Merge branch 'master' into develop

.vscode/settings.json

@@ -0,0 +1,6 @@
+{
+    "files.associations": {
+        "chrono": "cpp",
+        "ios": "cpp"
+    }
+}

mediapipe/modules/render_queue/BUILD

@@ -0,0 +1,86 @@
+load("@build_bazel_rules_apple//apple:ios.bzl", "ios_framework")
+
+cc_library(
+    name = "ios_olarender",
+    srcs = [
+        "util.cpp",
+        "image_queue.cpp",
+        "image.cpp",
+        "OlaRender.cpp",
+        "OlaRenderIMP.cpp",
+        ],
+    hdrs = [
+        "util.h", 
+        "macros.h",
+        "image_queue.h",
+        "image.h",
+        "LockFreeQueue.h",
+        "OlaRender.h",
+        "OlaRenderIMP.h",
+        ],
+    # Use -Dverbose=-1 to turn off zlib's trace logging. (#3280)
+    linkstatic = True,
+    includes = ["."],
+    visibility = ["//visibility:public"],
+    deps = [
+        "//mediapipe/modules/render_queue/math:math",
+    ],
+    copts = select({
+        "//mediapipe:apple": [
+            "-x objective-c++",
+            "-fobjc-arc",  # enable reference-counting
+        ],
+        "//conditions:default": [],
+    }),
+    alwayslink = True,
+)
+
+
+
+objc_library(
+    name = "OlaRenderLibrary",
+    visibility = ["//visibility:public"],
+    deps = [   
+        "//mediapipe/modules/render_queue:ios_olarender",
+    ],
+    copts = select({
+        "//mediapipe:apple": [
+            "-x objective-c++",
+            "-fobjc-arc",  # enable reference-counting
+        ],
+        "//conditions:default": [],
+    }),
+    sdk_frameworks = [
+        "AVFoundation",
+        "CoreGraphics",
+        "CoreMedia",
+        "OpenGLES",
+        "CoreVideo",
+        "IOSurface",
+        "Foundation",
+        "UIKit",
+    ],
+    alwayslink = True,
+)
+
+
+ios_framework(
+    name = "OlaRenderFramework",
+    hdrs = [
+        "image.h",
+        "image_queue.h",
+        "LockFreeQueue.h",
+         "util.h", 
+        "macros.h",
+        "OlaRender.h",
+        "OlaRenderIMP.h",
+    ],
+    # alwayslink=True,
+    infoplists = ["Info.plist"],
+    bundle_id = "com.ola.dartrenderplugin",
+    families = ["iphone", "ipad"],
+    minimum_os_version = "10.0",
+    deps = [
+        "//mediapipe/modules/render_queue:OlaRenderLibrary",
+    ],
+)

mediapipe/modules/render_queue/Info.plist

@@ -0,0 +1,22 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE plist PUBLIC "-//Apple//DTD PLIST 1.0//EN" "http://www.apple.com/DTDs/PropertyList-1.0.dtd">
+<plist version="1.0">
+<dict>
+	<key>CFBundleDevelopmentRegion</key>
+	<string>$(DEVELOPMENT_LANGUAGE)</string>
+	<key>CFBundleExecutable</key>
+	<string>$(EXECUTABLE_NAME)</string>
+	<key>CFBundleIdentifier</key>
+	<string>$(PRODUCT_BUNDLE_IDENTIFIER)</string>
+	<key>CFBundleInfoDictionaryVersion</key>
+	<string>6.0</string>
+	<key>CFBundleName</key>
+	<string>$(PRODUCT_NAME)</string>
+	<key>CFBundlePackageType</key>
+	<string>$(PRODUCT_BUNDLE_PACKAGE_TYPE)</string>
+	<key>CFBundleShortVersionString</key>
+	<string>1.0</string>
+	<key>CFBundleVersion</key>
+	<string>1.0</string>
+</dict>
+</plist>

mediapipe/modules/render_queue/LockFreeQueue.h

@@ -0,0 +1,122 @@
+//
+// Created by Felix Wang on 2022/7/7.
+//
+
+
+#pragma once
+
+#include <atomic>
+
+#ifdef ANDROID
+
+#include <android/log.h>
+
+#define TAG    "LockFreeQueue" // 这个是自定义的LOG的标识
+#define LOGI(...)  __android_log_print(ANDROID_LOG_INFO,TAG,__VA_ARGS__) // 定义LOGI类型
+#define LOGE(...)  __android_log_print(ANDROID_LOG_ERROR,TAG,__VA_ARGS__) // 定义LOGE类型
+#else
+#define LOGI(...) fprintf(stdout, __VA_ARGS__)
+#define LOGE(...) fprintf(stderr, __VA_ARGS__)
+#endif
+
+template<typename T>
+class LockFreeQueue {
+public:
+    LockFreeQueue(size_t capacity) {
+        _capacityMask = capacity - 1;
+        for (size_t i = 1; i <= sizeof(void *) * 4; i <<= 1)
+            _capacityMask |= _capacityMask >> i;
+        _capacity = _capacityMask + 1;
+
+        _queue = (Node * )
+        new char[sizeof(Node) * _capacity];
+        for (size_t i = 0; i < _capacity; ++i) {
+            _queue[i].tail.store(i, std::memory_order_relaxed);
+            _queue[i].head.store(-1, std::memory_order_relaxed);
+        }
+
+        _tail.store(0, std::memory_order_relaxed);
+        _head.store(0, std::memory_order_relaxed);
+    }
+
+    ~LockFreeQueue() {
+        rawRelease();
+    }
+
+    void releaseNode(T &data) {
+        LOGE("~~~~~~~~~~releaseNode data: %ld", reinterpret_cast<int64_t>(data.data));
+        if (data.data)
+            free(data.data);
+    }
+
+    void rawRelease() {
+        size_t head = _head.load(std::memory_order_acquire);
+        for (size_t i = head; i != _tail; ++i)
+            (&_queue[i & _capacityMask].data)->~T();
+
+        delete[] (char *) _queue;
+    }
+
+    size_t rawCapacity() const { return _capacity; }
+
+    size_t rawSize() const {
+        size_t head = _head.load(std::memory_order_acquire);
+        return _tail.load(std::memory_order_relaxed) - head;
+    }
+
+    bool rawPush(const T &data) {
+        Node *node;
+        size_t tail = _tail.load(std::memory_order_relaxed);
+        for (;;) {
+            node = &_queue[tail & _capacityMask];
+            if (node->tail.load(std::memory_order_relaxed) != tail)
+                return false;
+            if ((_tail.compare_exchange_weak(tail, tail + 1, std::memory_order_relaxed)))
+                break;
+        }
+        new(&node->data)T(data);
+        LOGE("~~~~~~~~~~rawPush data: %ld", reinterpret_cast<int64_t>(node->data.data));
+        node->head.store(tail, std::memory_order_release);
+        return true;
+    }
+
+    bool rawPop(T &result, bool exportFlag) {
+        LOGE("~~~~~~~~~~33");
+        Node *node;
+        size_t head = _head.load(std::memory_order_acquire);
+        for (;;) {
+            node = &_queue[head & _capacityMask];
+            if (node->data.len == 0) {
+                LOGE("~~~~~~~~~~33 len == 0 ");
+                continue;
+            } else {
+                LOGE("~~~~~~~~~~33 node->data.len == %d ", node->data.len);
+            }
+            if (node->head.load(std::memory_order_relaxed) != head) {
+                LOGE("~~~~~~~~~~33 return false ");
+                return false;
+            }
+            if (_head.compare_exchange_weak(head, head + 1, std::memory_order_relaxed))
+                break;
+        }
+        result = node->data;
+//        if (() > 1)
+//        (&node->data)->~T();
+        node->tail.store(head + _capacity, std::memory_order_release);
+        return true;
+    }
+
+private:
+    struct Node {
+        T data;
+        std::atomic<size_t> tail;
+        std::atomic<size_t> head;
+    };
+
+private:
+    size_t _capacityMask;
+    Node *_queue;
+    size_t _capacity;
+    std::atomic<size_t> _tail;
+    std::atomic<size_t> _head;
+};

mediapipe/modules/render_queue/OlaRender.cpp

@@ -0,0 +1,39 @@
+//
+//  OlaRender.cpp
+//  OlaRender
+//
+//  Created by 王韧竹 on 2022/6/17.
+//
+
+#include "OlaRender.h"
+#if USE_OLARENDER
+#include <Context.hpp>
+#include <OlaDispatch.hpp>
+#endif
+#include "OlaRenderIMP.h"
+
+
+
+NS_OLA_BEGIN
+
+    OlaRender::~OlaRender() {
+
+    }
+
+    OlaRender::OlaRender() {
+
+    }
+
+#if USE_OLARENDER
+    OlaRender* OlaRender::create(void *env, void *context) {
+    return nullptr;
+}
+#endif
+
+    OlaRender* OlaRender::create() {
+        OLARenderIMP *instance = new OLARenderIMP();
+        return instance;
+    }
+
+
+NS_OLA_END

mediapipe/modules/render_queue/OlaRender.h

@@ -0,0 +1,94 @@
+//
+//  OlaRender.hpp
+//  OlaRender
+//
+//  Created by 王韧竹 on 2022/6/17.
+//
+
+#ifndef OlaRender_hpp
+#define OlaRender_hpp
+
+#define USE_OLARENDER 0
+// 是否开启多上下文渲染
+#define USE_MULTICONTEXT 0
+// 是否直接覆盖srcTexture
+#define USE_TEXImage2D 0
+// 是否要直接渲染到srcTexture上
+#define USE_RENDER_TO_SRCTEXTURE 0
+// 结束后是否需要还原fbo
+#define USE_RESTORE_FBO 0
+// 每次渲染结束之后重新创建
+#define USE_NEED_RECREATE 0
+
+#include <stdio.h>
+#include "macros.h"
+
+#if USE_OLARENDER
+#include <target/TargetView.h>
+#if PLATFORM == PLATFORM_IOS
+#include "OLARenderView.h"
+#endif
+#endif
+
+#if PLATFORM == PLATFORM_IOS
+
+#import <OpenGLES/ES3/gl.h>
+#import <OpenGLES/ES3/glext.h>
+#elif PLATFORM == PLATFORM_ANDROID
+
+#include <GLES3/gl3.h>
+#include <GLES3/gl3ext.h>
+
+#endif
+
+
+NS_OLA_BEGIN
+
+    typedef struct {
+        int width;
+        int height;
+        int textureId;
+        int ioSurfaceId; // iOS 专属
+        int64_t frameTime;
+    } TextureInfo;
+
+    class Source;
+
+    class OlaRender {
+
+    public:
+        ~OlaRender();
+
+        OlaRender();
+
+#if USE_OLARENDER
+        // Android
+    static OlaRender* create(void *env, void *context);
+#endif
+
+        static OlaRender *create();
+
+
+        /// 加载测试图  初次使用或者release后需要重新Load
+        virtual int loadGraph() = 0;
+
+        virtual int release() = 0;
+
+        virtual TextureInfo render(TextureInfo inputTexture, bool exportFlag) = 0;
+
+#if USE_OLARENDER
+
+#if PLATFORM == PLATFORM_IOS
+        virtual void setDisplayView(OLARenderView *target) = 0;
+#else
+        virtual void setDisplayView(TargetView *target) = 0;
+#endif
+
+        virtual void removeRenderTarget() = 0;
+
+        virtual Source* getTerminalSource() = 0;
+#endif
+    };
+NS_OLA_END
+
+#endif /* OlaRender_hpp */

mediapipe/modules/render_queue/OlaRenderIMP.cpp

@@ -0,0 +1,603 @@
+//
+//  OlaRenderIMP.cpp
+//  OlaRender
+//
+//  Created by 王韧竹 on 2022/6/20.
+//
+
+
+#include "OlaRenderIMP.h"
+#include "image_queue.h"
+
+#if USE_OLARENDER
+#include <OlaDispatch.hpp>
+#endif
+
+#if USE_OLARENDER
+#else
+const std::string TransformFragmentShaderString = SHADER_STRING
+        (
+                uniform
+sampler2D colorMap;
+varying highp
+vec2 vTexCoord;
+
+void main() {
+    highp
+    vec4 textureColor;
+    highp
+    vec2 uv = vTexCoord;
+    textureColor = texture2D(colorMap, uv);
+
+    gl_FragColor = vec4(textureColor.rgb, textureColor.a);
+//    gl_FragColor = vec4(1.0, 0.0, 0.0, 1.0);
+}
+
+);
+
+const std::string TransformVertexShaderString = SHADER_STRING
+        (
+                attribute
+vec4 position;
+attribute vec4
+texCoord;
+
+uniform mat4
+mvp;
+varying vec2
+vTexCoord;
+
+void main() {
+    gl_Position = mvp * position;
+    vTexCoord = texCoord.xy;
+}
+
+);
+
+const std::string VertexShaderString = SHADER_STRING
+        (
+                attribute
+vec4 position;
+attribute vec4
+texCoord;
+attribute vec4
+texCoord1;
+
+varying vec2
+vTexCoord;
+varying vec2
+vTexCoord1;
+
+void main() {
+    gl_Position = position;
+    vTexCoord = texCoord.xy;
+    vTexCoord1 = texCoord1.xy;
+}
+
+);
+
+const std::string FragmentShaderString = SHADER_STRING
+        (
+
+                varying
+highp vec2
+vTexCoord;
+varying highp
+vec2 vTexCoord1;
+uniform sampler2D
+colorMap;
+uniform sampler2D
+colorMap1;
+
+void main() {
+    lowp
+    vec4 textureColor = texture2D(colorMap, vTexCoord);
+    lowp
+    vec4 textureColor2 = texture2D(colorMap1, vTexCoord1);
+    gl_FragColor = vec4(textureColor2 + textureColor * (1.0 - textureColor2.a));
+}
+
+);
+#endif
+
+NS_OLA_BEGIN
+
+static GLfloat
+positionCoords[] = {
+-1.0f, -1.0f, 0.0f,
+1.0f, -1.0f, 0.0f,
+-1.0f, 1.0f, 0.0f,
+1.0f, 1.0f, 0.0f,
+};
+
+static GLfloat textureCoords[] = {
+        0.0f, 0.0f,
+        1.0f, 0.0f,
+        0.0f, 1.0f,
+        1.0f, 1.0f,
+};
+
+static GLfloat textureCoords1[] = {
+        0.0f, 1.0f,
+        1.0f, 1.0f,
+        0.0f, 0.0f,
+        1.0f, 0.0f,
+};
+
+OLARenderIMP::OLARenderIMP() {
+
+}
+
+OLARenderIMP::~OLARenderIMP() {
+//    imageData = nil;
+    ImageQueue::getInstance()->dispose();
+    _mvp_matrix.set_identity();
+}
+
+int OLARenderIMP::release() {
+#if USE_OLARENDER
+    if (_sobelFilter) {
+        _sobelFilter->removeAllTargets();
+        _sobelFilter->release();
+        _sobelFilter = nullptr;
+    }
+
+    if (_brightFilter) {
+        _brightFilter->removeAllTargets();
+        _brightFilter->release();
+        _brightFilter = nullptr;
+    }
+
+
+    if (_inputFramebuffer) {
+        _inputFramebuffer->setExternalTexture(-1);
+        _inputFramebuffer->release(false);
+        _inputFramebuffer = nullptr;
+    }
+    if (_bridgeFilter) {
+        _bridgeFilter->release();
+        _bridgeFilter = nullptr;
+    }
+
+    _terminalFilter = nullptr;
+    Filter::releaseVBOBuffers();
+    Context::getInstance()->getFramebufferCache()->purge();
+    Context::destroy();
+#else
+    if (_outputTexture > 0) {
+        glDeleteTextures(1, &_outputTexture);
+        _outputTexture = -1;
+    }
+
+    if (_outputFramebuffer > 0) {
+        glDeleteFramebuffers(1, &_outputFramebuffer);
+        _outputFramebuffer = -1;
+    }
+    if (_blendProgram > 0) {
+        glDeleteProgram(_blendProgram);
+        _blendProgram = -1;
+    }
+
+    if (_blendTexture > 0) {
+        glDeleteTextures(1, &_blendTexture);
+        _blendTexture = -1;
+    }
+
+    if (_blendFbo) {
+        glDeleteFramebuffers(1, &_blendFbo);
+        _blendFbo = -1;
+    }
+
+    if (_transformProgram) {
+        glDeleteProgram(_transformProgram);
+        _transformProgram = -1;
+    }
+
+    if (_transformTexture > 0) {
+        glDeleteTextures(1, &_transformTexture);
+        _transformTexture = -1;
+    }
+#endif
+    _isInit = false;
+    return 1;
+}
+
+int OLARenderIMP::loadGraph() {
+    if (!_isInit) {
+#if USE_OLARENDER
+#if USE_MULTICONTEXT
+        OlaDispatch::getSharedInstance()->runSync([&] {
+#endif
+            _brightFilter = BrightnessFilter::create();
+            _bridgeFilter = OlaBridgeTextureFilter::create(-1, -1, -1);
+            _sobelFilter = SobelEdgeDetectionFilter::create();
+            _sobelFilter->addTarget(_brightFilter)->addTarget(_bridgeFilter);
+
+            _terminalFilter = _bridgeFilter;
+
+#if USE_MULTICONTEXT
+        }, Context::ContextType::IOContext);
+#endif
+#else
+
+#endif
+        _isInit = true;
+
+    }
+    return 1;
+}
+
+TextureInfo OLARenderIMP::render(TextureInfo inputTexture, bool exportFlag) {
+#if USE_NEED_RECREATE
+    release();
+#endif
+    _renderWidth = inputTexture.width;
+    _renderHeight = inputTexture.height;
+    loadGraph();
+    TextureInfo outputTexture;
+    outputTexture.textureId = inputTexture.textureId;
+#if USE_OLARENDER
+#if USE_RESTORE_FBO
+    GLint curFbo;
+    glGetIntegerv(GL_FRAMEBUFFER_BINDING, &curFbo);
+#endif
+#if USE_MULTICONTEXT
+    GLsync sync;
+
+    OlaDispatch::getSharedInstance()->runSync([&] {
+#endif
+
+        if (_terminalFilter) {
+            if (_inputFramebuffer == nullptr || _inputFramebuffer->getTexture() != inputTexture.textureId) {
+                if (_inputFramebuffer) {
+                    _inputFramebuffer->release(false);
+                    _inputFramebuffer = nullptr;
+                }
+                _inputFramebuffer = new Framebuffer(inputTexture.width, inputTexture.height,
+                                                    (GLuint)inputTexture.textureId, false);
+                _inputFramebuffer->setNoCacheFramebuffer();
+
+            }
+
+            _inputFramebuffer->setExternalTexture(inputTexture.textureId);
+            if (_bridgeFilter) {
+                //这是我们内部创建一个纹理id
+#if USE_RENDER_TO_SRCTEXTURE
+                _bridgeFilter->updateTargetTexture(inputTexture.textureId, inputTexture.width,
+                                                   inputTexture.height, -1);
+#else
+                _bridgeFilter->updateTargetTexture(-1, inputTexture.width,
+                                                   inputTexture.height, -1);
+#endif
+            }
+            /**
+                            下面这一段是测试代码验证引擎用
+             */
+            if (_brightFilter && _sobelFilter) {
+                _sobelFilter->unPrepear();
+                _sobelFilter->setInputFramebuffer(_inputFramebuffer);
+
+                _brightFilter->setBrightness(0.5);
+                if (_tempFactor > 1.0) {
+                    _tempFactor = 0.0;
+                } else {
+                    _tempFactor += 1.0 / 120.0;
+                }
+                _sobelFilter->setProperty("edgeStrength", _tempFactor);
+                _sobelFilter->update(inputTexture.frameTime); //测试渲染
+            }
+
+            auto *framebuffer = _terminalFilter->getFramebuffer();
+            if (framebuffer) {
+                outputTexture.textureId = framebuffer->getTexture();
+                outputTexture.width = framebuffer->getWidth();
+                outputTexture.height = framebuffer->getHeight();
+                outputTexture.ioSurfaceId = framebuffer->getSurfaceID();
+            }
+        }
+#if USE_MULTICONTEXT
+        sync = glFenceSync(GL_SYNC_GPU_COMMANDS_COMPLETE, 0);
+        glFlush();
+    }, Context::ContextType::IOContext);
+    glWaitSync(sync, 0, GL_TIMEOUT_IGNORED);
+    glDeleteSync(sync);
+#endif
+
+#if USE_TEXImage2D
+    IOSurfaceRef surface = IOSurfaceLookup(outputTexture.ioSurfaceId);
+    IOSurfaceLock(surface, kIOSurfaceLockReadOnly, 0);
+    void *pixels = IOSurfaceGetBaseAddress(surface);
+
+    glBindTexture(GL_TEXTURE_2D, inputTexture.textureId);
+    glTexImage2D(GL_TEXTURE_2D, 0, GL_RGBA, outputTexture.width, outputTexture.height, 0, GL_BGRA, GL_UNSIGNED_BYTE, pixels);
+    IOSurfaceUnlock(surface, kIOSurfaceLockReadOnly, 0);
+    glBindTexture(GL_TEXTURE_2D, 0);
+    outputTexture.textureId = inputTexture.textureId;
+#endif
+
+#if USE_RESTORE_FBO
+    glBindFramebuffer(GL_FRAMEBUFFER, curFbo);
+#endif
+#else
+
+    _loadProgram();
+    _loadOutputTexture(inputTexture.width, inputTexture.height);
+
+    ImageInfo rs;
+
+    ImageQueue::getInstance()->pop(rs, exportFlag);
+    Log("OlaRender", "aaa");
+//    while (exportFlag && rs.len == 0);
+    if (rs.len > 0) {
+        int width = rs.width;
+        int height = rs.height;
+
+        setCanvasPixels(width, height, rs.data, inputTexture.frameTime,
+                        Vec4(rs.startX, rs.startY, rs.normalWidth, rs.normalHeight));
+        Log("OlaRender", "bbb");
+    }
+    glBindFramebuffer(GL_FRAMEBUFFER, 0);
+
+    glUseProgram(_blendProgram);
+    glBindFramebuffer(GL_FRAMEBUFFER, _outputFramebuffer);
+    glViewport(0, 0, inputTexture.width, inputTexture.height);
+    glClearColor(0, 0, 0, 0.0);
+    glClear(GL_COLOR_BUFFER_BIT);
+    glActiveTexture(GL_TEXTURE0);
+    glBindTexture(GL_TEXTURE_2D, inputTexture.textureId);
+    glUniform1i(_inputTextureSlot, 0);
+    glActiveTexture(GL_TEXTURE1);
+
+
+    CHECK_GL(glBindTexture(GL_TEXTURE_2D, _blendTexture));
+    CHECK_GL(glUniform1i(_inputTextureSlot1, 1));
+
+
+    glVertexAttribPointer(_texCoordSlot, 2, GL_FLOAT, 0, 0, textureCoords);
+    glEnableVertexAttribArray(_texCoordSlot);
+
+    glVertexAttribPointer(_texCoordSlot1, 2, GL_FLOAT, 0, 0, textureCoords1);
+    glEnableVertexAttribArray(_texCoordSlot1);
+
+    glVertexAttribPointer(_positionSlot, 3, GL_FLOAT, 0, 0, positionCoords);
+    glEnableVertexAttribArray(_positionSlot);
+
+    CHECK_GL(glDrawArrays(GL_TRIANGLE_STRIP, 0, 4));
+    outputTexture.textureId = _outputTexture;
+    if (rs.len > 0) {
+        ImageQueue::getInstance()->releaseNode(rs);
+    }
+#endif
+
+    return outputTexture;
+}
+
+void OLARenderIMP::setCanvasPixels(int width, int height, const void *pixels, int64_t frameTime,
+                                   Vec4 roi) {
+    if (_blendTexture != -1) {
+        if (_lastTransformSize != Vec2(width, height)) {
+            glDeleteTextures(1, &_transformTexture);
+            _transformTexture = -1;
+        }
+
+        if (_transformTexture == -1) {
+            glGenTextures(1, &_transformTexture);
+            glBindTexture(GL_TEXTURE_2D, _transformTexture);
+            glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR);
+            glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
+            glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_CLAMP_TO_EDGE);
+            glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_CLAMP_TO_EDGE);
+
+            CHECK_GL(glTexImage2D(GL_TEXTURE_2D, 0, GL_RGBA, width, height, 0, GL_RGBA, GL_UNSIGNED_BYTE, pixels));
+            glBindTexture(GL_TEXTURE_2D, 0);
+
+        }
+
+        if (_transformTexture != -1 && _blendFbo != -1) {
+            // test
+            _setROI(roi);
+
+            glUseProgram(_transformProgram);
+            glBindFramebuffer(GL_FRAMEBUFFER, _blendFbo);
+            glViewport(0, 0, _renderWidth, _renderHeight);
+
+
+            glClearColor(0, 0, 0, 0.0);
+            glClear(GL_COLOR_BUFFER_BIT);
+            glActiveTexture(GL_TEXTURE0);
+            glBindTexture(GL_TEXTURE_2D, _transformTexture);
+            Log("OLARender", "transformTexture :%d", _transformTexture);
+            glUniform1i(_transformTextureSlot, 0);
+            glUniformMatrix4fv(_transform_mvp, 1, GL_FALSE, (GLfloat * ) & _mvp_matrix);
+
+            glVertexAttribPointer(_transformTexCoordSlot, 2, GL_FLOAT, 0, 0, textureCoords);
+            glEnableVertexAttribArray(_transformTexCoordSlot);
+            glVertexAttribPointer(_transformPositionSlot, 3, GL_FLOAT, 0, 0, positionCoords);
+            glEnableVertexAttribArray(_transformPositionSlot);
+
+            CHECK_GL(glDrawArrays(GL_TRIANGLE_STRIP, 0, 4));
+        }
+    }
+}
+
+#if USE_OLARENDER
+#if PLATFORM == PLATFORM_IOS
+void OLARenderIMP::setDisplayView(OLARenderView *target) {
+
+#else
+void OLARenderIMP::setDisplayView(TargetView *target) {
+#endif
+    _targetView = target;
+    if (_terminalFilter) {
+        _terminalFilter->addTarget(target);
+    }
+}
+
+
+void OLARenderIMP::removeRenderTarget() {
+    _terminalFilter->removeAllTargets();
+}
+
+Source* OLARenderIMP::getTerminalSource() {
+    return _terminalFilter;
+}
+#else
+
+void OLARenderIMP::_loadProgram() {
+    if (_blendProgram == -1) {
+        GLuint vertexShader = _loadShader(GL_VERTEX_SHADER, VertexShaderString);
+        GLuint fragmentShader = _loadShader(GL_FRAGMENT_SHADER, FragmentShaderString);
+
+        _blendProgram = glCreateProgram();
+        if (!_blendProgram) {
+            assert(0);
+            return;
+        }
+
+        glAttachShader(_blendProgram, vertexShader);
+        glAttachShader(_blendProgram, fragmentShader);
+
+        glLinkProgram(_blendProgram);
+
+        // 检查错误
+        GLint linked;
+        glGetProgramiv(_blendProgram, GL_LINK_STATUS, &linked);
+        if (!linked) {
+            glDeleteProgram(_blendProgram);
+            _blendProgram = 0;
+            return;
+        }
+
+        glUseProgram(_blendProgram);
+
+        _positionSlot = glGetAttribLocation(_blendProgram, "position");
+        _texCoordSlot = glGetAttribLocation(_blendProgram, "texCoord");
+        _texCoordSlot1 = glGetAttribLocation(_blendProgram, "texCoord1");
+        _inputTextureSlot = glGetUniformLocation(_blendProgram, "colorMap");
+        _inputTextureSlot1 = glGetUniformLocation(_blendProgram, "colorMap1");
+    }
+
+    if (_transformProgram == -1) {
+        GLuint vertexShader = _loadShader(GL_VERTEX_SHADER, TransformVertexShaderString);
+        GLuint fragmentShader = _loadShader(GL_FRAGMENT_SHADER, TransformFragmentShaderString);
+
+        _transformProgram = glCreateProgram();
+        if (!_transformProgram) {
+            assert(0);
+            return;
+        }
+
+        glAttachShader(_transformProgram, vertexShader);
+        glAttachShader(_transformProgram, fragmentShader);
+
+        glLinkProgram(_transformProgram);
+
+        // 检查错误
+        GLint linked;
+        glGetProgramiv(_transformProgram, GL_LINK_STATUS, &linked);
+        if (!linked) {
+            glDeleteProgram(_transformProgram);
+            _transformProgram = 0;
+            return;
+        }
+
+        glUseProgram(_transformProgram);
+        _transformPositionSlot = glGetAttribLocation(_transformProgram, "position");
+        _transformTexCoordSlot = glGetAttribLocation(_transformProgram, "texCoord");
+        _transformTextureSlot = glGetUniformLocation(_transformProgram, "colorMap");
+        _transform_mvp = glGetUniformLocation(_transformProgram, "mvp");
+    }
+}
+
+void OLARenderIMP::_loadOutputTexture(int width, int height) {
+    if (_outputTexture == -1 || _outputFramebuffer == -1) {
+        glGenFramebuffers(1, &_outputFramebuffer);
+        glBindFramebuffer(GL_FRAMEBUFFER, _outputFramebuffer);
+
+        glGenTextures(1, &_outputTexture);
+        glBindTexture(GL_TEXTURE_2D, _outputTexture);
+
+        glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR);
+        glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
+        glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_CLAMP_TO_EDGE);
+        glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_CLAMP_TO_EDGE);
+        glTexImage2D(GL_TEXTURE_2D, 0, GL_RGBA, width, height, 0, GL_RGBA, GL_UNSIGNED_BYTE, 0);
+        glFramebufferTexture2D(GL_FRAMEBUFFER, GL_COLOR_ATTACHMENT0, GL_TEXTURE_2D, _outputTexture, 0);
+        GLenum status = glCheckFramebufferStatus(GL_FRAMEBUFFER);
+        assert(status == GL_FRAMEBUFFER_COMPLETE);
+        glBindTexture(GL_TEXTURE_2D, 0);
+
+        glGenFramebuffers(1, &_blendFbo);
+        glBindFramebuffer(GL_FRAMEBUFFER, _blendFbo);
+        glGenTextures(1, &_blendTexture);
+        glBindTexture(GL_TEXTURE_2D, _blendTexture);
+        glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR);
+        glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
+        glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_CLAMP_TO_EDGE);
+        glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_CLAMP_TO_EDGE);
+        glTexImage2D(GL_TEXTURE_2D, 0, GL_RGBA, width, height, 0, GL_RGBA, GL_UNSIGNED_BYTE, 0);
+        glFramebufferTexture2D(GL_FRAMEBUFFER, GL_COLOR_ATTACHMENT0, GL_TEXTURE_2D, _blendTexture, 0);
+        status = glCheckFramebufferStatus(GL_FRAMEBUFFER);
+        assert(status == GL_FRAMEBUFFER_COMPLETE);
+
+        glClearColor(0.0, 0.0, 0.0, 0.0);
+        glClear(GL_COLOR_BUFFER_BIT);
+        glBindTexture(GL_TEXTURE_2D, 0);
+
+        glBindFramebuffer(GL_FRAMEBUFFER, 0);
+
+    }
+}
+
+void OLARenderIMP::_setROI(Vec4 roi) {
+    _mvp_matrix.set_identity();
+    _roi.x = roi.x;
+    _roi.y = roi.y;
+    _roi.z = roi.z;
+    _roi.w = roi.w;
+    //transform OK
+    float realXOffset = 1.0 / _roi.z * (1.0 - _roi.z);
+    float realYOffset = 1.0 / _roi.w * (1.0 - _roi.w);
+
+    auto roiAdjusted = Vec4(1.0 / _roi.z * _roi.x * 2.0,
+                            1.0 / _roi.w * _roi.y * 2.0, 1.0, 1.0);
+    _mvp_matrix.scale(_roi.z, _roi.w, 1.0);
+
+
+// #if defined(__ANDROID__) || defined(ANDROID)
+    _mvp_matrix.translate(-realXOffset, realYOffset, 0.0);
+    _mvp_matrix.translate(roiAdjusted.x, -roiAdjusted.y, 0.0);
+// #else
+//     _mvp_matrix.translate(-realXOffset, -realYOffset, 0.0);
+//     _mvp_matrix.translate(roiAdjusted.x, roiAdjusted.y, 0.0);
+// #endif
+}
+
+GLuint OLARenderIMP::_loadShader(GLenum shaderType, const std::string &shaderString) {
+    GLuint shader = glCreateShader(shaderType);
+    if (shader == 0) {
+        return 0;
+    }
+
+    // Load the shader source
+    const char *shaderStringUTF8 = shaderString.c_str();
+    glShaderSource(shader, 1, &shaderStringUTF8, NULL);
+
+    // Compile the shader
+    glCompileShader(shader);
+
+    // Check the compile status
+    GLint compiled = 0;
+    glGetShaderiv(shader, GL_COMPILE_STATUS, &compiled);
+
+    if (!compiled) {
+        assert(0);
+        glDeleteShader(shader);
+        return 0;
+    }
+
+    return shader;
+}
+
+#endif
+NS_OLA_END

mediapipe/modules/render_queue/OlaRenderIMP.h

@@ -0,0 +1,122 @@
+//
+//  OlaRenderIMP.hpp
+//  OlaRender
+//
+//  Created by 王韧竹 on 2022/6/20.
+//
+
+#ifndef OlaRenderIMP_hpp
+#define OlaRenderIMP_hpp
+
+#include <stdio.h>
+#include "macros.h"
+#include "OlaRender.h"
+#include <math/math_utils.hpp>
+
+#if USE_OLARENDER
+#include <Source.hpp>
+#include <BrightnessFilter.hpp>
+#include <SobelEdgeDetectionFilter.hpp>
+#include <SourceImage.h>
+#include <OlaBridgeTextureFilter.hpp>
+
+#if PLATFORM == PLATFORM_IOS
+#include <OLARenderView+private.h>
+
+#endif
+#else
+#if PLATFORM == PLATFORM_IOS
+#import <UIKit/UIKit.h>
+#endif
+#endif
+
+NS_OLA_BEGIN
+
+    class OLARenderIMP : public OlaRender {
+    public:
+        OLARenderIMP();
+
+        ~OLARenderIMP();
+
+        /// 加载测试图  初次使用或者release后需要重新Load
+        virtual int loadGraph() override;
+
+        virtual int release() override;
+
+        virtual TextureInfo render(TextureInfo inputTexture, bool exportFlag) override;
+
+        virtual void setCanvasPixels(int width, int height, const void *pixels,
+                                     int64_t frameTime, Vec4 roi);
+
+#if USE_OLARENDER
+#if PLATFORM == PLATFORM_IOS
+        virtual void setDisplayView(OLARenderView *target) override;
+
+#else
+        virtual void setDisplayView(TargetView *target) override;
+#endif
+
+        virtual void removeRenderTarget() override;
+
+        virtual Source* getTerminalSource() override;
+#endif
+    private:
+#if USE_OLARENDER
+        Framebuffer *_inputFramebuffer = nullptr;
+    Filter *_terminalFilter = nullptr;
+    BrightnessFilter *_brightFilter = nullptr;
+    SobelEdgeDetectionFilter *_sobelFilter = nullptr;
+    OlaBridgeTextureFilter *_bridgeFilter = nullptr;
+    
+#if PLATFORM == PLATFORM_IOS
+    OLARenderView *_targetView = nullptr;
+#else
+    TargetView *_targetView = nullptr;
+#endif
+#else
+        GLuint _outputFramebuffer = -1;
+        GLuint _blendProgram = -1;
+        GLuint _positionSlot;
+        GLuint _positionSlot1;
+        GLuint _texCoordSlot;
+        GLuint _texCoordSlot1;
+        GLuint _inputTextureSlot;
+        GLuint _inputTextureSlot1;
+        GLuint _outputTexture = -1;
+        GLuint _blendTexture = -1;
+        GLuint _blendFbo = -1;
+        GLuint _blend_mvp = -1;
+
+        GLuint _transformProgram = -1;
+        GLuint _transformPositionSlot = -1;
+        GLuint _transformTexCoordSlot = -1;
+        GLuint _transformTextureSlot = -1;
+        GLuint _transform_mvp = -1;
+        GLuint _transformTexture = -1;
+        Vec2 _lastTransformSize = Vec2(0.0, 0.0);
+
+        Mat4 _mvp_matrix;
+        Vec4 _roi;
+
+        void _loadProgram();
+
+        GLuint _loadShader(GLenum shaderType, const std::string &shaderString);
+
+        void _setROI(Vec4 roi);
+
+        void _loadOutputTexture(int width, int height);
+
+#if PLATFORM == PLATFORM_IOS
+#endif
+#endif
+
+        bool _isInit = false;
+        float _tempFactor = 0.0;
+        int _renderWidth = 0, _renderHeight = 0;
+
+
+    };
+
+NS_OLA_END
+
+#endif /* OlaRenderIMP_hpp */

mediapipe/modules/render_queue/OlaRenderManager.h

@@ -0,0 +1,31 @@
+//
+//  OlaRenderManager.h
+//  OlaRender
+//
+//  Created by 王韧竹 on 2022/6/17.
+//
+
+#import <Foundation/Foundation.h>
+#import <UIKit/UIKit.h>
+
+NS_ASSUME_NONNULL_BEGIN
+
+@interface OlaRenderManager : NSObject
+
++ (OlaRenderManager *)sharedInstance;
+
+- (void)resume;
+
+- (void)dispose;
+
+- (int)render:(int64_t)frameTime textureId:(NSUInteger)inputTexture renderSize:(CGSize)size;
+
+- (void)setRenderView:(UIView *)renderView;
+
++ (void) addImg;
+
++(void) disposeImg;
+
+@end
+
+NS_ASSUME_NONNULL_END

mediapipe/modules/render_queue/OlaRenderManager.mm

@@ -0,0 +1,97 @@
+//
+//  OlaRenderManager.m
+//  OlaRender
+//
+//  Created by 王韧竹 on 2022/6/17.
+//
+
+#import "OlaRenderManager.h"
+
+#include "mediapipe/modules/render_queue/OlaRender.hpp"
+#include "mediapipe/modules/render_queue/image_queue.h"
+#include "mediapipe/modules/render_queue/image.h"
+
+
+USING_NS_OLA
+
+@interface OlaRenderManager() {
+    OlaRender *olaRender;
+#if USE_OLARENDER
+    OLARenderView *targetView;
+#endif
+    EAGLContext *currentContext;
+}
+
+@end
+
+@implementation OlaRenderManager
+
++ (OlaRenderManager *)sharedInstance {
+    static dispatch_once_t onceToken;
+    static OlaRenderManager *instance = nil;
+    dispatch_once(&onceToken, ^{
+        instance = [OlaRenderManager new];
+    });
+    return instance;
+}
+
+- (instancetype)init
+{
+    self = [super init];
+    if (self) {
+       
+    }
+    return self;
+}
+
+- (void)dispose
+{
+    if (olaRender) {
+        olaRender->release();
+        olaRender = nullptr;
+    }
+    
+}
+
+// void addImageCache(const uint8_t *img, int len, double startX, double startY, double normalWidth, double normalHeight,
+                //    int width, int height, uint64_t javaTime, uint64_t startT, uint64_t beforeFFi, bool exportFlag);
+
++(void)addImg
+{
+    addImageCache(nullptr, 0, 0.0, 0.0, 0.0, 0.0, 0,0,0,0,0, false);
+}
++(void)disposeImg
+{
+    disposeImage();
+}
+
+- (int)render:(int64_t)frameTime textureId:(NSUInteger)inputTexture renderSize:(CGSize)size
+{
+    [self resume];
+    TextureInfo info;
+
+    info.width = size.width;
+    info.height = size.height;
+    info.frameTime = frameTime;
+    info.textureId = (int)inputTexture;
+    TextureInfo rs = olaRender->render(info, false);
+    return rs.textureId;
+}
+
+- (void)resume
+{
+    if (olaRender == nullptr) {
+        olaRender = OlaRender::create();
+    }
+   
+}
+
+- (void)setRenderView:(UIView *)renderView
+{
+#if USE_OLARENDER
+    targetView = (OLARenderView *)renderView;
+    olaRender->setDisplayView(targetView);
+#endif
+}
+
+@end

mediapipe/modules/render_queue/RenderJni.cpp

@@ -0,0 +1,45 @@
+//
+// Created by Felix Wang on 2022/6/29.
+//
+
+#include <jni.h>
+#include <malloc.h>
+#include "OlaRender.hpp"
+#include "image_queue.h"
+
+
+#include <android/log.h>
+#include <jni.h>
+
+#define TAG    "ImageQueue-jni" // 这个是自定义的LOG的标识
+#define LOGI(...)  __android_log_print(ANDROID_LOG_INFO,TAG,__VA_ARGS__) // 定义LOGI类型
+#define LOGE(...)  __android_log_print(ANDROID_LOG_ERROR,TAG,__VA_ARGS__) // 定义LOGE类型
+
+
+extern "C"
+JNIEXPORT jlong JNICALL
+Java_com_weatherfish_render_RenderJni_create(JNIEnv *env, jobject thiz) {
+    auto *render = OLARender::OlaRender::create();
+    return reinterpret_cast<int64_t>(render);
+}
+
+extern "C"
+JNIEXPORT jint JNICALL
+Java_com_weatherfish_render_RenderJni_render(JNIEnv *env, jobject thiz, jlong render_context, jint texture_id,
+                                             jint width, jint height, jlong timestamp, jboolean exportFlag) {
+    auto *render = reinterpret_cast<OLARender::OlaRender *>(render_context);
+    OLARender::TextureInfo info;
+    info.textureId = texture_id;
+    info.width = width;
+    info.height = height;
+    info.frameTime = timestamp;
+    auto res = render->render(info, exportFlag);
+    return res.textureId;
+}
+
+extern "C"
+JNIEXPORT void JNICALL
+Java_com_weatherfish_render_RenderJni_release(JNIEnv *env, jobject thiz, jlong renderId) {
+    auto *render = reinterpret_cast<OLARender::OlaRender *>(renderId);
+    render->release();
+}

mediapipe/modules/render_queue/image.cpp

@@ -0,0 +1,47 @@
+#include "image.h"
+#include "image_queue.h"
+#include <cstdlib>
+#include <cstdio>
+
+#ifdef ANDROID
+
+#include <jni.h>
+
+//extern "C" JNIEXPORT void JNICALL
+//Java_com_felix_text_1plugin_ImageCache_addImageCache(JNIEnv *env, jclass clazz, jbyteArray img, jint len) {
+//
+//    auto *arr = (unsigned char *) malloc(len);
+//    (*env).GetByteArrayRegion(img, 0, len, (jbyte *) arr);
+//    ImageInfo info;
+//    ImageQueue.
+//}
+//extern "C"
+//JNIEXPORT void JNICALL
+//Java_com_felix_text_1plugin_ImageCache_addImageCache(JNIEnv *env, jclass clazz, jbyteArray img, jint len, jint width,
+//                                                     jint height,
+//                                                     jlong timestamp) {
+//    auto *arr = (unsigned char *) malloc(len);
+//    (*env).GetByteArrayRegion(img, 0, len, (jbyte *) arr);
+//    ImageQueue::getInstance()->push(arr, len, width, height, (uint32_t) timestamp);
+//}
+#else
+
+#endif
+
+extern "C" __attribute__((visibility("default"))) __attribute__((used))
+void addImageCache(const uint8_t *img, int len, double startX, double startY, double normalWidth, double normalHeight,
+                   int width, int height, uint64_t javaTime, uint64_t startT, uint64_t beforeFFi, bool exportFlag) {
+    ImageQueue::getInstance()->push(img, len, startX, startY, normalWidth, normalHeight, width, height, javaTime,
+                                    startT, beforeFFi, exportFlag);
+}
+
+
+extern "C" __attribute__((visibility("default"))) __attribute__((used))
+void disposeImage() {
+    ImageQueue::getInstance()->dispose();
+}
+
+extern "C" __attribute__((visibility("default"))) __attribute__((used))
+void test() {
+    
+}

mediapipe/modules/render_queue/image.h

@@ -0,0 +1,28 @@
+
+#ifndef IMAGE_H
+#define IMAGE_H
+
+#include "image_queue.h"
+#include "image_queue.h"
+#include <stdint.h>
+
+// #ifdef __cplusplus
+extern "C"
+{
+// #endif
+
+__attribute__((visibility("default"))) __attribute__((used))
+void addImageCache(const uint8_t *img, int len, double startX, double startY, double normalWidth, double normalHeight,
+                   int width, int height, uint64_t javaTime, uint64_t startT, uint64_t beforeFFi, bool exportFlag);
+
+__attribute__((visibility("default"))) __attribute__((used))
+void disposeImage();
+
+__attribute__((visibility("default"))) __attribute__((used))
+void test();
+
+// #ifdef __cplusplus
+}
+// #endif
+
+#endif

mediapipe/modules/render_queue/image_queue.cpp

@@ -0,0 +1,96 @@
+//
+// Created by Felix Wang on 2022/6/24.
+//
+
+#include "image_queue.h"
+#include <chrono>
+#include <unistd.h>
+
+ImageQueue *ImageQueue::instance = ImageQueue::getInstance();
+
+void
+ImageQueue::push(const uint8_t *img, int len, double startX, double startY, double normalWidth, double normalHeight,
+                 int width, int height, uint64_t javaTime,
+                 uint64_t startT,
+                 uint64_t beforeFFi, bool exportFlag) {
+    LOGE("~~~~~~~~~~~~~~~~~~~~push ImageQueue push len: %d", len);
+
+    auto *arr = (uint8_t *) malloc(len);
+    memcpy(arr, img, len);
+    LOGE("~~~~~~~~~~~~~~~~~~~~push arr: %ld", reinterpret_cast<int64_t>(arr));
+
+    uint64_t afterFFi = getTimeStamp();
+    ImageInfo info = {arr, len, startX, startY, normalWidth, normalHeight, width, height, javaTime, startT, beforeFFi,
+                      afterFFi, false};
+
+    rawPush(info);
+    if (exportFlag) {
+    #if defined(__APPLE__)
+        dispatch_semaphore_signal(sem);
+    #else
+        LOGE("~~~~~~~~~~~~~~~~~~~~push exportFlag111  true %d", sem.count);
+        
+        int rs = sem_post(&sem);
+        LOGE("~~~~~~~~~~~~~~~~~~~~push exportFlag222  true %d ,rs = %d", sem.count, rs);
+    #endif
+    }
+
+    LOGE("############ push  end  %lu size:%zu  startX:%f startY:%f, normalWidth:%f normalHeight:%f,width:%d,height:%d\n",
+         getTimeStamp(), instance->rawSize(), startX, startY, normalWidth, normalHeight, width, height);
+}
+
+
+void ImageQueue::pop(ImageInfo &info, bool exportFlag) {
+    int g_running_count = 0;
+    if (exportFlag) {
+        // LOGE("~~~~~~~~~~~~~~~~~~~~~push  sem_wait33  %d", sem.count);
+    #if defined(__APPLE__)
+        dispatch_time_t dispatchtime = dispatch_time(DISPATCH_TIME_NOW, (int64_t)(0.5* NSEC_PER_SEC));
+        int rs = (int)dispatch_semaphore_wait(sem, dispatchtime);
+    #else
+        int rs = sem_trywait(&sem);
+    
+        while (rs == -1 && g_running_count < 3) {
+            usleep(9000);
+            rs = sem_trywait(&sem);
+            g_running_count++;  // Break here to show we can handle breakpoints
+        }
+    #endif
+        // LOGE("~~~~~~~~~~~~~~~~~~~~~push  sem_wait44 %d, rs=%d", sem.count, rs);
+        if (instance->rawSize() > 0) {
+            instance->rawPop(info, exportFlag);
+            //     LOGE("########## pop  end 1  %ld\n", getTimeStamp());
+        } else {
+//            LOGE("~~~~~~~~~~~~~~33 pop empty  %ld\n", getTimeStamp());
+            info = instance->emptyInfo;
+        }
+    } else {
+        if (instance->rawSize() > 0) {
+            instance->rawPop(info, exportFlag);
+            //     LOGE("########## pop  end 1  %ld\n", getTimeStamp());
+        } else {
+//            LOGE("~~~~~~~~~~~~~~33 pop empty  %ld\n", getTimeStamp());
+            info = instance->emptyInfo;
+        }
+    }
+
+}
+
+void ImageQueue::dispose() {
+    #if defined(__APPLE__)
+    dispatch_semaphore_signal(sem);
+    #else
+    sem_post(&sem);
+    #endif
+    rawRelease();
+}
+
+ImageQueue *ImageQueue::getInstance() {
+    if (!instance) {
+        instance = new ImageQueue(2);
+    } else {
+        return instance;
+    }
+    return instance;
+}
+

mediapipe/modules/render_queue/image_queue.h

@@ -0,0 +1,94 @@
+//
+// Created by Felix Wang on 2022/6/24.
+//
+
+#ifndef IMAGE_QUEUE_H
+#define IMAGE_QUEUE_H
+
+#include <queue>
+#if defined(__ANDROID__) || defined(ANDROID)
+#include <semaphore.h>
+#else
+#import <Foundation/Foundation.h>
+#endif
+#include <mutex>
+#include <atomic>
+#include "LockFreeQueue.h"
+
+struct ImageInfo {
+    uint8_t *data;
+    int len;
+    double startX;
+    double startY;
+    double normalWidth;
+    double normalHeight;
+    int width;
+    int height;
+    uint64_t javaTime;
+    uint64_t startT;
+    uint64_t beforeFFi;
+    uint64_t afterFFi;
+    int flag;
+
+};
+
+class ImageQueue : public LockFreeQueue<ImageInfo> {
+private:
+    static ImageQueue *instance;
+    // sem_t sem;
+    #if defined(__APPLE__)
+        dispatch_semaphore_t sem = 0;
+    #else
+        sem_t sem;
+    #endif
+    ImageInfo emptyInfo;
+
+    ImageQueue(size_t capacity) : LockFreeQueue(capacity) {
+        emptyInfo.data = nullptr;
+        emptyInfo.len = 0;
+    #if defined(__APPLE__)
+        sem = dispatch_semaphore_create(1);
+    #else
+        sem_init(&sem, 0, 1);
+        sem_wait(&sem);
+    #endif
+    };
+
+    ~ImageQueue() {
+        #if defined(__APPLE__)
+        dispatch_semaphore_signal(sem);
+        // dispatch_release(sem);
+        sem = 0;
+        #else
+        sem_destroy(&sem);
+        #endif
+    };
+
+    ImageQueue(const ImageQueue &);
+
+    ImageQueue &operator=(const ImageQueue &);
+
+public:
+    static long getTimeStamp() {
+        std::chrono::time_point<std::chrono::system_clock, std::chrono::microseconds> tp =
+                std::chrono::time_point_cast<std::chrono::microseconds>(std::chrono::system_clock::now());
+        auto tmp = std::chrono::duration_cast<std::chrono::microseconds>(tp.time_since_epoch());
+        long timestamp = tmp.count();
+        return timestamp;
+    }
+
+
+    static ImageQueue *getInstance();
+
+//    void push(ImageInfo &imageInfo);
+
+    void
+    push(const uint8_t *img, int len, double startX, double startY, double normalWidth, double normalHeight, int width,
+         int height, uint64_t javaTime, uint64_t startT, uint64_t beforeFFi, bool exportFlag);
+
+    void pop(ImageInfo &info, bool exportFlag = false);
+
+    void dispose();
+};
+
+#endif //IMAGE_QUEUE_H

mediapipe/modules/render_queue/macros.h

@@ -0,0 +1,63 @@
+
+
+#ifndef macros_h
+#define macros_h
+
+#define PLATFORM_UNKNOW 0
+#define PLATFORM_ANDROID 1
+#define PLATFORM_IOS 2
+
+#define PLATFORM PLATFORM_UNKNOW
+#if defined(__ANDROID__) || defined(ANDROID)
+#undef  PLATFORM
+#define PLATFORM PLATFORM_ANDROID
+#include <assert.h>
+#elif defined(__APPLE__)
+#undef  PLATFORM
+#define PLATFORM PLATFORM_IOS
+#endif
+
+#define NS_OLA_BEGIN                     namespace OLARender {
+#define NS_OLA_END                       }
+#define USING_NS_OLA                     using namespace OLARender;
+
+
+#define STRINGIZE(x) #x
+#define SHADER_STRING(text) STRINGIZE(text)
+
+#define PI 3.14159265358979323846264338327950288
+
+#define ENABLE_GL_CHECK false
+
+#ifndef PLATFORM_WINDOWS
+
+#if ENABLE_GL_CHECK
+#define CHECK_GL(glFunc) \
+        glFunc; \
+    { \
+        int e = glGetError(); \
+        if (e != 0) \
+        { \
+            std::string errorString = ""; \
+            switch (e) \
+            { \
+            case GL_INVALID_ENUM:       errorString = "GL_INVALID_ENUM";        break; \
+            case GL_INVALID_VALUE:      errorString = "GL_INVALID_VALUE";       break; \
+            case GL_INVALID_OPERATION:  errorString = "GL_INVALID_OPERATION";   break; \
+            case GL_OUT_OF_MEMORY:      errorString = "GL_OUT_OF_MEMORY";       break; \
+            default:                                                            break; \
+            } \
+            OLARender::Log("ERROR", "GL ERROR 0x%04X %s in %s at line %i\n", e, \
+            errorString.c_str(), __PRETTY_FUNCTION__, __LINE__); \
+            assert(0);\
+        } \
+    }
+#else
+#define CHECK_GL(glFunc)  glFunc;
+#endif
+
+#endif
+
+#include "util.h"
+
+#endif /* macros_h */

mediapipe/modules/render_queue/math/BUILD

@@ -0,0 +1,8 @@
+cc_library(
+    name = "math",
+    srcs = glob(["*.cpp","*.inl"]),
+    hdrs = glob(["*.hpp"]),
+    # Use -Dverbose=-1 to turn off zlib's trace logging. (#3280)
+    includes = ["."],
+    visibility = ["//visibility:public"],
+)

mediapipe/modules/render_queue/math/mat4.cpp

@@ -0,0 +1,684 @@
+//
+//  Mat4.cpp
+//  OLARender
+//
+//  Created by Wang,Renzhu on 2018/11/20.
+//  Copyright © 2018年 Wang,Renzhu. All rights reserved.
+//
+
+#if defined(__APPLE__)
+#include "mat4.hpp"
+#include "math_utils.hpp"
+#else
+#include "mat4.hpp"
+#include "math_utils.hpp"
+#endif
+#include <cstring>
+
+namespace OLARender {
+    
+    static const int MATRIX_SIZE = (sizeof(float) * 16);
+    
+    Mat4::Mat4()
+    {
+    *this = IDENTITY;
+    }
+    
+    Mat4::Mat4(float m11, float m12, float m13, float m14, float m21, float m22, float m23, float m24,
+               float m31, float m32, float m33, float m34, float m41, float m42, float m43, float m44)
+    {
+    set(m11, m12, m13, m14, m21, m22, m23, m24, m31, m32, m33, m34, m41, m42, m43, m44);
+    }
+    
+    Mat4::Mat4(const float* mat)
+    {
+    set(mat);
+    }
+    
+    Mat4::Mat4(const Mat4& copy)
+    {
+    memcpy(m, copy.m, MATRIX_SIZE);
+    }
+    
+    void Mat4::create_look_at(const Vec3& eyePosition, const Vec3& targetPosition, const Vec3& up, Mat4* dst)
+    {
+    create_look_at(eyePosition.x, eyePosition.y, eyePosition.z,
+                   targetPosition.x, targetPosition.y, targetPosition.z,
+                   up.x, up.y, up.z, dst);
+    }
+    
+    void Mat4::create_look_at(float eyePositionX, float eyePositionY, float eyePositionZ,
+                              float targetPositionX, float targetPositionY, float targetPositionZ,
+                              float upX, float upY, float upZ, Mat4* dst)
+    {
+    Vec3 eye(eyePositionX, eyePositionY, eyePositionZ);
+    Vec3 target(targetPositionX, targetPositionY, targetPositionZ);
+    Vec3 up(upX, upY, upZ);
+    up.normalize();
+    
+    Vec3 zaxis;
+    Vec3::subtract(eye, target, &zaxis);
+    zaxis.normalize();
+    
+    Vec3 xaxis;
+    Vec3::cross(up, zaxis, &xaxis);
+    xaxis.normalize();
+    
+    Vec3 yaxis;
+    Vec3::cross(zaxis, xaxis, &yaxis);
+    yaxis.normalize();
+    
+    dst->m[0] = xaxis.x;
+    dst->m[1] = yaxis.x;
+    dst->m[2] = zaxis.x;
+    dst->m[3] = 0.0f;
+    
+    dst->m[4] = xaxis.y;
+    dst->m[5] = yaxis.y;
+    dst->m[6] = zaxis.y;
+    dst->m[7] = 0.0f;
+    
+    dst->m[8] = xaxis.z;
+    dst->m[9] = yaxis.z;
+    dst->m[10] = zaxis.z;
+    dst->m[11] = 0.0f;
+    
+    dst->m[12] = -Vec3::dot(xaxis, eye);
+    dst->m[13] = -Vec3::dot(yaxis, eye);
+    dst->m[14] = -Vec3::dot(zaxis, eye);
+    dst->m[15] = 1.0f;
+    }
+    
+    void Mat4::create_perspective(float fieldOfView, float aspectRatio,
+                                  float zNearPlane, float zFarPlane, Mat4* dst)
+    {
+    float f_n = 1.0f / (zFarPlane - zNearPlane);
+    float theta = MATH_DEG_TO_RAD(fieldOfView) * 0.5f;
+    if (std::abs(std::fmod(theta, MATH_PIOVER2)) < MATH_EPSILON)
+        {
+        return;
+        }
+    float divisor = std::tan(theta);
+    float factor = 1.0f / divisor;
+    
+    memset(dst, 0, MATRIX_SIZE);
+    
+    dst->m[0] = (1.0f / aspectRatio) * factor;
+    dst->m[5] = factor;
+    dst->m[10] = (-(zFarPlane + zNearPlane)) * f_n;
+    dst->m[11] = -1.0f;
+    dst->m[14] = -2.0f * zFarPlane * zNearPlane * f_n;
+    }
+    
+    void Mat4::create_orthographic(float width, float height, float zNearPlane, float zFarPlane, Mat4* dst)
+    {
+    float halfWidth = width / 2.0f;
+    float halfHeight = height / 2.0f;
+    create_orthographic_off_center(-halfWidth, halfWidth, -halfHeight, halfHeight, zNearPlane, zFarPlane, dst);
+    }
+    
+    void Mat4::create_orthographic_off_center(float left, float right, float bottom, float top,
+                                              float zNearPlane, float zFarPlane, Mat4* dst)
+    {
+    memset(dst, 0, MATRIX_SIZE);
+    dst->m[0] = 2 / (right - left);
+    dst->m[5] = 2 / (top - bottom);
+    dst->m[10] = 2 / (zNearPlane - zFarPlane);
+    
+    dst->m[12] = (left + right) / (left - right);
+    dst->m[13] = (top + bottom) / (bottom - top);
+    dst->m[14] = (zNearPlane + zFarPlane) / (zNearPlane - zFarPlane);
+    dst->m[15] = 1;
+    }
+    
+    void Mat4::create_scale(const Vec3& scale, Mat4* dst)
+    {
+    memcpy(dst, &IDENTITY, MATRIX_SIZE);
+    
+    dst->m[0] = scale.x;
+    dst->m[5] = scale.y;
+    dst->m[10] = scale.z;
+    }
+    
+    void Mat4::create_scale(float xScale, float yScale, float zScale, Mat4* dst)
+    {
+    memcpy(dst, &IDENTITY, MATRIX_SIZE);
+    
+    dst->m[0] = xScale;
+    dst->m[5] = yScale;
+    dst->m[10] = zScale;
+    }
+    
+    void Mat4::create_rotation(const Vec3& axis, float angle, Mat4* dst)
+    {
+    float x = axis.x;
+    float y = axis.y;
+    float z = axis.z;
+    
+    // Make sure the input axis is normalized.
+    float n = x*x + y*y + z*z;
+    if (n != 1.0f)
+        {
+        // Not normalized.
+        n = std::sqrt(n);
+        // Prevent divide too close to zero.
+        if (n > 0.000001f)
+            {
+            n = 1.0f / n;
+            x *= n;
+            y *= n;
+            z *= n;
+            }
+        }
+    
+    float c = std::cos(angle);
+    float s = std::sin(angle);
+    
+    float t = 1.0f - c;
+    float tx = t * x;
+    float ty = t * y;
+    float tz = t * z;
+    float txy = tx * y;
+    float txz = tx * z;
+    float tyz = ty * z;
+    float sx = s * x;
+    float sy = s * y;
+    float sz = s * z;
+    
+    dst->m[0] = c + tx*x;
+    dst->m[1] = txy + sz;
+    dst->m[2] = txz - sy;
+    dst->m[3] = 0.0f;
+    
+    dst->m[4] = txy - sz;
+    dst->m[5] = c + ty*y;
+    dst->m[6] = tyz + sx;
+    dst->m[7] = 0.0f;
+    
+    dst->m[8] = txz + sy;
+    dst->m[9] = tyz - sx;
+    dst->m[10] = c + tz*z;
+    dst->m[11] = 0.0f;
+    
+    dst->m[12] = 0.0f;
+    dst->m[13] = 0.0f;
+    dst->m[14] = 0.0f;
+    dst->m[15] = 1.0f;
+    }
+    
+    void Mat4::create_rotation_x(float angle, Mat4* dst)
+    {
+    memcpy(dst, &IDENTITY, MATRIX_SIZE);
+    
+    float c = std::cos(angle);
+    float s = std::sin(angle);
+    
+    dst->m[5]  = c;
+    dst->m[6]  = s;
+    dst->m[9]  = -s;
+    dst->m[10] = c;
+    }
+    
+    void Mat4::create_rotation_y(float angle, Mat4* dst)
+    {
+    memcpy(dst, &IDENTITY, MATRIX_SIZE);
+    
+    float c = std::cos(angle);
+    float s = std::sin(angle);
+    
+    dst->m[0]  = c;
+    dst->m[2]  = -s;
+    dst->m[8]  = s;
+    dst->m[10] = c;
+    }
+    
+    void Mat4::create_rotation_z(float angle, Mat4* dst)
+    {
+    memcpy(dst, &IDENTITY, MATRIX_SIZE);
+    
+    float c = std::cos(angle);
+    float s = std::sin(angle);
+    
+    dst->m[0] = c;
+    dst->m[1] = s;
+    dst->m[4] = -s;
+    dst->m[5] = c;
+    }
+    
+    void Mat4::create_translation(const Vec3& translation, Mat4* dst)
+    {
+    memcpy(dst, &IDENTITY, MATRIX_SIZE);
+    
+    dst->m[12] = translation.x;
+    dst->m[13] = translation.y;
+    dst->m[14] = translation.z;
+    }
+    
+    void Mat4::create_translation(float xTranslation, float yTranslation, float zTranslation, Mat4* dst)
+    {
+    memcpy(dst, &IDENTITY, MATRIX_SIZE);
+    
+    dst->m[12] = xTranslation;
+    dst->m[13] = yTranslation;
+    dst->m[14] = zTranslation;
+    }
+    
+    void Mat4::add(float scalar)
+    {
+    add(scalar, this);
+    }
+    
+    void Mat4::add(float scalar, Mat4* dst)
+    {
+    MathUtils::add_matrix(m, scalar, dst->m);
+    }
+    
+    void Mat4::add(const Mat4& mat)
+    {
+    add(*this, mat, this);
+    }
+    
+    void Mat4::add(const Mat4& m1, const Mat4& m2, Mat4* dst)
+    {
+    MathUtils::add_matrix(m1.m, m2.m, dst->m);
+    }
+    
+    float Mat4::determinant() const
+    {
+    float a0 = m[0] * m[5] - m[1] * m[4];
+    float a1 = m[0] * m[6] - m[2] * m[4];
+    float a2 = m[0] * m[7] - m[3] * m[4];
+    float a3 = m[1] * m[6] - m[2] * m[5];
+    float a4 = m[1] * m[7] - m[3] * m[5];
+    float a5 = m[2] * m[7] - m[3] * m[6];
+    float b0 = m[8] * m[13] - m[9] * m[12];
+    float b1 = m[8] * m[14] - m[10] * m[12];
+    float b2 = m[8] * m[15] - m[11] * m[12];
+    float b3 = m[9] * m[14] - m[10] * m[13];
+    float b4 = m[9] * m[15] - m[11] * m[13];
+    float b5 = m[10] * m[15] - m[11] * m[14];
+    
+    // Calculate the determinant.
+    return (a0 * b5 - a1 * b4 + a2 * b3 + a3 * b2 - a4 * b1 + a5 * b0);
+    }
+    
+    void Mat4::get_up_vector(Vec3* dst) const
+    {
+    dst->x = m[4];
+    dst->y = m[5];
+    dst->z = m[6];
+    }
+    
+    void Mat4::get_down_vector(Vec3* dst) const
+    {
+    dst->x = -m[4];
+    dst->y = -m[5];
+    dst->z = -m[6];
+    }
+    
+    void Mat4::get_left_vector(Vec3* dst) const
+    {
+    dst->x = -m[0];
+    dst->y = -m[1];
+    dst->z = -m[2];
+    }
+    
+    void Mat4::get_right_vector(Vec3* dst) const
+    {
+    dst->x = m[0];
+    dst->y = m[1];
+    dst->z = m[2];
+    }
+    
+    void Mat4::get_forward_vector(Vec3* dst) const
+    {
+    dst->x = -m[8];
+    dst->y = -m[9];
+    dst->z = -m[10];
+    }
+    
+    void Mat4::get_back_vector(Vec3* dst) const
+    {
+    dst->x = m[8];
+    dst->y = m[9];
+    dst->z = m[10];
+    }
+    
+    Mat4 Mat4::get_inversed() const
+    {
+    Mat4 mat(*this);
+    mat.inverse();
+    return mat;
+    }
+    
+    bool Mat4::inverse()
+    {
+    float a0 = m[0] * m[5] - m[1] * m[4];
+    float a1 = m[0] * m[6] - m[2] * m[4];
+    float a2 = m[0] * m[7] - m[3] * m[4];
+    float a3 = m[1] * m[6] - m[2] * m[5];
+    float a4 = m[1] * m[7] - m[3] * m[5];
+    float a5 = m[2] * m[7] - m[3] * m[6];
+    float b0 = m[8] * m[13] - m[9] * m[12];
+    float b1 = m[8] * m[14] - m[10] * m[12];
+    float b2 = m[8] * m[15] - m[11] * m[12];
+    float b3 = m[9] * m[14] - m[10] * m[13];
+    float b4 = m[9] * m[15] - m[11] * m[13];
+    float b5 = m[10] * m[15] - m[11] * m[14];
+    
+    // Calculate the determinant.
+    float det = a0 * b5 - a1 * b4 + a2 * b3 + a3 * b2 - a4 * b1 + a5 * b0;
+    
+    // Close to zero, can't invert.
+    if (std::abs(det) <= MATH_TOLERANCE)
+        return false;
+    
+    // Support the case where m == dst.
+    Mat4 inverse;
+    inverse.m[0]  = m[5] * b5 - m[6] * b4 + m[7] * b3;
+    inverse.m[1]  = -m[1] * b5 + m[2] * b4 - m[3] * b3;
+    inverse.m[2]  = m[13] * a5 - m[14] * a4 + m[15] * a3;
+    inverse.m[3]  = -m[9] * a5 + m[10] * a4 - m[11] * a3;
+    
+    inverse.m[4]  = -m[4] * b5 + m[6] * b2 - m[7] * b1;
+    inverse.m[5]  = m[0] * b5 - m[2] * b2 + m[3] * b1;
+    inverse.m[6]  = -m[12] * a5 + m[14] * a2 - m[15] * a1;
+    inverse.m[7]  = m[8] * a5 - m[10] * a2 + m[11] * a1;
+    
+    inverse.m[8]  = m[4] * b4 - m[5] * b2 + m[7] * b0;
+    inverse.m[9]  = -m[0] * b4 + m[1] * b2 - m[3] * b0;
+    inverse.m[10] = m[12] * a4 - m[13] * a2 + m[15] * a0;
+    inverse.m[11] = -m[8] * a4 + m[9] * a2 - m[11] * a0;
+    
+    inverse.m[12] = -m[4] * b3 + m[5] * b1 - m[6] * b0;
+    inverse.m[13] = m[0] * b3 - m[1] * b1 + m[2] * b0;
+    inverse.m[14] = -m[12] * a3 + m[13] * a1 - m[14] * a0;
+    inverse.m[15] = m[8] * a3 - m[9] * a1 + m[10] * a0;
+    
+    multiply(inverse, 1.0f / det, this);
+    
+    return true;
+    }
+    
+    bool Mat4::is_identity() const
+    {
+    return (memcmp(m, &IDENTITY, MATRIX_SIZE) == 0);
+    }
+    
+    void Mat4::multiply(float scalar)
+    {
+    multiply(scalar, this);
+    }
+    
+    void Mat4::multiply(float scalar, Mat4* dst) const
+    {
+    multiply(*this, scalar, dst);
+    }
+    
+    void Mat4::multiply(const Mat4& m, float scalar, Mat4* dst)
+    {
+    MathUtils::multiply_matrix(m.m, scalar, dst->m);
+    }
+    
+    void Mat4::multiply(const Mat4& mat)
+    {
+    multiply(*this, mat, this);
+    }
+    
+    void Mat4::multiply(const Mat4& m1, const Mat4& m2, Mat4* dst)
+    {
+    MathUtils::multiply_matrix(m1.m, m2.m, dst->m);
+    }
+    
+    void Mat4::negate()
+    {
+    MathUtils::negate_matrix(m, m);
+    }
+    
+    Mat4 Mat4::get_negated() const
+    {
+    Mat4 mat(*this);
+    mat.negate();
+    return mat;
+    }
+    
+    void Mat4::rotate(const Vec3& axis, float angle)
+    {
+    rotate(axis, angle, this);
+    }
+    
+    void Mat4::rotate(const Vec3& axis, float angle, Mat4* dst) const
+    {
+    Mat4 r;
+    create_rotation(axis, angle, &r);
+    multiply(*this, r, dst);
+    }
+    
+    void Mat4::rotate_x(float angle)
+    {
+    rotate_x(angle, this);
+    }
+    
+    void Mat4::rotate_x(float angle, Mat4* dst) const
+    {
+    Mat4 r;
+    create_rotation_x(angle, &r);
+    multiply(*this, r, dst);
+    }
+    
+    void Mat4::rotate_y(float angle)
+    {
+    rotate_y(angle, this);
+    }
+    
+    void Mat4::rotate_y(float angle, Mat4* dst) const
+    {
+    Mat4 r;
+    create_rotation_y(angle, &r);
+    multiply(*this, r, dst);
+    }
+    
+    void Mat4::rotate_z(float angle)
+    {
+    rotate_z(angle, this);
+    }
+    
+    void Mat4::rotate_z(float angle, Mat4* dst) const
+    {
+    Mat4 r;
+    create_rotation_z(angle, &r);
+    multiply(*this, r, dst);
+    }
+    
+    void Mat4::scale(float value)
+    {
+    scale(value, this);
+    }
+    
+    void Mat4::scale(float value, Mat4* dst) const
+    {
+    scale(value, value, value, dst);
+    }
+    
+    void Mat4::scale(float xScale, float yScale, float zScale)
+    {
+    scale(xScale, yScale, zScale, this);
+    }
+    
+    void Mat4::scale(float xScale, float yScale, float zScale, Mat4* dst) const
+    {
+    Mat4 s;
+    create_scale(xScale, yScale, zScale, &s);
+    multiply(*this, s, dst);
+    }
+    
+    void Mat4::scale(const Vec3& s)
+    {
+    scale(s.x, s.y, s.z, this);
+    }
+    
+    void Mat4::scale(const Vec3& s, Mat4* dst) const
+    {
+    scale(s.x, s.y, s.z, dst);
+    }
+    
+    void Mat4::set(float m11, float m12, float m13, float m14, float m21, float m22, float m23, float m24,
+                   float m31, float m32, float m33, float m34, float m41, float m42, float m43, float m44)
+    {
+    m[0]  = m11;
+    m[1]  = m21;
+    m[2]  = m31;
+    m[3]  = m41;
+    m[4]  = m12;
+    m[5]  = m22;
+    m[6]  = m32;
+    m[7]  = m42;
+    m[8]  = m13;
+    m[9]  = m23;
+    m[10] = m33;
+    m[11] = m43;
+    m[12] = m14;
+    m[13] = m24;
+    m[14] = m34;
+    m[15] = m44;
+    }
+    
+    void Mat4::set(const float* mat)
+    {
+    memcpy(this->m, mat, MATRIX_SIZE);
+    }
+    
+    void Mat4::set(const Mat4& mat)
+    {
+    memcpy(this->m, mat.m, MATRIX_SIZE);
+    }
+    
+    void Mat4::set_identity()
+    {
+    memcpy(m, &IDENTITY, MATRIX_SIZE);
+    }
+    
+    void Mat4::set_zero()
+    {
+    memset(m, 0, MATRIX_SIZE);
+    }
+    
+    void Mat4::subtract(const Mat4& mat)
+    {
+    subtract(*this, mat, this);
+    }
+    
+    void Mat4::subtract(const Mat4& m1, const Mat4& m2, Mat4* dst)
+    {
+    MathUtils::subtract_matrix(m1.m, m2.m, dst->m);
+    }
+    
+    void Mat4::transform_vector(Vec3* vector) const
+    {
+    transform_vector(vector->x, vector->y, vector->z, 0.0f, vector);
+    }
+    
+    void Mat4::transform_vector(const Vec3& vector, Vec3* dst) const
+    {
+    transform_vector(vector.x, vector.y, vector.z, 0.0f, dst);
+    }
+    
+    void Mat4::transform_vector(float x, float y, float z, float w, Vec3* dst) const
+    {
+    MathUtils::transform_vec4(m, x, y, z, w, (float*)dst);
+    }
+    
+    void Mat4::transform_vector(Vec4* vector) const
+    {
+    transform_vector(*vector, vector);
+    }
+    
+    void Mat4::transform_vector(const Vec4& vector, Vec4* dst) const
+    {
+    MathUtils::transform_vec4(m, (const float*) &vector, (float*)dst);
+    }
+    
+    void Mat4::translate(float x, float y, float z)
+    {
+    translate(x, y, z, this);
+    }
+    
+    void Mat4::translate(float x, float y, float z, Mat4* dst) const
+    {
+    Mat4 t;
+    create_translation(x, y, z, &t);
+    multiply(*this, t, dst);
+    }
+    
+    void Mat4::translate(const Vec3& t)
+    {
+    translate(t.x, t.y, t.z, this);
+    }
+    
+    void Mat4::translate(const Vec3& t, Mat4* dst) const
+    {
+    translate(t.x, t.y, t.z, dst);
+    }
+    
+    void Mat4::transpose()
+    {
+    MathUtils::transpose_matrix(m, m);
+    }
+    
+    Mat4 Mat4::get_transposed() const
+    {
+    Mat4 mat(*this);
+    mat.transpose();
+    return mat;
+    }
+    
+    const Mat4 Mat4::operator+(float scalar) const
+    {
+    Mat4 result(*this);
+    result.add(scalar);
+    return result;
+    }
+    
+    Mat4& Mat4::operator+=(float scalar)
+    {
+    add(scalar);
+    return *this;
+    }
+    
+    const Mat4 Mat4::operator-(float scalar) const
+    {
+    Mat4 result(*this);
+    result.add(-scalar);
+    return result;
+    }
+    
+    Mat4& Mat4::operator-=(float scalar)
+    {
+    add(-scalar);
+    return *this;
+    }
+    
+    const Mat4 Mat4::operator*(float scalar) const
+    {
+    Mat4 result(*this);
+    result.multiply(scalar);
+    return result;
+    }
+    
+    Mat4& Mat4::operator*=(float scalar)
+    {
+    multiply(scalar);
+    return *this;
+    }
+    
+    const Mat4 Mat4::IDENTITY = Mat4(1.0f, 0.0f, 0.0f, 0.0f,
+                                     0.0f, 1.0f, 0.0f, 0.0f,
+                                     0.0f, 0.0f, 1.0f, 0.0f,
+                                     0.0f, 0.0f, 0.0f, 1.0f);
+    
+    const Mat4 Mat4::ZERO = Mat4(0, 0, 0, 0,
+                                 0, 0, 0, 0,
+                                 0, 0, 0, 0,
+                                 0, 0, 0, 0 );
+    
+}

mediapipe/modules/render_queue/math/mat4.hpp

@@ -0,0 +1,816 @@
+//
+//  mat4.h
+//  OLARender
+//
+//  Created by Wang,Renzhu on 2018/11/20.
+//  Copyright © 2018年 Wang,Renzhu. All rights reserved.
+//
+
+#ifndef MAT4_H
+#define MAT4_H
+
+#include "vec3.hpp"
+#include "vec4.hpp"
+
+namespace OLARender {
+    
+class Mat4
+{
+public:
+    float m[16];
+    
+    /**
+     * Default constructor.
+     * Constructs a matrix initialized to the identity matrix:
+     *
+     *     1  0  0  0
+     *     0  1  0  0
+     *     0  0  1  0
+     *     0  0  0  1
+     */
+    Mat4();
+    
+    /**
+     * Constructs a matrix initialized to the specified value.
+     *
+     * @param m11 The first element of the first row.
+     * @param m12 The second element of the first row.
+     * @param m13 The third element of the first row.
+     * @param m14 The fourth element of the first row.
+     * @param m21 The first element of the second row.
+     * @param m22 The second element of the second row.
+     * @param m23 The third element of the second row.
+     * @param m24 The fourth element of the second row.
+     * @param m31 The first element of the third row.
+     * @param m32 The second element of the third row.
+     * @param m33 The third element of the third row.
+     * @param m34 The fourth element of the third row.
+     * @param m41 The first element of the fourth row.
+     * @param m42 The second element of the fourth row.
+     * @param m43 The third element of the fourth row.
+     * @param m44 The fourth element of the fourth row.
+     */
+    Mat4(float m11, float m12, float m13, float m14, float m21, float m22, float m23, float m24,
+         float m31, float m32, float m33, float m34, float m41, float m42, float m43, float m44);
+    
+    /**
+     * Creates a matrix initialized to the specified column-major array.
+     *
+     * The passed-in array is in column-major order, so the memory layout of the array is as follows:
+     *
+     *     0   4   8   12
+     *     1   5   9   13
+     *     2   6   10  14
+     *     3   7   11  15
+     *
+     * @param mat An array containing 16 elements in column-major order.
+     */
+    Mat4(const float* mat);
+    
+    /**
+     * Constructs a new matrix by copying the values from the specified matrix.
+     *
+     * @param copy The matrix to copy.
+     */
+    Mat4(const Mat4& copy);
+    
+    /**
+     * Creates a view matrix based on the specified input parameters.
+     *
+     * @param eyePosition The eye position.
+     * @param targetPosition The target's center position.
+     * @param up The up vector.
+     * @param dst A matrix to store the result in.
+     */
+    static void create_look_at(const Vec3& eyePosition, const Vec3& targetPosition, const Vec3& up, Mat4* dst);
+    
+    /**
+     * Creates a view matrix based on the specified input parameters.
+     *
+     * @param eyePositionX The eye x-coordinate position.
+     * @param eyePositionY The eye y-coordinate position.
+     * @param eyePositionZ The eye z-coordinate position.
+     * @param targetCenterX The target's center x-coordinate position.
+     * @param targetCenterY The target's center y-coordinate position.
+     * @param targetCenterZ The target's center z-coordinate position.
+     * @param upX The up vector x-coordinate value.
+     * @param upY The up vector y-coordinate value.
+     * @param upZ The up vector z-coordinate value.
+     * @param dst A matrix to store the result in.
+     */
+    static void create_look_at(float eyePositionX, float eyePositionY, float eyePositionZ,
+                               float targetCenterX, float targetCenterY, float targetCenterZ,
+                               float upX, float upY, float upZ, Mat4* dst);
+    
+    /**
+     * Builds a perspective projection matrix based on a field of view and returns by value.
+     *
+     * Projection space refers to the space after applying projection transformation from view space.
+     * After the projection transformation, visible content has x- and y-coordinates ranging from -1 to 1,
+     * and a z-coordinate ranging from 0 to 1. To obtain the viewable area (in world space) of a scene,
+     * create a BoundingFrustum and pass the combined view and projection matrix to the constructor.
+     *
+     * @param fieldOfView The field of view in the y direction (in degrees).
+     * @param aspectRatio The aspect ratio, defined as view space width divided by height.
+     * @param zNearPlane The distance to the near view plane.
+     * @param zFarPlane The distance to the far view plane.
+     * @param dst A matrix to store the result in.
+     */
+    static void create_perspective(float fieldOfView, float aspectRatio, float zNearPlane, float zFarPlane, Mat4* dst);
+    
+    /**
+     * Creates an orthographic projection matrix.
+     *
+     * @param width The width of the view.
+     * @param height The height of the view.
+     * @param zNearPlane The minimum z-value of the view volume.
+     * @param zFarPlane The maximum z-value of the view volume.
+     * @param dst A matrix to store the result in.
+     */
+    static void create_orthographic(float width, float height, float zNearPlane, float zFarPlane, Mat4* dst);
+    
+    /**
+     * Creates an orthographic projection matrix.
+     *
+     * Projection space refers to the space after applying
+     * projection transformation from view space. After the
+     * projection transformation, visible content has
+     * x and y coordinates ranging from -1 to 1, and z coordinates
+     * ranging from 0 to 1.
+     *
+     * Unlike perspective projection, in orthographic projection
+     * there is no perspective foreshortening.
+     *
+     * The viewable area of this orthographic projection extends
+     * from left to right on the x-axis, bottom to top on the y-axis,
+     * and zNearPlane to zFarPlane on the z-axis. These values are
+     * relative to the position and x, y, and z-axes of the view.
+     * To obtain the viewable area (in world space) of a scene,
+     * create a BoundingFrustum and pass the combined view and
+     * projection matrix to the constructor.
+     *
+     * @param left The minimum x-value of the view volume.
+     * @param right The maximum x-value of the view volume.
+     * @param bottom The minimum y-value of the view volume.
+     * @param top The maximum y-value of the view volume.
+     * @param zNearPlane The minimum z-value of the view volume.
+     * @param zFarPlane The maximum z-value of the view volume.
+     * @param dst A matrix to store the result in.
+     */
+    static void create_orthographic_off_center(float left, float right, float bottom, float top,
+                                               float zNearPlane, float zFarPlane, Mat4* dst);
+    
+    //Fills in an existing Mat4 so that it reflects the coordinate system about a specified Plane.
+    //plane The Plane about which to create a reflection.
+    //dst A matrix to store the result in.
+    //static void createReflection(const Plane& plane, Mat4* dst);
+    
+    /**
+     * Creates a scale matrix.
+     *
+     * @param scale The amount to scale.
+     * @param dst A matrix to store the result in.
+     */
+    static void create_scale(const Vec3& scale, Mat4* dst);
+    
+    /**
+     * Creates a scale matrix.
+     *
+     * @param xScale The amount to scale along the x-axis.
+     * @param yScale The amount to scale along the y-axis.
+     * @param zScale The amount to scale along the z-axis.
+     * @param dst A matrix to store the result in.
+     */
+    static void create_scale(float xScale, float yScale, float zScale, Mat4* dst);
+    
+    /**
+     * Creates a rotation matrix from the specified axis and angle.
+     *
+     * @param axis A vector describing the axis to rotate about.
+     * @param angle The angle (in radians).
+     * @param dst A matrix to store the result in.
+     */
+    static void create_rotation(const Vec3& axis, float angle, Mat4* dst);
+    
+    /**
+     * Creates a matrix describing a rotation around the x-axis.
+     *
+     * @param angle The angle of rotation (in radians).
+     * @param dst A matrix to store the result in.
+     */
+    static void create_rotation_x(float angle, Mat4* dst);
+    
+    /**
+     * Creates a matrix describing a rotation around the y-axis.
+     *
+     * @param angle The angle of rotation (in radians).
+     * @param dst A matrix to store the result in.
+     */
+    static void create_rotation_y(float angle, Mat4* dst);
+    
+    /**
+     * Creates a matrix describing a rotation around the z-axis.
+     *
+     * @param angle The angle of rotation (in radians).
+     * @param dst A matrix to store the result in.
+     */
+    static void create_rotation_z(float angle, Mat4* dst);
+    
+    /**
+     * Creates a translation matrix.
+     *
+     * @param translation The translation.
+     * @param dst A matrix to store the result in.
+     */
+    static void create_translation(const Vec3& translation, Mat4* dst);
+    
+    /**
+     * Creates a translation matrix.
+     *
+     * @param xTranslation The translation on the x-axis.
+     * @param yTranslation The translation on the y-axis.
+     * @param zTranslation The translation on the z-axis.
+     * @param dst A matrix to store the result in.
+     */
+    static void create_translation(float xTranslation, float yTranslation, float zTranslation, Mat4* dst);
+    
+    /**
+     * Adds a scalar value to each component of this matrix.
+     *
+     * @param scalar The scalar to add.
+     */
+    void add(float scalar);
+    
+    /**
+     * Adds a scalar value to each component of this matrix and stores the result in dst.
+     *
+     * @param scalar The scalar value to add.
+     * @param dst A matrix to store the result in.
+     */
+    void add(float scalar, Mat4* dst);
+    
+    /**
+     * Adds the specified matrix to this matrix.
+     *
+     * @param mat The matrix to add.
+     */
+    void add(const Mat4& mat);
+    
+    /**
+     * Adds the specified matrices and stores the result in dst.
+     *
+     * @param m1 The first matrix.
+     * @param m2 The second matrix.
+     * @param dst The destination matrix to add to.
+     */
+    static void add(const Mat4& m1, const Mat4& m2, Mat4* dst);
+    
+    /**
+     * Computes the determinant of this matrix.
+     *
+     * @return The determinant.
+     */
+    float determinant() const;
+    
+    /**
+     * Gets the up vector of this matrix.
+     *
+     * @param dst The destination vector.
+     */
+    void get_up_vector(Vec3* dst) const;
+    
+    /**
+     * Gets the down vector of this matrix.
+     *
+     * @param dst The destination vector.
+     */
+    void get_down_vector(Vec3* dst) const;
+    
+    /**
+     * Gets the left vector of this matrix.
+     *
+     * @param dst The destination vector.
+     */
+    void get_left_vector(Vec3* dst) const;
+    
+    /**
+     * Gets the right vector of this matrix.
+     *
+     * @param dst The destination vector.
+     */
+    void get_right_vector(Vec3* dst) const;
+    
+    /**
+     * Gets the forward vector of this matrix.
+     *
+     * @param dst The destination vector.
+     */
+    void get_forward_vector(Vec3* dst) const;
+    
+    /**
+     * Gets the backward vector of this matrix.
+     *
+     * @param dst The destination vector.
+     */
+    void get_back_vector(Vec3* dst) const;
+    
+    /**
+     * Inverts this matrix.
+     *
+     * @return true if the matrix can be inverted, false otherwise.
+     */
+    bool inverse();
+    
+    /**
+     * Get the inversed matrix.
+     */
+    Mat4 get_inversed() const;
+    
+    /**
+     * Determines if this matrix is equal to the identity matrix.
+     *
+     * @return true if the matrix is an identity matrix, false otherwise.
+     */
+    bool is_identity() const;
+    
+    /**
+     * Multiplies the components of this matrix by the specified scalar.
+     *
+     * @param scalar The scalar value.
+     */
+    void multiply(float scalar);
+    
+    /**
+     * Multiplies the components of this matrix by a scalar and stores the result in dst.
+     *
+     * @param scalar The scalar value.
+     * @param dst A matrix to store the result in.
+     */
+    void multiply(float scalar, Mat4* dst) const;
+    
+    /**
+     * Multiplies the components of the specified matrix by a scalar and stores the result in dst.
+     *
+     * @param mat The matrix.
+     * @param scalar The scalar value.
+     * @param dst A matrix to store the result in.
+     */
+    static void multiply(const Mat4& mat, float scalar, Mat4* dst);
+    
+    /**
+     * Multiplies this matrix by the specified one.
+     *
+     * @param mat The matrix to multiply.
+     */
+    void multiply(const Mat4& mat);
+    
+    /**
+     * Multiplies m1 by m2 and stores the result in dst.
+     *
+     * @param m1 The first matrix to multiply.
+     * @param m2 The second matrix to multiply.
+     * @param dst A matrix to store the result in.
+     */
+    static void multiply(const Mat4& m1, const Mat4& m2, Mat4* dst);
+    
+    /**
+     * Negates this matrix.
+     */
+    void negate();
+    
+    /**
+     Get the Negated matrix.
+     */
+    Mat4 get_negated() const;
+    
+    /**
+     * Post-multiplies this matrix by the matrix corresponding to the
+     * specified rotation about the specified axis.
+     *
+     * @param axis The axis to rotate about.
+     * @param angle The angle (in radians).
+     */
+    void rotate(const Vec3& axis, float angle);
+    
+    /**
+     * Post-multiplies this matrix by the matrix corresponding to the specified
+     * rotation about the specified axis and stores the result in dst.
+     *
+     * @param axis The axis to rotate about.
+     * @param angle The angle (in radians).
+     * @param dst A matrix to store the result in.
+     */
+    void rotate(const Vec3& axis, float angle, Mat4* dst) const;
+    
+    /**
+     * Post-multiplies this matrix by the matrix corresponding to the
+     * specified rotation around the x-axis.
+     *
+     * @param angle The angle (in radians).
+     */
+    void rotate_x(float angle);
+    
+    /**
+     * Post-multiplies this matrix by the matrix corresponding to the
+     * specified rotation around the x-axis and stores the result in dst.
+     *
+     * @param angle The angle (in radians).
+     * @param dst A matrix to store the result in.
+     */
+    void rotate_x(float angle, Mat4* dst) const;
+    
+    /**
+     * Post-multiplies this matrix by the matrix corresponding to the
+     * specified rotation around the y-axis.
+     *
+     * @param angle The angle (in radians).
+     */
+    void rotate_y(float angle);
+    
+    /**
+     * Post-multiplies this matrix by the matrix corresponding to the
+     * specified rotation around the y-axis and stores the result in dst.
+     *
+     * @param angle The angle (in radians).
+     * @param dst A matrix to store the result in.
+     */
+    void rotate_y(float angle, Mat4* dst) const;
+    
+    /**
+     * Post-multiplies this matrix by the matrix corresponding to the
+     * specified rotation around the z-axis.
+     *
+     * @param angle The angle (in radians).
+     */
+    void rotate_z(float angle);
+    
+    /**
+     * Post-multiplies this matrix by the matrix corresponding to the
+     * specified rotation around the z-axis and stores the result in dst.
+     *
+     * @param angle The angle (in radians).
+     * @param dst A matrix to store the result in.
+     */
+    void rotate_z(float angle, Mat4* dst) const;
+    
+    /**
+     * Post-multiplies this matrix by the matrix corresponding to the
+     * specified scale transformation.
+     *
+     * @param value The amount to scale along all axes.
+     */
+    void scale(float value);
+    
+    /**
+     * Post-multiplies this matrix by the matrix corresponding to the
+     * specified scale transformation and stores the result in dst.
+     *
+     * @param value The amount to scale along all axes.
+     * @param dst A matrix to store the result in.
+     */
+    void scale(float value, Mat4* dst) const;
+    
+    /**
+     * Post-multiplies this matrix by the matrix corresponding to the
+     * specified scale transformation.
+     *
+     * @param xScale The amount to scale along the x-axis.
+     * @param yScale The amount to scale along the y-axis.
+     * @param zScale The amount to scale along the z-axis.
+     */
+    void scale(float xScale, float yScale, float zScale);
+    
+    /**
+     * Post-multiplies this matrix by the matrix corresponding to the
+     * specified scale transformation and stores the result in dst.
+     *
+     * @param xScale The amount to scale along the x-axis.
+     * @param yScale The amount to scale along the y-axis.
+     * @param zScale The amount to scale along the z-axis.
+     * @param dst A matrix to store the result in.
+     */
+    void scale(float xScale, float yScale, float zScale, Mat4* dst) const;
+    
+    /**
+     * Post-multiplies this matrix by the matrix corresponding to the
+     * specified scale transformation.
+     *
+     * @param s The scale values along the x, y and z axes.
+     */
+    void scale(const Vec3& s);
+    
+    /**
+     * Post-multiplies this matrix by the matrix corresponding to the
+     * specified scale transformation and stores the result in dst.
+     *
+     * @param s The scale values along the x, y and z axes.
+     * @param dst A matrix to store the result in.
+     */
+    void scale(const Vec3& s, Mat4* dst) const;
+    
+    /**
+     * Sets the values of this matrix.
+     *
+     * @param m11 The first element of the first row.
+     * @param m12 The second element of the first row.
+     * @param m13 The third element of the first row.
+     * @param m14 The fourth element of the first row.
+     * @param m21 The first element of the second row.
+     * @param m22 The second element of the second row.
+     * @param m23 The third element of the second row.
+     * @param m24 The fourth element of the second row.
+     * @param m31 The first element of the third row.
+     * @param m32 The second element of the third row.
+     * @param m33 The third element of the third row.
+     * @param m34 The fourth element of the third row.
+     * @param m41 The first element of the fourth row.
+     * @param m42 The second element of the fourth row.
+     * @param m43 The third element of the fourth row.
+     * @param m44 The fourth element of the fourth row.
+     */
+    void set(float m11, float m12, float m13, float m14, float m21, float m22, float m23, float m24,
+             float m31, float m32, float m33, float m34, float m41, float m42, float m43, float m44);
+    
+    /**
+     * Sets the values of this matrix to those in the specified column-major array.
+     *
+     * @param mat An array containing 16 elements in column-major format.
+     */
+    void set(const float* mat);
+    
+    /**
+     * Sets the values of this matrix to those of the specified matrix.
+     *
+     * @param mat The source matrix.
+     */
+    void set(const Mat4& mat);
+    
+    /**
+     * Sets this matrix to the identity matrix.
+     */
+    void set_identity();
+    
+    /**
+     * Sets all elements of the current matrix to zero.
+     */
+    void set_zero();
+    
+    /**
+     * Subtracts the specified matrix from the current matrix.
+     *
+     * @param mat The matrix to subtract.
+     */
+    void subtract(const Mat4& mat);
+    
+    /**
+     * Subtracts the specified matrix from the current matrix.
+     *
+     * @param m1 The first matrix.
+     * @param m2 The second matrix.
+     * @param dst A matrix to store the result in.
+     */
+    static void subtract(const Mat4& m1, const Mat4& m2, Mat4* dst);
+    
+    /**
+     * Transforms the specified point by this matrix.
+     *
+     * The result of the transformation is stored directly into point.
+     *
+     * @param point The point to transform and also a vector to hold the result in.
+     */
+    inline void transform_point(Vec3* point) const {
+        transform_vector(point->x, point->y, point->z, 1.0f, point);
+    }
+    
+    /**
+     * Transforms the specified point by this matrix, and stores
+     * the result in dst.
+     *
+     * @param point The point to transform.
+     * @param dst A vector to store the transformed point in.
+     */
+    inline void transform_point(const Vec3& point, Vec3* dst) const {
+        transform_vector(point.x, point.y, point.z, 1.0f, dst);
+    }
+    
+    /**
+     * Transforms the specified vector by this matrix by
+     * treating the fourth (w) coordinate as zero.
+     *
+     * The result of the transformation is stored directly into vector.
+     *
+     * @param vector The vector to transform and also a vector to hold the result in.
+     */
+    void transform_vector(Vec3* vector) const;
+    
+    /**
+     * Transforms the specified vector by this matrix by
+     * treating the fourth (w) coordinate as zero, and stores the
+     * result in dst.
+     *
+     * @param vector The vector to transform.
+     * @param dst A vector to store the transformed vector in.
+     */
+    void transform_vector(const Vec3& vector, Vec3* dst) const;
+    
+    /**
+     * Transforms the specified vector by this matrix.
+     *
+     * @param x The vector x-coordinate to transform by.
+     * @param y The vector y-coordinate to transform by.
+     * @param z The vector z-coordinate to transform by.
+     * @param w The vector w-coordinate to transform by.
+     * @param dst A vector to store the transformed point in.
+     */
+    void transform_vector(float x, float y, float z, float w, Vec3* dst) const;
+    
+    /**
+     * Transforms the specified vector by this matrix.
+     *
+     * The result of the transformation is stored directly into vector.
+     *
+     * @param vector The vector to transform.
+     */
+    void transform_vector(Vec4* vector) const;
+    
+    /**
+     * Transforms the specified vector by this matrix.
+     *
+     * @param vector The vector to transform.
+     * @param dst A vector to store the transformed point in.
+     */
+    void transform_vector(const Vec4& vector, Vec4* dst) const;
+    
+    /**
+     * Post-multiplies this matrix by the matrix corresponding to the
+     * specified translation.
+     *
+     * @param x The amount to translate along the x-axis.
+     * @param y The amount to translate along the y-axis.
+     * @param z The amount to translate along the z-axis.
+     */
+    void translate(float x, float y, float z);
+    
+    /**
+     * Post-multiplies this matrix by the matrix corresponding to the
+     * specified translation and stores the result in dst.
+     *
+     * @param x The amount to translate along the x-axis.
+     * @param y The amount to translate along the y-axis.
+     * @param z The amount to translate along the z-axis.
+     * @param dst A matrix to store the result in.
+     */
+    void translate(float x, float y, float z, Mat4* dst) const;
+    
+    /**
+     * Post-multiplies this matrix by the matrix corresponding to the
+     * specified translation.
+     *
+     * @param t The translation values along the x, y and z axes.
+     */
+    void translate(const Vec3& t);
+    
+    /**
+     * Post-multiplies this matrix by the matrix corresponding to the
+     * specified translation and stores the result in dst.
+     *
+     * @param t The translation values along the x, y and z axes.
+     * @param dst A matrix to store the result in.
+     */
+    void translate(const Vec3& t, Mat4* dst) const;
+    
+    /**
+     * Transposes this matrix.
+     */
+    void transpose();
+    
+    /**
+     * Get the Transposed matrix.
+     */
+    Mat4 get_transposed() const;
+    
+    /**
+     * Calculates the sum of this matrix with the given matrix.
+     *
+     * Note: this does not modify this matrix.
+     *
+     * @param mat The matrix to add.
+     * @return The matrix sum.
+     */
+    inline Mat4 operator+(const Mat4& mat) const;
+    
+    /**
+     * Adds the given matrix to this matrix.
+     *
+     * @param mat The matrix to add.
+     * @return This matrix, after the addition occurs.
+     */
+    inline Mat4& operator+=(const Mat4& mat);
+    
+    /**
+     * Calculates the difference of this matrix with the given matrix.
+     *
+     * Note: this does not modify this matrix.
+     *
+     * @param mat The matrix to subtract.
+     * @return The matrix difference.
+     */
+    inline Mat4 operator-(const Mat4& mat) const;
+    
+    /**
+     * Subtracts the given matrix from this matrix.
+     *
+     * @param mat The matrix to subtract.
+     * @return This matrix, after the subtraction occurs.
+     */
+    inline Mat4& operator-=(const Mat4& mat);
+    
+    /**
+     * Calculates the negation of this matrix.
+     *
+     * Note: this does not modify this matrix.
+     *
+     * @return The negation of this matrix.
+     */
+    inline Mat4 operator-() const;
+    
+    /**
+     * Calculates the matrix product of this matrix with the given matrix.
+     *
+     * Note: this does not modify this matrix.
+     *
+     * @param mat The matrix to multiply by.
+     * @return The matrix product.
+     */
+    inline Mat4 operator*(const Mat4& mat) const;
+    
+    /**
+     * Right-multiplies this matrix by the given matrix.
+     *
+     * @param mat The matrix to multiply by.
+     * @return This matrix, after the multiplication occurs.
+     */
+    inline Mat4& operator*=(const Mat4& mat);
+    
+    const Mat4 operator+(float scalar) const;
+    Mat4& operator+=(float scalar);
+    const Mat4 operator-(float scalar) const;
+    Mat4& operator-=(float scalar);
+    const Mat4 operator*(float scalar) const;
+    Mat4& operator*=(float scalar);
+    
+    /** equals to a matrix full of zeros */
+    static const Mat4 ZERO;
+    /** equals to the identity matrix */
+    static const Mat4 IDENTITY;
+};
+
+/**
+ * Transforms the given vector by the given matrix.
+ *
+ * Note: this treats the given vector as a vector and not as a point.
+ *
+ * @param v The vector to transform.
+ * @param m The matrix to transform by.
+ * @return This vector, after the transformation occurs.
+ */
+inline Vec3& operator*=(Vec3& v, const Mat4& m);
+
+/**
+ * Transforms the given vector by the given matrix.
+ *
+ * Note: this treats the given vector as a vector and not as a point.
+ *
+ * @param m The matrix to transform by.
+ * @param v The vector to transform.
+ * @return The resulting transformed vector.
+ */
+inline Vec3 operator*(const Mat4& m, const Vec3& v);
+
+/**
+ * Transforms the given vector by the given matrix.
+ *
+ * Note: this treats the given vector as a vector and not as a point.
+ *
+ * @param v The vector to transform.
+ * @param m The matrix to transform by.
+ * @return This vector, after the transformation occurs.
+ */
+inline Vec4& operator*=(Vec4& v, const Mat4& m);
+
+/**
+ * Transforms the given vector by the given matrix.
+ *
+ * Note: this treats the given vector as a vector and not as a point.
+ *
+ * @param m The matrix to transform by.
+ * @param v The vector to transform.
+ * @return The resulting transformed vector.
+ */
+inline Vec4 operator*(const Mat4& m, const Vec4& v);
+
+}
+
+#include "mat4.inl"
+
+#endif /* MAT4_H */

mediapipe/modules/render_queue/math/mat4.inl

@@ -0,0 +1,85 @@
+//
+//  mat4.inl
+//  BdiEngine
+//
+//  Created by Wang,Renzhu on 2018/11/20.
+//  Copyright © 2018年 Wang,Renzhu. All rights reserved.
+//
+
+#include "mat4.hpp"
+
+namespace OLARender {
+    
+    inline Mat4 Mat4::operator+(const Mat4& mat) const
+    {
+    Mat4 result(*this);
+    result.add(mat);
+    return result;
+    }
+    
+    inline Mat4& Mat4::operator+=(const Mat4& mat)
+    {
+    add(mat);
+    return *this;
+    }
+    
+    inline Mat4 Mat4::operator-(const Mat4& mat) const
+    {
+    Mat4 result(*this);
+    result.subtract(mat);
+    return result;
+    }
+    
+    inline Mat4& Mat4::operator-=(const Mat4& mat)
+    {
+    subtract(mat);
+    return *this;
+    }
+    
+    inline Mat4 Mat4::operator-() const
+    {
+    Mat4 mat(*this);
+    mat.negate();
+    return mat;
+    }
+    
+    inline Mat4 Mat4::operator*(const Mat4& mat) const
+    {
+    Mat4 result(*this);
+    result.multiply(mat);
+    return result;
+    }
+    
+    inline Mat4& Mat4::operator*=(const Mat4& mat)
+    {
+    multiply(mat);
+    return *this;
+    }
+    
+    inline Vec3& operator*=(Vec3& v, const Mat4& m)
+    {
+    m.transform_vector(&v);
+    return v;
+    }
+    
+    inline Vec3 operator*(const Mat4& m, const Vec3& v)
+    {
+    Vec3 x;
+    m.transform_vector(v, &x);
+    return x;
+    }
+    
+    inline Vec4& operator*=(Vec4& v, const Mat4& m)
+    {
+    m.transform_vector(&v);
+    return v;
+    }
+    
+    inline Vec4 operator*(const Mat4& m, const Vec4& v)
+    {
+    Vec4 x;
+    m.transform_vector(v, &x);
+    return x;
+    }
+    
+}

mediapipe/modules/render_queue/math/math_utils.cpp

@@ -0,0 +1,136 @@
+//
+//  math_utils.cpp
+//  OLARender
+//
+//  Created by Wang,Renzhu on 2018/11/20.
+//  Copyright © 2018年 Wang,Renzhu. All rights reserved.
+//
+
+#if defined(__APPLE__)
+#include "math_utils.hpp"
+#else
+#include "math_utils.hpp"
+#endif
+#include <cstring>
+
+namespace OLARender {
+    
+    static const int MATRIX_SIZE = (sizeof(float) * 16);
+    
+    void MathUtils::add_matrix(const float* m, float scalar, float* dst) {
+        for (int i = 0; i < 16; ++i) {
+            dst[i] = m[i] + scalar;
+        }
+    }
+    
+    void MathUtils::add_matrix(const float* m1, const float* m2, float* dst) {
+        for (int i = 0; i < 16; ++i) {
+            dst[i] = m1[i] + m2[i];
+        }
+    }
+    
+    void MathUtils::subtract_matrix(const float* m1, const float* m2, float* dst) {
+        for (int i = 0; i < 16; ++i) {
+            dst[i] = m1[i] - m2[i];
+        }
+    }
+    
+    void MathUtils::multiply_matrix(const float* m, float scalar, float* dst) {
+        for (int i = 0; i < 16; ++i) {
+            dst[i] = m[i] * scalar;
+        }
+    }
+    
+    void MathUtils::multiply_matrix(const float* m1, const float* m2, float* dst) {
+        // Support the case where m1 or m2 is the same array as dst.
+        float product[16];
+        
+        product[0]  = m1[0] * m2[0]  + m1[4] * m2[1] + m1[8]   * m2[2]  + m1[12] * m2[3];
+        product[1]  = m1[1] * m2[0]  + m1[5] * m2[1] + m1[9]   * m2[2]  + m1[13] * m2[3];
+        product[2]  = m1[2] * m2[0]  + m1[6] * m2[1] + m1[10]  * m2[2]  + m1[14] * m2[3];
+        product[3]  = m1[3] * m2[0]  + m1[7] * m2[1] + m1[11]  * m2[2]  + m1[15] * m2[3];
+        
+        product[4]  = m1[0] * m2[4]  + m1[4] * m2[5] + m1[8]   * m2[6]  + m1[12] * m2[7];
+        product[5]  = m1[1] * m2[4]  + m1[5] * m2[5] + m1[9]   * m2[6]  + m1[13] * m2[7];
+        product[6]  = m1[2] * m2[4]  + m1[6] * m2[5] + m1[10]  * m2[6]  + m1[14] * m2[7];
+        product[7]  = m1[3] * m2[4]  + m1[7] * m2[5] + m1[11]  * m2[6]  + m1[15] * m2[7];
+        
+        product[8]  = m1[0] * m2[8]  + m1[4] * m2[9] + m1[8]   * m2[10] + m1[12] * m2[11];
+        product[9]  = m1[1] * m2[8]  + m1[5] * m2[9] + m1[9]   * m2[10] + m1[13] * m2[11];
+        product[10] = m1[2] * m2[8]  + m1[6] * m2[9] + m1[10]  * m2[10] + m1[14] * m2[11];
+        product[11] = m1[3] * m2[8]  + m1[7] * m2[9] + m1[11]  * m2[10] + m1[15] * m2[11];
+        
+        product[12] = m1[0] * m2[12] + m1[4] * m2[13] + m1[8]  * m2[14] + m1[12] * m2[15];
+        product[13] = m1[1] * m2[12] + m1[5] * m2[13] + m1[9]  * m2[14] + m1[13] * m2[15];
+        product[14] = m1[2] * m2[12] + m1[6] * m2[13] + m1[10] * m2[14] + m1[14] * m2[15];
+        product[15] = m1[3] * m2[12] + m1[7] * m2[13] + m1[11] * m2[14] + m1[15] * m2[15];
+        
+        memcpy(dst, product, MATRIX_SIZE);
+    }
+    
+    void MathUtils::negate_matrix(const float* m, float* dst) {
+        for (int i = 0; i < 16; ++i) {
+            dst[i] = -m[i];
+        }
+    }
+    
+    void MathUtils::transpose_matrix(const float* m, float* dst) {
+        float t[16] = {
+            m[0], m[4], m[8], m[12],
+            m[1], m[5], m[9], m[13],
+            m[2], m[6], m[10], m[14],
+            m[3], m[7], m[11], m[15]
+        };
+        memcpy(dst, t, MATRIX_SIZE);
+    }
+    
+    void MathUtils::transform_vec4(const float* m, float x, float y, float z, float w, float* dst) {
+        dst[0] = x * m[0] + y * m[4] + z * m[8] + w * m[12];
+        dst[1] = x * m[1] + y * m[5] + z * m[9] + w * m[13];
+        dst[2] = x * m[2] + y * m[6] + z * m[10] + w * m[14];
+    }
+    
+    void MathUtils::transform_vec4(const float* m, const float* v, float* dst) {
+        // Handle case where v == dst.
+        float x = v[0] * m[0] + v[1] * m[4] + v[2] * m[8] + v[3] * m[12];
+        float y = v[0] * m[1] + v[1] * m[5] + v[2] * m[9] + v[3] * m[13];
+        float z = v[0] * m[2] + v[1] * m[6] + v[2] * m[10] + v[3] * m[14];
+        float w = v[0] * m[3] + v[1] * m[7] + v[2] * m[11] + v[3] * m[15];
+        
+        dst[0] = x;
+        dst[1] = y;
+        dst[2] = z;
+        dst[3] = w;
+    }
+    
+    void MathUtils::cross_vec3(const float* v1, const float* v2, float* dst) {
+        float x = (v1[1] * v2[2]) - (v1[2] * v2[1]);
+        float y = (v1[2] * v2[0]) - (v1[0] * v2[2]);
+        float z = (v1[0] * v2[1]) - (v1[1] * v2[0]);
+        
+        dst[0] = x;
+        dst[1] = y;
+        dst[2] = z;
+    }
+    
+    void MathUtils::smooth(float* x, float target, float elapsedTime, float responseTime)
+    {
+    if (elapsedTime > 0) {
+        *x += (target - *x) * elapsedTime / (elapsedTime + responseTime);
+    }
+    }
+    
+    void MathUtils::smooth(float* x, float target, float elapsedTime, float riseTime, float fallTime)
+    {
+    if (elapsedTime > 0) {
+        float delta = target - *x;
+        *x += delta * elapsedTime / (elapsedTime + (delta > 0 ? riseTime : fallTime));
+    }
+    }
+    
+    float MathUtils::lerp(float from, float to, float alpha)
+    {
+    return from * (1.0f - alpha) + to * alpha;
+    }
+    
+}

mediapipe/modules/render_queue/math/math_utils.hpp

@@ -0,0 +1,99 @@
+//
+//  math_utils.h
+//  OLARender
+//
+//  Created by Wang,Renzhu on 2018/11/20.
+//  Copyright © 2018年 Wang,Renzhu. All rights reserved.
+//
+
+#ifndef DI_ENGINE_MATH_UTILS_H
+#define DI_ENGINE_MATH_UTILS_H
+
+#include "mat4.hpp"
+#include "vec2.hpp"
+#include "vec3.hpp"
+#include "vec4.hpp"
+#include <cstring>
+
+#define MATH_DEG_TO_RAD(x)          ((x) * 0.0174532925f)
+#define MATH_RAD_TO_DEG(x)          ((x)* 57.29577951f)
+
+#define MATH_FLOAT_SMALL            1.0e-37f
+#define MATH_TOLERANCE              2e-37f
+#define MATH_PIOVER2                1.57079632679489661923f
+#define MATH_EPSILON                0.000001f
+
+#define MATH_FLOAT_EQUAL(src, dst)  (((src) >= (dst) - MATH_EPSILON) && ((src) <= (dst) + MATH_EPSILON))
+
+
+namespace OLARender {
+    
+    class MathUtils
+    {
+    public:
+    static void add_matrix(const float* m, float scalar, float* dst);
+    
+    static void add_matrix(const float* m1, const float* m2, float* dst);
+    
+    static void subtract_matrix(const float* m1, const float* m2, float* dst);
+    
+    static void multiply_matrix(const float* m, float scalar, float* dst);
+    
+    static void multiply_matrix(const float* m1, const float* m2, float* dst);
+    
+    static void negate_matrix(const float* m, float* dst);
+    
+    static void transpose_matrix(const float* m, float* dst);
+    
+    static void transform_vec4(const float* m, float x, float y, float z, float w, float* dst);
+    
+    static void transform_vec4(const float* m, const float* v, float* dst);
+    
+    static void cross_vec3(const float* v1, const float* v2, float* dst);
+    
+    public:
+    /**
+     * Updates the given scalar towards the given target using a smoothing function.
+     * The given response time determines the amount of smoothing (lag). A longer
+     * response time yields a smoother result and more lag. To force the scalar to
+     * follow the target closely, provide a response time that is very small relative
+     * to the given elapsed time.
+     *
+     * @param x the scalar to update.
+     * @param target target value.
+     * @param elapsedTime elapsed time between calls.
+     * @param responseTime response time (in the same units as elapsedTime).
+     */
+    static void smooth(float* x, float target, float elapsedTime, float responseTime);
+    
+    /**
+     * Updates the given scalar towards the given target using a smoothing function.
+     * The given rise and fall times determine the amount of smoothing (lag). Longer
+     * rise and fall times yield a smoother result and more lag. To force the scalar to
+     * follow the target closely, provide rise and fall times that are very small relative
+     * to the given elapsed time.
+     *
+     * @param x the scalar to update.
+     * @param target target value.
+     * @param elapsedTime elapsed time between calls.
+     * @param riseTime response time for rising slope (in the same units as elapsedTime).
+     * @param fallTime response time for falling slope (in the same units as elapsedTime).
+     */
+    static void smooth(float* x, float target, float elapsedTime, float riseTime, float fallTime);
+    
+    /**
+     * Linearly interpolates between from value to to value by alpha which is in
+     * the range [0,1]
+     *
+     * @param from the from value.
+     * @param to the to value.
+     * @param alpha the alpha value between [0,1]
+     *
+     * @return interpolated float value
+     */
+    static float lerp(float from, float to, float alpha);
+    };
+    
+}
+
+#endif /* DI_ENGINE_MATH_UTILS_H */

mediapipe/modules/render_queue/math/vec2.cpp

@@ -0,0 +1,179 @@
+//
+//  vec2.cpp
+//  OLARender
+//
+//  Created by Wang,Renzhu on 2018/11/20.
+//  Copyright © 2018年 Wang,Renzhu. All rights reserved.
+//
+
+#if defined(__APPLE__)
+#include "vec2.hpp"
+#include "math_utils.hpp"
+#else
+#include "vec2.hpp"
+#include "math_utils.hpp"
+#endif
+namespace OLARender {
+    
+    float Vec2::angle(const Vec2& v1, const Vec2& v2)
+    {
+    float dz = v1.x * v2.y - v1.y * v2.x;
+    return atan2f(fabsf(dz) + MATH_FLOAT_SMALL, dot(v1, v2));
+    }
+    
+    void Vec2::add(const Vec2& v1, const Vec2& v2, Vec2* dst)
+    {
+    if (dst) {
+        dst->x = v1.x + v2.x;
+        dst->y = v1.y + v2.y;
+    }
+    }
+    
+    void Vec2::clamp(const Vec2& min, const Vec2& max)
+    {
+    // Clamp the x value.
+    if (x < min.x)
+        x = min.x;
+    if (x > max.x)
+        x = max.x;
+    
+    // Clamp the y value.
+    if (y < min.y)
+        y = min.y;
+    if (y > max.y)
+        y = max.y;
+    }
+    
+    void Vec2::clamp(const Vec2& v, const Vec2& min, const Vec2& max, Vec2* dst)
+    {
+    if (dst) {
+        // Clamp the x value.
+        dst->x = v.x;
+        if (dst->x < min.x)
+            dst->x = min.x;
+        if (dst->x > max.x)
+            dst->x = max.x;
+        
+        // Clamp the y value.
+        dst->y = v.y;
+        if (dst->y < min.y)
+            dst->y = min.y;
+        if (dst->y > max.y)
+            dst->y = max.y;
+    }
+    }
+    
+    float Vec2::distance(const Vec2& v) const
+    {
+    float dx = v.x - x;
+    float dy = v.y - y;
+    
+    return std::sqrt(dx * dx + dy * dy);
+    }
+    
+    float Vec2::dot(const Vec2& v1, const Vec2& v2)
+    {
+    return (v1.x * v2.x + v1.y * v2.y);
+    }
+    
+    float Vec2::length() const
+    {
+    return std::sqrt(x * x + y * y);
+    }
+    
+    void Vec2::normalize()
+    {
+    float n = x * x + y * y;
+    // Already normalized.
+    if (n == 1.0f)
+        return;
+    
+    n = std::sqrt(n);
+    // Too close to zero.
+    if (n < MATH_TOLERANCE)
+        return;
+    
+    n = 1.0f / n;
+    x *= n;
+    y *= n;
+    }
+    
+    Vec2 Vec2::get_normalized() const
+    {
+    Vec2 v(*this);
+    v.normalize();
+    return v;
+    }
+    
+    void Vec2::rotate(const Vec2& point, float angle)
+    {
+    float sinAngle = std::sin(angle);
+    float cosAngle = std::cos(angle);
+    
+    if (point.is_zero())
+        {
+        float tempX = x * cosAngle - y * sinAngle;
+        y = y * cosAngle + x * sinAngle;
+        x = tempX;
+        }
+    else
+        {
+        float tempX = x - point.x;
+        float tempY = y - point.y;
+        
+        x = tempX * cosAngle - tempY * sinAngle + point.x;
+        y = tempY * cosAngle + tempX * sinAngle + point.y;
+        }
+    }
+    
+    void Vec2::set(const float* array)
+    {
+    if (array) {
+        x = array[0];
+        y = array[1];
+    }
+    }
+    
+    void Vec2::subtract(const Vec2& v1, const Vec2& v2, Vec2* dst)
+    {
+    if (dst) {
+        dst->x = v1.x - v2.x;
+        dst->y = v1.y - v2.y;
+    }
+    }
+    
+    bool Vec2::equals(const Vec2& target) const
+    {
+    return (std::abs(this->x - target.x) < MATH_EPSILON)
+    && (std::abs(this->y - target.y) < MATH_EPSILON);
+    }
+    
+    float Vec2::get_angle(const Vec2& other) const
+    {
+    Vec2 a2 = get_normalized();
+    Vec2 b2 = other.get_normalized();
+    float angle = atan2f(a2.cross(b2), a2.dot(b2));
+    if (std::abs(angle) < MATH_EPSILON) return 0.f;
+    return angle;
+    }
+    
+    Vec2 Vec2::rotate_by_angle(const Vec2& pivot, float angle) const
+    {
+    return pivot + (*this - pivot).rotate(Vec2::for_angle(angle));
+    }
+    
+    const Vec2 Vec2::ZERO(0.0f, 0.0f);
+    const Vec2 Vec2::ONE(1.0f, 1.0f);
+    const Vec2 Vec2::UNIT_X(1.0f, 0.0f);
+    const Vec2 Vec2::UNIT_Y(0.0f, 1.0f);
+    const Vec2 Vec2::ANCHOR_MIDDLE(0.5f, 0.5f);
+    const Vec2 Vec2::ANCHOR_BOTTOM_LEFT(0.0f, 0.0f);
+    const Vec2 Vec2::ANCHOR_TOP_LEFT(0.0f, 1.0f);
+    const Vec2 Vec2::ANCHOR_BOTTOM_RIGHT(1.0f, 0.0f);
+    const Vec2 Vec2::ANCHOR_TOP_RIGHT(1.0f, 1.0f);
+    const Vec2 Vec2::ANCHOR_MIDDLE_RIGHT(1.0f, 0.5f);
+    const Vec2 Vec2::ANCHOR_MIDDLE_LEFT(0.0f, 0.5f);
+    const Vec2 Vec2::ANCHOR_MIDDLE_TOP(0.5f, 1.0f);
+    const Vec2 Vec2::ANCHOR_MIDDLE_BOTTOM(0.5f, 0.0f);
+    
+}

mediapipe/modules/render_queue/math/vec2.hpp

@@ -0,0 +1,615 @@
+//
+//  vec2.h
+//  OLARender
+//
+//  Created by Wang,Renzhu on 2018/11/20.
+//  Copyright © 2018年 Wang,Renzhu. All rights reserved.
+//
+
+#ifndef VEC2_H
+#define VEC2_H
+
+#include <algorithm>
+#include <cmath>
+
+namespace OLARender {
+    
+    inline float clampf(float value, float min_inclusive, float max_inclusive) {
+        if (min_inclusive > max_inclusive) {
+            std::swap(min_inclusive, max_inclusive);
+        }
+        return value < min_inclusive ? min_inclusive : value < max_inclusive ? value : max_inclusive;
+    }
+    
+    /**
+     * Defines a 2-element floating point vector.
+     */
+    class Vec2
+    {
+    public:
+    float x;
+    float y;
+    
+    /**
+     * Constructs a new vector initialized to all zeros.
+     */
+    Vec2();
+    
+    /**
+     * Constructs a new vector initialized to the specified values.
+     *
+     * @param xx The x coordinate.
+     * @param yy The y coordinate.
+     */
+    Vec2(float xx, float yy);
+    
+    /**
+     * Constructs a new vector from the values in the specified array.
+     *
+     * @param array An array containing the elements of the vector in the order x, y.
+     */
+    Vec2(const float* array);
+    
+    /**
+     * Constructs a vector that describes the direction between the specified points.
+     *
+     * @param p1 The first point.
+     * @param p2 The second point.
+     */
+    Vec2(const Vec2& p1, const Vec2& p2);
+    
+    /**
+     * Constructs a new vector that is a copy of the specified vector.
+     *
+     * @param copy The vector to copy.
+     */
+    Vec2(const Vec2& copy);
+    
+    /**
+     * Indicates whether this vector contains all zeros.
+     *
+     * @return true if this vector contains all zeros, false otherwise.
+     */
+    inline bool is_zero() const;
+    
+    /**
+     * Indicates whether this vector contains all ones.
+     *
+     * @return true if this vector contains all ones, false otherwise.
+     */
+    inline bool is_one() const;
+    
+    /**
+     * Returns the angle (in radians) between the specified vectors.
+     *
+     * @param v1 The first vector.
+     * @param v2 The second vector.
+     *
+     * @return The angle between the two vectors (in radians).
+     */
+    static float angle(const Vec2& v1, const Vec2& v2);
+    
+    /**
+     * Adds the elements of the specified vector to this one.
+     *
+     * @param v The vector to add.
+     */
+    inline void add(const Vec2& v);
+    
+    /**
+     * Adds the specified vectors and stores the result in dst.
+     *
+     * @param v1 The first vector.
+     * @param v2 The second vector.
+     * @param dst A vector to store the result in.
+     */
+    static void add(const Vec2& v1, const Vec2& v2, Vec2* dst);
+    
+    /**
+     * Clamps this vector within the specified range.
+     *
+     * @param min The minimum value.
+     * @param max The maximum value.
+     */
+    void clamp(const Vec2& min, const Vec2& max);
+    
+    /**
+     * Clamps the specified vector within the specified range and returns it in dst.
+     *
+     * @param v The vector to clamp.
+     * @param min The minimum value.
+     * @param max The maximum value.
+     * @param dst A vector to store the result in.
+     */
+    static void clamp(const Vec2& v, const Vec2& min, const Vec2& max, Vec2* dst);
+    
+    /**
+     * Returns the distance between this vector and v.
+     *
+     * @param v The other vector.
+     *
+     * @return The distance between this vector and v.
+     *
+     * @see distanceSquared
+     */
+    float distance(const Vec2& v) const;
+    
+    /**
+     * Returns the squared distance between this vector and v.
+     *
+     * When it is not necessary to get the exact distance between
+     * two vectors (for example, when simply comparing the
+     * distance between different vectors), it is advised to use
+     * this method instead of distance.
+     *
+     * @param v The other vector.
+     *
+     * @return The squared distance between this vector and v.
+     *
+     * @see distance
+     */
+    inline float distance_squared(const Vec2& v) const;
+    
+    /**
+     * Returns the dot product of this vector and the specified vector.
+     *
+     * @param v The vector to compute the dot product with.
+     *
+     * @return The dot product.
+     */
+    inline float dot(const Vec2& v) const;
+    
+    /**
+     * Returns the dot product between the specified vectors.
+     *
+     * @param v1 The first vector.
+     * @param v2 The second vector.
+     *
+     * @return The dot product between the vectors.
+     */
+    static float dot(const Vec2& v1, const Vec2& v2);
+    
+    /**
+     * Computes the length of this vector.
+     *
+     * @return The length of the vector.
+     *
+     * @see lengthSquared
+     */
+    float length() const;
+    
+    /**
+     * Returns the squared length of this vector.
+     *
+     * When it is not necessary to get the exact length of a
+     * vector (for example, when simply comparing the lengths of
+     * different vectors), it is advised to use this method
+     * instead of length.
+     *
+     * @return The squared length of the vector.
+     *
+     * @see length
+     */
+    inline float length_squared() const;
+    
+    /**
+     * Negates this vector.
+     */
+    inline void negate();
+    
+    /**
+     * Normalizes this vector.
+     *
+     * This method normalizes this Vec2 so that it is of
+     * unit length (in other words, the length of the vector
+     * after calling this method will be 1.0f). If the vector
+     * already has unit length or if the length of the vector
+     * is zero, this method does nothing.
+     */
+    void normalize();
+    
+    /**
+     Get the normalized vector.
+     */
+    Vec2 get_normalized() const;
+    
+    /**
+     * Scales all elements of this vector by the specified value.
+     *
+     * @param scalar The scalar value.
+     */
+    inline void scale(float scalar);
+    
+    /**
+     * Scales each element of this vector by the matching component of scale.
+     *
+     * @param scale The vector to scale by.
+     */
+    inline void scale(const Vec2& scale);
+    
+    /**
+     * Rotates this vector by angle (specified in radians) around the given point.
+     *
+     * @param point The point to rotate around.
+     * @param angle The angle to rotate by (in radians).
+     */
+    void rotate(const Vec2& point, float angle);
+    
+    /**
+     * Sets the elements of this vector to the specified values.
+     *
+     * @param xx The new x coordinate.
+     * @param yy The new y coordinate.
+     */
+    inline void set(float xx, float yy);
+    
+    /**
+     * Sets the elements of this vector from the values in the specified array.
+     *
+     * @param array An array containing the elements of the vector in the order x, y.
+     */
+    void set(const float* array);
+    
+    /**
+     * Sets the elements of this vector to those in the specified vector.
+     *
+     * @param v The vector to copy.
+     */
+    inline void set(const Vec2& v);
+    
+    /**
+     * Sets this vector to the directional vector between the specified points.
+     *
+     * @param p1 The first point.
+     * @param p2 The second point.
+     */
+    inline void set(const Vec2& p1, const Vec2& p2);
+    
+    /**
+     * Sets the elements of this vector to zero.
+     */
+    inline void set_zero();
+    
+    /**
+     * Subtracts this vector and the specified vector as (this - v)
+     * and stores the result in this vector.
+     *
+     * @param v The vector to subtract.
+     */
+    inline void subtract(const Vec2& v);
+    
+    /**
+     * Subtracts the specified vectors and stores the result in dst.
+     * The resulting vector is computed as (v1 - v2).
+     *
+     * @param v1 The first vector.
+     * @param v2 The second vector.
+     * @param dst The destination vector.
+     */
+    static void subtract(const Vec2& v1, const Vec2& v2, Vec2* dst);
+    
+    /**
+     * Updates this vector towards the given target using a smoothing function.
+     * The given response time determines the amount of smoothing (lag). A longer
+     * response time yields a smoother result and more lag. To force this vector to
+     * follow the target closely, provide a response time that is very small relative
+     * to the given elapsed time.
+     *
+     * @param target target value.
+     * @param elapsedTime elapsed time between calls.
+     * @param responseTime response time (in the same units as elapsedTime).
+     */
+    inline void smooth(const Vec2& target, float elapsedTime, float responseTime);
+    
+    /**
+     * Calculates the sum of this vector with the given vector.
+     *
+     * Note: this does not modify this vector.
+     *
+     * @param v The vector to add.
+     * @return The vector sum.
+     */
+    inline Vec2 operator+(const Vec2& v) const;
+    
+    /**
+     * Adds the given vector to this vector.
+     *
+     * @param v The vector to add.
+     * @return This vector, after the addition occurs.
+     */
+    inline Vec2& operator+=(const Vec2& v);
+    
+    /**
+     * Calculates the sum of this vector with the given vector.
+     *
+     * Note: this does not modify this vector.
+     *
+     * @param v The vector to add.
+     * @return The vector sum.
+     */
+    inline Vec2 operator-(const Vec2& v) const;
+    
+    /**
+     * Subtracts the given vector from this vector.
+     *
+     * @param v The vector to subtract.
+     * @return This vector, after the subtraction occurs.
+     */
+    inline Vec2& operator-=(const Vec2& v);
+    
+    /**
+     * Calculates the negation of this vector.
+     *
+     * Note: this does not modify this vector.
+     *
+     * @return The negation of this vector.
+     */
+    inline Vec2 operator-() const;
+    
+    /**
+     * Calculates the scalar product of this vector with the given value.
+     *
+     * Note: this does not modify this vector.
+     *
+     * @param s The value to scale by.
+     * @return The scaled vector.
+     */
+    inline Vec2 operator*(float s) const;
+    
+    /**
+     * Scales this vector by the given value.
+     *
+     * @param s The value to scale by.
+     * @return This vector, after the scale occurs.
+     */
+    inline Vec2& operator*=(float s);
+    
+    /**
+     * Returns the components of this vector divided by the given constant
+     *
+     * Note: this does not modify this vector.
+     *
+     * @param s the constant to divide this vector with
+     * @return a smaller vector
+     */
+    inline Vec2 operator/(float s) const;
+    
+    /**
+     * Determines if this vector is less than the given vector.
+     *
+     * @param v The vector to compare against.
+     *
+     * @return True if this vector is less than the given vector, false otherwise.
+     */
+    inline bool operator<(const Vec2& v) const;
+    
+    /**
+     * Determines if this vector is greater than the given vector.
+     *
+     * @param v The vector to compare against.
+     *
+     * @return True if this vector is greater than the given vector, false otherwise.
+     */
+    inline bool operator>(const Vec2& v) const;
+    
+    /**
+     * Determines if this vector is equal to the given vector.
+     *
+     * @param v The vector to compare against.
+     *
+     * @return True if this vector is equal to the given vector, false otherwise.
+     */
+    inline bool operator==(const Vec2& v) const;
+    
+    /**
+     * Determines if this vector is not equal to the given vector.
+     *
+     * @param v The vector to compare against.
+     *
+     * @return True if this vector is not equal to the given vector, false otherwise.
+     */
+    inline bool operator!=(const Vec2& v) const;
+    
+    //code added compatible for Point
+    public:
+    /**
+     * @js NA
+     * @lua NA
+     */
+    inline void set_point(float xx, float yy);
+    /**
+     * @js NA
+     */
+    bool equals(const Vec2& target) const;
+    
+    /** Calculates distance between point an origin
+     @return float
+     @since v2.1.4
+     * @js NA
+     * @lua NA
+     */
+    inline float get_length() const {
+        return sqrtf(x*x + y*y);
+    }
+    
+    /** Calculates the square length of a Vec2 (not calling sqrt() )
+     @return float
+     @since v2.1.4
+     * @js NA
+     * @lua NA
+     */
+    inline float get_length_sq() const {
+        return dot(*this); //x*x + y*y;
+    }
+    
+    /** Calculates the square distance between two points (not calling sqrt() )
+     @return float
+     @since v2.1.4
+     * @js NA
+     * @lua NA
+     */
+    inline float get_distance_sq(const Vec2& other) const {
+        return (*this - other).get_length_sq();
+    }
+    
+    /** Calculates the distance between two points
+     @return float
+     @since v2.1.4
+     * @js NA
+     * @lua NA
+     */
+    inline float get_distance(const Vec2& other) const {
+        return (*this - other).get_length();
+    }
+    
+    /** @returns the angle in radians between this vector and the x axis
+     @since v2.1.4
+     * @js NA
+     * @lua NA
+     */
+    inline float get_angle() const {
+        return atan2f(y, x);
+    }
+    
+    /** @returns the angle in radians between two vector directions
+     @since v2.1.4
+     * @js NA
+     * @lua NA
+     */
+    float get_angle(const Vec2& other) const;
+    
+    /** Calculates cross product of two points.
+     @return float
+     @since v2.1.4
+     * @js NA
+     * @lua NA
+     */
+    inline float cross(const Vec2& other) const {
+        return x*other.y - y*other.x;
+    }
+    
+    /** Calculates midpoint between two points.
+     @return Vec2
+     @since v3.0
+     * @js NA
+     * @lua NA
+     */
+    inline Vec2 get_mid_point(const Vec2& other) const {
+        return Vec2((x + other.x) / 2.0f, (y + other.y) / 2.0f);
+    }
+    
+    /** Clamp a point between from and to.
+     @since v3.0
+     * @js NA
+     * @lua NA
+     */
+    inline Vec2 get_clamp_point(const Vec2& min_inclusive, const Vec2& max_inclusive) const {
+        return Vec2(clampf(x, min_inclusive.x, max_inclusive.x), clampf(y, min_inclusive.y, max_inclusive.y));
+    }
+    
+    /** Calculates the projection of this over other.
+     @return Vec2
+     @since v2.1.4
+     * @js NA
+     * @lua NA
+     */
+    inline Vec2 project(const Vec2& other) const {
+        return other * (dot(other)/other.dot(other));
+    }
+    
+    /** Complex multiplication of two points ("rotates" two points).
+     @return Vec2 vector with an angle of this.getAngle() + other.getAngle(),
+     and a length of this.getLength() * other.getLength().
+     @since v2.1.4
+     * @js NA
+     * @lua NA
+     */
+    inline Vec2 rotate(const Vec2& other) const {
+        return Vec2(x*other.x - y*other.y, x*other.y + y*other.x);
+    }
+    
+    /** Unrotates two points.
+     @return Vec2 vector with an angle of this.getAngle() - other.getAngle(),
+     and a length of this.getLength() * other.getLength().
+     @since v2.1.4
+     * @js NA
+     * @lua NA
+     */
+    inline Vec2 unrotate(const Vec2& other) const {
+        return Vec2(x*other.x + y*other.y, y*other.x - x*other.y);
+    }
+    
+    /** Linear Interpolation between two points a and b
+     @returns
+     alpha == 0 ? a
+     alpha == 1 ? b
+     otherwise a value between a..b
+     @since v2.1.4
+     * @js NA
+     * @lua NA
+     */
+    inline Vec2 lerp(const Vec2& other, float alpha) const {
+        return *this * (1.f - alpha) + other * alpha;
+    }
+    
+    /** Rotates a point counter clockwise by the angle around a pivot
+     @param pivot is the pivot, naturally
+     @param angle is the angle of rotation ccw in radians
+     @returns the rotated point
+     @since v2.1.4
+     * @js NA
+     * @lua NA
+     */
+    Vec2 rotate_by_angle(const Vec2& pivot, float angle) const;
+    
+    /**
+     * @js NA
+     * @lua NA
+     */
+    static inline Vec2 for_angle(const float a) {
+        return Vec2(cosf(a), sinf(a));
+    }
+    
+    /** equals to Vec2(0,0) */
+    static const Vec2 ZERO;
+    /** equals to Vec2(1,1) */
+    static const Vec2 ONE;
+    /** equals to Vec2(1,0) */
+    static const Vec2 UNIT_X;
+    /** equals to Vec2(0,1) */
+    static const Vec2 UNIT_Y;
+    /** equals to Vec2(0.5, 0.5) */
+    static const Vec2 ANCHOR_MIDDLE;
+    /** equals to Vec2(0, 0) */
+    static const Vec2 ANCHOR_BOTTOM_LEFT;
+    /** equals to Vec2(0, 1) */
+    static const Vec2 ANCHOR_TOP_LEFT;
+    /** equals to Vec2(1, 0) */
+    static const Vec2 ANCHOR_BOTTOM_RIGHT;
+    /** equals to Vec2(1, 1) */
+    static const Vec2 ANCHOR_TOP_RIGHT;
+    /** equals to Vec2(1, 0.5) */
+    static const Vec2 ANCHOR_MIDDLE_RIGHT;
+    /** equals to Vec2(0, 0.5) */
+    static const Vec2 ANCHOR_MIDDLE_LEFT;
+    /** equals to Vec2(0.5, 1) */
+    static const Vec2 ANCHOR_MIDDLE_TOP;
+    /** equals to Vec2(0.5, 0) */
+    static const Vec2 ANCHOR_MIDDLE_BOTTOM;
+    };
+    
+    /**
+     * Calculates the scalar product of the given vector with the given value.
+     *
+     * @param x The value to scale by.
+     * @param v The vector to scale.
+     * @return The scaled vector.
+     */
+    inline Vec2 operator*(float x, const Vec2& v);
+    
+    typedef Vec2 Point;
+}
+
+#include "vec2.inl"
+
+#endif /* VEC2_H */

mediapipe/modules/render_queue/math/vec2.inl

@@ -0,0 +1,216 @@
+//
+//  vec2.inl
+//  BdiEngine
+//
+//  Created by Wang,Renzhu on 2018/11/20.
+//  Copyright © 2018年 Wang,Renzhu. All rights reserved.
+//
+
+#include "vec2.hpp"
+
+namespace OLARender {
+    
+    inline Vec2::Vec2() : x(0.0f), y(0.0f)
+    {
+    }
+    
+    inline Vec2::Vec2(float xx, float yy) : x(xx), y(yy)
+    {
+    }
+    
+    inline Vec2::Vec2(const float* array)
+    {
+    set(array);
+    }
+    
+    inline Vec2::Vec2(const Vec2& p1, const Vec2& p2)
+    {
+    set(p1, p2);
+    }
+    
+    inline Vec2::Vec2(const Vec2& copy)
+    {
+    set(copy);
+    }
+    
+    inline bool Vec2::is_zero() const
+    {
+    return x == 0.0f && y == 0.0f;
+    }
+    
+    bool Vec2::is_one() const
+    {
+    return x == 1.0f && y == 1.0f;
+    }
+    
+    inline void Vec2::add(const Vec2& v)
+    {
+    x += v.x;
+    y += v.y;
+    }
+    
+    inline float Vec2::distance_squared(const Vec2& v) const
+    {
+    float dx = v.x - x;
+    float dy = v.y - y;
+    return (dx * dx + dy * dy);
+    }
+    
+    inline float Vec2::dot(const Vec2& v) const
+    {
+    return (x * v.x + y * v.y);
+    }
+    
+    inline float Vec2::length_squared() const
+    {
+    return (x * x + y * y);
+    }
+    
+    inline void Vec2::negate()
+    {
+    x = -x;
+    y = -y;
+    }
+    
+    inline void Vec2::scale(float scalar)
+    {
+    x *= scalar;
+    y *= scalar;
+    }
+    
+    inline void Vec2::scale(const Vec2& scale)
+    {
+    x *= scale.x;
+    y *= scale.y;
+    }
+    
+    inline void Vec2::set(float xx, float yy)
+    {
+    this->x = xx;
+    this->y = yy;
+    }
+    
+    inline void Vec2::set(const Vec2& v)
+    {
+    this->x = v.x;
+    this->y = v.y;
+    }
+    
+    inline void Vec2::set(const Vec2& p1, const Vec2& p2)
+    {
+    x = p2.x - p1.x;
+    y = p2.y - p1.y;
+    }
+    
+    void Vec2::set_zero()
+    {
+    x = y = 0.0f;
+    }
+    
+    inline void Vec2::subtract(const Vec2& v)
+    {
+    x -= v.x;
+    y -= v.y;
+    }
+    
+    inline void Vec2::smooth(const Vec2& target, float elapsedTime, float responseTime)
+    {
+    if (elapsedTime > 0)
+        {
+        *this += (target - *this) * (elapsedTime / (elapsedTime + responseTime));
+        }
+    }
+    
+    inline Vec2 Vec2::operator+(const Vec2& v) const
+    {
+    Vec2 result(*this);
+    result.add(v);
+    return result;
+    }
+    
+    inline Vec2& Vec2::operator+=(const Vec2& v)
+    {
+    add(v);
+    return *this;
+    }
+    
+    inline Vec2 Vec2::operator-(const Vec2& v) const
+    {
+    Vec2 result(*this);
+    result.subtract(v);
+    return result;
+    }
+    
+    inline Vec2& Vec2::operator-=(const Vec2& v)
+    {
+    subtract(v);
+    return *this;
+    }
+    
+    inline Vec2 Vec2::operator-() const
+    {
+    Vec2 result(*this);
+    result.negate();
+    return result;
+    }
+    
+    inline Vec2 Vec2::operator*(float s) const
+    {
+    Vec2 result(*this);
+    result.scale(s);
+    return result;
+    }
+    
+    inline Vec2& Vec2::operator*=(float s)
+    {
+    scale(s);
+    return *this;
+    }
+    
+    inline Vec2 Vec2::operator/(const float s) const
+    {
+    return Vec2(this->x / s, this->y / s);
+    }
+    
+    inline bool Vec2::operator<(const Vec2& v) const
+    {
+    if (x == v.x)
+        {
+        return y < v.y;
+        }
+    return x < v.x;
+    }
+    
+    inline bool Vec2::operator>(const Vec2& v) const
+    {
+    if (x == v.x)
+        {
+        return y > v.y;
+        }
+    return x > v.x;
+    }
+    
+    inline bool Vec2::operator==(const Vec2& v) const
+    {
+    return x==v.x && y==v.y;
+    }
+    
+    inline bool Vec2::operator!=(const Vec2& v) const
+    {
+    return x!=v.x || y!=v.y;
+    }
+    
+    inline Vec2 operator*(float x, const Vec2& v)
+    {
+    Vec2 result(v);
+    result.scale(x);
+    return result;
+    }
+    
+    void Vec2::set_point(float xx, float yy)
+    {
+    this->x = xx;
+    this->y = yy;
+    }
+    
+}

mediapipe/modules/render_queue/math/vec3.cpp

@@ -0,0 +1,193 @@
+//
+//  vec3.cpp
+//  OLARender
+//
+//  Created by Wang,Renzhu on 2018/11/20.
+//  Copyright © 2018年 Wang,Renzhu. All rights reserved.
+//
+
+#if defined(__APPLE__)
+#include "vec3.hpp"
+#include "math_utils.hpp"
+#else
+#include "vec3.hpp"
+#include "math_utils.hpp"
+#endif
+
+namespace OLARender {
+    
+    Vec3::Vec3() : x(0.0f), y(0.0f), z(0.0f) {
+    }
+    
+    Vec3::Vec3(float xx, float yy, float zz) : x(xx), y(yy), z(zz) {
+    }
+    
+    Vec3::Vec3(const float* array) {
+        set(array);
+    }
+    
+    Vec3::Vec3(const Vec3& p1, const Vec3& p2) {
+        set(p1, p2);
+    }
+    
+    Vec3::Vec3(const Vec3& copy) {
+        set(copy);
+    }
+    
+    Vec3 Vec3::from_color(unsigned int color) {
+        float components[3];
+        int componentIndex = 0;
+        
+        for (int i = 2; i >= 0; --i)
+            {
+            int component = (color >> i*8) & 0x0000ff;
+            components[componentIndex++] = static_cast<float>(component) / 255.0f;
+            }
+        
+        Vec3 value(components);
+        return value;
+    }
+    
+    float Vec3::angle(const Vec3& v1, const Vec3& v2) {
+        float dx = v1.y * v2.z - v1.z * v2.y;
+        float dy = v1.z * v2.x - v1.x * v2.z;
+        float dz = v1.x * v2.y - v1.y * v2.x;
+        
+        return std::atan2(std::sqrt(dx * dx + dy * dy + dz * dz) + MATH_FLOAT_SMALL, dot(v1, v2));
+    }
+    
+    void Vec3::add(const Vec3& v1, const Vec3& v2, Vec3* dst) {
+        if (dst) {
+            dst->x = v1.x + v2.x;
+            dst->y = v1.y + v2.y;
+            dst->z = v1.z + v2.z;
+        }
+    }
+    
+    void Vec3::clamp(const Vec3& min, const Vec3& max) {
+        // Clamp the x value.
+        if (x < min.x)
+            x = min.x;
+        if (x > max.x)
+            x = max.x;
+        
+        // Clamp the y value.
+        if (y < min.y)
+            y = min.y;
+        if (y > max.y)
+            y = max.y;
+        
+        // Clamp the z value.
+        if (z < min.z)
+            z = min.z;
+        if (z > max.z)
+            z = max.z;
+    }
+    
+    void Vec3::clamp(const Vec3& v, const Vec3& min, const Vec3& max, Vec3* dst) {
+        if (dst) {
+            // Clamp the x value.
+            dst->x = v.x;
+            if (dst->x < min.x)
+                dst->x = min.x;
+            if (dst->x > max.x)
+                dst->x = max.x;
+            
+            // Clamp the y value.
+            dst->y = v.y;
+            if (dst->y < min.y)
+                dst->y = min.y;
+            if (dst->y > max.y)
+                dst->y = max.y;
+            
+            // Clamp the z value.
+            dst->z = v.z;
+            if (dst->z < min.z)
+                dst->z = min.z;
+            if (dst->z > max.z)
+                dst->z = max.z;
+        }
+    }
+    
+    void Vec3::cross(const Vec3& v) {
+        cross(*this, v, this);
+    }
+    
+    void Vec3::cross(const Vec3& v1, const Vec3& v2, Vec3* dst) {
+        if (dst) {
+            // NOTE: This code assumes Vec3 struct members are contiguous floats in memory.
+            // We might want to revisit this (and other areas of code that make this assumption)
+            // later to guarantee 100% safety/compatibility.
+            MathUtils::cross_vec3(&v1.x, &v2.x, &dst->x);
+        }
+    }
+    
+    float Vec3::distance(const Vec3& v) const {
+        float dx = v.x - x;
+        float dy = v.y - y;
+        float dz = v.z - z;
+        
+        return std::sqrt(dx * dx + dy * dy + dz * dz);
+    }
+    
+    float Vec3::distance_squared(const Vec3& v) const {
+        float dx = v.x - x;
+        float dy = v.y - y;
+        float dz = v.z - z;
+        
+        return (dx * dx + dy * dy + dz * dz);
+    }
+    
+    float Vec3::dot(const Vec3& v) const {
+        return (x * v.x + y * v.y + z * v.z);
+    }
+    
+    float Vec3::dot(const Vec3& v1, const Vec3& v2) {
+        return (v1.x * v2.x + v1.y * v2.y + v1.z * v2.z);
+    }
+    
+    void Vec3::normalize() {
+        float n = x * x + y * y + z * z;
+        // Already normalized.
+        if (n == 1.0f)
+            return;
+        
+        n = std::sqrt(n);
+        // Too close to zero.
+        if (n < MATH_TOLERANCE)
+            return;
+        
+        n = 1.0f / n;
+        x *= n;
+        y *= n;
+        z *= n;
+    }
+    
+    Vec3 Vec3::get_normalized() const {
+        Vec3 v(*this);
+        v.normalize();
+        return v;
+    }
+    
+    void Vec3::subtract(const Vec3& v1, const Vec3& v2, Vec3* dst) {
+        if (dst) {
+            dst->x = v1.x - v2.x;
+            dst->y = v1.y - v2.y;
+            dst->z = v1.z - v2.z;
+        }
+    }
+    
+    void Vec3::smooth(const Vec3& target, float elapsedTime, float responseTime) {
+        if (elapsedTime > 0)
+            {
+            *this += (target - *this) * (elapsedTime / (elapsedTime + responseTime));
+            }
+    }
+    
+    const Vec3 Vec3::ZERO(0.0f, 0.0f, 0.0f);
+    const Vec3 Vec3::ONE(1.0f, 1.0f, 1.0f);
+    const Vec3 Vec3::UNIT_X(1.0f, 0.0f, 0.0f);
+    const Vec3 Vec3::UNIT_Y(0.0f, 1.0f, 0.0f);
+    const Vec3 Vec3::UNIT_Z(0.0f, 0.0f, 1.0f);
+    
+}

mediapipe/modules/render_queue/math/vec3.hpp

@@ -0,0 +1,454 @@
+//
+//  vec3.h
+//  OLARender
+//
+//  Created by Wang,Renzhu on 2018/11/20.
+//  Copyright © 2018年 Wang,Renzhu. All rights reserved.
+//
+
+#ifndef VEC3_H
+#define VEC3_H
+
+namespace OLARender {
+    
+    class Vec3
+    {
+    public:
+    float x;
+    float y;
+    float z;
+    
+    /**
+     * Constructs a new vector initialized to all zeros.
+     */
+    Vec3();
+    
+    /**
+     * Constructs a new vector initialized to the specified values.
+     *
+     * @param xx The x coordinate.
+     * @param yy The y coordinate.
+     * @param zz The z coordinate.
+     */
+    Vec3(float xx, float yy, float zz);
+    
+    /**
+     * Constructs a new vector from the values in the specified array.
+     *
+     * @param array An array containing the elements of the vector in the order x, y, z.
+     */
+    Vec3(const float* array);
+    
+    /**
+     * Constructs a vector that describes the direction between the specified points.
+     *
+     * @param p1 The first point.
+     * @param p2 The second point.
+     */
+    Vec3(const Vec3& p1, const Vec3& p2);
+    
+    /**
+     * Constructs a new vector that is a copy of the specified vector.
+     *
+     * @param copy The vector to copy.
+     */
+    Vec3(const Vec3& copy);
+    
+    /**
+     * Creates a new vector from an integer interpreted as an RGB value.
+     * E.g. 0xff0000 represents red or the vector (1, 0, 0).
+     *
+     * @param color The integer to interpret as an RGB value.
+     *
+     * @return A vector corresponding to the interpreted RGB color.
+     */
+    static Vec3 from_color(unsigned int color);
+    
+    /**
+     * Indicates whether this vector contains all zeros.
+     *
+     * @return true if this vector contains all zeros, false otherwise.
+     */
+    inline bool is_zero() const;
+    
+    /**
+     * Indicates whether this vector contains all ones.
+     *
+     * @return true if this vector contains all ones, false otherwise.
+     */
+    inline bool is_one() const;
+    
+    /**
+     * Returns the angle (in radians) between the specified vectors.
+     *
+     * @param v1 The first vector.
+     * @param v2 The second vector.
+     *
+     * @return The angle between the two vectors (in radians).
+     */
+    static float angle(const Vec3& v1, const Vec3& v2);
+    
+    
+    /**
+     * Adds the elements of the specified vector to this one.
+     *
+     * @param v The vector to add.
+     */
+    inline void add(const Vec3& v);
+    
+    
+    /**
+     * Adds the elements of this vector to the specified values.
+     *
+     * @param xx The add x coordinate.
+     * @param yy The add y coordinate.
+     * @param zz The add z coordinate.
+     */
+    inline void add(float xx, float yy, float zz);
+    
+    /**
+     * Adds the specified vectors and stores the result in dst.
+     *
+     * @param v1 The first vector.
+     * @param v2 The second vector.
+     * @param dst A vector to store the result in.
+     */
+    static void add(const Vec3& v1, const Vec3& v2, Vec3* dst);
+    
+    /**
+     * Clamps this vector within the specified range.
+     *
+     * @param min The minimum value.
+     * @param max The maximum value.
+     */
+    void clamp(const Vec3& min, const Vec3& max);
+    
+    /**
+     * Clamps the specified vector within the specified range and returns it in dst.
+     *
+     * @param v The vector to clamp.
+     * @param min The minimum value.
+     * @param max The maximum value.
+     * @param dst A vector to store the result in.
+     */
+    static void clamp(const Vec3& v, const Vec3& min, const Vec3& max, Vec3* dst);
+    
+    /**
+     * Sets this vector to the cross product between itself and the specified vector.
+     *
+     * @param v The vector to compute the cross product with.
+     */
+    void cross(const Vec3& v);
+    
+    /**
+     * Computes the cross product of the specified vectors and stores the result in dst.
+     *
+     * @param v1 The first vector.
+     * @param v2 The second vector.
+     * @param dst A vector to store the result in.
+     */
+    static void cross(const Vec3& v1, const Vec3& v2, Vec3* dst);
+    
+    /**
+     * Returns the distance between this vector and v.
+     *
+     * @param v The other vector.
+     *
+     * @return The distance between this vector and v.
+     *
+     * @see distanceSquared
+     */
+    float distance(const Vec3& v) const;
+    
+    /**
+     * Returns the squared distance between this vector and v.
+     *
+     * When it is not necessary to get the exact distance between
+     * two vectors (for example, when simply comparing the
+     * distance between different vectors), it is advised to use
+     * this method instead of distance.
+     *
+     * @param v The other vector.
+     *
+     * @return The squared distance between this vector and v.
+     *
+     * @see distance
+     */
+    float distance_squared(const Vec3& v) const;
+    
+    /**
+     * Returns the dot product of this vector and the specified vector.
+     *
+     * @param v The vector to compute the dot product with.
+     *
+     * @return The dot product.
+     */
+    float dot(const Vec3& v) const;
+    
+    /**
+     * Returns the dot product between the specified vectors.
+     *
+     * @param v1 The first vector.
+     * @param v2 The second vector.
+     *
+     * @return The dot product between the vectors.
+     */
+    static float dot(const Vec3& v1, const Vec3& v2);
+    
+    /**
+     * Computes the length of this vector.
+     *
+     * @return The length of the vector.
+     *
+     * @see lengthSquared
+     */
+    inline float length() const;
+    
+    /**
+     * Returns the squared length of this vector.
+     *
+     * When it is not necessary to get the exact length of a
+     * vector (for example, when simply comparing the lengths of
+     * different vectors), it is advised to use this method
+     * instead of length.
+     *
+     * @return The squared length of the vector.
+     *
+     * @see length
+     */
+    inline float length_squared() const;
+    
+    /**
+     * Negates this vector.
+     */
+    inline void negate();
+    
+    /**
+     * Normalizes this vector.
+     *
+     * This method normalizes this Vec3 so that it is of
+     * unit length (in other words, the length of the vector
+     * after calling this method will be 1.0f). If the vector
+     * already has unit length or if the length of the vector
+     * is zero, this method does nothing.
+     */
+    void normalize();
+    
+    /**
+     * Get the normalized vector.
+     */
+    Vec3 get_normalized() const;
+    
+    /**
+     * Scales all elements of this vector by the specified value.
+     *
+     * @param scalar The scalar value.
+     */
+    inline void scale(float scalar);
+    
+    /**
+     * Sets the elements of this vector to the specified values.
+     *
+     * @param xx The new x coordinate.
+     * @param yy The new y coordinate.
+     * @param zz The new z coordinate.
+     */
+    inline void set(float xx, float yy, float zz);
+    
+    /**
+     * Sets the elements of this vector from the values in the specified array.
+     *
+     * @param array An array containing the elements of the vector in the order x, y, z.
+     */
+    inline void set(const float* array);
+    
+    /**
+     * Sets the elements of this vector to those in the specified vector.
+     *
+     * @param v The vector to copy.
+     */
+    inline void set(const Vec3& v);
+    
+    /**
+     * Sets this vector to the directional vector between the specified points.
+     */
+    inline void set(const Vec3& p1, const Vec3& p2);
+    
+    /**
+     * Sets the elements of this vector to zero.
+     */
+    inline void set_zero();
+    
+    /**
+     * Subtracts this vector and the specified vector as (this - v)
+     * and stores the result in this vector.
+     *
+     * @param v The vector to subtract.
+     */
+    inline void subtract(const Vec3& v);
+    
+    /**
+     * Subtracts the specified vectors and stores the result in dst.
+     * The resulting vector is computed as (v1 - v2).
+     *
+     * @param v1 The first vector.
+     * @param v2 The second vector.
+     * @param dst The destination vector.
+     */
+    static void subtract(const Vec3& v1, const Vec3& v2, Vec3* dst);
+    
+    /**
+     * Updates this vector towards the given target using a smoothing function.
+     * The given response time determines the amount of smoothing (lag). A longer
+     * response time yields a smoother result and more lag. To force this vector to
+     * follow the target closely, provide a response time that is very small relative
+     * to the given elapsed time.
+     *
+     * @param target target value.
+     * @param elapsedTime elapsed time between calls.
+     * @param responseTime response time (in the same units as elapsedTime).
+     */
+    void smooth(const Vec3& target, float elapsedTime, float responseTime);
+    
+    /**
+     * Linear interpolation between two vectors A and B by alpha which
+     * is in the range [0,1]
+     */
+    inline Vec3 lerp(const Vec3& target, float alpha) const;
+    
+    /**
+     * Calculates the sum of this vector with the given vector.
+     *
+     * Note: this does not modify this vector.
+     *
+     * @param v The vector to add.
+     * @return The vector sum.
+     */
+    inline Vec3 operator+(const Vec3& v) const;
+    
+    /**
+     * Adds the given vector to this vector.
+     *
+     * @param v The vector to add.
+     * @return This vector, after the addition occurs.
+     */
+    inline Vec3& operator+=(const Vec3& v);
+    
+    /**
+     * Calculates the difference of this vector with the given vector.
+     *
+     * Note: this does not modify this vector.
+     *
+     * @param v The vector to subtract.
+     * @return The vector difference.
+     */
+    inline Vec3 operator-(const Vec3& v) const;
+    
+    /**
+     * Subtracts the given vector from this vector.
+     *
+     * @param v The vector to subtract.
+     * @return This vector, after the subtraction occurs.
+     */
+    inline Vec3& operator-=(const Vec3& v);
+    
+    /**
+     * Calculates the negation of this vector.
+     *
+     * Note: this does not modify this vector.
+     *
+     * @return The negation of this vector.
+     */
+    inline Vec3 operator-() const;
+    
+    /**
+     * Calculates the scalar product of this vector with the given value.
+     *
+     * Note: this does not modify this vector.
+     *
+     * @param s The value to scale by.
+     * @return The scaled vector.
+     */
+    inline Vec3 operator*(float s) const;
+    
+    /**
+     * Scales this vector by the given value.
+     *
+     * @param s The value to scale by.
+     * @return This vector, after the scale occurs.
+     */
+    inline Vec3& operator*=(float s);
+    
+    /**
+     * Returns the components of this vector divided by the given constant
+     *
+     * Note: this does not modify this vector.
+     *
+     * @param s the constant to divide this vector with
+     * @return a smaller vector
+     */
+    inline Vec3 operator/(float s) const;
+    
+    /** Returns true if the vector's scalar components are all greater
+     that the ones of the vector it is compared against.
+     */
+    inline bool operator < (const Vec3& rhs) const
+    {
+    if (x < rhs.x && y < rhs.y && z < rhs.z)
+        return true;
+    return false;
+    }
+    
+    /** Returns true if the vector's scalar components are all smaller
+     that the ones of the vector it is compared against.
+     */
+    inline bool operator >(const Vec3& rhs) const
+    {
+    if (x > rhs.x && y > rhs.y && z > rhs.z)
+        return true;
+    return false;
+    }
+    
+    /**
+     * Determines if this vector is equal to the given vector.
+     *
+     * @param v The vector to compare against.
+     *
+     * @return True if this vector is equal to the given vector, false otherwise.
+     */
+    inline bool operator==(const Vec3& v) const;
+    
+    /**
+     * Determines if this vector is not equal to the given vector.
+     *
+     * @param v The vector to compare against.
+     *
+     * @return True if this vector is not equal to the given vector, false otherwise.
+     */
+    inline bool operator!=(const Vec3& v) const;
+    
+    /** equals to Vec3(0,0,0) */
+    static const Vec3 ZERO;
+    /** equals to Vec3(1,1,1) */
+    static const Vec3 ONE;
+    /** equals to Vec3(1,0,0) */
+    static const Vec3 UNIT_X;
+    /** equals to Vec3(0,1,0) */
+    static const Vec3 UNIT_Y;
+    /** equals to Vec3(0,0,1) */
+    static const Vec3 UNIT_Z;
+    };
+    
+    /**
+     * Calculates the scalar product of the given vector with the given value.
+     *
+     * @param x The value to scale by.
+     * @param v The vector to scale.
+     * @return The scaled vector.
+     */
+    inline Vec3 operator*(float x, const Vec3& v);
+}
+
+#include "vec3.inl"
+
+#endif /* VEC3_H */

mediapipe/modules/render_queue/math/vec3.inl

@@ -0,0 +1,177 @@
+//
+//  vec3.inl
+//  BdiEngine
+//
+//  Created by Wang,Renzhu on 2018/11/20.
+//  Copyright © 2018年 Wang,Renzhu. All rights reserved.
+//
+
+#include "vec3.hpp"
+#include <cmath>
+
+namespace OLARender {
+    
+    inline bool Vec3::is_zero() const
+    {
+    return x == 0.0f && y == 0.0f && z == 0.0f;
+    }
+    
+    inline bool Vec3::is_one() const
+    {
+    return x == 1.0f && y == 1.0f && z == 1.0f;
+    }
+    
+    inline void Vec3::add(const Vec3& v)
+    {
+    x += v.x;
+    y += v.y;
+    z += v.z;
+    }
+    
+    inline void Vec3::add(float xx, float yy, float zz)
+    {
+    x += xx;
+    y += yy;
+    z += zz;
+    }
+    
+    inline float Vec3::length() const
+    {
+    return std::sqrt(x * x + y * y + z * z);
+    }
+    
+    inline float Vec3::length_squared() const
+    {
+    return (x * x + y * y + z * z);
+    }
+    
+    inline void Vec3::negate()
+    {
+    x = -x;
+    y = -y;
+    z = -z;
+    }
+    
+    inline void Vec3::scale(float scalar)
+    {
+    x *= scalar;
+    y *= scalar;
+    z *= scalar;
+    }
+    
+    inline Vec3 Vec3::lerp(const Vec3 &target, float alpha) const
+    {
+    return *this * (1.f - alpha) + target * alpha;
+    }
+    
+    inline void Vec3::set(float xx, float yy, float zz)
+    {
+    this->x = xx;
+    this->y = yy;
+    this->z = zz;
+    }
+    
+    inline void Vec3::set(const float* array)
+    {
+    if (array) {
+        x = array[0];
+        y = array[1];
+        z = array[2];
+    }
+    }
+    
+    inline void Vec3::set(const Vec3& v)
+    {
+    this->x = v.x;
+    this->y = v.y;
+    this->z = v.z;
+    }
+    
+    inline void Vec3::set(const Vec3& p1, const Vec3& p2)
+    {
+    x = p2.x - p1.x;
+    y = p2.y - p1.y;
+    z = p2.z - p1.z;
+    }
+    
+    inline void Vec3::set_zero()
+    {
+    x = y = z = 0.0f;
+    }
+    
+    inline void Vec3::subtract(const Vec3& v)
+    {
+    x -= v.x;
+    y -= v.y;
+    z -= v.z;
+    }
+    
+    inline Vec3 Vec3::operator+(const Vec3& v) const
+    {
+    Vec3 result(*this);
+    result.add(v);
+    return result;
+    }
+    
+    inline Vec3& Vec3::operator+=(const Vec3& v)
+    {
+    add(v);
+    return *this;
+    }
+    
+    inline Vec3 Vec3::operator-(const Vec3& v) const
+    {
+    Vec3 result(*this);
+    result.subtract(v);
+    return result;
+    }
+    
+    inline Vec3& Vec3::operator-=(const Vec3& v)
+    {
+    subtract(v);
+    return *this;
+    }
+    
+    inline Vec3 Vec3::operator-() const
+    {
+    Vec3 result(*this);
+    result.negate();
+    return result;
+    }
+    
+    inline Vec3 Vec3::operator*(float s) const
+    {
+    Vec3 result(*this);
+    result.scale(s);
+    return result;
+    }
+    
+    inline Vec3& Vec3::operator*=(float s)
+    {
+    scale(s);
+    return *this;
+    }
+    
+    inline Vec3 Vec3::operator/(const float s) const
+    {
+    return Vec3(this->x / s, this->y / s, this->z / s);
+    }
+    
+    inline bool Vec3::operator==(const Vec3& v) const
+    {
+    return x==v.x && y==v.y && z==v.z;
+    }
+    
+    inline bool Vec3::operator!=(const Vec3& v) const
+    {
+    return x!=v.x || y!=v.y || z!=v.z;
+    }
+    
+    inline Vec3 operator*(float x, const Vec3& v)
+    {
+    Vec3 result(v);
+    result.scale(x);
+    return result;
+    }
+    
+}

mediapipe/modules/render_queue/math/vec4.cpp

@@ -0,0 +1,299 @@
+//
+//  vec4.cpp
+//  OLARender
+//
+//  Created by Wang,Renzhu on 2018/11/20.
+//  Copyright © 2018年 Wang,Renzhu. All rights reserved.
+//
+
+#if defined(__APPLE__)
+
+#include "vec4.hpp"
+#include "math_utils.hpp"
+
+#else
+#include "vec4.hpp"
+#include "math_utils.hpp"
+#endif
+#include <cmath>
+
+namespace OLARender {
+    
+    Vec4::Vec4() : x(0.0f), y(0.0f), z(0.0f), w(0.0f)
+    {
+    }
+    
+    Vec4::Vec4(float xx, float yy, float zz, float ww) : x(xx), y(yy), z(zz), w(ww)
+    {
+    }
+    
+    Vec4::Vec4(const float* src)
+    {
+    set(src);
+    }
+    
+    Vec4::Vec4(const Vec4& p1, const Vec4& p2)
+    {
+    set(p1, p2);
+    }
+    
+    Vec4::Vec4(const Vec4& copy)
+    {
+    set(copy);
+    }
+    
+    Vec4 Vec4::from_color(unsigned int color)
+    {
+    float components[4];
+    int componentIndex = 0;
+    for (int i = 3; i >= 0; --i)
+        {
+        int component = (color >> i*8) & 0x000000ff;
+        
+        components[componentIndex++] = static_cast<float>(component) / 255.0f;
+        }
+    
+    Vec4 value(components);
+    return value;
+    }
+    
+    bool Vec4::is_zero() const
+    {
+    return x == 0.0f && y == 0.0f && z == 0.0f && w == 0.0f;
+    }
+    
+    bool Vec4::is_one() const
+    {
+    return x == 1.0f && y == 1.0f && z == 1.0f && w == 1.0f;
+    }
+    
+    float Vec4::angle(const Vec4& v1, const Vec4& v2)
+    {
+    float dx = v1.w * v2.x - v1.x * v2.w - v1.y * v2.z + v1.z * v2.y;
+    float dy = v1.w * v2.y - v1.y * v2.w - v1.z * v2.x + v1.x * v2.z;
+    float dz = v1.w * v2.z - v1.z * v2.w - v1.x * v2.y + v1.y * v2.x;
+    
+    return std::atan2(std::sqrt(dx * dx + dy * dy + dz * dz) + MATH_FLOAT_SMALL, dot(v1, v2));
+    }
+    
+    void Vec4::add(const Vec4& v)
+    {
+    x += v.x;
+    y += v.y;
+    z += v.z;
+    w += v.w;
+    }
+    
+    void Vec4::add(const Vec4& v1, const Vec4& v2, Vec4* dst)
+    {
+    if (dst) {
+        dst->x = v1.x + v2.x;
+        dst->y = v1.y + v2.y;
+        dst->z = v1.z + v2.z;
+        dst->w = v1.w + v2.w;
+    }
+    }
+    
+    void Vec4::clamp(const Vec4& min, const Vec4& max)
+    {
+    // Clamp the x value.
+    if (x < min.x)
+        x = min.x;
+    if (x > max.x)
+        x = max.x;
+    
+    // Clamp the y value.
+    if (y < min.y)
+        y = min.y;
+    if (y > max.y)
+        y = max.y;
+    
+    // Clamp the z value.
+    if (z < min.z)
+        z = min.z;
+    if (z > max.z)
+        z = max.z;
+    
+    // Clamp the z value.
+    if (w < min.w)
+        w = min.w;
+    if (w > max.w)
+        w = max.w;
+    }
+    
+    void Vec4::clamp(const Vec4& v, const Vec4& min, const Vec4& max, Vec4* dst)
+    {
+    if (dst) {
+        // Clamp the x value.
+        dst->x = v.x;
+        if (dst->x < min.x)
+            dst->x = min.x;
+        if (dst->x > max.x)
+            dst->x = max.x;
+        
+        // Clamp the y value.
+        dst->y = v.y;
+        if (dst->y < min.y)
+            dst->y = min.y;
+        if (dst->y > max.y)
+            dst->y = max.y;
+        
+        // Clamp the z value.
+        dst->z = v.z;
+        if (dst->z < min.z)
+            dst->z = min.z;
+        if (dst->z > max.z)
+            dst->z = max.z;
+        
+        // Clamp the w value.
+        dst->w = v.w;
+        if (dst->w < min.w)
+            dst->w = min.w;
+        if (dst->w > max.w)
+            dst->w = max.w;
+    }
+    }
+    
+    float Vec4::distance(const Vec4& v) const
+    {
+    float dx = v.x - x;
+    float dy = v.y - y;
+    float dz = v.z - z;
+    float dw = v.w - w;
+    
+    return std::sqrt(dx * dx + dy * dy + dz * dz + dw * dw);
+    }
+    
+    float Vec4::distance_squared(const Vec4& v) const
+    {
+    float dx = v.x - x;
+    float dy = v.y - y;
+    float dz = v.z - z;
+    float dw = v.w - w;
+    
+    return (dx * dx + dy * dy + dz * dz + dw * dw);
+    }
+    
+    float Vec4::dot(const Vec4& v) const
+    {
+    return (x * v.x + y * v.y + z * v.z + w * v.w);
+    }
+    
+    float Vec4::dot(const Vec4& v1, const Vec4& v2)
+    {
+    return (v1.x * v2.x + v1.y * v2.y + v1.z * v2.z + v1.w * v2.w);
+    }
+    
+    float Vec4::length() const
+    {
+    return std::sqrt(x * x + y * y + z * z + w * w);
+    }
+    
+    
+    float Vec4::length_squared() const
+    {
+    return (x * x + y * y + z * z + w * w);
+    }
+    
+    void Vec4::negate()
+    {
+    x = -x;
+    y = -y;
+    z = -z;
+    w = -w;
+    }
+    
+    void Vec4::normalize()
+    {
+    float n = x * x + y * y + z * z + w * w;
+    // Already normalized.
+    if (n == 1.0f)
+        return;
+    
+    n = std::sqrt(n);
+    // Too close to zero.
+    if (n < MATH_TOLERANCE)
+        return;
+    
+    n = 1.0f / n;
+    x *= n;
+    y *= n;
+    z *= n;
+    w *= n;
+    }
+    
+    Vec4 Vec4::get_normalized() const
+    {
+    Vec4 v(*this);
+    v.normalize();
+    return v;
+    }
+    
+    void Vec4::scale(float scalar)
+    {
+    x *= scalar;
+    y *= scalar;
+    z *= scalar;
+    w *= scalar;
+    }
+    
+    void Vec4::set(float xx, float yy, float zz, float ww)
+    {
+    this->x = xx;
+    this->y = yy;
+    this->z = zz;
+    this->w = ww;
+    }
+    
+    void Vec4::set(const float* array)
+    {
+    if (array) {
+        x = array[0];
+        y = array[1];
+        z = array[2];
+        w = array[3];
+    }
+    }
+    
+    void Vec4::set(const Vec4& v)
+    {
+    this->x = v.x;
+    this->y = v.y;
+    this->z = v.z;
+    this->w = v.w;
+    }
+    
+    void Vec4::set(const Vec4& p1, const Vec4& p2)
+    {
+    x = p2.x - p1.x;
+    y = p2.y - p1.y;
+    z = p2.z - p1.z;
+    w = p2.w - p1.w;
+    }
+    
+    void Vec4::subtract(const Vec4& v)
+    {
+    x -= v.x;
+    y -= v.y;
+    z -= v.z;
+    w -= v.w;
+    }
+    
+    void Vec4::subtract(const Vec4& v1, const Vec4& v2, Vec4* dst)
+    {
+    if (dst) {
+        dst->x = v1.x - v2.x;
+        dst->y = v1.y - v2.y;
+        dst->z = v1.z - v2.z;
+        dst->w = v1.w - v2.w;
+    }
+    }
+    
+    const Vec4 Vec4::ZERO = Vec4(0.0f, 0.0f, 0.0f, 0.0f);
+    const Vec4 Vec4::ONE = Vec4(1.0f, 1.0f, 1.0f, 1.0f);
+    const Vec4 Vec4::UNIT_X = Vec4(1.0f, 0.0f, 0.0f, 0.0f);
+    const Vec4 Vec4::UNIT_Y = Vec4(0.0f, 1.0f, 0.0f, 0.0f);
+    const Vec4 Vec4::UNIT_Z = Vec4(0.0f, 0.0f, 1.0f, 0.0f);
+    const Vec4 Vec4::UNIT_W = Vec4(0.0f, 0.0f, 0.0f, 1.0f);
+    
+}

mediapipe/modules/render_queue/math/vec4.hpp

@@ -0,0 +1,402 @@
+//
+//  vec4.h
+//  OLARender
+//
+//  Created by Wang,Renzhu on 2018/11/20.
+//  Copyright © 2018年 Wang,Renzhu. All rights reserved.
+//
+
+#ifndef VEC4_H
+#define VEC4_H
+
+namespace OLARender {
+    class Vec4
+    {
+    public:
+    float x;
+    float y;
+    float z;
+    float w;
+    
+    /**
+     * Constructs a new vector initialized to all zeros.
+     */
+    Vec4();
+    
+    /**
+     * Constructs a new vector initialized to the specified values.
+     *
+     * @param xx The x coordinate.
+     * @param yy The y coordinate.
+     * @param zz The z coordinate.
+     * @param ww The w coordinate.
+     */
+    Vec4(float xx, float yy, float zz, float ww);
+    
+    /**
+     * Constructs a new vector from the values in the specified array.
+     *
+     * @param array An array containing the elements of the vector in the order x, y, z, w.
+     */
+    Vec4(const float* array);
+    
+    /**
+     * Constructs a vector that describes the direction between the specified points.
+     *
+     * @param p1 The first point.
+     * @param p2 The second point.
+     */
+    Vec4(const Vec4& p1, const Vec4& p2);
+    
+    /**
+     * Constructor.
+     *
+     * Creates a new vector that is a copy of the specified vector.
+     *
+     * @param copy The vector to copy.
+     */
+    Vec4(const Vec4& copy);
+    
+    /**
+     * Creates a new vector from an integer interpreted as an RGBA value.
+     * E.g. 0xff0000ff represents opaque red or the vector (1, 0, 0, 1).
+     *
+     * @param color The integer to interpret as an RGBA value.
+     *
+     * @return A vector corresponding to the interpreted RGBA color.
+     */
+    static Vec4 from_color(unsigned int color);
+    
+    /**
+     * Indicates whether this vector contains all zeros.
+     *
+     * @return true if this vector contains all zeros, false otherwise.
+     */
+    bool is_zero() const;
+    
+    /**
+     * Indicates whether this vector contains all ones.
+     *
+     * @return true if this vector contains all ones, false otherwise.
+     */
+    bool is_one() const;
+    
+    /**
+     * Returns the angle (in radians) between the specified vectors.
+     *
+     * @param v1 The first vector.
+     * @param v2 The second vector.
+     *
+     * @return The angle between the two vectors (in radians).
+     */
+    static float angle(const Vec4& v1, const Vec4& v2);
+    
+    /**
+     * Adds the elements of the specified vector to this one.
+     *
+     * @param v The vector to add.
+     */
+    void add(const Vec4& v);
+    
+    /**
+     * Adds the specified vectors and stores the result in dst.
+     *
+     * @param v1 The first vector.
+     * @param v2 The second vector.
+     * @param dst A vector to store the result in.
+     */
+    static void add(const Vec4& v1, const Vec4& v2, Vec4* dst);
+    
+    /**
+     * Clamps this vector within the specified range.
+     *
+     * @param min The minimum value.
+     * @param max The maximum value.
+     */
+    void clamp(const Vec4& min, const Vec4& max);
+    
+    /**
+     * Clamps the specified vector within the specified range and returns it in dst.
+     *
+     * @param v The vector to clamp.
+     * @param min The minimum value.
+     * @param max The maximum value.
+     * @param dst A vector to store the result in.
+     */
+    static void clamp(const Vec4& v, const Vec4& min, const Vec4& max, Vec4* dst);
+    
+    /**
+     * Returns the distance between this vector and v.
+     *
+     * @param v The other vector.
+     *
+     * @return The distance between this vector and v.
+     *
+     * @see distanceSquared
+     */
+    float distance(const Vec4& v) const;
+    
+    /**
+     * Returns the squared distance between this vector and v.
+     *
+     * When it is not necessary to get the exact distance between
+     * two vectors (for example, when simply comparing the
+     * distance between different vectors), it is advised to use
+     * this method instead of distance.
+     *
+     * @param v The other vector.
+     *
+     * @return The squared distance between this vector and v.
+     *
+     * @see distance
+     */
+    float distance_squared(const Vec4& v) const;
+    
+    /**
+     * Returns the dot product of this vector and the specified vector.
+     *
+     * @param v The vector to compute the dot product with.
+     *
+     * @return The dot product.
+     */
+    float dot(const Vec4& v) const;
+    
+    /**
+     * Returns the dot product between the specified vectors.
+     *
+     * @param v1 The first vector.
+     * @param v2 The second vector.
+     *
+     * @return The dot product between the vectors.
+     */
+    static float dot(const Vec4& v1, const Vec4& v2);
+    
+    /**
+     * Computes the length of this vector.
+     *
+     * @return The length of the vector.
+     *
+     * @see lengthSquared
+     */
+    float length() const;
+    
+    /**
+     * Returns the squared length of this vector.
+     *
+     * When it is not necessary to get the exact length of a
+     * vector (for example, when simply comparing the lengths of
+     * different vectors), it is advised to use this method
+     * instead of length.
+     *
+     * @return The squared length of the vector.
+     *
+     * @see length
+     */
+    float length_squared() const;
+    
+    /**
+     * Negates this vector.
+     */
+    void negate();
+    
+    /**
+     * Normalizes this vector.
+     *
+     * This method normalizes this Vec4 so that it is of
+     * unit length (in other words, the length of the vector
+     * after calling this method will be 1.0f). If the vector
+     * already has unit length or if the length of the vector
+     * is zero, this method does nothing.
+     */
+    void normalize();
+    
+    /**
+     * Get the normalized vector.
+     */
+    Vec4 get_normalized() const;
+    
+    /**
+     * Scales all elements of this vector by the specified value.
+     *
+     * @param scalar The scalar value.
+     */
+    void scale(float scalar);
+    
+    /**
+     * Sets the elements of this vector to the specified values.
+     *
+     * @param xx The new x coordinate.
+     * @param yy The new y coordinate.
+     * @param zz The new z coordinate.
+     * @param ww The new w coordinate.
+     */
+    void set(float xx, float yy, float zz, float ww);
+    
+    /**
+     * Sets the elements of this vector from the values in the specified array.
+     *
+     * @param array An array containing the elements of the vector in the order x, y, z, w.
+     */
+    void set(const float* array);
+    
+    /**
+     * Sets the elements of this vector to those in the specified vector.
+     *
+     * @param v The vector to copy.
+     */
+    void set(const Vec4& v);
+    
+    /**
+     * Sets this vector to the directional vector between the specified points.
+     *
+     * @param p1 The first point.
+     * @param p2 The second point.
+     */
+    void set(const Vec4& p1, const Vec4& p2);
+    
+    /**
+     * Subtracts this vector and the specified vector as (this - v)
+     * and stores the result in this vector.
+     *
+     * @param v The vector to subtract.
+     */
+    void subtract(const Vec4& v);
+    
+    /**
+     * Subtracts the specified vectors and stores the result in dst.
+     * The resulting vector is computed as (v1 - v2).
+     *
+     * @param v1 The first vector.
+     * @param v2 The second vector.
+     * @param dst The destination vector.
+     */
+    static void subtract(const Vec4& v1, const Vec4& v2, Vec4* dst);
+    
+    /**
+     * Calculates the sum of this vector with the given vector.
+     *
+     * Note: this does not modify this vector.
+     *
+     * @param v The vector to add.
+     * @return The vector sum.
+     */
+    inline Vec4 operator+(const Vec4& v) const;
+    
+    /**
+     * Adds the given vector to this vector.
+     *
+     * @param v The vector to add.
+     * @return This vector, after the addition occurs.
+     */
+    inline Vec4& operator+=(const Vec4& v);
+    
+    /**
+     * Calculates the sum of this vector with the given vector.
+     *
+     * Note: this does not modify this vector.
+     *
+     * @param v The vector to add.
+     * @return The vector sum.
+     */
+    inline Vec4 operator-(const Vec4& v) const;
+    
+    /**
+     * Subtracts the given vector from this vector.
+     *
+     * @param v The vector to subtract.
+     * @return This vector, after the subtraction occurs.
+     */
+    inline Vec4& operator-=(const Vec4& v);
+    
+    /**
+     * Calculates the negation of this vector.
+     *
+     * Note: this does not modify this vector.
+     *
+     * @return The negation of this vector.
+     */
+    inline Vec4 operator-() const;
+    
+    /**
+     * Calculates the scalar product of this vector with the given value.
+     *
+     * Note: this does not modify this vector.
+     *
+     * @param s The value to scale by.
+     * @return The scaled vector.
+     */
+    inline Vec4 operator*(float s) const;
+    
+    /**
+     * Scales this vector by the given value.
+     *
+     * @param s The value to scale by.
+     * @return This vector, after the scale occurs.
+     */
+    inline Vec4& operator*=(float s);
+    
+    /**
+     * Returns the components of this vector divided by the given constant
+     *
+     * Note: this does not modify this vector.
+     *
+     * @param s the constant to divide this vector with
+     * @return a smaller vector
+     */
+    inline Vec4 operator/(float s) const;
+    
+    /**
+     * Determines if this vector is less than the given vector.
+     *
+     * @param v The vector to compare against.
+     *
+     * @return True if this vector is less than the given vector, false otherwise.
+     */
+    inline bool operator<(const Vec4& v) const;
+    
+    /**
+     * Determines if this vector is equal to the given vector.
+     *
+     * @param v The vector to compare against.
+     *
+     * @return True if this vector is equal to the given vector, false otherwise.
+     */
+    inline bool operator==(const Vec4& v) const;
+    
+    /**
+     * Determines if this vector is not equal to the given vector.
+     *
+     * @param v The vector to compare against.
+     *
+     * @return True if this vector is not equal to the given vector, false otherwise.
+     */
+    inline bool operator!=(const Vec4& v) const;
+    
+    /** equals to Vec4(0,0,0,0) */
+    static const Vec4 ZERO;
+    /** equals to Vec4(1,1,1,1) */
+    static const Vec4 ONE;
+    /** equals to Vec4(1,0,0,0) */
+    static const Vec4 UNIT_X;
+    /** equals to Vec4(0,1,0,0) */
+    static const Vec4 UNIT_Y;
+    /** equals to Vec4(0,0,1,0) */
+    static const Vec4 UNIT_Z;
+    /** equals to Vec4(0,0,0,1) */
+    static const Vec4 UNIT_W;
+    };
+    
+    /**
+     * Calculates the scalar product of the given vector with the given value.
+     *
+     * @param x The value to scale by.
+     * @param v The vector to scale.
+     * @return The scaled vector.
+     */
+    inline Vec4 operator*(float x, const Vec4& v);
+    
+}
+
+#include "vec4.inl"
+
+#endif /* VEC4_H */

mediapipe/modules/render_queue/math/vec4.inl

@@ -0,0 +1,97 @@
+//
+//  vec4.inl
+//  BdiEngine
+//
+//  Created by Wang,Renzhu on 2018/11/20.
+//  Copyright © 2018年 Wang,Renzhu. All rights reserved.
+//
+
+#include "vec4.hpp"
+
+namespace OLARender {
+    
+    inline Vec4 Vec4::operator+(const Vec4& v) const
+    {
+    Vec4 result(*this);
+    result.add(v);
+    return result;
+    }
+    
+    inline Vec4& Vec4::operator+=(const Vec4& v)
+    {
+    add(v);
+    return *this;
+    }
+    
+    inline Vec4 Vec4::operator-(const Vec4& v) const
+    {
+    Vec4 result(*this);
+    result.subtract(v);
+    return result;
+    }
+    
+    inline Vec4& Vec4::operator-=(const Vec4& v)
+    {
+    subtract(v);
+    return *this;
+    }
+    
+    inline Vec4 Vec4::operator-() const
+    {
+    Vec4 result(*this);
+    result.negate();
+    return result;
+    }
+    
+    inline Vec4 Vec4::operator*(float s) const
+    {
+    Vec4 result(*this);
+    result.scale(s);
+    return result;
+    }
+    
+    inline Vec4& Vec4::operator*=(float s)
+    {
+    scale(s);
+    return *this;
+    }
+    
+    inline Vec4 Vec4::operator/(const float s) const
+    {
+    return Vec4(this->x / s, this->y / s, this->z / s, this->w / s);
+    }
+    
+    inline bool Vec4::operator<(const Vec4& v) const
+    {
+    if (x == v.x) {
+        if (y == v.y) {
+            if (z == v.z) {
+                if (w < v.w) {
+                    return w < v.w;
+                }
+            }
+            return z < v.z;
+        }
+        return y < v.y;
+    }
+    return x < v.x;
+    }
+    
+    inline bool Vec4::operator==(const Vec4& v) const
+    {
+    return x == v.x && y == v.y && z == v.z && w == v.w;
+    }
+    
+    inline bool Vec4::operator!=(const Vec4& v) const
+    {
+    return x != v.x || y != v.y || z != v.z || w != v.w;
+    }
+    
+    inline Vec4 operator*(float x, const Vec4& v)
+    {
+    Vec4 result(v);
+    result.scale(x);
+    return result;
+    }
+    
+}

mediapipe/modules/render_queue/spin_lock.h

@@ -0,0 +1,38 @@
+//
+// Created by Felix Wang on 2022/7/12.
+//
+
+#ifndef ANDROID_SPIN_LOCK_H
+#define ANDROID_SPIN_LOCK_H
+
+class spin_lock {
+private:
+
+    std::atomic_flag _atomic;
+
+public:
+
+    spin_lock();
+
+    void lock();
+
+    void unlock();
+
+    bool try_lock();
+};
+
+spin_lock::spin_lock() : _atomic(ATOMIC_FLAG_INIT) {}
+
+void spin_lock::lock() {
+    while (_atomic.test_and_set(std::memory_order_acquire));
+}
+
+void spin_lock::unlock() {
+    _atomic.clear(std::memory_order_release);
+}
+
+bool spin_lock::try_lock() {
+    return _atomic.test() ? false : (_atomic.test_and_set(std::memory_order_acquire));
+}
+
+#endif //ANDROID_SPIN_LOCK_H

mediapipe/modules/render_queue/util.cpp

@@ -0,0 +1,58 @@
+//
+//  OlaRender.h
+//  OlaRender
+//
+//  Created by 王韧竹 on 2022/6/17.
+//
+#include "util.h"
+
+#if PLATFORM == PLATFORM_ANDROID
+#include <android/log.h>
+#endif
+
+
+NS_OLA_BEGIN
+
+    std::string str_format(const char *fmt,...) {
+        std::string strResult="";
+        if (NULL != fmt)
+        {
+            va_list marker;
+            va_start(marker, fmt);
+            char *buf = 0;
+            int result = vasprintf (&buf, fmt, marker);
+            if (!buf)
+            {
+                va_end(marker);
+                return strResult;
+            }
+
+            if (result < 0)
+            {
+                free (buf);
+                va_end(marker);
+                return strResult;
+            }
+
+            result = (int)strlen (buf);
+            strResult.append(buf,result);
+            free(buf);
+            va_end(marker);
+        }
+        return strResult;
+    }
+
+    void Log(const std::string& tag, const std::string& format, ...)
+    {
+        char buffer[10240];
+        va_list args;
+        va_start(args, format);
+        vsprintf(buffer, format.c_str(), args);
+        va_end(args);
+#if PLATFORM == PLATFORM_ANDROID
+        __android_log_print(ANDROID_LOG_INFO, tag.c_str(), "%s", buffer);
+#endif
+        
+    }
+
+NS_OLA_END

mediapipe/modules/render_queue/util.h

@@ -0,0 +1,19 @@
+
+
+#ifndef util_h
+#define util_h
+
+#include <stdlib.h>
+#include <string>
+#include "macros.h"
+
+NS_OLA_BEGIN
+
+    std::string str_format(const char *fmt,...);
+    void Log(const std::string& tag, const std::string& format, ...);
+
+#define rotationSwapsSize(rotation) ((rotation) == OLARender::RotateLeft || (rotation) == OLARender::RotateRight || (rotation) == OLARender::RotateRightFlipVertical || (rotation) == OLARender::RotateRightFlipHorizontal)
+
+NS_OLA_END
+
+#endif /* util_h */