vcglib: math.h Source File

00001 /****************************************************************************
00002 * VCGLib                                                            o o     *
00003 * Visual and Computer Graphics Library                            o     o   *
00004 *                                                                _   O  _   *
00005 * Copyright(C) 2004                                                \/)\/    *
00006 * Visual Computing Lab                                            /\/|      *
00007 * ISTI - Italian National Research Council                           |      *
00008 *                                                                    \      *
00009 * All rights reserved.                                                      *
00010 *                                                                           *
00011 * This program is free software; you can redistribute it and/or modify      *
00012 * it under the terms of the GNU General Public License as published by      *
00013 * the Free Software Foundation; either version 2 of the License, or         *
00014 * (at your option) any later version.                                       *
00015 *                                                                           *
00016 * This program is distributed in the hope that it will be useful,           *
00017 * but WITHOUT ANY WARRANTY; without even the implied warranty of            *
00018 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the             *
00019 * GNU General Public License (http://www.gnu.org/licenses/gpl.txt)          *
00020 * for more details.                                                         *
00021 *                                                                           *
00022 ****************************************************************************/
00023 /****************************************************************************
00024   History
00025 
00026 $Log: not supported by cvs2svn $
00027 Revision 1.10  2006/02/13 13:05:05  cignoni
00028 Removed glew inclusion
00029 
00030 Revision 1.9  2004/09/30 00:48:07  ponchio
00031 <gl/glew.h> -> <GL/glew.h>
00032 
00033 Revision 1.8  2004/09/28 14:04:36  ganovelli
00034 glGet added
00035 
00036 Revision 1.7  2004/07/13 15:55:57  cignoni
00037 Added test on presence of glTranspose extension (for old hw support)
00038 
00039 Revision 1.6  2004/05/26 15:12:39  cignoni
00040 Removed inclusion of gl extension stuff
00041 
00042 Revision 1.5  2004/05/12 20:54:55  ponchio
00043 *** empty log message ***
00044 
00045 Revision 1.4  2004/05/12 13:07:47  ponchio
00046 Added #include <glew.h>
00047 
00048 Revision 1.3  2004/05/04 23:36:23  cignoni
00049 remove include of gl and added glextgension exploiting,
00050 
00051 Revision 1.2  2004/04/07 10:47:03  cignoni
00052 inlined functions for avoid multiple linking errors
00053 
00054 Revision 1.1  2004/03/31 15:27:17  ponchio
00055 *** empty log message ***
00056 
00057 
00058 ****************************************************************************/
00059 
00060 #ifndef VCG_USE_EIGEN
00061 #include "deprecated_math.h"
00062 #else
00063 
00064 #ifndef VCG_GL_MATH_H
00065 #define VCG_GL_MATH_H
00066 
00067 // Please note that this file assume that you have already included your
00068 // gl-extension wrapping utility, and that therefore all the extension symbol are already defined.
00069 
00070 #include <vcg/math/matrix44.h>
00071 #include <vcg/math/similarity.h>
00072 //#include <GL/glew.h> // please do not include it!
00073 
00074 
00075 namespace vcg {
00076 
00077 template<typename T,int StorageOrder>
00078 inline void glLoadMatrix(const Eigen::Matrix<T,4,4,StorageOrder>& matrix) { assert(0); }
00079 
00080 template<> inline void glLoadMatrix(const Eigen::Matrix<float,4,4>& matrix) { glLoadMatrixf(matrix.data()); }
00081 template<> inline void glLoadMatrix(const Eigen::Matrix<float,4,4,Eigen::RowMajor>& matrix) {
00082         Eigen::Matrix4f tmp(matrix);
00083         glLoadMatrixf(tmp.data());
00084 }
00085 inline void glLoadMatrix(const Eigen::Matrix<double,4,4>& matrix) { glLoadMatrixd(matrix.data()); }
00086 inline void glLoadMatrix(const Eigen::Matrix<double,4,4,Eigen::RowMajor>& matrix) {
00087         Eigen::Matrix4d tmp(matrix);
00088         glLoadMatrixd(tmp.data());
00089 }
00090 template<typename Scalar>
00091 inline void glLoadMatrix(const Eigen::Transform<Scalar,3>& t) { glLoadMatrix(t.matrix()); }
00092 
00093 
00094 template<typename T,int StorageOrder>
00095 inline void glMultMatrix(const Eigen::Matrix<T,4,4,StorageOrder>& matrix) { assert(0); }
00096 
00097 template<> inline void glMultMatrix(const Eigen::Matrix<float,4,4>& matrix) { glMultMatrixf(matrix.data()); }
00098 inline void glMultMatrix(const Eigen::Matrix<float,4,4,Eigen::RowMajor>& matrix) {
00099         Eigen::Matrix<float,4,4> tmp(matrix);
00100         glMultMatrixf(tmp.data());
00101 }
00102 template<> inline void glMultMatrix(const Eigen::Matrix<double,4,4>& matrix) { glMultMatrixd(matrix.data()); }
00103 template<> inline void glMultMatrix(const Eigen::Matrix<double,4,4,Eigen::RowMajor>& matrix) {
00104         Eigen::Matrix<double,4,4> tmp(matrix);
00105         glMultMatrixd(tmp.data());
00106 }
00107 template<typename Scalar>
00108 inline void glMultMatrix(const Eigen::Transform<Scalar,3>& t) { glMultMatrix(t.matrix()); }
00109 
00110 
00111 inline void glMultMatrix(const Similarityf &s) {
00112   glTranslatef(s.tra[0], s.tra[1], s.tra[2]);
00113   glScalef(s.sca, s.sca, s.sca);
00114   float alpha;
00115   Point3f axis;
00116   s.rot.ToAxis(alpha, axis);
00117   glRotatef(math::ToDeg(alpha), axis[0], axis[1], axis[2]);
00118 }
00119 
00120 inline void glMultMatrix(const Similarityd &s) {
00121   glTranslated(s.tra[0], s.tra[1], s.tra[2]);
00122   double alpha;
00123   Point3d axis;
00124   s.rot.ToAxis(alpha, axis);
00125   glRotated(math::ToDeg(alpha), axis[0], axis[1], axis[2]);
00126   glScaled(s.sca, s.sca, s.sca);
00127 }
00128 
00129 inline void glGetv(const GLenum  pname, Eigen::Matrix<float,4,4>& matrix){
00130         glGetFloatv(pname,matrix.data());
00131 }
00132 inline void glGetv(const GLenum pname, Eigen::Matrix<double,4,4>& matrix){
00133         glGetDoublev(pname,matrix.data());
00134 }
00135 inline void glGetv(const GLenum pname, Eigen::Matrix<float,4,4,Eigen::RowMajor>& matrix){
00136         glGetFloatv(pname,matrix.data());
00137         matrix.transposeInPlace();
00138 }
00139 inline void glGetv(const GLenum pname, Eigen::Matrix<double,4,4,Eigen::RowMajor>& matrix){
00140         glGetDoublev(pname,matrix.data());
00141         matrix.transposeInPlace();
00142 }
00143 template<typename Scalar>
00144 inline void glGetv(const GLenum pname, const Eigen::Transform<Scalar,3>& t)
00145 { glGetv(pname,t.matrix()); }
00146 
00147 }//namespace
00148 #endif
00149 
00150 #endif