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huangweifeng
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// This file is part of Eigen, a lightweight C++ template library
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// for linear algebra.
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//
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// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
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//
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// This Source Code Form is subject to the terms of the Mozilla
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// Public License v. 2.0. If a copy of the MPL was not distributed
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// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
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#ifndef EIGEN_GPUHELPER_H
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#define EIGEN_GPUHELPER_H
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#include <Eigen/Geometry>
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#include <GL/gl.h>
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#include <vector>
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using namespace Eigen;
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typedef Vector4f Color;
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class GpuHelper {
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public:
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GpuHelper();
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~GpuHelper();
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enum ProjectionMode2D { PM_Normalized = 1, PM_Viewport = 2 };
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void pushProjectionMode2D(ProjectionMode2D pm);
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void popProjectionMode2D();
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/** Multiply the OpenGL matrix \a matrixTarget by the matrix \a mat.
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Essentially, this helper function automatically calls glMatrixMode(matrixTarget) if required
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and does a proper call to the right glMultMatrix*() function according to the scalar type
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and storage order.
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\warning glMatrixMode() must never be called directly. If you are unsure, use forceMatrixMode().
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\sa Matrix, loadMatrix(), forceMatrixMode()
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*/
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template <typename Scalar, int Flags_>
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void multMatrix(const Matrix<Scalar, 4, 4, Flags_, 4, 4>& mat, GLenum matrixTarget);
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/** Load the matrix \a mat to the OpenGL matrix \a matrixTarget.
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Essentially, this helper function automatically calls glMatrixMode(matrixTarget) if required
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and does a proper call to the right glLoadMatrix*() or glLoadIdentity() function according to the scalar type
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and storage order.
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\warning glMatrixMode() must never be called directly. If you are unsure, use forceMatrixMode().
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\sa Matrix, multMatrix(), forceMatrixMode()
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*/
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template <typename Scalar, int Flags_>
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void loadMatrix(const Eigen::Matrix<Scalar, 4, 4, Flags_, 4, 4>& mat, GLenum matrixTarget);
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template <typename Scalar, typename Derived>
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void loadMatrix(const Eigen::CwiseNullaryOp<Eigen::internal::scalar_identity_op<Scalar>, Derived>&,
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GLenum matrixTarget);
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/** Make the matrix \a matrixTarget the current OpenGL matrix target.
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Call this function before loadMatrix() or multMatrix() if you cannot guarantee that glMatrixMode()
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has never been called after the last loadMatrix() or multMatrix() calls.
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\todo provides a debug mode checking the sanity of the cached matrix mode.
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*/
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inline void forceMatrixTarget(GLenum matrixTarget) { glMatrixMode(mCurrentMatrixTarget = matrixTarget); }
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inline void setMatrixTarget(GLenum matrixTarget);
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/** Push the OpenGL matrix \a matrixTarget and load \a mat.
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*/
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template <typename Scalar, int Flags_>
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inline void pushMatrix(const Matrix<Scalar, 4, 4, Flags_, 4, 4>& mat, GLenum matrixTarget);
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template <typename Scalar, typename Derived>
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void pushMatrix(const Eigen::CwiseNullaryOp<Eigen::internal::scalar_identity_op<Scalar>, Derived>&,
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GLenum matrixTarget);
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/** Push and clone the OpenGL matrix \a matrixTarget
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*/
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inline void pushMatrix(GLenum matrixTarget);
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/** Pop the OpenGL matrix \a matrixTarget
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*/
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inline void popMatrix(GLenum matrixTarget);
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void drawVector(const Vector3f& position, const Vector3f& vec, const Color& color, float aspect = 50.);
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void drawVectorBox(const Vector3f& position, const Vector3f& vec, const Color& color, float aspect = 50.);
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void drawUnitCube(void);
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void drawUnitSphere(int level = 0);
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/// draw the \a nofElement first elements
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inline void draw(GLenum mode, uint nofElement);
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/// draw a range of elements
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inline void draw(GLenum mode, uint start, uint end);
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/// draw an indexed subset
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inline void draw(GLenum mode, const std::vector<uint>* pIndexes);
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protected:
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void update(void);
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GLuint mColorBufferId;
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int mVpWidth, mVpHeight;
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GLenum mCurrentMatrixTarget;
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bool mInitialized;
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};
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/** Singleton shortcut
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*/
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extern GpuHelper gpu;
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/** \internal
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*/
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template <bool RowMajor, int Flags_>
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struct GlMatrixHelper;
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template <int Flags_>
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struct GlMatrixHelper<false, Flags_> {
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static void loadMatrix(const Matrix<float, 4, 4, Flags_, 4, 4>& mat) { glLoadMatrixf(mat.data()); }
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static void loadMatrix(const Matrix<double, 4, 4, Flags_, 4, 4>& mat) { glLoadMatrixd(mat.data()); }
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static void multMatrix(const Matrix<float, 4, 4, Flags_, 4, 4>& mat) { glMultMatrixf(mat.data()); }
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static void multMatrix(const Matrix<double, 4, 4, Flags_, 4, 4>& mat) { glMultMatrixd(mat.data()); }
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};
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template <int Flags_>
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struct GlMatrixHelper<true, Flags_> {
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static void loadMatrix(const Matrix<float, 4, 4, Flags_, 4, 4>& mat) { glLoadMatrixf(mat.transpose().eval().data()); }
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static void loadMatrix(const Matrix<double, 4, 4, Flags_, 4, 4>& mat) {
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glLoadMatrixd(mat.transpose().eval().data());
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}
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static void multMatrix(const Matrix<float, 4, 4, Flags_, 4, 4>& mat) { glMultMatrixf(mat.transpose().eval().data()); }
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static void multMatrix(const Matrix<double, 4, 4, Flags_, 4, 4>& mat) {
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glMultMatrixd(mat.transpose().eval().data());
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}
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};
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inline void GpuHelper::setMatrixTarget(GLenum matrixTarget) {
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if (matrixTarget != mCurrentMatrixTarget) glMatrixMode(mCurrentMatrixTarget = matrixTarget);
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}
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template <typename Scalar, int Flags_>
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void GpuHelper::multMatrix(const Matrix<Scalar, 4, 4, Flags_, 4, 4>& mat, GLenum matrixTarget) {
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setMatrixTarget(matrixTarget);
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GlMatrixHelper<Flags_ & Eigen::RowMajorBit, Flags_>::multMatrix(mat);
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}
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template <typename Scalar, typename Derived>
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void GpuHelper::loadMatrix(const Eigen::CwiseNullaryOp<Eigen::internal::scalar_identity_op<Scalar>, Derived>&,
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GLenum matrixTarget) {
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setMatrixTarget(matrixTarget);
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glLoadIdentity();
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}
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template <typename Scalar, int Flags_>
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void GpuHelper::loadMatrix(const Eigen::Matrix<Scalar, 4, 4, Flags_, 4, 4>& mat, GLenum matrixTarget) {
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setMatrixTarget(matrixTarget);
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GlMatrixHelper<(Flags_ & Eigen::RowMajorBit) != 0, Flags_>::loadMatrix(mat);
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}
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inline void GpuHelper::pushMatrix(GLenum matrixTarget) {
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setMatrixTarget(matrixTarget);
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glPushMatrix();
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}
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template <typename Scalar, int Flags_>
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inline void GpuHelper::pushMatrix(const Matrix<Scalar, 4, 4, Flags_, 4, 4>& mat, GLenum matrixTarget) {
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pushMatrix(matrixTarget);
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GlMatrixHelper<Flags_ & Eigen::RowMajorBit, Flags_>::loadMatrix(mat);
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}
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template <typename Scalar, typename Derived>
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void GpuHelper::pushMatrix(const Eigen::CwiseNullaryOp<Eigen::internal::scalar_identity_op<Scalar>, Derived>&,
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GLenum matrixTarget) {
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pushMatrix(matrixTarget);
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glLoadIdentity();
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}
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inline void GpuHelper::popMatrix(GLenum matrixTarget) {
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setMatrixTarget(matrixTarget);
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glPopMatrix();
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}
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inline void GpuHelper::draw(GLenum mode, uint nofElement) { glDrawArrays(mode, 0, nofElement); }
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inline void GpuHelper::draw(GLenum mode, const std::vector<uint>* pIndexes) {
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glDrawElements(mode, pIndexes->size(), GL_UNSIGNED_INT, &(pIndexes->front()));
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}
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inline void GpuHelper::draw(GLenum mode, uint start, uint end) { glDrawArrays(mode, start, end - start); }
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#endif // EIGEN_GPUHELPER_H
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