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realtimeroboticsgroup.org / RealtimeRoboticsGroup / test / c55b0172b26fcf0a0b8d5ef0b98c87128e0f6bdb / . / unsupported / Eigen / OpenGLSupport
blob: f8c213003b4364720c5cbb5b61904ad1f333be25 [file] [log] [blame]
Brian Silverman72890c22015-09-19 14:37:37 -0400[diff] [blame]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@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
Austin Schuhc55b0172022-02-20 17:52:35 -0800[diff] [blame^]13#include "../../Eigen/Geometry"
Brian Silverman72890c22015-09-19 14:37:37 -0400[diff] [blame]14
15#if defined(__APPLE_CC__)
16 #include <OpenGL/gl.h>
17#else
18 #include <GL/gl.h>
19#endif
20
21namespace Eigen {
22
23/**
24 * \defgroup OpenGLSUpport_Module OpenGL Support module
25 *
26 * This module provides wrapper functions for a couple of OpenGL functions
27 * which simplify the way to pass Eigen's object to openGL.
Austin Schuhc55b0172022-02-20 17:52:35 -0800[diff] [blame^]28 * Here is an example:
Brian Silverman72890c22015-09-19 14:37:37 -0400[diff] [blame]29 *
30 * \code
31 * // You need to add path_to_eigen/unsupported to your include path.
32 * #include <Eigen/OpenGLSupport>
33 * // ...
34 * Vector3f x, y;
35 * Matrix3f rot;
36 *
37 * glVertex(y + x * rot);
38 *
39 * Quaternion q;
40 * glRotate(q);
41 *
42 * // ...
43 * \endcode
44 *
45 */
46//@{
47
48#define EIGEN_GL_FUNC_DECLARATION(FUNC) \
49namespace internal { \
50 template< typename XprType, \
51 typename Scalar = typename XprType::Scalar, \
52 int Rows = XprType::RowsAtCompileTime, \
53 int Cols = XprType::ColsAtCompileTime, \
Austin Schuh189376f2018-12-20 22:11:15 +1100[diff] [blame]54 bool IsGLCompatible = bool(internal::evaluator<XprType>::Flags&LinearAccessBit) \
Brian Silverman72890c22015-09-19 14:37:37 -0400[diff] [blame]55 && bool(XprType::Flags&DirectAccessBit) \
56 && (XprType::IsVectorAtCompileTime || (XprType::Flags&RowMajorBit)==0)> \
57 struct EIGEN_CAT(EIGEN_CAT(gl_,FUNC),_impl); \
58 \
59 template<typename XprType, typename Scalar, int Rows, int Cols> \
60 struct EIGEN_CAT(EIGEN_CAT(gl_,FUNC),_impl)<XprType,Scalar,Rows,Cols,false> { \
61 inline static void run(const XprType& p) { \
62 EIGEN_CAT(EIGEN_CAT(gl_,FUNC),_impl)<typename plain_matrix_type_column_major<XprType>::type>::run(p); } \
63 }; \
64} \
65 \
66template<typename Derived> inline void FUNC(const Eigen::DenseBase<Derived>& p) { \
67 EIGEN_CAT(EIGEN_CAT(internal::gl_,FUNC),_impl)<Derived>::run(p.derived()); \
68}
69
70
71#define EIGEN_GL_FUNC_SPECIALIZATION_MAT(FUNC,SCALAR,ROWS,COLS,SUFFIX) \
72namespace internal { \
73 template< typename XprType> struct EIGEN_CAT(EIGEN_CAT(gl_,FUNC),_impl)<XprType, SCALAR, ROWS, COLS, true> { \
74 inline static void run(const XprType& p) { FUNC##SUFFIX(p.data()); } \
75 }; \
76}
77
78
79#define EIGEN_GL_FUNC_SPECIALIZATION_VEC(FUNC,SCALAR,SIZE,SUFFIX) \
80namespace internal { \
81 template< typename XprType> struct EIGEN_CAT(EIGEN_CAT(gl_,FUNC),_impl)<XprType, SCALAR, SIZE, 1, true> { \
82 inline static void run(const XprType& p) { FUNC##SUFFIX(p.data()); } \
83 }; \
84 template< typename XprType> struct EIGEN_CAT(EIGEN_CAT(gl_,FUNC),_impl)<XprType, SCALAR, 1, SIZE, true> { \
85 inline static void run(const XprType& p) { FUNC##SUFFIX(p.data()); } \
86 }; \
87}
88
89
90EIGEN_GL_FUNC_DECLARATION (glVertex)
91EIGEN_GL_FUNC_SPECIALIZATION_VEC(glVertex,int, 2,2iv)
92EIGEN_GL_FUNC_SPECIALIZATION_VEC(glVertex,short, 2,2sv)
93EIGEN_GL_FUNC_SPECIALIZATION_VEC(glVertex,float, 2,2fv)
94EIGEN_GL_FUNC_SPECIALIZATION_VEC(glVertex,double, 2,2dv)
95EIGEN_GL_FUNC_SPECIALIZATION_VEC(glVertex,int, 3,3iv)
96EIGEN_GL_FUNC_SPECIALIZATION_VEC(glVertex,short, 3,3sv)
97EIGEN_GL_FUNC_SPECIALIZATION_VEC(glVertex,float, 3,3fv)
98EIGEN_GL_FUNC_SPECIALIZATION_VEC(glVertex,double, 3,3dv)
99EIGEN_GL_FUNC_SPECIALIZATION_VEC(glVertex,int, 4,4iv)
100EIGEN_GL_FUNC_SPECIALIZATION_VEC(glVertex,short, 4,4sv)
101EIGEN_GL_FUNC_SPECIALIZATION_VEC(glVertex,float, 4,4fv)
102EIGEN_GL_FUNC_SPECIALIZATION_VEC(glVertex,double, 4,4dv)
103
104EIGEN_GL_FUNC_DECLARATION (glTexCoord)
105EIGEN_GL_FUNC_SPECIALIZATION_VEC(glTexCoord,int, 2,2iv)
106EIGEN_GL_FUNC_SPECIALIZATION_VEC(glTexCoord,short, 2,2sv)
107EIGEN_GL_FUNC_SPECIALIZATION_VEC(glTexCoord,float, 2,2fv)
108EIGEN_GL_FUNC_SPECIALIZATION_VEC(glTexCoord,double, 2,2dv)
109EIGEN_GL_FUNC_SPECIALIZATION_VEC(glTexCoord,int, 3,3iv)
110EIGEN_GL_FUNC_SPECIALIZATION_VEC(glTexCoord,short, 3,3sv)
111EIGEN_GL_FUNC_SPECIALIZATION_VEC(glTexCoord,float, 3,3fv)
112EIGEN_GL_FUNC_SPECIALIZATION_VEC(glTexCoord,double, 3,3dv)
113EIGEN_GL_FUNC_SPECIALIZATION_VEC(glTexCoord,int, 4,4iv)
114EIGEN_GL_FUNC_SPECIALIZATION_VEC(glTexCoord,short, 4,4sv)
115EIGEN_GL_FUNC_SPECIALIZATION_VEC(glTexCoord,float, 4,4fv)
116EIGEN_GL_FUNC_SPECIALIZATION_VEC(glTexCoord,double, 4,4dv)
117
118EIGEN_GL_FUNC_DECLARATION (glColor)
119EIGEN_GL_FUNC_SPECIALIZATION_VEC(glColor,int, 2,2iv)
120EIGEN_GL_FUNC_SPECIALIZATION_VEC(glColor,short, 2,2sv)
121EIGEN_GL_FUNC_SPECIALIZATION_VEC(glColor,float, 2,2fv)
122EIGEN_GL_FUNC_SPECIALIZATION_VEC(glColor,double, 2,2dv)
123EIGEN_GL_FUNC_SPECIALIZATION_VEC(glColor,int, 3,3iv)
124EIGEN_GL_FUNC_SPECIALIZATION_VEC(glColor,short, 3,3sv)
125EIGEN_GL_FUNC_SPECIALIZATION_VEC(glColor,float, 3,3fv)
126EIGEN_GL_FUNC_SPECIALIZATION_VEC(glColor,double, 3,3dv)
127EIGEN_GL_FUNC_SPECIALIZATION_VEC(glColor,int, 4,4iv)
128EIGEN_GL_FUNC_SPECIALIZATION_VEC(glColor,short, 4,4sv)
129EIGEN_GL_FUNC_SPECIALIZATION_VEC(glColor,float, 4,4fv)
130EIGEN_GL_FUNC_SPECIALIZATION_VEC(glColor,double, 4,4dv)
131
132EIGEN_GL_FUNC_DECLARATION (glNormal)
133EIGEN_GL_FUNC_SPECIALIZATION_VEC(glNormal,int, 3,3iv)
134EIGEN_GL_FUNC_SPECIALIZATION_VEC(glNormal,short, 3,3sv)
135EIGEN_GL_FUNC_SPECIALIZATION_VEC(glNormal,float, 3,3fv)
136EIGEN_GL_FUNC_SPECIALIZATION_VEC(glNormal,double, 3,3dv)
137
138inline void glScale2fv(const float* v) { glScalef(v[0], v[1], 1.f); }
139inline void glScale2dv(const double* v) { glScaled(v[0], v[1], 1.0); }
140inline void glScale3fv(const float* v) { glScalef(v[0], v[1], v[2]); }
141inline void glScale3dv(const double* v) { glScaled(v[0], v[1], v[2]); }
142
143EIGEN_GL_FUNC_DECLARATION (glScale)
144EIGEN_GL_FUNC_SPECIALIZATION_VEC(glScale,float, 2,2fv)
145EIGEN_GL_FUNC_SPECIALIZATION_VEC(glScale,double, 2,2dv)
146EIGEN_GL_FUNC_SPECIALIZATION_VEC(glScale,float, 3,3fv)
147EIGEN_GL_FUNC_SPECIALIZATION_VEC(glScale,double, 3,3dv)
148
149template<typename Scalar> void glScale(const UniformScaling<Scalar>& s) { glScale(Matrix<Scalar,3,1>::Constant(s.factor())); }
150
151inline void glTranslate2fv(const float* v) { glTranslatef(v[0], v[1], 0.f); }
152inline void glTranslate2dv(const double* v) { glTranslated(v[0], v[1], 0.0); }
153inline void glTranslate3fv(const float* v) { glTranslatef(v[0], v[1], v[2]); }
154inline void glTranslate3dv(const double* v) { glTranslated(v[0], v[1], v[2]); }
155
156EIGEN_GL_FUNC_DECLARATION (glTranslate)
157EIGEN_GL_FUNC_SPECIALIZATION_VEC(glTranslate,float, 2,2fv)
158EIGEN_GL_FUNC_SPECIALIZATION_VEC(glTranslate,double, 2,2dv)
159EIGEN_GL_FUNC_SPECIALIZATION_VEC(glTranslate,float, 3,3fv)
160EIGEN_GL_FUNC_SPECIALIZATION_VEC(glTranslate,double, 3,3dv)
161
162template<typename Scalar> void glTranslate(const Translation<Scalar,2>& t) { glTranslate(t.vector()); }
163template<typename Scalar> void glTranslate(const Translation<Scalar,3>& t) { glTranslate(t.vector()); }
164
165EIGEN_GL_FUNC_DECLARATION (glMultMatrix)
166EIGEN_GL_FUNC_SPECIALIZATION_MAT(glMultMatrix,float, 4,4,f)
167EIGEN_GL_FUNC_SPECIALIZATION_MAT(glMultMatrix,double, 4,4,d)
168
169template<typename Scalar> void glMultMatrix(const Transform<Scalar,3,Affine>& t) { glMultMatrix(t.matrix()); }
170template<typename Scalar> void glMultMatrix(const Transform<Scalar,3,Projective>& t) { glMultMatrix(t.matrix()); }
171template<typename Scalar> void glMultMatrix(const Transform<Scalar,3,AffineCompact>& t) { glMultMatrix(Transform<Scalar,3,Affine>(t).matrix()); }
172
173EIGEN_GL_FUNC_DECLARATION (glLoadMatrix)
174EIGEN_GL_FUNC_SPECIALIZATION_MAT(glLoadMatrix,float, 4,4,f)
175EIGEN_GL_FUNC_SPECIALIZATION_MAT(glLoadMatrix,double, 4,4,d)
176
177template<typename Scalar> void glLoadMatrix(const Transform<Scalar,3,Affine>& t) { glLoadMatrix(t.matrix()); }
178template<typename Scalar> void glLoadMatrix(const Transform<Scalar,3,Projective>& t) { glLoadMatrix(t.matrix()); }
179template<typename Scalar> void glLoadMatrix(const Transform<Scalar,3,AffineCompact>& t) { glLoadMatrix(Transform<Scalar,3,Affine>(t).matrix()); }
180
181inline void glRotate(const Rotation2D<float>& rot)
182{
Austin Schuh189376f2018-12-20 22:11:15 +1100[diff] [blame]183 glRotatef(rot.angle()*180.f/float(EIGEN_PI), 0.f, 0.f, 1.f);
Brian Silverman72890c22015-09-19 14:37:37 -0400[diff] [blame]184}
185inline void glRotate(const Rotation2D<double>& rot)
186{
Austin Schuh189376f2018-12-20 22:11:15 +1100[diff] [blame]187 glRotated(rot.angle()*180.0/double(EIGEN_PI), 0.0, 0.0, 1.0);
Brian Silverman72890c22015-09-19 14:37:37 -0400[diff] [blame]188}
189
190template<typename Derived> void glRotate(const RotationBase<Derived,3>& rot)
191{
192 Transform<typename Derived::Scalar,3,Projective> tr(rot);
193 glMultMatrix(tr.matrix());
194}
195
196#define EIGEN_GL_MAKE_CONST_const const
197#define EIGEN_GL_MAKE_CONST__
198#define EIGEN_GL_EVAL(X) X
199
200#define EIGEN_GL_FUNC1_DECLARATION(FUNC,ARG1,CONST) \
201namespace internal { \
202 template< typename XprType, \
203 typename Scalar = typename XprType::Scalar, \
204 int Rows = XprType::RowsAtCompileTime, \
205 int Cols = XprType::ColsAtCompileTime, \
Austin Schuh189376f2018-12-20 22:11:15 +1100[diff] [blame]206 bool IsGLCompatible = bool(internal::evaluator<XprType>::Flags&LinearAccessBit) \
Brian Silverman72890c22015-09-19 14:37:37 -0400[diff] [blame]207 && bool(XprType::Flags&DirectAccessBit) \
208 && (XprType::IsVectorAtCompileTime || (XprType::Flags&RowMajorBit)==0)> \
209 struct EIGEN_CAT(EIGEN_CAT(gl_,FUNC),_impl); \
210 \
211 template<typename XprType, typename Scalar, int Rows, int Cols> \
212 struct EIGEN_CAT(EIGEN_CAT(gl_,FUNC),_impl)<XprType,Scalar,Rows,Cols,false> { \
213 inline static void run(ARG1 a,EIGEN_GL_EVAL(EIGEN_GL_MAKE_CONST_##CONST) XprType& p) { \
214 EIGEN_CAT(EIGEN_CAT(gl_,FUNC),_impl)<typename plain_matrix_type_column_major<XprType>::type>::run(a,p); } \
215 }; \
216} \
217 \
218template<typename Derived> inline void FUNC(ARG1 a,EIGEN_GL_EVAL(EIGEN_GL_MAKE_CONST_##CONST) Eigen::DenseBase<Derived>& p) { \
219 EIGEN_CAT(EIGEN_CAT(internal::gl_,FUNC),_impl)<Derived>::run(a,p.derived()); \
220}
221
222
223#define EIGEN_GL_FUNC1_SPECIALIZATION_MAT(FUNC,ARG1,CONST,SCALAR,ROWS,COLS,SUFFIX) \
224namespace internal { \
225 template< typename XprType> struct EIGEN_CAT(EIGEN_CAT(gl_,FUNC),_impl)<XprType, SCALAR, ROWS, COLS, true> { \
226 inline static void run(ARG1 a, EIGEN_GL_EVAL(EIGEN_GL_MAKE_CONST_##CONST) XprType& p) { FUNC##SUFFIX(a,p.data()); } \
227 }; \
228}
229
230
231#define EIGEN_GL_FUNC1_SPECIALIZATION_VEC(FUNC,ARG1,CONST,SCALAR,SIZE,SUFFIX) \
232namespace internal { \
233 template< typename XprType> struct EIGEN_CAT(EIGEN_CAT(gl_,FUNC),_impl)<XprType, SCALAR, SIZE, 1, true> { \
234 inline static void run(ARG1 a, EIGEN_GL_EVAL(EIGEN_GL_MAKE_CONST_##CONST) XprType& p) { FUNC##SUFFIX(a,p.data()); } \
235 }; \
236 template< typename XprType> struct EIGEN_CAT(EIGEN_CAT(gl_,FUNC),_impl)<XprType, SCALAR, 1, SIZE, true> { \
237 inline static void run(ARG1 a, EIGEN_GL_EVAL(EIGEN_GL_MAKE_CONST_##CONST) XprType& p) { FUNC##SUFFIX(a,p.data()); } \
238 }; \
239}
240
241EIGEN_GL_FUNC1_DECLARATION (glGet,GLenum,_)
242EIGEN_GL_FUNC1_SPECIALIZATION_MAT(glGet,GLenum,_,float, 4,4,Floatv)
243EIGEN_GL_FUNC1_SPECIALIZATION_MAT(glGet,GLenum,_,double, 4,4,Doublev)
244
245// glUniform API
246
247#ifdef GL_VERSION_2_0
248
249inline void glUniform2fv_ei (GLint loc, const float* v) { glUniform2fv(loc,1,v); }
250inline void glUniform2iv_ei (GLint loc, const int* v) { glUniform2iv(loc,1,v); }
251
252inline void glUniform3fv_ei (GLint loc, const float* v) { glUniform3fv(loc,1,v); }
253inline void glUniform3iv_ei (GLint loc, const int* v) { glUniform3iv(loc,1,v); }
254
255inline void glUniform4fv_ei (GLint loc, const float* v) { glUniform4fv(loc,1,v); }
256inline void glUniform4iv_ei (GLint loc, const int* v) { glUniform4iv(loc,1,v); }
257
258inline void glUniformMatrix2fv_ei (GLint loc, const float* v) { glUniformMatrix2fv(loc,1,false,v); }
259inline void glUniformMatrix3fv_ei (GLint loc, const float* v) { glUniformMatrix3fv(loc,1,false,v); }
260inline void glUniformMatrix4fv_ei (GLint loc, const float* v) { glUniformMatrix4fv(loc,1,false,v); }
261
262
263EIGEN_GL_FUNC1_DECLARATION (glUniform,GLint,const)
264EIGEN_GL_FUNC1_SPECIALIZATION_VEC(glUniform,GLint,const,float, 2,2fv_ei)
265EIGEN_GL_FUNC1_SPECIALIZATION_VEC(glUniform,GLint,const,int, 2,2iv_ei)
266EIGEN_GL_FUNC1_SPECIALIZATION_VEC(glUniform,GLint,const,float, 3,3fv_ei)
267EIGEN_GL_FUNC1_SPECIALIZATION_VEC(glUniform,GLint,const,int, 3,3iv_ei)
268EIGEN_GL_FUNC1_SPECIALIZATION_VEC(glUniform,GLint,const,float, 4,4fv_ei)
269EIGEN_GL_FUNC1_SPECIALIZATION_VEC(glUniform,GLint,const,int, 4,4iv_ei)
270
271EIGEN_GL_FUNC1_SPECIALIZATION_MAT(glUniform,GLint,const,float, 2,2,Matrix2fv_ei)
272EIGEN_GL_FUNC1_SPECIALIZATION_MAT(glUniform,GLint,const,float, 3,3,Matrix3fv_ei)
273EIGEN_GL_FUNC1_SPECIALIZATION_MAT(glUniform,GLint,const,float, 4,4,Matrix4fv_ei)
274
275#endif
276
277#ifdef GL_VERSION_2_1
278
Austin Schuh189376f2018-12-20 22:11:15 +1100[diff] [blame]279inline void glUniformMatrix2x3fv_ei(GLint loc, const float* v) { glUniformMatrix2x3fv(loc,1,false,v); }
280inline void glUniformMatrix3x2fv_ei(GLint loc, const float* v) { glUniformMatrix3x2fv(loc,1,false,v); }
281inline void glUniformMatrix2x4fv_ei(GLint loc, const float* v) { glUniformMatrix2x4fv(loc,1,false,v); }
282inline void glUniformMatrix4x2fv_ei(GLint loc, const float* v) { glUniformMatrix4x2fv(loc,1,false,v); }
283inline void glUniformMatrix3x4fv_ei(GLint loc, const float* v) { glUniformMatrix3x4fv(loc,1,false,v); }
284inline void glUniformMatrix4x3fv_ei(GLint loc, const float* v) { glUniformMatrix4x3fv(loc,1,false,v); }
Brian Silverman72890c22015-09-19 14:37:37 -0400[diff] [blame]285
286EIGEN_GL_FUNC1_SPECIALIZATION_MAT(glUniform,GLint,const,float, 2,3,Matrix2x3fv_ei)
287EIGEN_GL_FUNC1_SPECIALIZATION_MAT(glUniform,GLint,const,float, 3,2,Matrix3x2fv_ei)
288EIGEN_GL_FUNC1_SPECIALIZATION_MAT(glUniform,GLint,const,float, 2,4,Matrix2x4fv_ei)
289EIGEN_GL_FUNC1_SPECIALIZATION_MAT(glUniform,GLint,const,float, 4,2,Matrix4x2fv_ei)
290EIGEN_GL_FUNC1_SPECIALIZATION_MAT(glUniform,GLint,const,float, 3,4,Matrix3x4fv_ei)
291EIGEN_GL_FUNC1_SPECIALIZATION_MAT(glUniform,GLint,const,float, 4,3,Matrix4x3fv_ei)
292
293#endif
294
295#ifdef GL_VERSION_3_0
296
297inline void glUniform2uiv_ei (GLint loc, const unsigned int* v) { glUniform2uiv(loc,1,v); }
298inline void glUniform3uiv_ei (GLint loc, const unsigned int* v) { glUniform3uiv(loc,1,v); }
299inline void glUniform4uiv_ei (GLint loc, const unsigned int* v) { glUniform4uiv(loc,1,v); }
300
301EIGEN_GL_FUNC1_SPECIALIZATION_VEC(glUniform,GLint,const,unsigned int, 2,2uiv_ei)
302EIGEN_GL_FUNC1_SPECIALIZATION_VEC(glUniform,GLint,const,unsigned int, 3,3uiv_ei)
303EIGEN_GL_FUNC1_SPECIALIZATION_VEC(glUniform,GLint,const,unsigned int, 4,4uiv_ei)
304
305#endif
306
307#ifdef GL_ARB_gpu_shader_fp64
308inline void glUniform2dv_ei (GLint loc, const double* v) { glUniform2dv(loc,1,v); }
309inline void glUniform3dv_ei (GLint loc, const double* v) { glUniform3dv(loc,1,v); }
310inline void glUniform4dv_ei (GLint loc, const double* v) { glUniform4dv(loc,1,v); }
311
312EIGEN_GL_FUNC1_SPECIALIZATION_VEC(glUniform,GLint,const,double, 2,2dv_ei)
313EIGEN_GL_FUNC1_SPECIALIZATION_VEC(glUniform,GLint,const,double, 3,3dv_ei)
314EIGEN_GL_FUNC1_SPECIALIZATION_VEC(glUniform,GLint,const,double, 4,4dv_ei)
315#endif
316
317
318//@}
319
320}
321
322#endif // EIGEN_OPENGL_MODULE