| // 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> |
| #include <GL/gl.h> |
| |
| namespace Eigen { |
| |
| /** \ingroup Unsupported_modules |
| * \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(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()); } |
| |
| static void glRotate(const Rotation2D<float>& rot) |
| { |
| glRotatef(rot.angle()*180.f/float(M_PI), 0.f, 0.f, 1.f); |
| } |
| static void glRotate(const Rotation2D<double>& rot) |
| { |
| glRotated(rot.angle()*180.0/M_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(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 |
| |
| static void glUniform2fv_ei (GLint loc, const float* v) { glUniform2fv(loc,1,v); } |
| static void glUniform2iv_ei (GLint loc, const int* v) { glUniform2iv(loc,1,v); } |
| |
| static void glUniform3fv_ei (GLint loc, const float* v) { glUniform3fv(loc,1,v); } |
| static void glUniform3iv_ei (GLint loc, const int* v) { glUniform3iv(loc,1,v); } |
| |
| static void glUniform4fv_ei (GLint loc, const float* v) { glUniform4fv(loc,1,v); } |
| static void glUniform4iv_ei (GLint loc, const int* v) { glUniform4iv(loc,1,v); } |
| |
| static void glUniformMatrix2fv_ei (GLint loc, const float* v) { glUniformMatrix2fv(loc,1,false,v); } |
| static void glUniformMatrix3fv_ei (GLint loc, const float* v) { glUniformMatrix3fv(loc,1,false,v); } |
| static 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 |
| |
| static void glUniformMatrix2x3fv_ei(GLint loc, const float* v) { glUniformMatrix2x3fv(loc,1,false,v); } |
| static void glUniformMatrix3x2fv_ei(GLint loc, const float* v) { glUniformMatrix3x2fv(loc,1,false,v); } |
| static void glUniformMatrix2x4fv_ei(GLint loc, const float* v) { glUniformMatrix2x4fv(loc,1,false,v); } |
| static void glUniformMatrix4x2fv_ei(GLint loc, const float* v) { glUniformMatrix4x2fv(loc,1,false,v); } |
| static void glUniformMatrix3x4fv_ei(GLint loc, const float* v) { glUniformMatrix3x4fv(loc,1,false,v); } |
| static 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 |
| |
| static void glUniform2uiv_ei (GLint loc, const unsigned int* v) { glUniform2uiv(loc,1,v); } |
| static void glUniform3uiv_ei (GLint loc, const unsigned int* v) { glUniform3uiv(loc,1,v); } |
| static 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 |
| static void glUniform2dv_ei (GLint loc, const double* v) { glUniform2dv(loc,1,v); } |
| static void glUniform3dv_ei (GLint loc, const double* v) { glUniform3dv(loc,1,v); } |
| static 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 |
