1c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath// This file is part of Eigen, a lightweight C++ template library 2c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath// for linear algebra. 3c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath// 4c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath// Copyright (C) 2010 Gael Guennebaud <gael.guennebaud@inria.fr> 5c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath// 6c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath// This Source Code Form is subject to the terms of the Mozilla 7c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath// Public License v. 2.0. If a copy of the MPL was not distributed 8c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. 9c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 10c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath#include <main.h> 11c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath#include <iostream> 12c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath#include <GL/glew.h> 13c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath#include <Eigen/OpenGLSupport> 14c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath#include <GL/glut.h> 15c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamathusing namespace Eigen; 16c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 17c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 18c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 19c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 20c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath#define VERIFY_MATRIX(CODE,REF) { \ 21c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath glLoadIdentity(); \ 22c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath CODE; \ 23c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath Matrix<float,4,4,ColMajor> m; m.setZero(); \ 24c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath glGet(GL_MODELVIEW_MATRIX, m); \ 25c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath if(!(REF).cast<float>().isApprox(m)) { \ 26c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath std::cerr << "Expected:\n" << ((REF).cast<float>()) << "\n" << "got\n" << m << "\n\n"; \ 27c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath } \ 28c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath VERIFY_IS_APPROX((REF).cast<float>(), m); \ 29c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath } 30c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 31c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath#define VERIFY_UNIFORM(SUFFIX,NAME,TYPE) { \ 32c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath TYPE value; value.setRandom(); \ 33c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath TYPE data; \ 34c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath int loc = glGetUniformLocation(prg_id, #NAME); \ 35c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath VERIFY((loc!=-1) && "uniform not found"); \ 36c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath glUniform(loc,value); \ 37c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath EIGEN_CAT(glGetUniform,SUFFIX)(prg_id,loc,data.data()); \ 38c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath if(!value.isApprox(data)) { \ 39c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath std::cerr << "Expected:\n" << value << "\n" << "got\n" << data << "\n\n"; \ 40c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath } \ 41c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath VERIFY_IS_APPROX(value, data); \ 42c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath } 43c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 44c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath#define VERIFY_UNIFORMi(NAME,TYPE) { \ 45c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath TYPE value = TYPE::Random().eval().cast<float>().cast<TYPE::Scalar>(); \ 46c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath TYPE data; \ 47c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath int loc = glGetUniformLocation(prg_id, #NAME); \ 48c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath VERIFY((loc!=-1) && "uniform not found"); \ 49c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath glUniform(loc,value); \ 50c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath glGetUniformiv(prg_id,loc,(GLint*)data.data()); \ 51c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath if(!value.isApprox(data)) { \ 52c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath std::cerr << "Expected:\n" << value << "\n" << "got\n" << data << "\n\n"; \ 53c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath } \ 54c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath VERIFY_IS_APPROX(value, data); \ 55c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath } 56c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 57c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamathvoid printInfoLog(GLuint objectID) 58c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath{ 59c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath int infologLength, charsWritten; 60c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath GLchar *infoLog; 61c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath glGetProgramiv(objectID,GL_INFO_LOG_LENGTH, &infologLength); 62c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath if(infologLength > 0) 63c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath { 64c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath infoLog = new GLchar[infologLength]; 65c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath glGetProgramInfoLog(objectID, infologLength, &charsWritten, infoLog); 66c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath if (charsWritten>0) 67c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath std::cerr << "Shader info : \n" << infoLog << std::endl; 68c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath delete[] infoLog; 69c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath } 70c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath} 71c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 72c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan KamathGLint createShader(const char* vtx, const char* frg) 73c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath{ 74c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath GLint prg_id = glCreateProgram(); 75c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath GLint vtx_id = glCreateShader(GL_VERTEX_SHADER); 76c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath GLint frg_id = glCreateShader(GL_FRAGMENT_SHADER); 77c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath GLint ok; 78c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 79c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath glShaderSource(vtx_id, 1, &vtx, 0); 80c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath glCompileShader(vtx_id); 81c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath glGetShaderiv(vtx_id,GL_COMPILE_STATUS,&ok); 82c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath if(!ok) 83c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath { 84c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath std::cerr << "vtx compilation failed\n"; 85c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath } 86c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 87c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath glShaderSource(frg_id, 1, &frg, 0); 88c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath glCompileShader(frg_id); 89c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath glGetShaderiv(frg_id,GL_COMPILE_STATUS,&ok); 90c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath if(!ok) 91c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath { 92c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath std::cerr << "frg compilation failed\n"; 93c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath } 94c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 95c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath glAttachShader(prg_id, vtx_id); 96c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath glAttachShader(prg_id, frg_id); 97c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath glLinkProgram(prg_id); 98c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath glGetProgramiv(prg_id,GL_LINK_STATUS,&ok); 99c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath if(!ok) 100c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath { 101c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath std::cerr << "linking failed\n"; 102c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath } 103c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath printInfoLog(prg_id); 104c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 105c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath glUseProgram(prg_id); 106c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath return prg_id; 107c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath} 108c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 109c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamathvoid test_openglsupport() 110c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath{ 111c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath int argc = 0; 112c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath glutInit(&argc, 0); 113c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath glutInitDisplayMode(GLUT_DOUBLE | GLUT_RGB | GLUT_DEPTH); 114c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath glutInitWindowPosition (0,0); 115c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath glutInitWindowSize(10, 10); 116c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 117c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath if(glutCreateWindow("Eigen") <= 0) 118c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath { 119c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath std::cerr << "Error: Unable to create GLUT Window.\n"; 120c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath exit(1); 121c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath } 122c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 123c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath glewExperimental = GL_TRUE; 124c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath if(glewInit() != GLEW_OK) 125c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath { 126c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath std::cerr << "Warning: Failed to initialize GLEW\n"; 127c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath } 128c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 129c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath Vector3f v3f; 130c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath Matrix3f rot; 131c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath glBegin(GL_POINTS); 132c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 133c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath glVertex(v3f); 134c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath glVertex(2*v3f+v3f); 135c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath glVertex(rot*v3f); 136c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 137c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath glEnd(); 138c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 139c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath // 4x4 matrices 140c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath Matrix4f mf44; mf44.setRandom(); 141c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath VERIFY_MATRIX(glLoadMatrix(mf44), mf44); 142c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath VERIFY_MATRIX(glMultMatrix(mf44), mf44); 143c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath Matrix4d md44; md44.setRandom(); 144c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath VERIFY_MATRIX(glLoadMatrix(md44), md44); 145c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath VERIFY_MATRIX(glMultMatrix(md44), md44); 146c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 147c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath // Quaternion 148c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath Quaterniond qd(AngleAxisd(internal::random<double>(), Vector3d::Random())); 149c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath VERIFY_MATRIX(glRotate(qd), Projective3d(qd).matrix()); 150c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 151c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath Quaternionf qf(AngleAxisf(internal::random<double>(), Vector3f::Random())); 152c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath VERIFY_MATRIX(glRotate(qf), Projective3f(qf).matrix()); 153c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 154c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath // 3D Transform 155c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath Transform<float,3,AffineCompact> acf3; acf3.matrix().setRandom(); 156c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath VERIFY_MATRIX(glLoadMatrix(acf3), Projective3f(acf3).matrix()); 157c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath VERIFY_MATRIX(glMultMatrix(acf3), Projective3f(acf3).matrix()); 158c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 159c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath Transform<float,3,Affine> af3(acf3); 160c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath VERIFY_MATRIX(glLoadMatrix(af3), Projective3f(af3).matrix()); 161c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath VERIFY_MATRIX(glMultMatrix(af3), Projective3f(af3).matrix()); 162c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 163c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath Transform<float,3,Projective> pf3; pf3.matrix().setRandom(); 164c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath VERIFY_MATRIX(glLoadMatrix(pf3), Projective3f(pf3).matrix()); 165c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath VERIFY_MATRIX(glMultMatrix(pf3), Projective3f(pf3).matrix()); 166c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 167c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath Transform<double,3,AffineCompact> acd3; acd3.matrix().setRandom(); 168c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath VERIFY_MATRIX(glLoadMatrix(acd3), Projective3d(acd3).matrix()); 169c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath VERIFY_MATRIX(glMultMatrix(acd3), Projective3d(acd3).matrix()); 170c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 171c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath Transform<double,3,Affine> ad3(acd3); 172c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath VERIFY_MATRIX(glLoadMatrix(ad3), Projective3d(ad3).matrix()); 173c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath VERIFY_MATRIX(glMultMatrix(ad3), Projective3d(ad3).matrix()); 174c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 175c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath Transform<double,3,Projective> pd3; pd3.matrix().setRandom(); 176c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath VERIFY_MATRIX(glLoadMatrix(pd3), Projective3d(pd3).matrix()); 177c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath VERIFY_MATRIX(glMultMatrix(pd3), Projective3d(pd3).matrix()); 178c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 179c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath // translations (2D and 3D) 180c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath { 181c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath Vector2f vf2; vf2.setRandom(); Vector3f vf23; vf23 << vf2, 0; 182c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath VERIFY_MATRIX(glTranslate(vf2), Projective3f(Translation3f(vf23)).matrix()); 183c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath Vector2d vd2; vd2.setRandom(); Vector3d vd23; vd23 << vd2, 0; 184c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath VERIFY_MATRIX(glTranslate(vd2), Projective3d(Translation3d(vd23)).matrix()); 185c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 186c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath Vector3f vf3; vf3.setRandom(); 187c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath VERIFY_MATRIX(glTranslate(vf3), Projective3f(Translation3f(vf3)).matrix()); 188c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath Vector3d vd3; vd3.setRandom(); 189c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath VERIFY_MATRIX(glTranslate(vd3), Projective3d(Translation3d(vd3)).matrix()); 190c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 191c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath Translation<float,3> tf3; tf3.vector().setRandom(); 192c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath VERIFY_MATRIX(glTranslate(tf3), Projective3f(tf3).matrix()); 193c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 194c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath Translation<double,3> td3; td3.vector().setRandom(); 195c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath VERIFY_MATRIX(glTranslate(td3), Projective3d(td3).matrix()); 196c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath } 197c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 198c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath // scaling (2D and 3D) 199c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath { 200c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath Vector2f vf2; vf2.setRandom(); Vector3f vf23; vf23 << vf2, 1; 201c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath VERIFY_MATRIX(glScale(vf2), Projective3f(Scaling(vf23)).matrix()); 202c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath Vector2d vd2; vd2.setRandom(); Vector3d vd23; vd23 << vd2, 1; 203c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath VERIFY_MATRIX(glScale(vd2), Projective3d(Scaling(vd23)).matrix()); 204c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 205c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath Vector3f vf3; vf3.setRandom(); 206c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath VERIFY_MATRIX(glScale(vf3), Projective3f(Scaling(vf3)).matrix()); 207c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath Vector3d vd3; vd3.setRandom(); 208c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath VERIFY_MATRIX(glScale(vd3), Projective3d(Scaling(vd3)).matrix()); 209c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 210c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath UniformScaling<float> usf(internal::random<float>()); 211c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath VERIFY_MATRIX(glScale(usf), Projective3f(usf).matrix()); 212c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 213c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath UniformScaling<double> usd(internal::random<double>()); 214c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath VERIFY_MATRIX(glScale(usd), Projective3d(usd).matrix()); 215c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath } 216c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 217c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath // uniform 218c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath { 219c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath const char* vtx = "void main(void) { gl_Position = gl_Vertex; }\n"; 220c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 221c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath if(GLEW_VERSION_2_0) 222c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath { 223c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath #ifdef GL_VERSION_2_0 224c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath const char* frg = "" 225c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath "uniform vec2 v2f;\n" 226c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath "uniform vec3 v3f;\n" 227c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath "uniform vec4 v4f;\n" 228c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath "uniform ivec2 v2i;\n" 229c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath "uniform ivec3 v3i;\n" 230c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath "uniform ivec4 v4i;\n" 231c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath "uniform mat2 m2f;\n" 232c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath "uniform mat3 m3f;\n" 233c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath "uniform mat4 m4f;\n" 234c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath "void main(void) { gl_FragColor = vec4(v2f[0]+v3f[0]+v4f[0])+vec4(v2i[0]+v3i[0]+v4i[0])+vec4(m2f[0][0]+m3f[0][0]+m4f[0][0]); }\n"; 235c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 236c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath GLint prg_id = createShader(vtx,frg); 237c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 238c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath VERIFY_UNIFORM(fv,v2f, Vector2f); 239c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath VERIFY_UNIFORM(fv,v3f, Vector3f); 240c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath VERIFY_UNIFORM(fv,v4f, Vector4f); 241c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath VERIFY_UNIFORMi(v2i, Vector2i); 242c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath VERIFY_UNIFORMi(v3i, Vector3i); 243c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath VERIFY_UNIFORMi(v4i, Vector4i); 244c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath VERIFY_UNIFORM(fv,m2f, Matrix2f); 245c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath VERIFY_UNIFORM(fv,m3f, Matrix3f); 246c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath VERIFY_UNIFORM(fv,m4f, Matrix4f); 247c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath #endif 248c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath } 249c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath else 250c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath std::cerr << "Warning: opengl 2.0 was not tested\n"; 251c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 252c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath if(GLEW_VERSION_2_1) 253c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath { 254c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath #ifdef GL_VERSION_2_1 255c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath const char* frg = "#version 120\n" 256c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath "uniform mat2x3 m23f;\n" 257c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath "uniform mat3x2 m32f;\n" 258c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath "uniform mat2x4 m24f;\n" 259c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath "uniform mat4x2 m42f;\n" 260c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath "uniform mat3x4 m34f;\n" 261c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath "uniform mat4x3 m43f;\n" 262c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath "void main(void) { gl_FragColor = vec4(m23f[0][0]+m32f[0][0]+m24f[0][0]+m42f[0][0]+m34f[0][0]+m43f[0][0]); }\n"; 263c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 264c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath GLint prg_id = createShader(vtx,frg); 265c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 266c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath typedef Matrix<float,2,3> Matrix23f; 267c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath typedef Matrix<float,3,2> Matrix32f; 268c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath typedef Matrix<float,2,4> Matrix24f; 269c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath typedef Matrix<float,4,2> Matrix42f; 270c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath typedef Matrix<float,3,4> Matrix34f; 271c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath typedef Matrix<float,4,3> Matrix43f; 272c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 273c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath VERIFY_UNIFORM(fv,m23f, Matrix23f); 274c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath VERIFY_UNIFORM(fv,m32f, Matrix32f); 275c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath VERIFY_UNIFORM(fv,m24f, Matrix24f); 276c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath VERIFY_UNIFORM(fv,m42f, Matrix42f); 277c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath VERIFY_UNIFORM(fv,m34f, Matrix34f); 278c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath VERIFY_UNIFORM(fv,m43f, Matrix43f); 279c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath #endif 280c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath } 281c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath else 282c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath std::cerr << "Warning: opengl 2.1 was not tested\n"; 283c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 284c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath if(GLEW_VERSION_3_0) 285c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath { 286c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath #ifdef GL_VERSION_3_0 287c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath const char* frg = "#version 150\n" 288c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath "uniform uvec2 v2ui;\n" 289c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath "uniform uvec3 v3ui;\n" 290c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath "uniform uvec4 v4ui;\n" 291c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath "out vec4 data;\n" 292c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath "void main(void) { data = vec4(v2ui[0]+v3ui[0]+v4ui[0]); }\n"; 293c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 294c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath GLint prg_id = createShader(vtx,frg); 295c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 296c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath typedef Matrix<unsigned int,2,1> Vector2ui; 297c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath typedef Matrix<unsigned int,3,1> Vector3ui; 298c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath typedef Matrix<unsigned int,4,1> Vector4ui; 299c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 300c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath VERIFY_UNIFORMi(v2ui, Vector2ui); 301c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath VERIFY_UNIFORMi(v3ui, Vector3ui); 302c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath VERIFY_UNIFORMi(v4ui, Vector4ui); 303c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath #endif 304c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath } 305c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath else 306c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath std::cerr << "Warning: opengl 3.0 was not tested\n"; 307c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 308c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath #ifdef GLEW_ARB_gpu_shader_fp64 309c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath if(GLEW_ARB_gpu_shader_fp64) 310c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath { 311c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath #ifdef GL_ARB_gpu_shader_fp64 312c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath const char* frg = "#version 150\n" 313c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath "uniform dvec2 v2d;\n" 314c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath "uniform dvec3 v3d;\n" 315c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath "uniform dvec4 v4d;\n" 316c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath "out vec4 data;\n" 317c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath "void main(void) { data = vec4(v2d[0]+v3d[0]+v4d[0]); }\n"; 318c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 319c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath GLint prg_id = createShader(vtx,frg); 320c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 321c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath typedef Vector2d Vector2d; 322c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath typedef Vector3d Vector3d; 323c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath typedef Vector4d Vector4d; 324c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 325c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath VERIFY_UNIFORM(dv,v2d, Vector2d); 326c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath VERIFY_UNIFORM(dv,v3d, Vector3d); 327c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath VERIFY_UNIFORM(dv,v4d, Vector4d); 328c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath #endif 329c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath } 330c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath else 331c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath std::cerr << "Warning: GLEW_ARB_gpu_shader_fp64 was not tested\n"; 332c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath #else 333c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath std::cerr << "Warning: GLEW_ARB_gpu_shader_fp64 was not tested\n"; 334c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath #endif 335c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath } 336c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 337c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath} 338