT);

  // fresh start
  reset();
  
  createFractureShape();
  
  frameRate(60);
}
 

public void setup() {
  
  surface.setLocation(viewport_x, viewport_y);
  
  float SCENE_SCALE = 1000;
  
  // for screenshot
  capture = new DwFrameCapture(this, "examples/");
  
  font12 = createFont("../data/SourceCodePro-Regular.ttf", 12);

  cam = new PeasyCam(this, 0, 0, 0, SCENE_SCALE);
  perspective(60 * DEG_TO_RAD, width/(float)height, 2, SCENE_SCALE * 250);

  group_bulletbodies = createShape(GROUP);
  
  physics = new BPhysics(); // no bounding box
  physics.world.setGravity(new Vector3f(0, 0, -100));
 
  pg_render = (PGraphics3D) createGraphics(width, height, P3D);
  pg_render.smooth(0);
  pg_render.beginDraw();
  pg_render.endDraw();
  
  
  // compute scene bounding-sphere
  DwBoundingSphere scene_bs = new DwBoundingSphere();
  scene_bs.set(0, 0, 200, 450);
  PMatrix3D mat_bs = scene_bs.getUnitSphereMatrix();

  // matrix, to place (centering, scaling) the scene in the viewport
  mat_scene_view = new PMatrix3D();
  mat_scene_view.scale(SCENE_SCALE);
  mat_scene_view.apply(mat_bs);

  // matrix, to place the scene in the skylight renderer
  mat_scene_bounds = mat_scene_view.get();
  mat_scene_bounds.invert();
  mat_scene_bounds.preApply(mat_bs);

  // callback for rendering the scene
  DwSceneDisplay scene_display = new DwSceneDisplay(){
    @Override
    public void display(PGraphics3D canvas) {
      displayScene(canvas);  
    }
  };
  
  // library context
  context = new DwPixelFlow(this);
  context.print();
  context.printGL();
  
  // postprocessing filters
  filter = DwFilter.get(context);
  
  // init skylight renderer
  skylight = new DwSkyLight(context, scene_display, mat_scene_bounds);
  
  // parameters for sky-light
  skylight.sky.param.iterations     = 50;
  skylight.sky.param.solar_azimuth  = 0;
  skylight.sky.param.solar_zenith   = 0;
  skylight.sky.param.sample_focus   = 1; // full sphere sampling
  skylight.sky.param.intensity      = 1.0f;
  skylight.sky.param.rgb            = new float[]{1,1,1};
  skylight.sky.param.shadowmap_size = 512; // quality vs. performance
  
  // parameters for sun-light
  skylight.sun.param.iterations     = 50;
  skylight.sun.param.solar_azimuth  = 35;
  skylight.sun.param.solar_zenith   = 65;
  skylight.sun.param.sample_focus   = 0.1f;
  skylight.sun.param.intensity      = 1.0f;
  skylight.sun.param.rgb            = new float[]{1,1,1};
  skylight.sun.param.shadowmap_size = 512;
  
  // postprocessing AA
  smaa = new SMAA(context);
  pg_aa = (PGraphics3D) createGraphics(width, height, P3D);
  pg_aa.smooth(0);
  pg_aa.textureSampling(5);
  
  
  dof = new DepthOfField(context);
  geombuffer = new DwScreenSpaceGeometryBuffer(context, scene_display);
  
  pg_tmp = (PGraphics3D) createGraphics(width, height, P3D);
  pg_tmp.smooth(0);
  DwUtils.changeTextureFormat(pg_tmp, GL2.GL_RGBA16F, GL2.GL_RGBA, GL2.GL_FLOAT);


  // fresh start
  reset();
  
  createFractureShape();
  
  frameRate(60);
}
 

/**
 * Init VR rendering. The VR rendering creates a 3D "screen". It is used to
 * create 3D pop-up effects.
 *
 * @param cam Rendering origin.
 * @param userPos Position of the user, relative to the PaperScreen
 * @param nearPlane Close disance for OpengL in millimeters.
 * @param farPlane Far distance for OpenGL in millimeters.
 * @param isAnaglyph Use Anaglyph.
 * @param isLeft When analygph is it left or right, ignored otherwise.
 */
public void initDraw(Camera cam, PVector userPos, float nearPlane, float farPlane, boolean isAnaglyph, boolean isLeft) {

    PGraphicsOpenGL graphics = getGraphics();

    if (initPosM == null) {
        this.isOpenGL = true;
        // Transformation  Camera -> Marker

        initPosM = this.getLocation(cam);

        initPosM.translate(this.getRenderingSizeX() / 2, this.getRenderingSizeY() / 2);
        // All is relative to the paper's center. not the corner. 
        initPosM.scale(-1, 1, 1);

    }

    // get the current transformation... 
    PMatrix3D newPos = this.getLocation(cam);

    newPos.translate(this.getRenderingSizeX() / 2, this.getRenderingSizeY() / 2);
    newPos.scale(-1, 1, 1);

    newPos.invert();
    newPos.apply(initPosM);

    PVector user = new PVector();

    if (isAnaglyph && isLeft) {
        userPos.add(-halfEyeDist * 2, 0, 0);
    }
    newPos.mult(userPos, user);
    PVector paperCameraPos = user;

    // Camera must look perpendicular to the screen. 
    graphics.camera(paperCameraPos.x, paperCameraPos.y, paperCameraPos.z,
            paperCameraPos.x, paperCameraPos.y, 0,
            0, 1, 0);

    // http://www.gamedev.net/topic/597564-view-and-projection-matrices-for-vr-window-using-head-tracking/
    float nearFactor = nearPlane / paperCameraPos.z;

    float left = nearFactor * (-drawingSize.x / 2f - paperCameraPos.x);
    float right = nearFactor * (drawingSize.x / 2f - paperCameraPos.x);
    float top = nearFactor * (drawingSize.y / 2f - paperCameraPos.y);
    float bottom = nearFactor * (-drawingSize.y / 2f - paperCameraPos.y);

    graphics.frustum(left, right, bottom, top, nearPlane, farPlane);
    graphics.projection.m11 = -graphics.projection.m11;

    // No detection?
    PMatrix3D transformation = this.getLocation(cam);
    if (transformation.m03 == 0 && transformation.m13 == 0 && transformation.m23 == 0) {
        resetPos();
    }
}
 

public void setup() {
  
  surface.setLocation(viewport_x, viewport_y);
  
  float SCENE_SCALE = 1000;
  
  // for screenshot
  capture = new DwFrameCapture(this, "examples/");
  
  font12 = createFont("../data/SourceCodePro-Regular.ttf", 12);

  cam = new PeasyCam(this, 0, 0, 0, SCENE_SCALE);
  perspective(60 * DEG_TO_RAD, width/(float)height, 2, SCENE_SCALE * 250);

  group_bulletbodies = createShape(GROUP);
  
  physics = new BPhysics(); // no bounding box
  physics.world.setGravity(new Vector3f(0, 0, -50));
 
  pg_render = (PGraphics3D) createGraphics(width, height, P3D);
  pg_render.smooth(0);
  pg_render.beginDraw();
  pg_render.endDraw();
  
  
  // compute scene bounding-sphere
  DwBoundingSphere scene_bs = new DwBoundingSphere();
  scene_bs.set(0, 0, 200, 450);
  PMatrix3D mat_bs = scene_bs.getUnitSphereMatrix();

  // matrix, to place (centering, scaling) the scene in the viewport
  mat_scene_view = new PMatrix3D();
  mat_scene_view.scale(SCENE_SCALE);
  mat_scene_view.apply(mat_bs);

  // matrix, to place the scene in the skylight renderer
  mat_scene_bounds = mat_scene_view.get();
  mat_scene_bounds.invert();
  mat_scene_bounds.preApply(mat_bs);

  // callback for rendering the scene
  DwSceneDisplay scene_display = new DwSceneDisplay(){
    @Override
    public void display(PGraphics3D canvas) {
      displayScene(canvas);  
    }
  };
  
  // library context
  context = new DwPixelFlow(this);
  context.print();
  context.printGL();
  
  // postprocessing filters
  filter = DwFilter.get(context);
  
  // init skylight renderer
  skylight = new DwSkyLight(context, scene_display, mat_scene_bounds);
  
  // parameters for sky-light
  skylight.sky.param.iterations     = 50;
  skylight.sky.param.solar_azimuth  = 0;
  skylight.sky.param.solar_zenith   = 0;
  skylight.sky.param.sample_focus   = 1; // full sphere sampling
  skylight.sky.param.intensity      = 1.0f;
  skylight.sky.param.rgb            = new float[]{1,1,1};
  skylight.sky.param.shadowmap_size = 512; // quality vs. performance
  
  // parameters for sun-light
  skylight.sun.param.iterations     = 50;
  skylight.sun.param.solar_azimuth  = 35;
  skylight.sun.param.solar_zenith   = 70;
  skylight.sun.param.sample_focus   = 0.1f;
  skylight.sun.param.intensity      = 1.0f;
  skylight.sun.param.rgb            = new float[]{1,1,1};
  skylight.sun.param.shadowmap_size = 512;
  
  // postprocessing AA
  smaa = new SMAA(context);
  pg_aa = (PGraphics3D) createGraphics(width, height, P3D);
  pg_aa.smooth(0);
  pg_aa.textureSampling(5);
  
  
  dof = new DepthOfField(context);
  geombuffer = new DwScreenSpaceGeometryBuffer(context, scene_display);
  
  pg_tmp = (PGraphics3D) createGraphics(width, height, P3D);
  pg_tmp.smooth(0);
  DwUtils.changeTextureFormat(pg_tmp, GL2.GL_RGBA16F, GL2.GL_RGBA, GL2.GL_FLOAT);

  // fresh start
  reset();
  
  createFractureShape();
  
  frameRate(60);
}
 

/**
 * Get a copy of the overall transform (after tracking and second
 * transform).
 *
 * @param trackedLocation
 * @return
 */
public PMatrix3D getLocation(PMatrix3D trackedLocation) {
    PMatrix3D combinedTransfos = trackedLocation.get();
    combinedTransfos.apply(extrinsics);
    return combinedTransfos;
}