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viewport.cpp
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#if defined(__APPLE__)
#include <GLUT/glut.h>
#else
#include <GL/glut.h>
#endif
#include <GLFW/glfw3.h>
#include <libfreenect2/libfreenect2.hpp>
#include <libfreenect2/frame_listener_impl.h>
#include <libfreenect2/registration.h>
#include <libfreenect2/packet_pipeline.h>
#include <libfreenect2/logger.h>
#include "freenectdevice.h"
#include "viewport.h"
#include "camera.h"
#include "utils.h"
#define depthScale 1.0f
void MakeVertex(float x, float y, float depth, int w, int h) {
glVertex3f(x-(w/2), y-(h/2), depth * depthScale);
}
void MakeTriangle(int r, int c, int w, int h, unsigned char* data, int canais) {
int i = ((r * w) + c) * canais;
int j;
if (data[i+2] > 0
&& data[i+6] > 0
&& data[i+2+(w * 4)] > 0) {
j = i;
MakeVertex(c, r, data[j+2], w, h);
j = i+4;
MakeVertex(c+1, r, data[j+2], w, h);
j = i+(w * 4);
MakeVertex(c, r+1, data[j+2], w, h);
}
if (data[i+6] > 0
&& data[i+2+(w * 4)] > 0
&& data[i+6+(w * 4)] > 0) {
j = i+4;
MakeVertex(c+1, r, data[j+2], w, h);
j = i+(w * 4);
MakeVertex(c, r+1, data[j+2], w, h);
j = i+(w * 4)+4;
MakeVertex(c+1, r+1, data[j+2], w, h);
}
}
void BoxCamViewPort::update(int UNUSED(window)) {
Vec3<int>* boxPos = Context::instance()->boxPos;
Vec3<int>* boxDim = Context::instance()->boxDim;
glBegin(GL_QUADS);
glColor4f(0, 0, 1, 0.4f);
glVertex3f(boxPos->getX() + boxDim->getX(), boxPos->getY() + boxDim->getY(), boxPos->getZ() - boxDim->getZ());
glVertex3f(boxPos->getX() + boxDim->getX(), boxPos->getY() - boxDim->getY(), boxPos->getZ() - boxDim->getZ());
glVertex3f(boxPos->getX() + boxDim->getX(), boxPos->getY() - boxDim->getY(), boxPos->getZ() + boxDim->getZ());
glVertex3f(boxPos->getX() + boxDim->getX(), boxPos->getY() + boxDim->getY(), boxPos->getZ() + boxDim->getZ());
glVertex3f(boxPos->getX() - boxDim->getX(), boxPos->getY() + boxDim->getY(), boxPos->getZ() - boxDim->getZ());
glVertex3f(boxPos->getX() - boxDim->getX(), boxPos->getY() - boxDim->getY(), boxPos->getZ() - boxDim->getZ());
glVertex3f(boxPos->getX() - boxDim->getX(), boxPos->getY() - boxDim->getY(), boxPos->getZ() + boxDim->getZ());
glVertex3f(boxPos->getX() - boxDim->getX(), boxPos->getY() + boxDim->getY(), boxPos->getZ() + boxDim->getZ());
glColor4f(0, 0, 0.5, 0.2f);
glVertex3f(boxPos->getX() + boxDim->getX(), boxPos->getY() + boxDim->getY(), boxPos->getZ() - boxDim->getZ());
glVertex3f(boxPos->getX() - boxDim->getX(), boxPos->getY() + boxDim->getY(), boxPos->getZ() - boxDim->getZ());
glVertex3f(boxPos->getX() - boxDim->getX(), boxPos->getY() + boxDim->getY(), boxPos->getZ() + boxDim->getZ());
glVertex3f(boxPos->getX() + boxDim->getX(), boxPos->getY() + boxDim->getY(), boxPos->getZ() + boxDim->getZ());
glVertex3f(boxPos->getX() + boxDim->getX(), boxPos->getY() - boxDim->getY(), boxPos->getZ() - boxDim->getZ());
glVertex3f(boxPos->getX() - boxDim->getX(), boxPos->getY() - boxDim->getY(), boxPos->getZ() - boxDim->getZ());
glVertex3f(boxPos->getX() - boxDim->getX(), boxPos->getY() - boxDim->getY(), boxPos->getZ() + boxDim->getZ());
glVertex3f(boxPos->getX() + boxDim->getX(), boxPos->getY() - boxDim->getY(), boxPos->getZ() + boxDim->getZ());
glColor4f(0, 1, 0, 0.8f);
glVertex3f(boxPos->getX() + boxDim->getX(), boxPos->getY() - boxDim->getY(), boxPos->getZ() + boxDim->getZ());
glVertex3f(boxPos->getX() - boxDim->getX(), boxPos->getY() - boxDim->getY(), boxPos->getZ() + boxDim->getZ());
glVertex3f(boxPos->getX() - boxDim->getX(), boxPos->getY() + boxDim->getY(), boxPos->getZ() + boxDim->getZ());
glVertex3f(boxPos->getX() + boxDim->getX(), boxPos->getY() + boxDim->getY(), boxPos->getZ() + boxDim->getZ());
glEnd();
}
void InfoViewPort::update(int window) {
glViewport(0, context->height(window)-30, context->width(window), context->height(window));
glMatrixMode(GL_PROJECTION);
glPushMatrix();
{
glLoadIdentity();
gluOrtho2D(0, context->width(window), 0.0, context->height(window));
glMatrixMode(GL_MODELVIEW);
glColor3f(0, 0.0, 0.0);
glPushMatrix();
{
glLoadIdentity();
glRasterPos2i(5, 15);
std::string s;
if (this->context->step != STEP_NONE) {
s = "UUID:" + this->context->uuid;
}
switch (this->context->step) {
case STEP_NONE:
s = "Type 1: Start.";
break;
case STEP_START:
if (this->context->currImageType == 0) {
s += " Defina o tipo de imagem. Type [f,t,d,l,r,b]";
} else {
s += (context->sel_rgbImage.size() ? " With images." : " WithOUT images.");
s += " Type 2: capture images";
}
break;
case STEP_CACHE_IMAGE:
s += " Type 9 to save image, 3 to get demographic data, or 0 to finish.";
break;
case STEP_DEMOGRAPHI:
s += " Collecting of demographic data. Type \"-\" to close.";
if (this->context->demographicStep == STEP_DEMOG_COLOR) {
s += " Colors: 1 BRANCA, 2 PRETA, 3 PARDA, 4 AMARELA, 5 INDÍGENA.";
}
break;
case STEP_FINISHED:
s += " Liberado para coletar novos dados. Type 1: start";
break;
}
for (std::string::iterator i = s.begin(); i != s.end(); ++i)
{
char c = *i;
glutBitmapCharacter(GLUT_BITMAP_9_BY_15, c);
}
//Informações das imagens coletadas
if ((this->context->step & (STEP_START | STEP_CACHE_IMAGE)) > 0)
{
glRasterPos2i(5, 0);
s = "Images:";
if (this->context->imagesSaved == 63) {
s += "< CONCLUDED >";
} else {
s += "F"; s += (this->context->imagesSaved & IMAGE_TYPE_FRONT) > 0 ? "x" : "-"; s += (this->context->currImageType & IMAGE_TYPE_FRONT) ? "< " : " ";//Front
s += "U"; s += (this->context->imagesSaved & IMAGE_TYPE_UP) > 0 ? "x" : "-"; s += (this->context->currImageType & IMAGE_TYPE_UP) ? "< " : " ";//Up
s += "D"; s += (this->context->imagesSaved & IMAGE_TYPE_DOWN) > 0 ? "x" : "-"; s += (this->context->currImageType & IMAGE_TYPE_DOWN) ? "< " : " ";//Down
s += "L"; s += (this->context->imagesSaved & IMAGE_TYPE_LEFT) > 0 ? "x" : "-"; s += (this->context->currImageType & IMAGE_TYPE_LEFT) ? "< " : " ";//Left
s += "R"; s += (this->context->imagesSaved & IMAGE_TYPE_RIGHT) > 0 ? "x" : "-"; s += (this->context->currImageType & IMAGE_TYPE_RIGHT) ? "< " : " ";//Right
s += "B"; s += (this->context->imagesSaved & IMAGE_TYPE_BURNED) > 0 ? "x" : "-"; s += (this->context->currImageType & IMAGE_TYPE_BURNED) ? "< " : " ";//Pocket Lighter
}
if (context->errorCode) {
switch (context->errorCode) {
case 1:
s+= "Nenhum tipo de imagem informado.";
break;
case 2:
s+= "Nenhum dado (BMP,DATA) capturado";
break;
}
} else {
s += "Box:" + std::to_string(this->context->boxDim->getX()) + 'x' + std::to_string(this->context->boxDim->getY()) + 'x' + std::to_string(this->context->boxDim->getZ());
s += "CamDepth:" + std::to_string(this->context->boxPos->getZ());
}
for (std::string::iterator i = s.begin(); i != s.end(); ++i)
{
char c = *i;
glutBitmapCharacter(GLUT_BITMAP_9_BY_15, c);
}
}
if (this->context->step == STEP_DEMOGRAPHI)
{
glRasterPos2i(5, 0);
s = "";
switch(this->context->demographicStep)
{
case STEP_DEMOG_HEIGHT:
s+= "Height:" + this->context->demographicHeight + " ";
case STEP_DEMOG_WEIGHT:
s+= "Weight:" + this->context->demographicWeight + " ";
case STEP_DEMOG_COLOR:
s+= "Color:" + this->context->demographicColor + " ";
case STEP_DEMOG_GENDER:
s+= "Gender:" + this->context->demographicGender + " ";
case STEP_DEMOG_YEAR:
s+= "Years:" + this->context->demographicYaers;
}
for (std::string::iterator i = s.begin(); i != s.end(); ++i)
{
char c = *i;
glutBitmapCharacter(GLUT_BITMAP_9_BY_15, c);
}
}
glMatrixMode(GL_MODELVIEW);
}
glPopMatrix();
glMatrixMode(GL_PROJECTION);
}
glPopMatrix();
}
void InfoVoluntaryViewPort::update(int window)
{
glViewport(0, context->height(window)-30, context->width(window), context->height(window));
glMatrixMode(GL_PROJECTION);
glPushMatrix();
{
glLoadIdentity();
gluOrtho2D(0, context->width(window), 0.0, context->height(window));
glMatrixMode(GL_MODELVIEW);
glColor3f(0, 0.0, 0.0);
glPushMatrix();
{
glLoadIdentity();
glRasterPos2i(5, 15);
std::string s;
if ((this->context->step & (STEP_START | STEP_CACHE_IMAGE)) > 0) {
int images = 0;
if (this->context->imagesSaved & IMAGE_TYPE_FRONT) images++;
if (this->context->imagesSaved & IMAGE_TYPE_UP) images++;
if (this->context->imagesSaved & IMAGE_TYPE_DOWN) images++;
if (this->context->imagesSaved & IMAGE_TYPE_LEFT) images++;
if (this->context->imagesSaved & IMAGE_TYPE_RIGHT) images++;
if (this->context->imagesSaved & IMAGE_TYPE_BURNED) images++;
/*if (this->context->currImageType)
images++;*/
s += std::to_string(images);
} else {
s += "0";
}
s += " / 6";
if ((this->context->imagesSaved & 63) == 63)
s += " Finished";
else
switch (this->context->currImageType) {
case IMAGE_TYPE_FRONT: s += " Look foward"; break;
case IMAGE_TYPE_UP: s += " Look up"; break;
case IMAGE_TYPE_DOWN: s += " Look down"; break;
case IMAGE_TYPE_LEFT: s += " Look left"; break;
case IMAGE_TYPE_RIGHT: s += " Look right"; break;
case IMAGE_TYPE_BURNED: s += " Look foward"; break;
}
for (std::string::iterator i = s.begin(); i != s.end(); ++i)
{
char c = *i;
glutBitmapCharacter(GLUT_BITMAP_9_BY_15, c);
}
glMatrixMode(GL_MODELVIEW);
}
glPopMatrix();
glMatrixMode(GL_PROJECTION);
}
glPopMatrix();
}
void PointCamViewPort::update(int window) {
glViewport(0, 0, context->width(window)/2, context->height(window)/2);
// glViewport(0, 0, context->width(window), context->height(window));
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
{
glRotated(context->cam->getXRot(), 1.0, 0.0, 0.0); // Rotate our camera on the x-axis (looking up and down)
glRotated(context->cam->getYRot(), 0.0, 1.0, 0.0); // Rotate our camera on the y-axis (looking left and right)
glRotated(context->cam->getZRot(), 0.0, 0.0, 1.0);
// glTranslatef( -context->cam->getXPos()-(context->width(window)/2), -context->cam->getYPos()-(context->height(window)/3), -context->cam->getZPos()+500 );
glTranslated( -context->cam->getXPos(), -context->cam->getYPos(), -context->cam->getZPos() );
glPointSize(1.0f);
glBegin(GL_POINTS);
if (context->_depth)
{
int w = context->_depth->width;
int h = context->_depth->height;
for (int r = 0; r < (h -1); ++r)
for (int c = 0; c < (w -1); ++c)
{
int i = ((r * w) + c) * 4;
const uint8_t *p = reinterpret_cast<uint8_t*>(&context->registered->data[i]);
if (!context->_rgb->status)
glColor3ub( p[2], p[1], p[0]);
if (!context->_depth->status && context->_depth->data[i+2] > 0)
MakeVertex(c, r, context->_depth->data[i+2], w, h);
}
}
glEnd();
}
}
void TriangleCamViewPort::update(int window) {
glViewport(context->width(window)/2, 0, context->width(window)/2, context->height(window)/2);
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
{
glRotated(context->cam->getXRot(), 1.0, 0.0, 0.0); // Rotate our camera on the x-axis (looking up and down)
glRotated(context->cam->getYRot(), 0.0, 1.0, 0.0); // Rotate our camera on the y-axis (looking left and right)
glRotated(context->cam->getZRot(), 0.0, 0.0, 1.0);
// glTranslatef( -context->cam->getXPos()-(context->width(window)/2), -context->cam->getYPos()-(context->height(window)/3), -context->cam->getZPos()+500 );
glTranslated( -context->cam->getXPos(), -context->cam->getYPos(), -context->cam->getZPos() );
glBegin(GL_TRIANGLES);
if (context->_depth)
{
int w = context->_depth->width;
int h = context->_depth->height;
int j;
int max{0},min{0};
for (int r = 0; r < (h -1); ++r)
{
for (int c = 0; c < (w -1); ++c)
{
// int i = ((r * w) + c) * 4;
// const uint8_t *p = reinterpret_cast<uint8_t*>(&context->registered->data[i]);
// if (!context->_rgb->status)
// glColor3ub( p[2], p[1], p[0]);
int i = ((r * w) + c) * static_cast<int>(context->_ir->bytes_per_pixel);
unsigned short *p = reinterpret_cast<unsigned short*>(&context->_ir->data[i]);
unsigned char color = p[1] >> 2;
glColor3ub(color, 0, 0);
MakeTriangle(r, c, w, h, context->_depth->data, 4);
}
}
}
glEnd();
}
}
void BoxExtractViewPort::update(int window) {
context->rgbImage.clear();
context->rgbImageBgRm.clear();
context->depth.clear();
context->depthImageBgRm.clear();
context->depthDataBgRm.clear();
context->irDataBgRm.clear();
context->irImageBgRm.clear();
if (context->_depth) {
int w = context->_depth->width;
int h = context->_depth->height;
int bp = context->_depth->bytes_per_pixel;
int r_w = context->_rgb->width;
int r_h = context->_rgb->height;
int r_bp = context->_rgb->bytes_per_pixel;
for (int y = 0; y < (h -1); ++y)
for (int x = 0; x < (w -1); ++x)
{
//Todo: mover para valor inical de y e x
if ((y-(h/2)) > -context->boxDim->getY()
&& (y-(h/2)) < +context->boxDim->getY()
&& (x-(w/2)) > (context->boxPos->getX() -context->boxDim->getX())
&& (x-(w/2)) < (context->boxPos->getX() +context->boxDim->getX()))
{
int i = ((y*w) + x) * bp;
int ib = (((int)(y*r_h/(float)h) * r_w) + (int)(x*r_w/(float)w)) * r_bp;
context->rgbImage.push_back(context->_rgb->data[ib+2]);
context->rgbImage.push_back(context->_rgb->data[ib+1]);
context->rgbImage.push_back(context->_rgb->data[ib+0]);
uint16_t depth = context->_depth->data[i+2];
context->depth.push_back(depth);
// if ((depth * depthScale) > (context->boxPos->getZ() - context->boxDim->getZ())
// && (depth * depthScale) < (context->boxPos->getZ() + context->boxDim->getZ()))
{
//Depth extract
uint16_t depth = context->_depth->data[i+2];
context->depthImageBgRm.push_back(depth & 0xff);
context->depthImageBgRm.push_back(depth >> 8);
context->depthImageBgRm.push_back(depth & 0xff);
context->depthDataBgRm.push_back(depth);
//IR extract
unsigned short *p = reinterpret_cast<unsigned short*>(&context->_ir->data[i]);
unsigned char ir = p[1] >> 2;
context->irImageBgRm.push_back(ir);
context->irImageBgRm.push_back(0);
context->irImageBgRm.push_back(0);
context->irDataBgRm.push_back(ir);
//RGB
context->rgbImageBgRm.push_back(context->registered->data[i+2]);
context->rgbImageBgRm.push_back(context->registered->data[i+1]);
context->rgbImageBgRm.push_back(context->registered->data[i+0]);
}/* else {
//DEPTH
context->depthImageBgRm.push_back(0);
context->depthImageBgRm.push_back(0);
context->depthImageBgRm.push_back(0);
context->depthDataBgRm.push_back(0);
//IR
context->irImageBgRm.push_back(0);
context->irImageBgRm.push_back(0);
context->irImageBgRm.push_back(0);
context->irDataBgRm.push_back(0);
//RGB
context->rgbImageBgRm.push_back(0);
context->rgbImageBgRm.push_back(0);
context->rgbImageBgRm.push_back(0);
}*/
}
}
}
}
void FrontCamViewPort::update(int window) {
if (flags == 1)
glViewport(context->width(window)/3, context->height(window)/2, context->width(window)/3, context->height(window)/3);
if (flags == 2)
glViewport(context->width(window)/12*3, context->height(window)/2, context->width(window)/2, context->height(window)/2);
if (flags == 3)
glViewport(context->width(window)/12*3, 0, context->width(window)/2, context->height(window)/2);
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
{
glRotatef(180, 1.0f, 0.0f, 0.0f); // Rotate our camera on the x-axis (looking up and down)
glTranslatef( 0, -0, context->boxDim->getZ() - 100);
glPointSize(1.0f);
int w = context->boxDim->getX() * 2 - 1;
int h = context->boxDim->getY() * 2 - 1;
std::vector<uint8_t>* rgb;
std::vector<uint16_t>* depth;
if (context->sel_depthDataBgRm.size()) {
depth = &context->sel_depthDataBgRm;
rgb = &context->sel_rgbImageBgRm;
} else {
depth = &context->depthDataBgRm;
rgb = &context->rgbImageBgRm;
}
if (depth->size() >= (h*w)) {
if (flags == 3)
glBegin(GL_TRIANGLES);
else
glBegin(GL_POINTS);
for (int r = 0; r < (h -1); ++r)
for (int c = 0; c < (w -1); ++c)
{
int i = ((r * w) + c);
const uint8_t *p = reinterpret_cast<uint8_t*>(&(*rgb)[3*i]);
glColor3ubv(p); //glColor3ub( p[0], p[1], p[2]);
if (flags == 3) {
unsigned char* data = reinterpret_cast<uint8_t*>(depth->data());
MakeTriangle(r, c, w, h, data, 2);
} else {
MakeVertex(c, r, (*depth)[i], w, h);
}
}
glEnd();
}
glBegin(GL_LINES);
glColor3f(1, 0, 0);
glVertex3f(context->boxPos->getX(), context->boxPos->getY() + context->boxDim->getY(), context->boxPos->getZ() - context->boxDim->getZ());
glVertex3f(context->boxPos->getX(), context->boxPos->getY() - context->boxDim->getY(), context->boxPos->getZ() - context->boxDim->getZ());
glVertex3f(context->boxPos->getX() + context->boxDim->getX(), context->boxPos->getY(), context->boxPos->getZ() - context->boxDim->getZ());
glVertex3f(context->boxPos->getX() - context->boxDim->getX(), context->boxPos->getY(), context->boxPos->getZ() - context->boxDim->getZ());
glEnd();
}
}
void LeftCamViewPort::update(int window) {
if (flags == 1)
glViewport(0, context->height(window)/2, context->width(window)/3, context->height(window)/3);
if (flags == 2)
glViewport(0, context->height(window)/3, context->width(window)/3, context->height(window)/3);
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
{
glRotatef(180, 1.0f, 0.0f, 0.0f); // Rotate our camera on the x-axis (looking up and down)
glRotatef(-90, 0.0f, 1.0f, 0.0f); // Rotate our camera on the y-axis (looking left and right)
glTranslatef( context->boxPos->getX() + (context->boxDim->getX() * 2), 0, -context->boxPos->getZ() + context->boxDim->getZ() );
glPointSize(2.0f);
glBegin(GL_POINTS);
int w = context->boxDim->getX() * 2 - 1;
int h = context->boxDim->getY() * 2 - 1;
std::vector<uint8_t>* rgb;
std::vector<uint16_t>* depth;
if (context->sel_depthDataBgRm.size()) {
depth = &context->sel_depthDataBgRm;
rgb = &context->sel_rgbImageBgRm;
} else {
depth = &context->depthDataBgRm;
rgb = &context->rgbImageBgRm;
}
if (depth->size() >= (h*w))
for (int y = 0; y < (h -1); ++y)
for (int x = 0; x < (w -1); ++x)
{
int i = ((y * w) + x);
if (!(*depth)[i]) continue;
const uint8_t *p = reinterpret_cast<uint8_t*>(&(*rgb)[3*i]);
glColor3ubv(p); //glColor3ub( p[0], p[1], p[2]);
MakeVertex(x, y, (*depth)[i], w, h);
}
glEnd();
glBegin(GL_LINES);
glColor3f(1, 0, 0);
glVertex3f(context->boxPos->getX(), context->boxPos->getY() + context->boxDim->getY(), context->boxPos->getZ() - (0.95f * context->boxDim->getZ()));
glVertex3f(context->boxPos->getX(), context->boxPos->getY() - context->boxDim->getY(), context->boxPos->getZ() - (0.95f * context->boxDim->getZ()));
glEnd();
}
}
void RightCamViewPort::update(int window) {
if (flags == 1)
glViewport(context->width(window)/3*2, context->height(window)/2, context->width(window)/3, context->height(window)/3);
if (flags == 2)
glViewport(context->width(window)/3*2, context->height(window)/3, context->width(window)/3, context->height(window)/3);
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
{
glRotatef(180, 1.0f, 0.0f, 0.0f); // Rotate our camera on the x-axis (looking up and down)
glRotatef(90, 0.0f, 1.0f, 0.0f); // Rotate our camera on the y-axis (looking left and right)
glTranslatef( -context->boxPos->getX() - (context->boxDim->getX() * 2), 0, -context->boxPos->getZ() + context->boxDim->getZ() );
glPointSize(2.0f);
glBegin(GL_POINTS);
int w = context->boxDim->getX() * 2 - 1;
int h = context->boxDim->getY() * 2 - 1;
std::vector<uint8_t>* rgb;
std::vector<uint16_t>* depth;
if (context->sel_depthDataBgRm.size()) {
depth = &context->sel_depthDataBgRm;
rgb = &context->sel_rgbImageBgRm;
} else {
depth = &context->depthDataBgRm;
rgb = &context->rgbImageBgRm;
}
if (depth->size() >= (h*w))
for (int y = 0; y < (h -1); ++y)
for (int x = 0; x < (w -1); ++x)
{
int i = ((y * w) + x);
if (!(*depth)[i]) continue;
const uint8_t *p = reinterpret_cast<uint8_t*>(&(*rgb)[3*i]);
glColor3ubv(p); //glColor3ub( p[0], p[1], p[2]);
MakeVertex(x, y, (*depth)[i], w, h);
}
glEnd();
glBegin(GL_LINES);
glColor3f(1, 0, 0);
glVertex3f(context->boxPos->getX(), context->boxPos->getY() + context->boxDim->getY(), context->boxPos->getZ() - (0.95f * context->boxDim->getZ()));
glVertex3f(context->boxPos->getX(), context->boxPos->getY() - context->boxDim->getY(), context->boxPos->getZ() - (0.95f * context->boxDim->getZ()));
glEnd();
}
}