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// 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>
#if defined(__APPLE_CC__) #include <OpenGL/gl.h>#else #include <GL/gl.h>#endif
namespace Eigen {
/** * \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_fp64static 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
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