add an OpenGL module simplifying the way you can pass Eigen's objects to GL

1 files changed, 190 insertions, 0 deletions

diff --git a/unsupported/Eigen/OpenGLSupport b/unsupported/Eigen/OpenGLSupport
new file mode 100644
index 000000000..2a9de99b0
--- /dev/null
+++ b/unsupported/Eigen/OpenGLSupport
@@ -0,0 +1,190 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2010 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_OPENGL_MODULE
+#define EIGEN_OPENGL_MODULE
+
+#include <Eigen/Geometry>
+#include <GL/gl.h>
+
+namespace Eigen {
+
+/** \ingroup Unsupported_modules
+  * \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 exmaple:
+  * 
+  * \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)                                                                             \
+template< typename XprType,                                                                                         \
+          typename Scalar = typename XprType::Scalar,                                                               \
+          int Rows = XprType::RowsAtCompileTime,                                                                    \
+          int Cols = XprType::ColsAtCompileTime,                                                                    \
+          bool IsGLCompatible = bool(XprType::Flags&LinearAccessBit)                                                \
+                             && bool(XprType::Flags&DirectAccessBit)                                                \
+                             && (XprType::IsVectorAtCompileTime || (XprType::Flags&RowMajorBit)==0)>                \
+struct EIGEN_CAT(EIGEN_CAT(ei_gl_,FUNC),_impl);                                                                     \
+                                                                                                                    \
+template<typename XprType, typename Scalar, int Rows, int Cols>                                                     \
+struct EIGEN_CAT(EIGEN_CAT(ei_gl_,FUNC),_impl)<XprType,Scalar,Rows,Cols,false> {                                    \
+  inline static void run(const XprType& p) {                                                                        \
+    EIGEN_CAT(EIGEN_CAT(ei_gl_,FUNC),_impl)<typename ei_plain_matrix_type_column_major<XprType>::type>::run(p); }   \
+};                                                                                                                  \
+                                                                                                                    \
+template<typename Derived> inline void FUNC(const Eigen::DenseBase<Derived>& p) {                                   \
+  EIGEN_CAT(EIGEN_CAT(ei_gl_,FUNC),_impl)<Derived>::run(p.derived());                                               \
+}
+
+
+#define EIGEN_GL_FUNC_SPECIALIZATION_MAT(FUNC,SCALAR,ROWS,COLS,SUFFIX)                                              \
+  template< typename XprType> struct EIGEN_CAT(EIGEN_CAT(ei_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)                                                   \
+  template< typename XprType> struct EIGEN_CAT(EIGEN_CAT(ei_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(ei_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)
+
+inline void glTranslate2fv(const float*  v) { glScalef(v[0], v[1], 1.f);  }
+inline void glTranslate2dv(const double* v) { glScaled(v[0], v[1], 1.0);  }
+inline void glTranslate3fv(const float*  v) { glScalef(v[0], v[1], v[2]); }
+inline void glTranslate3dv(const double* v) { glScaled(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)
+
+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)
+
+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)
+
+void glRotate(const Rotation2D<float>& rot)
+{
+  glRotatef(rot.angle()*180.f/float(M_PI), 0.f, 0.f, 1.f);
+}
+void glRotate(const Rotation2D<double>& rot)
+{
+  glRotated(rot.angle()*180.0/M_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());
+}
+
+//@}
+
+}
+
+#endif // EIGEN_OPENGL_MODULE