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