1 // This file is part of Eigen, a lightweight C++ template library 2 // for linear algebra. 3 // 4 // Copyright (C) 2010 Gael Guennebaud <gael.guennebaud (a] inria.fr> 5 // 6 // This Source Code Form is subject to the terms of the Mozilla 7 // Public License v. 2.0. If a copy of the MPL was not distributed 8 // with this file, You can obtain one at http://mozilla.org/MPL/2.0/. 9 10 #ifndef EIGEN_OPENGL_MODULE 11 #define EIGEN_OPENGL_MODULE 12 13 #include <Eigen/Geometry> 14 #include <GL/gl.h> 15 16 namespace Eigen { 17 18 /** \ingroup Unsupported_modules 19 * \defgroup OpenGLSUpport_Module OpenGL Support module 20 * 21 * This module provides wrapper functions for a couple of OpenGL functions 22 * which simplify the way to pass Eigen's object to openGL. 23 * Here is an exmaple: 24 * 25 * \code 26 * // You need to add path_to_eigen/unsupported to your include path. 27 * #include <Eigen/OpenGLSupport> 28 * // ... 29 * Vector3f x, y; 30 * Matrix3f rot; 31 * 32 * glVertex(y + x * rot); 33 * 34 * Quaternion q; 35 * glRotate(q); 36 * 37 * // ... 38 * \endcode 39 * 40 */ 41 //@{ 42 43 #define EIGEN_GL_FUNC_DECLARATION(FUNC) \ 44 namespace internal { \ 45 template< typename XprType, \ 46 typename Scalar = typename XprType::Scalar, \ 47 int Rows = XprType::RowsAtCompileTime, \ 48 int Cols = XprType::ColsAtCompileTime, \ 49 bool IsGLCompatible = bool(XprType::Flags&LinearAccessBit) \ 50 && bool(XprType::Flags&DirectAccessBit) \ 51 && (XprType::IsVectorAtCompileTime || (XprType::Flags&RowMajorBit)==0)> \ 52 struct EIGEN_CAT(EIGEN_CAT(gl_,FUNC),_impl); \ 53 \ 54 template<typename XprType, typename Scalar, int Rows, int Cols> \ 55 struct EIGEN_CAT(EIGEN_CAT(gl_,FUNC),_impl)<XprType,Scalar,Rows,Cols,false> { \ 56 inline static void run(const XprType& p) { \ 57 EIGEN_CAT(EIGEN_CAT(gl_,FUNC),_impl)<typename plain_matrix_type_column_major<XprType>::type>::run(p); } \ 58 }; \ 59 } \ 60 \ 61 template<typename Derived> inline void FUNC(const Eigen::DenseBase<Derived>& p) { \ 62 EIGEN_CAT(EIGEN_CAT(internal::gl_,FUNC),_impl)<Derived>::run(p.derived()); \ 63 } 64 65 66 #define EIGEN_GL_FUNC_SPECIALIZATION_MAT(FUNC,SCALAR,ROWS,COLS,SUFFIX) \ 67 namespace internal { \ 68 template< typename XprType> struct EIGEN_CAT(EIGEN_CAT(gl_,FUNC),_impl)<XprType, SCALAR, ROWS, COLS, true> { \ 69 inline static void run(const XprType& p) { FUNC##SUFFIX(p.data()); } \ 70 }; \ 71 } 72 73 74 #define EIGEN_GL_FUNC_SPECIALIZATION_VEC(FUNC,SCALAR,SIZE,SUFFIX) \ 75 namespace internal { \ 76 template< typename XprType> struct EIGEN_CAT(EIGEN_CAT(gl_,FUNC),_impl)<XprType, SCALAR, SIZE, 1, true> { \ 77 inline static void run(const XprType& p) { FUNC##SUFFIX(p.data()); } \ 78 }; \ 79 template< typename XprType> struct EIGEN_CAT(EIGEN_CAT(gl_,FUNC),_impl)<XprType, SCALAR, 1, SIZE, true> { \ 80 inline static void run(const XprType& p) { FUNC##SUFFIX(p.data()); } \ 81 }; \ 82 } 83 84 85 EIGEN_GL_FUNC_DECLARATION (glVertex) 86 EIGEN_GL_FUNC_SPECIALIZATION_VEC(glVertex,int, 2,2iv) 87 EIGEN_GL_FUNC_SPECIALIZATION_VEC(glVertex,short, 2,2sv) 88 EIGEN_GL_FUNC_SPECIALIZATION_VEC(glVertex,float, 2,2fv) 89 EIGEN_GL_FUNC_SPECIALIZATION_VEC(glVertex,double, 2,2dv) 90 EIGEN_GL_FUNC_SPECIALIZATION_VEC(glVertex,int, 3,3iv) 91 EIGEN_GL_FUNC_SPECIALIZATION_VEC(glVertex,short, 3,3sv) 92 EIGEN_GL_FUNC_SPECIALIZATION_VEC(glVertex,float, 3,3fv) 93 EIGEN_GL_FUNC_SPECIALIZATION_VEC(glVertex,double, 3,3dv) 94 EIGEN_GL_FUNC_SPECIALIZATION_VEC(glVertex,int, 4,4iv) 95 EIGEN_GL_FUNC_SPECIALIZATION_VEC(glVertex,short, 4,4sv) 96 EIGEN_GL_FUNC_SPECIALIZATION_VEC(glVertex,float, 4,4fv) 97 EIGEN_GL_FUNC_SPECIALIZATION_VEC(glVertex,double, 4,4dv) 98 99 EIGEN_GL_FUNC_DECLARATION (glTexCoord) 100 EIGEN_GL_FUNC_SPECIALIZATION_VEC(glTexCoord,int, 2,2iv) 101 EIGEN_GL_FUNC_SPECIALIZATION_VEC(glTexCoord,short, 2,2sv) 102 EIGEN_GL_FUNC_SPECIALIZATION_VEC(glTexCoord,float, 2,2fv) 103 EIGEN_GL_FUNC_SPECIALIZATION_VEC(glTexCoord,double, 2,2dv) 104 EIGEN_GL_FUNC_SPECIALIZATION_VEC(glTexCoord,int, 3,3iv) 105 EIGEN_GL_FUNC_SPECIALIZATION_VEC(glTexCoord,short, 3,3sv) 106 EIGEN_GL_FUNC_SPECIALIZATION_VEC(glTexCoord,float, 3,3fv) 107 EIGEN_GL_FUNC_SPECIALIZATION_VEC(glTexCoord,double, 3,3dv) 108 EIGEN_GL_FUNC_SPECIALIZATION_VEC(glTexCoord,int, 4,4iv) 109 EIGEN_GL_FUNC_SPECIALIZATION_VEC(glTexCoord,short, 4,4sv) 110 EIGEN_GL_FUNC_SPECIALIZATION_VEC(glTexCoord,float, 4,4fv) 111 EIGEN_GL_FUNC_SPECIALIZATION_VEC(glTexCoord,double, 4,4dv) 112 113 EIGEN_GL_FUNC_DECLARATION (glColor) 114 EIGEN_GL_FUNC_SPECIALIZATION_VEC(glColor,int, 2,2iv) 115 EIGEN_GL_FUNC_SPECIALIZATION_VEC(glColor,short, 2,2sv) 116 EIGEN_GL_FUNC_SPECIALIZATION_VEC(glColor,float, 2,2fv) 117 EIGEN_GL_FUNC_SPECIALIZATION_VEC(glColor,double, 2,2dv) 118 EIGEN_GL_FUNC_SPECIALIZATION_VEC(glColor,int, 3,3iv) 119 EIGEN_GL_FUNC_SPECIALIZATION_VEC(glColor,short, 3,3sv) 120 EIGEN_GL_FUNC_SPECIALIZATION_VEC(glColor,float, 3,3fv) 121 EIGEN_GL_FUNC_SPECIALIZATION_VEC(glColor,double, 3,3dv) 122 EIGEN_GL_FUNC_SPECIALIZATION_VEC(glColor,int, 4,4iv) 123 EIGEN_GL_FUNC_SPECIALIZATION_VEC(glColor,short, 4,4sv) 124 EIGEN_GL_FUNC_SPECIALIZATION_VEC(glColor,float, 4,4fv) 125 EIGEN_GL_FUNC_SPECIALIZATION_VEC(glColor,double, 4,4dv) 126 127 EIGEN_GL_FUNC_DECLARATION (glNormal) 128 EIGEN_GL_FUNC_SPECIALIZATION_VEC(glNormal,int, 3,3iv) 129 EIGEN_GL_FUNC_SPECIALIZATION_VEC(glNormal,short, 3,3sv) 130 EIGEN_GL_FUNC_SPECIALIZATION_VEC(glNormal,float, 3,3fv) 131 EIGEN_GL_FUNC_SPECIALIZATION_VEC(glNormal,double, 3,3dv) 132 133 inline void glScale2fv(const float* v) { glScalef(v[0], v[1], 1.f); } 134 inline void glScale2dv(const double* v) { glScaled(v[0], v[1], 1.0); } 135 inline void glScale3fv(const float* v) { glScalef(v[0], v[1], v[2]); } 136 inline void glScale3dv(const double* v) { glScaled(v[0], v[1], v[2]); } 137 138 EIGEN_GL_FUNC_DECLARATION (glScale) 139 EIGEN_GL_FUNC_SPECIALIZATION_VEC(glScale,float, 2,2fv) 140 EIGEN_GL_FUNC_SPECIALIZATION_VEC(glScale,double, 2,2dv) 141 EIGEN_GL_FUNC_SPECIALIZATION_VEC(glScale,float, 3,3fv) 142 EIGEN_GL_FUNC_SPECIALIZATION_VEC(glScale,double, 3,3dv) 143 144 template<typename Scalar> void glScale(const UniformScaling<Scalar>& s) { glScale(Matrix<Scalar,3,1>::Constant(s.factor())); } 145 146 inline void glTranslate2fv(const float* v) { glTranslatef(v[0], v[1], 0.f); } 147 inline void glTranslate2dv(const double* v) { glTranslated(v[0], v[1], 0.0); } 148 inline void glTranslate3fv(const float* v) { glTranslatef(v[0], v[1], v[2]); } 149 inline void glTranslate3dv(const double* v) { glTranslated(v[0], v[1], v[2]); } 150 151 EIGEN_GL_FUNC_DECLARATION (glTranslate) 152 EIGEN_GL_FUNC_SPECIALIZATION_VEC(glTranslate,float, 2,2fv) 153 EIGEN_GL_FUNC_SPECIALIZATION_VEC(glTranslate,double, 2,2dv) 154 EIGEN_GL_FUNC_SPECIALIZATION_VEC(glTranslate,float, 3,3fv) 155 EIGEN_GL_FUNC_SPECIALIZATION_VEC(glTranslate,double, 3,3dv) 156 157 template<typename Scalar> void glTranslate(const Translation<Scalar,2>& t) { glTranslate(t.vector()); } 158 template<typename Scalar> void glTranslate(const Translation<Scalar,3>& t) { glTranslate(t.vector()); } 159 160 EIGEN_GL_FUNC_DECLARATION (glMultMatrix) 161 EIGEN_GL_FUNC_SPECIALIZATION_MAT(glMultMatrix,float, 4,4,f) 162 EIGEN_GL_FUNC_SPECIALIZATION_MAT(glMultMatrix,double, 4,4,d) 163 164 template<typename Scalar> void glMultMatrix(const Transform<Scalar,3,Affine>& t) { glMultMatrix(t.matrix()); } 165 template<typename Scalar> void glMultMatrix(const Transform<Scalar,3,Projective>& t) { glMultMatrix(t.matrix()); } 166 template<typename Scalar> void glMultMatrix(const Transform<Scalar,3,AffineCompact>& t) { glMultMatrix(Transform<Scalar,3,Affine>(t).matrix()); } 167 168 EIGEN_GL_FUNC_DECLARATION (glLoadMatrix) 169 EIGEN_GL_FUNC_SPECIALIZATION_MAT(glLoadMatrix,float, 4,4,f) 170 EIGEN_GL_FUNC_SPECIALIZATION_MAT(glLoadMatrix,double, 4,4,d) 171 172 template<typename Scalar> void glLoadMatrix(const Transform<Scalar,3,Affine>& t) { glLoadMatrix(t.matrix()); } 173 template<typename Scalar> void glLoadMatrix(const Transform<Scalar,3,Projective>& t) { glLoadMatrix(t.matrix()); } 174 template<typename Scalar> void glLoadMatrix(const Transform<Scalar,3,AffineCompact>& t) { glLoadMatrix(Transform<Scalar,3,Affine>(t).matrix()); } 175 176 static void glRotate(const Rotation2D<float>& rot) 177 { 178 glRotatef(rot.angle()*180.f/float(M_PI), 0.f, 0.f, 1.f); 179 } 180 static void glRotate(const Rotation2D<double>& rot) 181 { 182 glRotated(rot.angle()*180.0/M_PI, 0.0, 0.0, 1.0); 183 } 184 185 template<typename Derived> void glRotate(const RotationBase<Derived,3>& rot) 186 { 187 Transform<typename Derived::Scalar,3,Projective> tr(rot); 188 glMultMatrix(tr.matrix()); 189 } 190 191 #define EIGEN_GL_MAKE_CONST_const const 192 #define EIGEN_GL_MAKE_CONST__ 193 #define EIGEN_GL_EVAL(X) X 194 195 #define EIGEN_GL_FUNC1_DECLARATION(FUNC,ARG1,CONST) \ 196 namespace internal { \ 197 template< typename XprType, \ 198 typename Scalar = typename XprType::Scalar, \ 199 int Rows = XprType::RowsAtCompileTime, \ 200 int Cols = XprType::ColsAtCompileTime, \ 201 bool IsGLCompatible = bool(XprType::Flags&LinearAccessBit) \ 202 && bool(XprType::Flags&DirectAccessBit) \ 203 && (XprType::IsVectorAtCompileTime || (XprType::Flags&RowMajorBit)==0)> \ 204 struct EIGEN_CAT(EIGEN_CAT(gl_,FUNC),_impl); \ 205 \ 206 template<typename XprType, typename Scalar, int Rows, int Cols> \ 207 struct EIGEN_CAT(EIGEN_CAT(gl_,FUNC),_impl)<XprType,Scalar,Rows,Cols,false> { \ 208 inline static void run(ARG1 a,EIGEN_GL_EVAL(EIGEN_GL_MAKE_CONST_##CONST) XprType& p) { \ 209 EIGEN_CAT(EIGEN_CAT(gl_,FUNC),_impl)<typename plain_matrix_type_column_major<XprType>::type>::run(a,p); } \ 210 }; \ 211 } \ 212 \ 213 template<typename Derived> inline void FUNC(ARG1 a,EIGEN_GL_EVAL(EIGEN_GL_MAKE_CONST_##CONST) Eigen::DenseBase<Derived>& p) { \ 214 EIGEN_CAT(EIGEN_CAT(internal::gl_,FUNC),_impl)<Derived>::run(a,p.derived()); \ 215 } 216 217 218 #define EIGEN_GL_FUNC1_SPECIALIZATION_MAT(FUNC,ARG1,CONST,SCALAR,ROWS,COLS,SUFFIX) \ 219 namespace internal { \ 220 template< typename XprType> struct EIGEN_CAT(EIGEN_CAT(gl_,FUNC),_impl)<XprType, SCALAR, ROWS, COLS, true> { \ 221 inline static void run(ARG1 a, EIGEN_GL_EVAL(EIGEN_GL_MAKE_CONST_##CONST) XprType& p) { FUNC##SUFFIX(a,p.data()); } \ 222 }; \ 223 } 224 225 226 #define EIGEN_GL_FUNC1_SPECIALIZATION_VEC(FUNC,ARG1,CONST,SCALAR,SIZE,SUFFIX) \ 227 namespace internal { \ 228 template< typename XprType> struct EIGEN_CAT(EIGEN_CAT(gl_,FUNC),_impl)<XprType, SCALAR, SIZE, 1, true> { \ 229 inline static void run(ARG1 a, EIGEN_GL_EVAL(EIGEN_GL_MAKE_CONST_##CONST) XprType& p) { FUNC##SUFFIX(a,p.data()); } \ 230 }; \ 231 template< typename XprType> struct EIGEN_CAT(EIGEN_CAT(gl_,FUNC),_impl)<XprType, SCALAR, 1, SIZE, true> { \ 232 inline static void run(ARG1 a, EIGEN_GL_EVAL(EIGEN_GL_MAKE_CONST_##CONST) XprType& p) { FUNC##SUFFIX(a,p.data()); } \ 233 }; \ 234 } 235 236 EIGEN_GL_FUNC1_DECLARATION (glGet,GLenum,_) 237 EIGEN_GL_FUNC1_SPECIALIZATION_MAT(glGet,GLenum,_,float, 4,4,Floatv) 238 EIGEN_GL_FUNC1_SPECIALIZATION_MAT(glGet,GLenum,_,double, 4,4,Doublev) 239 240 // glUniform API 241 242 #ifdef GL_VERSION_2_0 243 244 static void glUniform2fv_ei (GLint loc, const float* v) { glUniform2fv(loc,1,v); } 245 static void glUniform2iv_ei (GLint loc, const int* v) { glUniform2iv(loc,1,v); } 246 247 static void glUniform3fv_ei (GLint loc, const float* v) { glUniform3fv(loc,1,v); } 248 static void glUniform3iv_ei (GLint loc, const int* v) { glUniform3iv(loc,1,v); } 249 250 static void glUniform4fv_ei (GLint loc, const float* v) { glUniform4fv(loc,1,v); } 251 static void glUniform4iv_ei (GLint loc, const int* v) { glUniform4iv(loc,1,v); } 252 253 static void glUniformMatrix2fv_ei (GLint loc, const float* v) { glUniformMatrix2fv(loc,1,false,v); } 254 static void glUniformMatrix3fv_ei (GLint loc, const float* v) { glUniformMatrix3fv(loc,1,false,v); } 255 static void glUniformMatrix4fv_ei (GLint loc, const float* v) { glUniformMatrix4fv(loc,1,false,v); } 256 257 258 EIGEN_GL_FUNC1_DECLARATION (glUniform,GLint,const) 259 EIGEN_GL_FUNC1_SPECIALIZATION_VEC(glUniform,GLint,const,float, 2,2fv_ei) 260 EIGEN_GL_FUNC1_SPECIALIZATION_VEC(glUniform,GLint,const,int, 2,2iv_ei) 261 EIGEN_GL_FUNC1_SPECIALIZATION_VEC(glUniform,GLint,const,float, 3,3fv_ei) 262 EIGEN_GL_FUNC1_SPECIALIZATION_VEC(glUniform,GLint,const,int, 3,3iv_ei) 263 EIGEN_GL_FUNC1_SPECIALIZATION_VEC(glUniform,GLint,const,float, 4,4fv_ei) 264 EIGEN_GL_FUNC1_SPECIALIZATION_VEC(glUniform,GLint,const,int, 4,4iv_ei) 265 266 EIGEN_GL_FUNC1_SPECIALIZATION_MAT(glUniform,GLint,const,float, 2,2,Matrix2fv_ei) 267 EIGEN_GL_FUNC1_SPECIALIZATION_MAT(glUniform,GLint,const,float, 3,3,Matrix3fv_ei) 268 EIGEN_GL_FUNC1_SPECIALIZATION_MAT(glUniform,GLint,const,float, 4,4,Matrix4fv_ei) 269 270 #endif 271 272 #ifdef GL_VERSION_2_1 273 274 static void glUniformMatrix2x3fv_ei(GLint loc, const float* v) { glUniformMatrix2x3fv(loc,1,false,v); } 275 static void glUniformMatrix3x2fv_ei(GLint loc, const float* v) { glUniformMatrix3x2fv(loc,1,false,v); } 276 static void glUniformMatrix2x4fv_ei(GLint loc, const float* v) { glUniformMatrix2x4fv(loc,1,false,v); } 277 static void glUniformMatrix4x2fv_ei(GLint loc, const float* v) { glUniformMatrix4x2fv(loc,1,false,v); } 278 static void glUniformMatrix3x4fv_ei(GLint loc, const float* v) { glUniformMatrix3x4fv(loc,1,false,v); } 279 static void glUniformMatrix4x3fv_ei(GLint loc, const float* v) { glUniformMatrix4x3fv(loc,1,false,v); } 280 281 EIGEN_GL_FUNC1_SPECIALIZATION_MAT(glUniform,GLint,const,float, 2,3,Matrix2x3fv_ei) 282 EIGEN_GL_FUNC1_SPECIALIZATION_MAT(glUniform,GLint,const,float, 3,2,Matrix3x2fv_ei) 283 EIGEN_GL_FUNC1_SPECIALIZATION_MAT(glUniform,GLint,const,float, 2,4,Matrix2x4fv_ei) 284 EIGEN_GL_FUNC1_SPECIALIZATION_MAT(glUniform,GLint,const,float, 4,2,Matrix4x2fv_ei) 285 EIGEN_GL_FUNC1_SPECIALIZATION_MAT(glUniform,GLint,const,float, 3,4,Matrix3x4fv_ei) 286 EIGEN_GL_FUNC1_SPECIALIZATION_MAT(glUniform,GLint,const,float, 4,3,Matrix4x3fv_ei) 287 288 #endif 289 290 #ifdef GL_VERSION_3_0 291 292 static void glUniform2uiv_ei (GLint loc, const unsigned int* v) { glUniform2uiv(loc,1,v); } 293 static void glUniform3uiv_ei (GLint loc, const unsigned int* v) { glUniform3uiv(loc,1,v); } 294 static void glUniform4uiv_ei (GLint loc, const unsigned int* v) { glUniform4uiv(loc,1,v); } 295 296 EIGEN_GL_FUNC1_SPECIALIZATION_VEC(glUniform,GLint,const,unsigned int, 2,2uiv_ei) 297 EIGEN_GL_FUNC1_SPECIALIZATION_VEC(glUniform,GLint,const,unsigned int, 3,3uiv_ei) 298 EIGEN_GL_FUNC1_SPECIALIZATION_VEC(glUniform,GLint,const,unsigned int, 4,4uiv_ei) 299 300 #endif 301 302 #ifdef GL_ARB_gpu_shader_fp64 303 static void glUniform2dv_ei (GLint loc, const double* v) { glUniform2dv(loc,1,v); } 304 static void glUniform3dv_ei (GLint loc, const double* v) { glUniform3dv(loc,1,v); } 305 static void glUniform4dv_ei (GLint loc, const double* v) { glUniform4dv(loc,1,v); } 306 307 EIGEN_GL_FUNC1_SPECIALIZATION_VEC(glUniform,GLint,const,double, 2,2dv_ei) 308 EIGEN_GL_FUNC1_SPECIALIZATION_VEC(glUniform,GLint,const,double, 3,3dv_ei) 309 EIGEN_GL_FUNC1_SPECIALIZATION_VEC(glUniform,GLint,const,double, 4,4dv_ei) 310 #endif 311 312 313 //@} 314 315 } 316 317 #endif // EIGEN_OPENGL_MODULE 318
