[136] | 1 | // This file is part of Eigen, a lightweight C++ template library
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| 2 | // for linear algebra.
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| 3 | //
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| 4 | // Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
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| 5 | //
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| 6 | // This Source Code Form is subject to the terms of the Mozilla
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| 7 | // Public License v. 2.0. If a copy of the MPL was not distributed
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| 8 | // with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
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| 9 |
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| 10 | #ifndef EIGEN_GPUHELPER_H
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| 11 | #define EIGEN_GPUHELPER_H
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| 12 |
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| 13 | #include <Eigen/Geometry>
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| 14 | #include <GL/gl.h>
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| 15 | #include <vector>
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| 16 |
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| 17 | using namespace Eigen;
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| 18 |
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| 19 | typedef Vector4f Color;
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| 20 |
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| 21 | class GpuHelper
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| 22 | {
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| 23 | public:
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| 24 |
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| 25 | GpuHelper();
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| 26 |
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| 27 | ~GpuHelper();
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| 28 |
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| 29 | enum ProjectionMode2D { PM_Normalized = 1, PM_Viewport = 2 };
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| 30 | void pushProjectionMode2D(ProjectionMode2D pm);
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| 31 | void popProjectionMode2D();
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| 32 |
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| 33 | /** Multiply the OpenGL matrix \a matrixTarget by the matrix \a mat.
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| 34 | Essentially, this helper function automatically calls glMatrixMode(matrixTarget) if required
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| 35 | and does a proper call to the right glMultMatrix*() function according to the scalar type
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| 36 | and storage order.
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| 37 | \warning glMatrixMode() must never be called directly. If your're unsure, use forceMatrixMode().
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| 38 | \sa Matrix, loadMatrix(), forceMatrixMode()
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| 39 | */
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| 40 | template<typename Scalar, int _Flags>
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| 41 | void multMatrix(const Matrix<Scalar,4,4, _Flags, 4,4>& mat, GLenum matrixTarget);
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| 42 |
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| 43 | /** Load the matrix \a mat to the OpenGL matrix \a matrixTarget.
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| 44 | Essentially, this helper function automatically calls glMatrixMode(matrixTarget) if required
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| 45 | and does a proper call to the right glLoadMatrix*() or glLoadIdentity() function according to the scalar type
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| 46 | and storage order.
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| 47 | \warning glMatrixMode() must never be called directly. If your're unsure, use forceMatrixMode().
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| 48 | \sa Matrix, multMatrix(), forceMatrixMode()
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| 49 | */
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| 50 | template<typename Scalar, int _Flags>
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| 51 | void loadMatrix(const Eigen::Matrix<Scalar,4,4, _Flags, 4,4>& mat, GLenum matrixTarget);
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| 52 |
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| 53 | template<typename Scalar, typename Derived>
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| 54 | void loadMatrix(
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| 55 | const Eigen::CwiseNullaryOp<Eigen::internal::scalar_identity_op<Scalar>,Derived>&,
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| 56 | GLenum matrixTarget);
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| 57 |
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| 58 | /** Make the matrix \a matrixTarget the current OpenGL matrix target.
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| 59 | Call this function before loadMatrix() or multMatrix() if you cannot guarantee that glMatrixMode()
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| 60 | has never been called after the last loadMatrix() or multMatrix() calls.
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| 61 | \todo provides a debug mode checking the sanity of the cached matrix mode.
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| 62 | */
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| 63 | inline void forceMatrixTarget(GLenum matrixTarget) {glMatrixMode(mCurrentMatrixTarget=matrixTarget);}
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| 64 |
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| 65 | inline void setMatrixTarget(GLenum matrixTarget);
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| 66 |
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| 67 | /** Push the OpenGL matrix \a matrixTarget and load \a mat.
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| 68 | */
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| 69 | template<typename Scalar, int _Flags>
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| 70 | inline void pushMatrix(const Matrix<Scalar,4,4, _Flags, 4,4>& mat, GLenum matrixTarget);
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| 71 |
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| 72 | template<typename Scalar, typename Derived>
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| 73 | void pushMatrix(
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| 74 | const Eigen::CwiseNullaryOp<Eigen::internal::scalar_identity_op<Scalar>,Derived>&,
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| 75 | GLenum matrixTarget);
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| 76 |
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| 77 | /** Push and clone the OpenGL matrix \a matrixTarget
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| 78 | */
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| 79 | inline void pushMatrix(GLenum matrixTarget);
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| 80 |
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| 81 | /** Pop the OpenGL matrix \a matrixTarget
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| 82 | */
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| 83 | inline void popMatrix(GLenum matrixTarget);
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| 84 |
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| 85 | void drawVector(const Vector3f& position, const Vector3f& vec, const Color& color, float aspect = 50.);
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| 86 | void drawVectorBox(const Vector3f& position, const Vector3f& vec, const Color& color, float aspect = 50.);
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| 87 | void drawUnitCube(void);
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| 88 | void drawUnitSphere(int level=0);
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| 89 |
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| 90 | /// draw the \a nofElement first elements
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| 91 | inline void draw(GLenum mode, uint nofElement);
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| 92 |
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| 93 | /// draw a range of elements
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| 94 | inline void draw(GLenum mode, uint start, uint end);
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| 95 |
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| 96 | /// draw an indexed subset
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| 97 | inline void draw(GLenum mode, const std::vector<uint>* pIndexes);
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| 98 |
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| 99 | protected:
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| 100 |
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| 101 | void update(void);
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| 102 |
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| 103 | GLuint mColorBufferId;
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| 104 | int mVpWidth, mVpHeight;
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| 105 | GLenum mCurrentMatrixTarget;
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| 106 | bool mInitialized;
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| 107 | };
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| 108 |
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| 109 | /** Singleton shortcut
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| 110 | */
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| 111 | extern GpuHelper gpu;
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| 112 |
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| 113 |
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| 114 | /** \internal
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| 115 | */
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| 116 | template<bool RowMajor, int _Flags> struct GlMatrixHelper;
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| 117 |
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| 118 | template<int _Flags> struct GlMatrixHelper<false,_Flags>
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| 119 | {
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| 120 | static void loadMatrix(const Matrix<float, 4,4, _Flags, 4,4>& mat) { glLoadMatrixf(mat.data()); }
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| 121 | static void loadMatrix(const Matrix<double,4,4, _Flags, 4,4>& mat) { glLoadMatrixd(mat.data()); }
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| 122 | static void multMatrix(const Matrix<float, 4,4, _Flags, 4,4>& mat) { glMultMatrixf(mat.data()); }
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| 123 | static void multMatrix(const Matrix<double,4,4, _Flags, 4,4>& mat) { glMultMatrixd(mat.data()); }
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| 124 | };
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| 125 |
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| 126 | template<int _Flags> struct GlMatrixHelper<true,_Flags>
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| 127 | {
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| 128 | static void loadMatrix(const Matrix<float, 4,4, _Flags, 4,4>& mat) { glLoadMatrixf(mat.transpose().eval().data()); }
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| 129 | static void loadMatrix(const Matrix<double,4,4, _Flags, 4,4>& mat) { glLoadMatrixd(mat.transpose().eval().data()); }
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| 130 | static void multMatrix(const Matrix<float, 4,4, _Flags, 4,4>& mat) { glMultMatrixf(mat.transpose().eval().data()); }
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| 131 | static void multMatrix(const Matrix<double,4,4, _Flags, 4,4>& mat) { glMultMatrixd(mat.transpose().eval().data()); }
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| 132 | };
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| 133 |
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| 134 | inline void GpuHelper::setMatrixTarget(GLenum matrixTarget)
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| 135 | {
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| 136 | if (matrixTarget != mCurrentMatrixTarget)
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| 137 | glMatrixMode(mCurrentMatrixTarget=matrixTarget);
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| 138 | }
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| 139 |
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| 140 | template<typename Scalar, int _Flags>
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| 141 | void GpuHelper::multMatrix(const Matrix<Scalar,4,4, _Flags, 4,4>& mat, GLenum matrixTarget)
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| 142 | {
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| 143 | setMatrixTarget(matrixTarget);
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| 144 | GlMatrixHelper<_Flags&Eigen::RowMajorBit, _Flags>::multMatrix(mat);
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| 145 | }
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| 146 |
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| 147 | template<typename Scalar, typename Derived>
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| 148 | void GpuHelper::loadMatrix(
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| 149 | const Eigen::CwiseNullaryOp<Eigen::internal::scalar_identity_op<Scalar>,Derived>&,
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| 150 | GLenum matrixTarget)
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| 151 | {
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| 152 | setMatrixTarget(matrixTarget);
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| 153 | glLoadIdentity();
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| 154 | }
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| 155 |
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| 156 | template<typename Scalar, int _Flags>
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| 157 | void GpuHelper::loadMatrix(const Eigen::Matrix<Scalar,4,4, _Flags, 4,4>& mat, GLenum matrixTarget)
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| 158 | {
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| 159 | setMatrixTarget(matrixTarget);
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| 160 | GlMatrixHelper<(_Flags&Eigen::RowMajorBit)!=0, _Flags>::loadMatrix(mat);
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| 161 | }
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| 162 |
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| 163 | inline void GpuHelper::pushMatrix(GLenum matrixTarget)
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| 164 | {
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| 165 | setMatrixTarget(matrixTarget);
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| 166 | glPushMatrix();
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| 167 | }
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| 168 |
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| 169 | template<typename Scalar, int _Flags>
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| 170 | inline void GpuHelper::pushMatrix(const Matrix<Scalar,4,4, _Flags, 4,4>& mat, GLenum matrixTarget)
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| 171 | {
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| 172 | pushMatrix(matrixTarget);
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| 173 | GlMatrixHelper<_Flags&Eigen::RowMajorBit,_Flags>::loadMatrix(mat);
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| 174 | }
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| 175 |
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| 176 | template<typename Scalar, typename Derived>
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| 177 | void GpuHelper::pushMatrix(
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| 178 | const Eigen::CwiseNullaryOp<Eigen::internal::scalar_identity_op<Scalar>,Derived>&,
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| 179 | GLenum matrixTarget)
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| 180 | {
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| 181 | pushMatrix(matrixTarget);
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| 182 | glLoadIdentity();
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| 183 | }
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| 184 |
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| 185 | inline void GpuHelper::popMatrix(GLenum matrixTarget)
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| 186 | {
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| 187 | setMatrixTarget(matrixTarget);
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| 188 | glPopMatrix();
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| 189 | }
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| 190 |
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| 191 | inline void GpuHelper::draw(GLenum mode, uint nofElement)
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| 192 | {
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| 193 | glDrawArrays(mode, 0, nofElement);
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| 194 | }
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| 195 |
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| 196 |
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| 197 | inline void GpuHelper::draw(GLenum mode, const std::vector<uint>* pIndexes)
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| 198 | {
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| 199 | glDrawElements(mode, pIndexes->size(), GL_UNSIGNED_INT, &(pIndexes->front()));
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| 200 | }
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| 201 |
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| 202 | inline void GpuHelper::draw(GLenum mode, uint start, uint end)
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| 203 | {
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| 204 | glDrawArrays(mode, start, end-start);
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| 205 | }
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| 206 |
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| 207 | #endif // EIGEN_GPUHELPER_H
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