1// This file is part of Eigen, a lightweight C++ template library
4// Copyright (C) 2010 Gael Guennebaud <gael.guennebaud@inria.fr>
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/.
10#ifndef EIGEN_OPENGL_MODULE
11#define EIGEN_OPENGL_MODULE
13#include "../../Eigen/Geometry"
15#if defined(__APPLE_CC__)
16 #include <OpenGL/gl.h>
24 * \defgroup OpenGLSUpport_Module OpenGL Support module
26 * This module provides wrapper functions for a couple of OpenGL functions
27 * which simplify the way to pass Eigen's object to openGL.
31 * // You need to add path_to_eigen/unsupported to your include path.
32 * #include <Eigen/OpenGLSupport>
37 * glVertex(y + x * rot);
48#define EIGEN_GL_FUNC_DECLARATION(FUNC) \
50 template< typename XprType, \
51 typename Scalar = typename XprType::Scalar, \
52 int Rows = XprType::RowsAtCompileTime, \
53 int Cols = XprType::ColsAtCompileTime, \
54 bool IsGLCompatible = bool(internal::evaluator<XprType>::Flags&LinearAccessBit) \
55 && bool(XprType::Flags&DirectAccessBit) \
56 && (XprType::IsVectorAtCompileTime || (XprType::Flags&RowMajorBit)==0)> \
57 struct EIGEN_CAT(EIGEN_CAT(gl_,FUNC),_impl); \
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); } \
66template<typename Derived> inline void FUNC(const Eigen::DenseBase<Derived>& p) { \
67 EIGEN_CAT(EIGEN_CAT(internal::gl_,FUNC),_impl)<Derived>::run(p.derived()); \
71#define EIGEN_GL_FUNC_SPECIALIZATION_MAT(FUNC,SCALAR,ROWS,COLS,SUFFIX) \
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()); } \
79#define EIGEN_GL_FUNC_SPECIALIZATION_VEC(FUNC,SCALAR,SIZE,SUFFIX) \
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()); } \
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()); } \
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)
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)
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)
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)
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]); }
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)
149template<typename Scalar> void glScale(const UniformScaling<Scalar>& s) { glScale(Matrix<Scalar,3,1>::Constant(s.factor())); }
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]); }
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)
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()); }
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)
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()); }
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)
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()); }
181inline void glRotate(const Rotation2D<float>& rot)
183 glRotatef(rot.angle()*180.f/float(EIGEN_PI), 0.f, 0.f, 1.f);
185inline void glRotate(const Rotation2D<double>& rot)
187 glRotated(rot.angle()*180.0/double(EIGEN_PI), 0.0, 0.0, 1.0);
190template<typename Derived> void glRotate(const RotationBase<Derived,3>& rot)
192 Transform<typename Derived::Scalar,3,Projective> tr(rot);
193 glMultMatrix(tr.matrix());
196#define EIGEN_GL_MAKE_CONST_const const
197#define EIGEN_GL_MAKE_CONST__
198#define EIGEN_GL_EVAL(X) X
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(internal::evaluator<XprType>::Flags&LinearAccessBit) \
207 && bool(XprType::Flags&DirectAccessBit) \
208 && (XprType::IsVectorAtCompileTime || (XprType::Flags&RowMajorBit)==0)> \
209 struct EIGEN_CAT(EIGEN_CAT(gl_,FUNC),_impl); \
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); } \
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()); \
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()); } \
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()); } \
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()); } \
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)
249inline void glUniform2fv_ei (GLint loc, const float* v) { glUniform2fv(loc,1,v); }
250inline void glUniform2iv_ei (GLint loc, const int* v) { glUniform2iv(loc,1,v); }
252inline void glUniform3fv_ei (GLint loc, const float* v) { glUniform3fv(loc,1,v); }
253inline void glUniform3iv_ei (GLint loc, const int* v) { glUniform3iv(loc,1,v); }
255inline void glUniform4fv_ei (GLint loc, const float* v) { glUniform4fv(loc,1,v); }
256inline void glUniform4iv_ei (GLint loc, const int* v) { glUniform4iv(loc,1,v); }
258inline void glUniformMatrix2fv_ei (GLint loc, const float* v) { glUniformMatrix2fv(loc,1,false,v); }
259inline void glUniformMatrix3fv_ei (GLint loc, const float* v) { glUniformMatrix3fv(loc,1,false,v); }
260inline void glUniformMatrix4fv_ei (GLint loc, const float* v) { glUniformMatrix4fv(loc,1,false,v); }
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)
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)
279inline void glUniformMatrix2x3fv_ei(GLint loc, const float* v) { glUniformMatrix2x3fv(loc,1,false,v); }
280inline void glUniformMatrix3x2fv_ei(GLint loc, const float* v) { glUniformMatrix3x2fv(loc,1,false,v); }
281inline void glUniformMatrix2x4fv_ei(GLint loc, const float* v) { glUniformMatrix2x4fv(loc,1,false,v); }
282inline void glUniformMatrix4x2fv_ei(GLint loc, const float* v) { glUniformMatrix4x2fv(loc,1,false,v); }
283inline void glUniformMatrix3x4fv_ei(GLint loc, const float* v) { glUniformMatrix3x4fv(loc,1,false,v); }
284inline void glUniformMatrix4x3fv_ei(GLint loc, const float* v) { glUniformMatrix4x3fv(loc,1,false,v); }
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)
297inline void glUniform2uiv_ei (GLint loc, const unsigned int* v) { glUniform2uiv(loc,1,v); }
298inline void glUniform3uiv_ei (GLint loc, const unsigned int* v) { glUniform3uiv(loc,1,v); }
299inline void glUniform4uiv_ei (GLint loc, const unsigned int* v) { glUniform4uiv(loc,1,v); }
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)
307#ifdef GL_ARB_gpu_shader_fp64
308inline void glUniform2dv_ei (GLint loc, const double* v) { glUniform2dv(loc,1,v); }
309inline void glUniform3dv_ei (GLint loc, const double* v) { glUniform3dv(loc,1,v); }
310inline void glUniform4dv_ei (GLint loc, const double* v) { glUniform4dv(loc,1,v); }
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)
322#endif // EIGEN_OPENGL_MODULE