initial commit

shaders/point_cloud/fragment.glsl

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+layout (location = 0) in vec4 frag_color;
+
+out vec4 pixel_color;
+
+void main() {
+    pixel_color = frag_color;
+}

shaders/point_cloud/vertex.glsl

@@ -0,0 +1,51 @@
+layout (location = 0) in vec3 vertex_position;
+layout (location = 0) uniform mat4 mvp_matrix;
+layout (location = 2) uniform float point_size;
+layout (location = 0) out vec4 frag_color;
+
+#ifdef LIGHTING
+layout (location = 4) uniform mat4 model_matrix;
+layout (location = 5) uniform vec3 camera_position;
+layout (location = 1) in vec3 vertex_normal;
+#endif
+
+#ifdef RAINBOW
+layout (location = 6) uniform float rainbow_offset_y;
+layout (location = 7) uniform float rainbow_scale_y;
+
+// taken from 'https://github.com/hughsk/glsl-hsv2rgb'
+vec3 hue2rgb(float hue)
+{
+    vec4 offsets = vec4(1.0, 2.0 / 3.0, 1.0 / 3.0, 3.0);
+    vec3 p = abs(fract(vec3(hue) + offsets.xyz) * 6.0 - offsets.www);
+    return clamp(p - offsets.xxx, 0.0, 1.0);
+}
+#endif
+
+#ifdef REFLECTANCE
+layout (location = 2) in float vertex_reflectance;
+#endif
+
+void main()
+{
+    gl_Position = mvp_matrix * vec4(vertex_position, 1.0);
+    gl_PointSize = point_size / gl_Position.w;
+
+    frag_color = vec4(1);
+
+#ifdef LIGHTING
+    vec3 world_position = vec3(model_matrix * vec4(vertex_position, 1.0));
+    vec3 world_normal = normalize(mat3(model_matrix) * vertex_normal);
+    vec3 view_direction = normalize(camera_position - world_position);
+    frag_color.rgb *= max(dot(world_normal, view_direction), 0.0);
+#endif
+
+#ifdef RAINBOW
+    float rainbow_pos = rainbow_scale_y * (vertex_position.y + rainbow_offset_y);
+    frag_color.rgb *= hue2rgb(mod(rainbow_pos, 1.0f));
+#endif
+
+#ifdef REFLECTANCE
+	frag_color.rgb *= vertex_reflectance;
+#endif
+}