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