You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
322 lines
19 KiB
322 lines
19 KiB
// This file is part of Eigen, a lightweight C++ template library
|
|
// for linear algebra.
|
|
//
|
|
// Copyright (C) 2010 Gael Guennebaud <gael.guennebaud@inria.fr>
|
|
//
|
|
// This Source Code Form is subject to the terms of the Mozilla
|
|
// Public License v. 2.0. If a copy of the MPL was not distributed
|
|
// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
|
|
|
|
#ifndef EIGEN_OPENGL_MODULE
|
|
#define EIGEN_OPENGL_MODULE
|
|
|
|
#include <Eigen/Geometry>
|
|
|
|
#if defined(__APPLE_CC__)
|
|
#include <OpenGL/gl.h>
|
|
#else
|
|
#include <GL/gl.h>
|
|
#endif
|
|
|
|
namespace Eigen {
|
|
|
|
/**
|
|
* \defgroup OpenGLSUpport_Module OpenGL Support module
|
|
*
|
|
* This module provides wrapper functions for a couple of OpenGL functions
|
|
* which simplify the way to pass Eigen's object to openGL.
|
|
* Here is an exmaple:
|
|
*
|
|
* \code
|
|
* // You need to add path_to_eigen/unsupported to your include path.
|
|
* #include <Eigen/OpenGLSupport>
|
|
* // ...
|
|
* Vector3f x, y;
|
|
* Matrix3f rot;
|
|
*
|
|
* glVertex(y + x * rot);
|
|
*
|
|
* Quaternion q;
|
|
* glRotate(q);
|
|
*
|
|
* // ...
|
|
* \endcode
|
|
*
|
|
*/
|
|
//@{
|
|
|
|
#define EIGEN_GL_FUNC_DECLARATION(FUNC) \
|
|
namespace internal { \
|
|
template< typename XprType, \
|
|
typename Scalar = typename XprType::Scalar, \
|
|
int Rows = XprType::RowsAtCompileTime, \
|
|
int Cols = XprType::ColsAtCompileTime, \
|
|
bool IsGLCompatible = bool(internal::evaluator<XprType>::Flags&LinearAccessBit) \
|
|
&& bool(XprType::Flags&DirectAccessBit) \
|
|
&& (XprType::IsVectorAtCompileTime || (XprType::Flags&RowMajorBit)==0)> \
|
|
struct EIGEN_CAT(EIGEN_CAT(gl_,FUNC),_impl); \
|
|
\
|
|
template<typename XprType, typename Scalar, int Rows, int Cols> \
|
|
struct EIGEN_CAT(EIGEN_CAT(gl_,FUNC),_impl)<XprType,Scalar,Rows,Cols,false> { \
|
|
inline static void run(const XprType& p) { \
|
|
EIGEN_CAT(EIGEN_CAT(gl_,FUNC),_impl)<typename plain_matrix_type_column_major<XprType>::type>::run(p); } \
|
|
}; \
|
|
} \
|
|
\
|
|
template<typename Derived> inline void FUNC(const Eigen::DenseBase<Derived>& p) { \
|
|
EIGEN_CAT(EIGEN_CAT(internal::gl_,FUNC),_impl)<Derived>::run(p.derived()); \
|
|
}
|
|
|
|
|
|
#define EIGEN_GL_FUNC_SPECIALIZATION_MAT(FUNC,SCALAR,ROWS,COLS,SUFFIX) \
|
|
namespace internal { \
|
|
template< typename XprType> struct EIGEN_CAT(EIGEN_CAT(gl_,FUNC),_impl)<XprType, SCALAR, ROWS, COLS, true> { \
|
|
inline static void run(const XprType& p) { FUNC##SUFFIX(p.data()); } \
|
|
}; \
|
|
}
|
|
|
|
|
|
#define EIGEN_GL_FUNC_SPECIALIZATION_VEC(FUNC,SCALAR,SIZE,SUFFIX) \
|
|
namespace internal { \
|
|
template< typename XprType> struct EIGEN_CAT(EIGEN_CAT(gl_,FUNC),_impl)<XprType, SCALAR, SIZE, 1, true> { \
|
|
inline static void run(const XprType& p) { FUNC##SUFFIX(p.data()); } \
|
|
}; \
|
|
template< typename XprType> struct EIGEN_CAT(EIGEN_CAT(gl_,FUNC),_impl)<XprType, SCALAR, 1, SIZE, true> { \
|
|
inline static void run(const XprType& p) { FUNC##SUFFIX(p.data()); } \
|
|
}; \
|
|
}
|
|
|
|
|
|
EIGEN_GL_FUNC_DECLARATION (glVertex)
|
|
EIGEN_GL_FUNC_SPECIALIZATION_VEC(glVertex,int, 2,2iv)
|
|
EIGEN_GL_FUNC_SPECIALIZATION_VEC(glVertex,short, 2,2sv)
|
|
EIGEN_GL_FUNC_SPECIALIZATION_VEC(glVertex,float, 2,2fv)
|
|
EIGEN_GL_FUNC_SPECIALIZATION_VEC(glVertex,double, 2,2dv)
|
|
EIGEN_GL_FUNC_SPECIALIZATION_VEC(glVertex,int, 3,3iv)
|
|
EIGEN_GL_FUNC_SPECIALIZATION_VEC(glVertex,short, 3,3sv)
|
|
EIGEN_GL_FUNC_SPECIALIZATION_VEC(glVertex,float, 3,3fv)
|
|
EIGEN_GL_FUNC_SPECIALIZATION_VEC(glVertex,double, 3,3dv)
|
|
EIGEN_GL_FUNC_SPECIALIZATION_VEC(glVertex,int, 4,4iv)
|
|
EIGEN_GL_FUNC_SPECIALIZATION_VEC(glVertex,short, 4,4sv)
|
|
EIGEN_GL_FUNC_SPECIALIZATION_VEC(glVertex,float, 4,4fv)
|
|
EIGEN_GL_FUNC_SPECIALIZATION_VEC(glVertex,double, 4,4dv)
|
|
|
|
EIGEN_GL_FUNC_DECLARATION (glTexCoord)
|
|
EIGEN_GL_FUNC_SPECIALIZATION_VEC(glTexCoord,int, 2,2iv)
|
|
EIGEN_GL_FUNC_SPECIALIZATION_VEC(glTexCoord,short, 2,2sv)
|
|
EIGEN_GL_FUNC_SPECIALIZATION_VEC(glTexCoord,float, 2,2fv)
|
|
EIGEN_GL_FUNC_SPECIALIZATION_VEC(glTexCoord,double, 2,2dv)
|
|
EIGEN_GL_FUNC_SPECIALIZATION_VEC(glTexCoord,int, 3,3iv)
|
|
EIGEN_GL_FUNC_SPECIALIZATION_VEC(glTexCoord,short, 3,3sv)
|
|
EIGEN_GL_FUNC_SPECIALIZATION_VEC(glTexCoord,float, 3,3fv)
|
|
EIGEN_GL_FUNC_SPECIALIZATION_VEC(glTexCoord,double, 3,3dv)
|
|
EIGEN_GL_FUNC_SPECIALIZATION_VEC(glTexCoord,int, 4,4iv)
|
|
EIGEN_GL_FUNC_SPECIALIZATION_VEC(glTexCoord,short, 4,4sv)
|
|
EIGEN_GL_FUNC_SPECIALIZATION_VEC(glTexCoord,float, 4,4fv)
|
|
EIGEN_GL_FUNC_SPECIALIZATION_VEC(glTexCoord,double, 4,4dv)
|
|
|
|
EIGEN_GL_FUNC_DECLARATION (glColor)
|
|
EIGEN_GL_FUNC_SPECIALIZATION_VEC(glColor,int, 2,2iv)
|
|
EIGEN_GL_FUNC_SPECIALIZATION_VEC(glColor,short, 2,2sv)
|
|
EIGEN_GL_FUNC_SPECIALIZATION_VEC(glColor,float, 2,2fv)
|
|
EIGEN_GL_FUNC_SPECIALIZATION_VEC(glColor,double, 2,2dv)
|
|
EIGEN_GL_FUNC_SPECIALIZATION_VEC(glColor,int, 3,3iv)
|
|
EIGEN_GL_FUNC_SPECIALIZATION_VEC(glColor,short, 3,3sv)
|
|
EIGEN_GL_FUNC_SPECIALIZATION_VEC(glColor,float, 3,3fv)
|
|
EIGEN_GL_FUNC_SPECIALIZATION_VEC(glColor,double, 3,3dv)
|
|
EIGEN_GL_FUNC_SPECIALIZATION_VEC(glColor,int, 4,4iv)
|
|
EIGEN_GL_FUNC_SPECIALIZATION_VEC(glColor,short, 4,4sv)
|
|
EIGEN_GL_FUNC_SPECIALIZATION_VEC(glColor,float, 4,4fv)
|
|
EIGEN_GL_FUNC_SPECIALIZATION_VEC(glColor,double, 4,4dv)
|
|
|
|
EIGEN_GL_FUNC_DECLARATION (glNormal)
|
|
EIGEN_GL_FUNC_SPECIALIZATION_VEC(glNormal,int, 3,3iv)
|
|
EIGEN_GL_FUNC_SPECIALIZATION_VEC(glNormal,short, 3,3sv)
|
|
EIGEN_GL_FUNC_SPECIALIZATION_VEC(glNormal,float, 3,3fv)
|
|
EIGEN_GL_FUNC_SPECIALIZATION_VEC(glNormal,double, 3,3dv)
|
|
|
|
inline void glScale2fv(const float* v) { glScalef(v[0], v[1], 1.f); }
|
|
inline void glScale2dv(const double* v) { glScaled(v[0], v[1], 1.0); }
|
|
inline void glScale3fv(const float* v) { glScalef(v[0], v[1], v[2]); }
|
|
inline void glScale3dv(const double* v) { glScaled(v[0], v[1], v[2]); }
|
|
|
|
EIGEN_GL_FUNC_DECLARATION (glScale)
|
|
EIGEN_GL_FUNC_SPECIALIZATION_VEC(glScale,float, 2,2fv)
|
|
EIGEN_GL_FUNC_SPECIALIZATION_VEC(glScale,double, 2,2dv)
|
|
EIGEN_GL_FUNC_SPECIALIZATION_VEC(glScale,float, 3,3fv)
|
|
EIGEN_GL_FUNC_SPECIALIZATION_VEC(glScale,double, 3,3dv)
|
|
|
|
template<typename Scalar> void glScale(const UniformScaling<Scalar>& s) { glScale(Matrix<Scalar,3,1>::Constant(s.factor())); }
|
|
|
|
inline void glTranslate2fv(const float* v) { glTranslatef(v[0], v[1], 0.f); }
|
|
inline void glTranslate2dv(const double* v) { glTranslated(v[0], v[1], 0.0); }
|
|
inline void glTranslate3fv(const float* v) { glTranslatef(v[0], v[1], v[2]); }
|
|
inline void glTranslate3dv(const double* v) { glTranslated(v[0], v[1], v[2]); }
|
|
|
|
EIGEN_GL_FUNC_DECLARATION (glTranslate)
|
|
EIGEN_GL_FUNC_SPECIALIZATION_VEC(glTranslate,float, 2,2fv)
|
|
EIGEN_GL_FUNC_SPECIALIZATION_VEC(glTranslate,double, 2,2dv)
|
|
EIGEN_GL_FUNC_SPECIALIZATION_VEC(glTranslate,float, 3,3fv)
|
|
EIGEN_GL_FUNC_SPECIALIZATION_VEC(glTranslate,double, 3,3dv)
|
|
|
|
template<typename Scalar> void glTranslate(const Translation<Scalar,2>& t) { glTranslate(t.vector()); }
|
|
template<typename Scalar> void glTranslate(const Translation<Scalar,3>& t) { glTranslate(t.vector()); }
|
|
|
|
EIGEN_GL_FUNC_DECLARATION (glMultMatrix)
|
|
EIGEN_GL_FUNC_SPECIALIZATION_MAT(glMultMatrix,float, 4,4,f)
|
|
EIGEN_GL_FUNC_SPECIALIZATION_MAT(glMultMatrix,double, 4,4,d)
|
|
|
|
template<typename Scalar> void glMultMatrix(const Transform<Scalar,3,Affine>& t) { glMultMatrix(t.matrix()); }
|
|
template<typename Scalar> void glMultMatrix(const Transform<Scalar,3,Projective>& t) { glMultMatrix(t.matrix()); }
|
|
template<typename Scalar> void glMultMatrix(const Transform<Scalar,3,AffineCompact>& t) { glMultMatrix(Transform<Scalar,3,Affine>(t).matrix()); }
|
|
|
|
EIGEN_GL_FUNC_DECLARATION (glLoadMatrix)
|
|
EIGEN_GL_FUNC_SPECIALIZATION_MAT(glLoadMatrix,float, 4,4,f)
|
|
EIGEN_GL_FUNC_SPECIALIZATION_MAT(glLoadMatrix,double, 4,4,d)
|
|
|
|
template<typename Scalar> void glLoadMatrix(const Transform<Scalar,3,Affine>& t) { glLoadMatrix(t.matrix()); }
|
|
template<typename Scalar> void glLoadMatrix(const Transform<Scalar,3,Projective>& t) { glLoadMatrix(t.matrix()); }
|
|
template<typename Scalar> void glLoadMatrix(const Transform<Scalar,3,AffineCompact>& t) { glLoadMatrix(Transform<Scalar,3,Affine>(t).matrix()); }
|
|
|
|
inline void glRotate(const Rotation2D<float>& rot)
|
|
{
|
|
glRotatef(rot.angle()*180.f/float(EIGEN_PI), 0.f, 0.f, 1.f);
|
|
}
|
|
inline void glRotate(const Rotation2D<double>& rot)
|
|
{
|
|
glRotated(rot.angle()*180.0/EIGEN_PI, 0.0, 0.0, 1.0);
|
|
}
|
|
|
|
template<typename Derived> void glRotate(const RotationBase<Derived,3>& rot)
|
|
{
|
|
Transform<typename Derived::Scalar,3,Projective> tr(rot);
|
|
glMultMatrix(tr.matrix());
|
|
}
|
|
|
|
#define EIGEN_GL_MAKE_CONST_const const
|
|
#define EIGEN_GL_MAKE_CONST__
|
|
#define EIGEN_GL_EVAL(X) X
|
|
|
|
#define EIGEN_GL_FUNC1_DECLARATION(FUNC,ARG1,CONST) \
|
|
namespace internal { \
|
|
template< typename XprType, \
|
|
typename Scalar = typename XprType::Scalar, \
|
|
int Rows = XprType::RowsAtCompileTime, \
|
|
int Cols = XprType::ColsAtCompileTime, \
|
|
bool IsGLCompatible = bool(internal::evaluator<XprType>::Flags&LinearAccessBit) \
|
|
&& bool(XprType::Flags&DirectAccessBit) \
|
|
&& (XprType::IsVectorAtCompileTime || (XprType::Flags&RowMajorBit)==0)> \
|
|
struct EIGEN_CAT(EIGEN_CAT(gl_,FUNC),_impl); \
|
|
\
|
|
template<typename XprType, typename Scalar, int Rows, int Cols> \
|
|
struct EIGEN_CAT(EIGEN_CAT(gl_,FUNC),_impl)<XprType,Scalar,Rows,Cols,false> { \
|
|
inline static void run(ARG1 a,EIGEN_GL_EVAL(EIGEN_GL_MAKE_CONST_##CONST) XprType& p) { \
|
|
EIGEN_CAT(EIGEN_CAT(gl_,FUNC),_impl)<typename plain_matrix_type_column_major<XprType>::type>::run(a,p); } \
|
|
}; \
|
|
} \
|
|
\
|
|
template<typename Derived> inline void FUNC(ARG1 a,EIGEN_GL_EVAL(EIGEN_GL_MAKE_CONST_##CONST) Eigen::DenseBase<Derived>& p) { \
|
|
EIGEN_CAT(EIGEN_CAT(internal::gl_,FUNC),_impl)<Derived>::run(a,p.derived()); \
|
|
}
|
|
|
|
|
|
#define EIGEN_GL_FUNC1_SPECIALIZATION_MAT(FUNC,ARG1,CONST,SCALAR,ROWS,COLS,SUFFIX) \
|
|
namespace internal { \
|
|
template< typename XprType> struct EIGEN_CAT(EIGEN_CAT(gl_,FUNC),_impl)<XprType, SCALAR, ROWS, COLS, true> { \
|
|
inline static void run(ARG1 a, EIGEN_GL_EVAL(EIGEN_GL_MAKE_CONST_##CONST) XprType& p) { FUNC##SUFFIX(a,p.data()); } \
|
|
}; \
|
|
}
|
|
|
|
|
|
#define EIGEN_GL_FUNC1_SPECIALIZATION_VEC(FUNC,ARG1,CONST,SCALAR,SIZE,SUFFIX) \
|
|
namespace internal { \
|
|
template< typename XprType> struct EIGEN_CAT(EIGEN_CAT(gl_,FUNC),_impl)<XprType, SCALAR, SIZE, 1, true> { \
|
|
inline static void run(ARG1 a, EIGEN_GL_EVAL(EIGEN_GL_MAKE_CONST_##CONST) XprType& p) { FUNC##SUFFIX(a,p.data()); } \
|
|
}; \
|
|
template< typename XprType> struct EIGEN_CAT(EIGEN_CAT(gl_,FUNC),_impl)<XprType, SCALAR, 1, SIZE, true> { \
|
|
inline static void run(ARG1 a, EIGEN_GL_EVAL(EIGEN_GL_MAKE_CONST_##CONST) XprType& p) { FUNC##SUFFIX(a,p.data()); } \
|
|
}; \
|
|
}
|
|
|
|
EIGEN_GL_FUNC1_DECLARATION (glGet,GLenum,_)
|
|
EIGEN_GL_FUNC1_SPECIALIZATION_MAT(glGet,GLenum,_,float, 4,4,Floatv)
|
|
EIGEN_GL_FUNC1_SPECIALIZATION_MAT(glGet,GLenum,_,double, 4,4,Doublev)
|
|
|
|
// glUniform API
|
|
|
|
#ifdef GL_VERSION_2_0
|
|
|
|
inline void glUniform2fv_ei (GLint loc, const float* v) { glUniform2fv(loc,1,v); }
|
|
inline void glUniform2iv_ei (GLint loc, const int* v) { glUniform2iv(loc,1,v); }
|
|
|
|
inline void glUniform3fv_ei (GLint loc, const float* v) { glUniform3fv(loc,1,v); }
|
|
inline void glUniform3iv_ei (GLint loc, const int* v) { glUniform3iv(loc,1,v); }
|
|
|
|
inline void glUniform4fv_ei (GLint loc, const float* v) { glUniform4fv(loc,1,v); }
|
|
inline void glUniform4iv_ei (GLint loc, const int* v) { glUniform4iv(loc,1,v); }
|
|
|
|
inline void glUniformMatrix2fv_ei (GLint loc, const float* v) { glUniformMatrix2fv(loc,1,false,v); }
|
|
inline void glUniformMatrix3fv_ei (GLint loc, const float* v) { glUniformMatrix3fv(loc,1,false,v); }
|
|
inline void glUniformMatrix4fv_ei (GLint loc, const float* v) { glUniformMatrix4fv(loc,1,false,v); }
|
|
|
|
|
|
EIGEN_GL_FUNC1_DECLARATION (glUniform,GLint,const)
|
|
EIGEN_GL_FUNC1_SPECIALIZATION_VEC(glUniform,GLint,const,float, 2,2fv_ei)
|
|
EIGEN_GL_FUNC1_SPECIALIZATION_VEC(glUniform,GLint,const,int, 2,2iv_ei)
|
|
EIGEN_GL_FUNC1_SPECIALIZATION_VEC(glUniform,GLint,const,float, 3,3fv_ei)
|
|
EIGEN_GL_FUNC1_SPECIALIZATION_VEC(glUniform,GLint,const,int, 3,3iv_ei)
|
|
EIGEN_GL_FUNC1_SPECIALIZATION_VEC(glUniform,GLint,const,float, 4,4fv_ei)
|
|
EIGEN_GL_FUNC1_SPECIALIZATION_VEC(glUniform,GLint,const,int, 4,4iv_ei)
|
|
|
|
EIGEN_GL_FUNC1_SPECIALIZATION_MAT(glUniform,GLint,const,float, 2,2,Matrix2fv_ei)
|
|
EIGEN_GL_FUNC1_SPECIALIZATION_MAT(glUniform,GLint,const,float, 3,3,Matrix3fv_ei)
|
|
EIGEN_GL_FUNC1_SPECIALIZATION_MAT(glUniform,GLint,const,float, 4,4,Matrix4fv_ei)
|
|
|
|
#endif
|
|
|
|
#ifdef GL_VERSION_2_1
|
|
|
|
inline void glUniformMatrix2x3fv_ei(GLint loc, const float* v) { glUniformMatrix2x3fv(loc,1,false,v); }
|
|
inline void glUniformMatrix3x2fv_ei(GLint loc, const float* v) { glUniformMatrix3x2fv(loc,1,false,v); }
|
|
inline void glUniformMatrix2x4fv_ei(GLint loc, const float* v) { glUniformMatrix2x4fv(loc,1,false,v); }
|
|
inline void glUniformMatrix4x2fv_ei(GLint loc, const float* v) { glUniformMatrix4x2fv(loc,1,false,v); }
|
|
inline void glUniformMatrix3x4fv_ei(GLint loc, const float* v) { glUniformMatrix3x4fv(loc,1,false,v); }
|
|
inline void glUniformMatrix4x3fv_ei(GLint loc, const float* v) { glUniformMatrix4x3fv(loc,1,false,v); }
|
|
|
|
EIGEN_GL_FUNC1_SPECIALIZATION_MAT(glUniform,GLint,const,float, 2,3,Matrix2x3fv_ei)
|
|
EIGEN_GL_FUNC1_SPECIALIZATION_MAT(glUniform,GLint,const,float, 3,2,Matrix3x2fv_ei)
|
|
EIGEN_GL_FUNC1_SPECIALIZATION_MAT(glUniform,GLint,const,float, 2,4,Matrix2x4fv_ei)
|
|
EIGEN_GL_FUNC1_SPECIALIZATION_MAT(glUniform,GLint,const,float, 4,2,Matrix4x2fv_ei)
|
|
EIGEN_GL_FUNC1_SPECIALIZATION_MAT(glUniform,GLint,const,float, 3,4,Matrix3x4fv_ei)
|
|
EIGEN_GL_FUNC1_SPECIALIZATION_MAT(glUniform,GLint,const,float, 4,3,Matrix4x3fv_ei)
|
|
|
|
#endif
|
|
|
|
#ifdef GL_VERSION_3_0
|
|
|
|
inline void glUniform2uiv_ei (GLint loc, const unsigned int* v) { glUniform2uiv(loc,1,v); }
|
|
inline void glUniform3uiv_ei (GLint loc, const unsigned int* v) { glUniform3uiv(loc,1,v); }
|
|
inline void glUniform4uiv_ei (GLint loc, const unsigned int* v) { glUniform4uiv(loc,1,v); }
|
|
|
|
EIGEN_GL_FUNC1_SPECIALIZATION_VEC(glUniform,GLint,const,unsigned int, 2,2uiv_ei)
|
|
EIGEN_GL_FUNC1_SPECIALIZATION_VEC(glUniform,GLint,const,unsigned int, 3,3uiv_ei)
|
|
EIGEN_GL_FUNC1_SPECIALIZATION_VEC(glUniform,GLint,const,unsigned int, 4,4uiv_ei)
|
|
|
|
#endif
|
|
|
|
#ifdef GL_ARB_gpu_shader_fp64
|
|
inline void glUniform2dv_ei (GLint loc, const double* v) { glUniform2dv(loc,1,v); }
|
|
inline void glUniform3dv_ei (GLint loc, const double* v) { glUniform3dv(loc,1,v); }
|
|
inline void glUniform4dv_ei (GLint loc, const double* v) { glUniform4dv(loc,1,v); }
|
|
|
|
EIGEN_GL_FUNC1_SPECIALIZATION_VEC(glUniform,GLint,const,double, 2,2dv_ei)
|
|
EIGEN_GL_FUNC1_SPECIALIZATION_VEC(glUniform,GLint,const,double, 3,3dv_ei)
|
|
EIGEN_GL_FUNC1_SPECIALIZATION_VEC(glUniform,GLint,const,double, 4,4dv_ei)
|
|
#endif
|
|
|
|
|
|
//@}
|
|
|
|
}
|
|
|
|
#endif // EIGEN_OPENGL_MODULE
|
|
|