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
13#include <Eigen/Geometry>
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.
28  * Here is an exmaple:
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,                                                                  \
54            bool IsGLCompatible = bool(XprType::Flags&LinearAccessBit)                                              \
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
181static void glRotate(const Rotation2D<float>& rot)
182{
183  glRotatef(rot.angle()*180.f/float(M_PI), 0.f, 0.f, 1.f);
184}
185static void glRotate(const Rotation2D<double>& rot)
186{
187  glRotated(rot.angle()*180.0/M_PI, 0.0, 0.0, 1.0);
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,                                                                              \
206            bool IsGLCompatible = bool(XprType::Flags&LinearAccessBit)                                                          \
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
249static void glUniform2fv_ei  (GLint loc, const float* v)         { glUniform2fv(loc,1,v); }
250static void glUniform2iv_ei  (GLint loc, const int* v)           { glUniform2iv(loc,1,v); }
251
252static void glUniform3fv_ei  (GLint loc, const float* v)         { glUniform3fv(loc,1,v); }
253static void glUniform3iv_ei  (GLint loc, const int* v)           { glUniform3iv(loc,1,v); }
254
255static void glUniform4fv_ei  (GLint loc, const float* v)         { glUniform4fv(loc,1,v); }
256static void glUniform4iv_ei  (GLint loc, const int* v)           { glUniform4iv(loc,1,v); }
257
258static void glUniformMatrix2fv_ei  (GLint loc, const float* v)         { glUniformMatrix2fv(loc,1,false,v); }
259static void glUniformMatrix3fv_ei  (GLint loc, const float* v)         { glUniformMatrix3fv(loc,1,false,v); }
260static 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
279static void glUniformMatrix2x3fv_ei(GLint loc, const float* v)         { glUniformMatrix2x3fv(loc,1,false,v); }
280static void glUniformMatrix3x2fv_ei(GLint loc, const float* v)         { glUniformMatrix3x2fv(loc,1,false,v); }
281static void glUniformMatrix2x4fv_ei(GLint loc, const float* v)         { glUniformMatrix2x4fv(loc,1,false,v); }
282static void glUniformMatrix4x2fv_ei(GLint loc, const float* v)         { glUniformMatrix4x2fv(loc,1,false,v); }
283static void glUniformMatrix3x4fv_ei(GLint loc, const float* v)         { glUniformMatrix3x4fv(loc,1,false,v); }
284static void glUniformMatrix4x3fv_ei(GLint loc, const float* v)         { glUniformMatrix4x3fv(loc,1,false,v); }
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
297static void glUniform2uiv_ei (GLint loc, const unsigned int* v)  { glUniform2uiv(loc,1,v); }
298static void glUniform3uiv_ei (GLint loc, const unsigned int* v)  { glUniform3uiv(loc,1,v); }
299static 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
308static void glUniform2dv_ei  (GLint loc, const double* v)        { glUniform2dv(loc,1,v); }
309static void glUniform3dv_ei  (GLint loc, const double* v)        { glUniform3dv(loc,1,v); }
310static 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
323