// 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_H
#define EIGEN_OPENGL_MODULE_H
#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 example:
*
* \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(internal::evaluator<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());
}
inline void glRotate(const Rotation2D<float>& rot) { glRotatef(rot.angle() * 180.f / float(EIGEN_PI), 0.f, 0.f, 1.f); }
inline void glRotate(const Rotation2D<double>& rot) {
glRotated(rot.angle() * 180.0 / double(EIGEN_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(internal::evaluator<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
inline void glUniform2fv_ei(GLint loc, const float* v) { glUniform2fv(loc, 1, v); }
inline void glUniform2iv_ei(GLint loc, const int* v) { glUniform2iv(loc, 1, v); }
inline void glUniform3fv_ei(GLint loc, const float* v) { glUniform3fv(loc, 1, v); }
inline void glUniform3iv_ei(GLint loc, const int* v) { glUniform3iv(loc, 1, v); }
inline void glUniform4fv_ei(GLint loc, const float* v) { glUniform4fv(loc, 1, v); }
inline void glUniform4iv_ei(GLint loc, const int* v) { glUniform4iv(loc, 1, v); }
inline void glUniformMatrix2fv_ei(GLint loc, const float* v) { glUniformMatrix2fv(loc, 1, false, v); }
inline void glUniformMatrix3fv_ei(GLint loc, const float* v) { glUniformMatrix3fv(loc, 1, false, v); }
inline 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
inline void glUniformMatrix2x3fv_ei(GLint loc, const float* v) { glUniformMatrix2x3fv(loc, 1, false, v); }
inline void glUniformMatrix3x2fv_ei(GLint loc, const float* v) { glUniformMatrix3x2fv(loc, 1, false, v); }
inline void glUniformMatrix2x4fv_ei(GLint loc, const float* v) { glUniformMatrix2x4fv(loc, 1, false, v); }
inline void glUniformMatrix4x2fv_ei(GLint loc, const float* v) { glUniformMatrix4x2fv(loc, 1, false, v); }
inline void glUniformMatrix3x4fv_ei(GLint loc, const float* v) { glUniformMatrix3x4fv(loc, 1, false, v); }
inline 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
inline void glUniform2uiv_ei(GLint loc, const unsigned int* v) { glUniform2uiv(loc, 1, v); }
inline void glUniform3uiv_ei(GLint loc, const unsigned int* v) { glUniform3uiv(loc, 1, v); }
inline 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_fp64
inline void glUniform2dv_ei(GLint loc, const double* v) { glUniform2dv(loc, 1, v); }
inline void glUniform3dv_ei(GLint loc, const double* v) { glUniform3dv(loc, 1, v); }
inline 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
//@}
} // namespace Eigen
#endif // EIGEN_OPENGL_MODULE_H