blob: 1c44381349d1155426f77c2f680c7732f4e3e637 [file] [log] [blame]
// 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/.
#include <main.h>
#include <iostream>
#include <string>
#if defined(__APPLE_CC__)
// Prevent deprecation warnings caused by GLEW on MacOS.
#define GL_SILENCE_DEPRECATION 1
#endif
#include <GL/glew.h>
#include <Eigen/OpenGLSupport>
#if defined(__APPLE_CC__)
#include <GLUT/glut.h>
#else
#include <GL/freeglut.h>
#endif
using namespace Eigen;
#define VERIFY_MATRIX(CODE,REF) { \
glMatrixMode(GL_MODELVIEW); \
glLoadIdentity(); \
CODE; \
Matrix<float,4,4,ColMajor> m; m.setZero(); \
glGet(GL_MODELVIEW_MATRIX, m); \
if(!(REF).cast<float>().isApprox(m)) { \
std::cerr << "Expected:\n" << ((REF).cast<float>()) << "\n" << "got\n" << m << "\n\n"; \
} \
VERIFY_IS_APPROX((REF).cast<float>(), m); \
}
#define VERIFY_UNIFORM(SUFFIX,NAME,TYPE) { \
TYPE value; value.setRandom(); \
TYPE data; \
int loc = glGetUniformLocation(prg_id, #NAME); \
VERIFY((loc!=-1) && "uniform not found"); \
glUniform(loc,value); \
EIGEN_CAT(glGetUniform,SUFFIX)(prg_id,loc,data.data()); \
if(!value.isApprox(data)) { \
std::cerr << "Expected:\n" << value << "\n" << "got\n" << data << "\n\n"; \
} \
VERIFY_IS_APPROX(value, data); \
}
#define VERIFY_UNIFORMi(NAME,TYPE) { \
TYPE value = TYPE::Random().eval().cast<float>().cast<TYPE::Scalar>(); \
TYPE data; \
int loc = glGetUniformLocation(prg_id, #NAME); \
VERIFY((loc!=-1) && "uniform not found"); \
glUniform(loc,value); \
glGetUniformiv(prg_id,loc,(GLint*)data.data()); \
if(!value.isApprox(data)) { \
std::cerr << "Expected:\n" << value << "\n" << "got\n" << data << "\n\n"; \
} \
VERIFY_IS_APPROX(value, data); \
}
void printProgramInfoLog(GLuint objectID)
{
int infologLength, charsWritten;
GLchar *infoLog;
glGetProgramiv(objectID, GL_INFO_LOG_LENGTH, &infologLength);
if(infologLength > 0)
{
infoLog = new GLchar[infologLength];
glGetProgramInfoLog(objectID, infologLength, &charsWritten, infoLog);
if (charsWritten > 0)
std::cerr << "Program info : \n" << infoLog << std::endl;
delete[] infoLog;
}
}
void printShaderInfoLog(GLuint objectID)
{
int infologLength, charsWritten;
GLchar *infoLog;
glGetShaderiv(objectID, GL_INFO_LOG_LENGTH, &infologLength);
if(infologLength > 0)
{
infoLog = new GLchar[infologLength];
glGetShaderInfoLog(objectID, infologLength, &charsWritten, infoLog);
if (charsWritten > 0)
std::cerr << "Shader info : \n" << infoLog << std::endl;
delete[] infoLog;
}
}
GLint createProgram(const char* vtx, const char* frg, bool print_errors = true)
{
GLint prg_id = glCreateProgram();
GLint vtx_id = glCreateShader(GL_VERTEX_SHADER);
GLint frg_id = glCreateShader(GL_FRAGMENT_SHADER);
GLint ok;
glShaderSource(vtx_id, 1, &vtx, 0);
glCompileShader(vtx_id);
glGetShaderiv(vtx_id, GL_COMPILE_STATUS, &ok);
if(!ok)
{
if (print_errors)
{
std::cerr << "vtx compilation failed\n";
std::cerr << "Source:\n" << vtx << "\n";
printShaderInfoLog(vtx_id);
}
glDeleteShader(vtx_id);
return GL_ZERO;
}
glShaderSource(frg_id, 1, &frg, 0);
glCompileShader(frg_id);
glGetShaderiv(frg_id, GL_COMPILE_STATUS, &ok);
if(!ok)
{
if (print_errors)
{
std::cerr << "frg compilation failed.\n";
std::cerr << "Source:\n" << frg << "\n";
printShaderInfoLog(frg_id);
}
glDeleteShader(vtx_id);
glDeleteShader(frg_id);
return GL_ZERO;
}
glAttachShader(prg_id, vtx_id);
glAttachShader(prg_id, frg_id);
glLinkProgram(prg_id);
// Delete shaders once linked.
glDeleteShader(vtx_id);
glDeleteShader(frg_id);
glGetProgramiv(prg_id, GL_LINK_STATUS, &ok);
if(!ok)
{
if (print_errors)
{
std::cerr << "linking failed.\n";
printProgramInfoLog(prg_id);
}
glDeleteProgram(prg_id);
return GL_ZERO;
}
glUseProgram(prg_id);
return prg_id;
}
GLint createProgram(const std::string& vtx, const std::string& frg, bool print_errors = true)
{
return createProgram(vtx.c_str(), frg.c_str(), print_errors);
}
std::string getGlslVersionString(int gl_major_version, int gl_minor_version)
{
switch (gl_major_version)
{
case 2:
switch (gl_minor_version)
{
case 0:
return "#version 110";
case 1:
return "#version 120";
}
break;
case 3:
switch (gl_minor_version)
{
case 0:
return "#version 130";
case 1:
return "#version 140";
case 2:
return "#version 150";
case 3:
return "#version 330";
}
break;
case 4:
switch (gl_minor_version)
{
case 0:
return "#version 400";
case 1:
return "#version 410";
case 2:
return "#version 420";
case 3:
return "#version 430";
case 4:
return "#version 440";
case 5:
return "#version 450";
case 6:
return "#version 460";
}
break;
}
return "";
}
void find_and_replace(
std::string& str,
const std::string& find,
const std::string& replace)
{
size_t loc = 0;
size_t flen = find.length();
size_t rlen = replace.length();
while ( (loc = str.find(find, loc)) != std::string::npos) {
str.replace(loc, flen, replace);
loc += rlen;
}
}
// Finds and replaces a set of substrings in a string.
std::string format(
const std::string& str,
const std::vector<std::string>& find,
const std::vector<std::string>& replace)
{
std::string out = str;
for (std::size_t i=0; i<find.size(); ++i) {
find_and_replace(out, find[i], replace[i]);
}
return out;
}
// GLUT display function that runs test. Must be run within the display loop
// in order to properly destroy resources.
void openglsupport_test_loop()
{
// Get context info.
const GLubyte* gl_version_string = glGetString(GL_VERSION);
std::cerr << "GL version: " << gl_version_string << std::endl;
std::cerr << "GLSL version: " << glGetString(GL_SHADING_LANGUAGE_VERSION) << std::endl;
// Parse version from string since GL_MAJOR_VERSION is only supported in GL 3.0+.
// Version string guaranteed to be <major>.<minor><vender extension>.
GLint gl_major_version = gl_version_string[0] - '0';
GLint gl_minor_version = gl_version_string[2] - '0';
bool legacy_gl = gl_major_version < 3 || (gl_major_version == 3 && gl_minor_version < 2);
// Fixed-function pipeline removed in OpenGL 3.2.
if (legacy_gl)
{
// Draw a basic triangle.
Vector3f v3f;
Matrix3f rot;
glBegin(GL_POINTS);
{
glVertex(v3f);
glVertex(2*v3f+v3f);
glVertex(rot*v3f);
}
glEnd();
// 4x4 matrices
Matrix4f mf44; mf44.setRandom();
VERIFY_MATRIX(glLoadMatrix(mf44), mf44);
VERIFY_MATRIX(glMultMatrix(mf44), mf44);
Matrix4d md44; md44.setRandom();
VERIFY_MATRIX(glLoadMatrix(md44), md44);
VERIFY_MATRIX(glMultMatrix(md44), md44);
// Quaternion
Quaterniond qd(AngleAxisd(internal::random<double>(), Vector3d::Random()));
VERIFY_MATRIX(glRotate(qd), Projective3d(qd).matrix());
Quaternionf qf(AngleAxisf(internal::random<double>(), Vector3f::Random()));
VERIFY_MATRIX(glRotate(qf), Projective3f(qf).matrix());
// 3D Transform
Transform<float,3,AffineCompact> acf3; acf3.matrix().setRandom();
VERIFY_MATRIX(glLoadMatrix(acf3), Projective3f(acf3).matrix());
VERIFY_MATRIX(glMultMatrix(acf3), Projective3f(acf3).matrix());
Transform<float,3,Affine> af3(acf3);
VERIFY_MATRIX(glLoadMatrix(af3), Projective3f(af3).matrix());
VERIFY_MATRIX(glMultMatrix(af3), Projective3f(af3).matrix());
Transform<float,3,Projective> pf3; pf3.matrix().setRandom();
VERIFY_MATRIX(glLoadMatrix(pf3), Projective3f(pf3).matrix());
VERIFY_MATRIX(glMultMatrix(pf3), Projective3f(pf3).matrix());
Transform<double,3,AffineCompact> acd3; acd3.matrix().setRandom();
VERIFY_MATRIX(glLoadMatrix(acd3), Projective3d(acd3).matrix());
VERIFY_MATRIX(glMultMatrix(acd3), Projective3d(acd3).matrix());
Transform<double,3,Affine> ad3(acd3);
VERIFY_MATRIX(glLoadMatrix(ad3), Projective3d(ad3).matrix());
VERIFY_MATRIX(glMultMatrix(ad3), Projective3d(ad3).matrix());
Transform<double,3,Projective> pd3; pd3.matrix().setRandom();
VERIFY_MATRIX(glLoadMatrix(pd3), Projective3d(pd3).matrix());
VERIFY_MATRIX(glMultMatrix(pd3), Projective3d(pd3).matrix());
// translations (2D and 3D)
{
Vector2f vf2; vf2.setRandom(); Vector3f vf23; vf23 << vf2, 0;
VERIFY_MATRIX(glTranslate(vf2), Projective3f(Translation3f(vf23)).matrix());
Vector2d vd2; vd2.setRandom(); Vector3d vd23; vd23 << vd2, 0;
VERIFY_MATRIX(glTranslate(vd2), Projective3d(Translation3d(vd23)).matrix());
Vector3f vf3; vf3.setRandom();
VERIFY_MATRIX(glTranslate(vf3), Projective3f(Translation3f(vf3)).matrix());
Vector3d vd3; vd3.setRandom();
VERIFY_MATRIX(glTranslate(vd3), Projective3d(Translation3d(vd3)).matrix());
Translation<float,3> tf3; tf3.vector().setRandom();
VERIFY_MATRIX(glTranslate(tf3), Projective3f(tf3).matrix());
Translation<double,3> td3; td3.vector().setRandom();
VERIFY_MATRIX(glTranslate(td3), Projective3d(td3).matrix());
}
// scaling (2D and 3D)
{
Vector2f vf2; vf2.setRandom(); Vector3f vf23; vf23 << vf2, 1;
VERIFY_MATRIX(glScale(vf2), Projective3f(Scaling(vf23)).matrix());
Vector2d vd2; vd2.setRandom(); Vector3d vd23; vd23 << vd2, 1;
VERIFY_MATRIX(glScale(vd2), Projective3d(Scaling(vd23)).matrix());
Vector3f vf3; vf3.setRandom();
VERIFY_MATRIX(glScale(vf3), Projective3f(Scaling(vf3)).matrix());
Vector3d vd3; vd3.setRandom();
VERIFY_MATRIX(glScale(vd3), Projective3d(Scaling(vd3)).matrix());
UniformScaling<float> usf(internal::random<float>());
VERIFY_MATRIX(glScale(usf), Projective3f(usf).matrix());
UniformScaling<double> usd(internal::random<double>());
VERIFY_MATRIX(glScale(usd), Projective3d(usd).matrix());
}
} else {
std::cerr << "Warning: fixed-function pipeline was not tested.\n";
}
// Dynamic shader substitution variables.
// Modern shaders require a version string, and newer runtimes fail to
// compile old GLSL versions. Thus, we dynamically set the GLSL version
// string based on runtime. Also, pre OpenGL 3.0, the output gl_FragColor was
// built-in. This was deprecated in OpenGL 3.0, requiring us to explicitly
// define the output variable.
std::vector<std::string> glsl_vars;
glsl_vars.push_back("${GLSL_VERSION}");
glsl_vars.push_back("${FRAG_OUTPUT_DECLARATION}");
glsl_vars.push_back("${FRAG_OUTPUT_VARIABLE}");
std::vector<std::string> glsl_vals;
glsl_vals.push_back(getGlslVersionString(gl_major_version, gl_minor_version));
if (gl_major_version >= 3) {
glsl_vals.push_back("out vec4 fragColor;");
glsl_vals.push_back("fragColor");
} else {
glsl_vals.push_back("");
glsl_vals.push_back("gl_FragColor");
}
// uniform
{
// vertex shader.
std::string vtx = format(
"${GLSL_VERSION}\n"
"void main(void) {\n"
" gl_Position = vec4(0,0,0,1);\n"
"}\n",
glsl_vars, glsl_vals);
#ifdef GL_VERSION_2_0
if(GLEW_VERSION_2_0 && GL_VERSION_2_0)
{
std::string frg = format(
"${GLSL_VERSION}\n"
"uniform vec2 v2f;\n"
"uniform vec3 v3f;\n"
"uniform vec4 v4f;\n"
"uniform ivec2 v2i;\n"
"uniform ivec3 v3i;\n"
"uniform ivec4 v4i;\n"
"uniform mat2 m2f;\n"
"uniform mat3 m3f;\n"
"uniform mat4 m4f;\n"
"${FRAG_OUTPUT_DECLARATION}\n"
"void main(void) { \n"
" ${FRAG_OUTPUT_VARIABLE} = vec4(v2f[0]+v3f[0]+v4f[0])+vec4(v2i[0]+v3i[0]+v4i[0])+vec4(m2f[0][0]+m3f[0][0]+m4f[0][0]);\n"
"}\n",
glsl_vars, glsl_vals);
GLint prg_id = createProgram(vtx, frg);
VERIFY(prg_id > 0 && "Failed to create program.");
VERIFY_UNIFORM(fv, v2f, Vector2f);
VERIFY_UNIFORM(fv, v3f, Vector3f);
VERIFY_UNIFORM(fv, v4f, Vector4f);
VERIFY_UNIFORMi(v2i, Vector2i);
VERIFY_UNIFORMi(v3i, Vector3i);
VERIFY_UNIFORMi(v4i, Vector4i);
VERIFY_UNIFORM(fv, m2f, Matrix2f);
VERIFY_UNIFORM(fv, m3f, Matrix3f);
VERIFY_UNIFORM(fv, m4f, Matrix4f);
glDeleteProgram(prg_id);
}
else
#endif
std::cerr << "Warning: opengl 2.0 was not tested.\n";
#ifdef GL_VERSION_2_1
if(GLEW_VERSION_2_1 && GL_VERSION_2_1 &&
(gl_major_version > 2 || (gl_major_version == 2 && gl_minor_version >= 1)))
{
std::string frg = format(
"${GLSL_VERSION}\n"
"uniform mat2x3 m23f;\n"
"uniform mat3x2 m32f;\n"
"uniform mat2x4 m24f;\n"
"uniform mat4x2 m42f;\n"
"uniform mat3x4 m34f;\n"
"uniform mat4x3 m43f;\n"
"${FRAG_OUTPUT_DECLARATION}\n"
"void main(void) {\n"
" ${FRAG_OUTPUT_VARIABLE} = vec4(m23f[0][0]+m32f[0][0]+m24f[0][0]+m42f[0][0]+m34f[0][0]+m43f[0][0]);\n"
"}\n",
glsl_vars, glsl_vals);
GLint prg_id = createProgram(vtx, frg);
VERIFY(prg_id > 0 && "Failed to create program.");
typedef Matrix<float,2,3> Matrix23f;
typedef Matrix<float,3,2> Matrix32f;
typedef Matrix<float,2,4> Matrix24f;
typedef Matrix<float,4,2> Matrix42f;
typedef Matrix<float,3,4> Matrix34f;
typedef Matrix<float,4,3> Matrix43f;
VERIFY_UNIFORM(fv, m23f, Matrix23f);
VERIFY_UNIFORM(fv, m32f, Matrix32f);
VERIFY_UNIFORM(fv, m24f, Matrix24f);
VERIFY_UNIFORM(fv, m42f, Matrix42f);
VERIFY_UNIFORM(fv, m34f, Matrix34f);
VERIFY_UNIFORM(fv, m43f, Matrix43f);
glDeleteProgram(prg_id);
}
else
#endif
std::cerr << "Warning: opengl 2.1 was not tested.\n";
#ifdef GL_VERSION_3_0
if(GLEW_VERSION_3_0 && GL_VERSION_3_0 && gl_major_version >= 3)
{
std::string frg = format(
"${GLSL_VERSION}\n"
"uniform uvec2 v2ui;\n"
"uniform uvec3 v3ui;\n"
"uniform uvec4 v4ui;\n"
"${FRAG_OUTPUT_DECLARATION}\n"
"void main(void) {\n"
" ${FRAG_OUTPUT_VARIABLE} = vec4(v2ui[0]+v3ui[0]+v4ui[0]);\n"
"}\n",
glsl_vars, glsl_vals);
GLint prg_id = createProgram(vtx, frg);
VERIFY(prg_id > 0 && "Failed to create program.");
typedef Matrix<unsigned int,2,1> Vector2ui;
typedef Matrix<unsigned int,3,1> Vector3ui;
typedef Matrix<unsigned int,4,1> Vector4ui;
VERIFY_UNIFORMi(v2ui, Vector2ui);
VERIFY_UNIFORMi(v3ui, Vector3ui);
VERIFY_UNIFORMi(v4ui, Vector4ui);
glDeleteProgram(prg_id);
}
else
#endif
std::cerr << "Warning: opengl 3.0 was not tested.\n";
// dvecn supported if >= 4.1 or ARB_vertex_attrib_64bit
bool has_fp64_native = (gl_major_version == 4 && gl_minor_version >= 1);
bool has_fp64_extension = false;
#ifdef GLEW_ARB_gpu_shader_fp64
if(GLEW_ARB_gpu_shader_fp64)
{
// Check that extension can actually be compiled.
if (has_fp64_extension)
{
std::string frg = format(
"${GLSL_VERSION}\n"
"#extension GL_ARB_gpu_shader_fp64 : enable\n"
"uniform dvec2 dv2;\n"
"${FRAG_OUTPUT_DECLARATION}\n"
"void main(void) {\n"
" ${FRAG_OUTPUT_VARIABLE} = vec4(dv2.x, dv2.y, dv2.x, dv2.y);\n"
"}\n",
glsl_vars, glsl_vals);
GLint prg_id = createProgram(vtx, frg, /*print_errors=*/false);
if (prg_id)
{
has_fp64_extension = true;
glDeleteProgram(prg_id);
}
}
}
#endif
if( has_fp64_native || has_fp64_extension )
{
std::vector<std::string> glsl_vars_with_extension = glsl_vars;
glsl_vars_with_extension.push_back("${GLSL_EXTENSIONS}");
std::vector<std::string> glsl_vals_with_extension = glsl_vals;
if (has_fp64_extension)
{
glsl_vals_with_extension.push_back("#extension GL_ARB_gpu_shader_fp64 : enable");
}
else
{
glsl_vals_with_extension.push_back("");
}
std::string frg = format(
"${GLSL_VERSION}\n"
"${GLSL_EXTENSIONS}\n"
"uniform dvec2 v2d;\n"
"uniform dvec3 v3d;\n"
"uniform dvec4 v4d;\n"
"${FRAG_OUTPUT_DECLARATION}\n"
"void main(void) {\n"
" ${FRAG_OUTPUT_VARIABLE} = vec4(v2d[0]+v3d[0]+v4d[0]);\n"
"}\n",
glsl_vars_with_extension, glsl_vals_with_extension);
GLint prg_id = createProgram(vtx,frg);
VERIFY(prg_id > 0 && "Failed to create program.");
VERIFY_UNIFORM(dv, v2d, Vector2d);
VERIFY_UNIFORM(dv, v3d, Vector3d);
VERIFY_UNIFORM(dv, v4d, Vector4d);
glDeleteProgram(prg_id);
}
else
std::cerr << "Warning: dvec (fp64) was not tested.\n";
}
// Exit loop - Leaving main loop is supported by freeglut, otherwise we
// are forced to exit.
#ifdef FREEGLUT
glutLeaveMainLoop();
// Trigger another display loop iteration. Otherwise, it just hangs.
glutPostRedisplay();
#else
exit(0);
#endif
}
EIGEN_DECLARE_TEST(openglsupport)
{
int argc = 0;
glutInit(&argc, 0);
GLint glut_display_mode = GLUT_DOUBLE | GLUT_RGB | GLUT_DEPTH;
#ifndef EIGEN_LEGACY_OPENGL
// Initialize 3.2+ OpenGL context.
#if defined(__APPLE_CC__)
glut_display_mode |= GLUT_3_2_CORE_PROFILE;
#elif defined(FREEGLUT)
glutInitContextVersion(3, 2);
glutInitContextFlags(GLUT_FORWARD_COMPATIBLE);
glutInitContextProfile(GLUT_CORE_PROFILE);
#endif
#endif
glutInitDisplayMode(glut_display_mode);
glutInitWindowPosition(0, 0);
glutInitWindowSize(10, 10);
int window = glutCreateWindow("Eigen");
if(window <= 0)
{
std::cerr << "Error: Unable to create GLUT Window.\n";
exit(1);
}
glewExperimental = GL_TRUE;
if(glewInit() != GLEW_OK)
{
std::cerr << "Warning: Failed to initialize GLEW.\n";
exit(1);
}
// Run test in display, otherwise GLUT fails to clean up and leads to memory
// access errors on exit.
glutDisplayFunc(openglsupport_test_loop);
glutMainLoop();
glutDestroyWindow(window);
}