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// 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
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