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207 lines
7.1 KiB
207 lines
7.1 KiB
// This file is part of Eigen, a lightweight C++ template library
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// for linear algebra.
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//
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// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
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//
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// This Source Code Form is subject to the terms of the Mozilla
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// Public License v. 2.0. If a copy of the MPL was not distributed
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// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
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#ifndef EIGEN_GPUHELPER_H
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#define EIGEN_GPUHELPER_H
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#include <Eigen/Geometry>
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#include <GL/gl.h>
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#include <vector>
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using namespace StormEigen;
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typedef Vector4f Color;
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class GpuHelper
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{
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public:
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GpuHelper();
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~GpuHelper();
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enum ProjectionMode2D { PM_Normalized = 1, PM_Viewport = 2 };
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void pushProjectionMode2D(ProjectionMode2D pm);
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void popProjectionMode2D();
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/** Multiply the OpenGL matrix \a matrixTarget by the matrix \a mat.
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Essentially, this helper function automatically calls glMatrixMode(matrixTarget) if required
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and does a proper call to the right glMultMatrix*() function according to the scalar type
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and storage order.
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\warning glMatrixMode() must never be called directly. If your're unsure, use forceMatrixMode().
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\sa Matrix, loadMatrix(), forceMatrixMode()
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*/
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template<typename Scalar, int _Flags>
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void multMatrix(const Matrix<Scalar,4,4, _Flags, 4,4>& mat, GLenum matrixTarget);
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/** Load the matrix \a mat to the OpenGL matrix \a matrixTarget.
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Essentially, this helper function automatically calls glMatrixMode(matrixTarget) if required
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and does a proper call to the right glLoadMatrix*() or glLoadIdentity() function according to the scalar type
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and storage order.
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\warning glMatrixMode() must never be called directly. If your're unsure, use forceMatrixMode().
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\sa Matrix, multMatrix(), forceMatrixMode()
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*/
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template<typename Scalar, int _Flags>
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void loadMatrix(const StormEigen::Matrix<Scalar,4,4, _Flags, 4,4>& mat, GLenum matrixTarget);
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template<typename Scalar, typename Derived>
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void loadMatrix(
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const StormEigen::CwiseNullaryOp<StormEigen::internal::scalar_identity_op<Scalar>,Derived>&,
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GLenum matrixTarget);
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/** Make the matrix \a matrixTarget the current OpenGL matrix target.
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Call this function before loadMatrix() or multMatrix() if you cannot guarantee that glMatrixMode()
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has never been called after the last loadMatrix() or multMatrix() calls.
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\todo provides a debug mode checking the sanity of the cached matrix mode.
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*/
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inline void forceMatrixTarget(GLenum matrixTarget) {glMatrixMode(mCurrentMatrixTarget=matrixTarget);}
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inline void setMatrixTarget(GLenum matrixTarget);
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/** Push the OpenGL matrix \a matrixTarget and load \a mat.
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*/
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template<typename Scalar, int _Flags>
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inline void pushMatrix(const Matrix<Scalar,4,4, _Flags, 4,4>& mat, GLenum matrixTarget);
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template<typename Scalar, typename Derived>
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void pushMatrix(
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const StormEigen::CwiseNullaryOp<StormEigen::internal::scalar_identity_op<Scalar>,Derived>&,
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GLenum matrixTarget);
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/** Push and clone the OpenGL matrix \a matrixTarget
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*/
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inline void pushMatrix(GLenum matrixTarget);
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/** Pop the OpenGL matrix \a matrixTarget
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*/
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inline void popMatrix(GLenum matrixTarget);
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void drawVector(const Vector3f& position, const Vector3f& vec, const Color& color, float aspect = 50.);
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void drawVectorBox(const Vector3f& position, const Vector3f& vec, const Color& color, float aspect = 50.);
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void drawUnitCube(void);
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void drawUnitSphere(int level=0);
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/// draw the \a nofElement first elements
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inline void draw(GLenum mode, uint nofElement);
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/// draw a range of elements
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inline void draw(GLenum mode, uint start, uint end);
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/// draw an indexed subset
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inline void draw(GLenum mode, const std::vector<uint>* pIndexes);
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protected:
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void update(void);
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GLuint mColorBufferId;
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int mVpWidth, mVpHeight;
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GLenum mCurrentMatrixTarget;
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bool mInitialized;
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};
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/** Singleton shortcut
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*/
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extern GpuHelper gpu;
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/** \internal
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*/
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template<bool RowMajor, int _Flags> struct GlMatrixHelper;
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template<int _Flags> struct GlMatrixHelper<false,_Flags>
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{
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static void loadMatrix(const Matrix<float, 4,4, _Flags, 4,4>& mat) { glLoadMatrixf(mat.data()); }
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static void loadMatrix(const Matrix<double,4,4, _Flags, 4,4>& mat) { glLoadMatrixd(mat.data()); }
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static void multMatrix(const Matrix<float, 4,4, _Flags, 4,4>& mat) { glMultMatrixf(mat.data()); }
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static void multMatrix(const Matrix<double,4,4, _Flags, 4,4>& mat) { glMultMatrixd(mat.data()); }
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};
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template<int _Flags> struct GlMatrixHelper<true,_Flags>
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{
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static void loadMatrix(const Matrix<float, 4,4, _Flags, 4,4>& mat) { glLoadMatrixf(mat.transpose().eval().data()); }
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static void loadMatrix(const Matrix<double,4,4, _Flags, 4,4>& mat) { glLoadMatrixd(mat.transpose().eval().data()); }
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static void multMatrix(const Matrix<float, 4,4, _Flags, 4,4>& mat) { glMultMatrixf(mat.transpose().eval().data()); }
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static void multMatrix(const Matrix<double,4,4, _Flags, 4,4>& mat) { glMultMatrixd(mat.transpose().eval().data()); }
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};
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inline void GpuHelper::setMatrixTarget(GLenum matrixTarget)
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{
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if (matrixTarget != mCurrentMatrixTarget)
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glMatrixMode(mCurrentMatrixTarget=matrixTarget);
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}
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template<typename Scalar, int _Flags>
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void GpuHelper::multMatrix(const Matrix<Scalar,4,4, _Flags, 4,4>& mat, GLenum matrixTarget)
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{
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setMatrixTarget(matrixTarget);
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GlMatrixHelper<_Flags&StormEigen::RowMajorBit, _Flags>::multMatrix(mat);
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}
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template<typename Scalar, typename Derived>
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void GpuHelper::loadMatrix(
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const StormEigen::CwiseNullaryOp<StormEigen::internal::scalar_identity_op<Scalar>,Derived>&,
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GLenum matrixTarget)
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{
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setMatrixTarget(matrixTarget);
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glLoadIdentity();
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}
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template<typename Scalar, int _Flags>
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void GpuHelper::loadMatrix(const StormEigen::Matrix<Scalar,4,4, _Flags, 4,4>& mat, GLenum matrixTarget)
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{
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setMatrixTarget(matrixTarget);
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GlMatrixHelper<(_Flags&StormEigen::RowMajorBit)!=0, _Flags>::loadMatrix(mat);
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}
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inline void GpuHelper::pushMatrix(GLenum matrixTarget)
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{
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setMatrixTarget(matrixTarget);
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glPushMatrix();
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}
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template<typename Scalar, int _Flags>
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inline void GpuHelper::pushMatrix(const Matrix<Scalar,4,4, _Flags, 4,4>& mat, GLenum matrixTarget)
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{
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pushMatrix(matrixTarget);
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GlMatrixHelper<_Flags&StormEigen::RowMajorBit,_Flags>::loadMatrix(mat);
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}
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template<typename Scalar, typename Derived>
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void GpuHelper::pushMatrix(
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const StormEigen::CwiseNullaryOp<StormEigen::internal::scalar_identity_op<Scalar>,Derived>&,
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GLenum matrixTarget)
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{
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pushMatrix(matrixTarget);
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glLoadIdentity();
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}
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inline void GpuHelper::popMatrix(GLenum matrixTarget)
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{
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setMatrixTarget(matrixTarget);
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glPopMatrix();
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}
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inline void GpuHelper::draw(GLenum mode, uint nofElement)
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{
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glDrawArrays(mode, 0, nofElement);
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}
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inline void GpuHelper::draw(GLenum mode, const std::vector<uint>* pIndexes)
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{
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glDrawElements(mode, pIndexes->size(), GL_UNSIGNED_INT, &(pIndexes->front()));
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}
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inline void GpuHelper::draw(GLenum mode, uint start, uint end)
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{
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glDrawArrays(mode, start, end-start);
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}
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#endif // EIGEN_GPUHELPER_H
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