00001
00002
00003
00004
00005
00006
00007
00008
00009
00010 #include <main.h>
00011 #include <iostream>
00012 #include <GL/glew.h>
00013 #include <Eigen/OpenGLSupport>
00014 #include <GL/glut.h>
00015 using namespace Eigen;
00016
00017
00018
00019
00020 #define VERIFY_MATRIX(CODE,REF) { \
00021 glLoadIdentity(); \
00022 CODE; \
00023 Matrix<float,4,4,ColMajor> m; m.setZero(); \
00024 glGet(GL_MODELVIEW_MATRIX, m); \
00025 if(!(REF).cast<float>().isApprox(m)) { \
00026 std::cerr << "Expected:\n" << ((REF).cast<float>()) << "\n" << "got\n" << m << "\n\n"; \
00027 } \
00028 VERIFY_IS_APPROX((REF).cast<float>(), m); \
00029 }
00030
00031 #define VERIFY_UNIFORM(SUFFIX,NAME,TYPE) { \
00032 TYPE value; value.setRandom(); \
00033 TYPE data; \
00034 int loc = glGetUniformLocation(prg_id, #NAME); \
00035 VERIFY((loc!=-1) && "uniform not found"); \
00036 glUniform(loc,value); \
00037 EIGEN_CAT(glGetUniform,SUFFIX)(prg_id,loc,data.data()); \
00038 if(!value.isApprox(data)) { \
00039 std::cerr << "Expected:\n" << value << "\n" << "got\n" << data << "\n\n"; \
00040 } \
00041 VERIFY_IS_APPROX(value, data); \
00042 }
00043
00044 #define VERIFY_UNIFORMi(NAME,TYPE) { \
00045 TYPE value = TYPE::Random().eval().cast<float>().cast<TYPE::Scalar>(); \
00046 TYPE data; \
00047 int loc = glGetUniformLocation(prg_id, #NAME); \
00048 VERIFY((loc!=-1) && "uniform not found"); \
00049 glUniform(loc,value); \
00050 glGetUniformiv(prg_id,loc,(GLint*)data.data()); \
00051 if(!value.isApprox(data)) { \
00052 std::cerr << "Expected:\n" << value << "\n" << "got\n" << data << "\n\n"; \
00053 } \
00054 VERIFY_IS_APPROX(value, data); \
00055 }
00056
00057 void printInfoLog(GLuint objectID)
00058 {
00059 int infologLength, charsWritten;
00060 GLchar *infoLog;
00061 glGetProgramiv(objectID,GL_INFO_LOG_LENGTH, &infologLength);
00062 if(infologLength > 0)
00063 {
00064 infoLog = new GLchar[infologLength];
00065 glGetProgramInfoLog(objectID, infologLength, &charsWritten, infoLog);
00066 if (charsWritten>0)
00067 std::cerr << "Shader info : \n" << infoLog << std::endl;
00068 delete[] infoLog;
00069 }
00070 }
00071
00072 GLint createShader(const char* vtx, const char* frg)
00073 {
00074 GLint prg_id = glCreateProgram();
00075 GLint vtx_id = glCreateShader(GL_VERTEX_SHADER);
00076 GLint frg_id = glCreateShader(GL_FRAGMENT_SHADER);
00077 GLint ok;
00078
00079 glShaderSource(vtx_id, 1, &vtx, 0);
00080 glCompileShader(vtx_id);
00081 glGetShaderiv(vtx_id,GL_COMPILE_STATUS,&ok);
00082 if(!ok)
00083 {
00084 std::cerr << "vtx compilation failed\n";
00085 }
00086
00087 glShaderSource(frg_id, 1, &frg, 0);
00088 glCompileShader(frg_id);
00089 glGetShaderiv(frg_id,GL_COMPILE_STATUS,&ok);
00090 if(!ok)
00091 {
00092 std::cerr << "frg compilation failed\n";
00093 }
00094
00095 glAttachShader(prg_id, vtx_id);
00096 glAttachShader(prg_id, frg_id);
00097 glLinkProgram(prg_id);
00098 glGetProgramiv(prg_id,GL_LINK_STATUS,&ok);
00099 if(!ok)
00100 {
00101 std::cerr << "linking failed\n";
00102 }
00103 printInfoLog(prg_id);
00104
00105 glUseProgram(prg_id);
00106 return prg_id;
00107 }
00108
00109 void test_openglsupport()
00110 {
00111 int argc = 0;
00112 glutInit(&argc, 0);
00113 glutInitDisplayMode(GLUT_DOUBLE | GLUT_RGB | GLUT_DEPTH);
00114 glutInitWindowPosition (0,0);
00115 glutInitWindowSize(10, 10);
00116
00117 if(glutCreateWindow("Eigen") <= 0)
00118 {
00119 std::cerr << "Error: Unable to create GLUT Window.\n";
00120 exit(1);
00121 }
00122
00123 glewExperimental = GL_TRUE;
00124 if(glewInit() != GLEW_OK)
00125 {
00126 std::cerr << "Warning: Failed to initialize GLEW\n";
00127 }
00128
00129 Vector3f v3f;
00130 Matrix3f rot;
00131 glBegin(GL_POINTS);
00132
00133 glVertex(v3f);
00134 glVertex(2*v3f+v3f);
00135 glVertex(rot*v3f);
00136
00137 glEnd();
00138
00139
00140 Matrix4f mf44; mf44.setRandom();
00141 VERIFY_MATRIX(glLoadMatrix(mf44), mf44);
00142 VERIFY_MATRIX(glMultMatrix(mf44), mf44);
00143 Matrix4d md44; md44.setRandom();
00144 VERIFY_MATRIX(glLoadMatrix(md44), md44);
00145 VERIFY_MATRIX(glMultMatrix(md44), md44);
00146
00147
00148 Quaterniond qd(AngleAxisd(internal::random<double>(), Vector3d::Random()));
00149 VERIFY_MATRIX(glRotate(qd), Projective3d(qd).matrix());
00150
00151 Quaternionf qf(AngleAxisf(internal::random<double>(), Vector3f::Random()));
00152 VERIFY_MATRIX(glRotate(qf), Projective3f(qf).matrix());
00153
00154
00155 Transform<float,3,AffineCompact> acf3; acf3.matrix().setRandom();
00156 VERIFY_MATRIX(glLoadMatrix(acf3), Projective3f(acf3).matrix());
00157 VERIFY_MATRIX(glMultMatrix(acf3), Projective3f(acf3).matrix());
00158
00159 Transform<float,3,Affine> af3(acf3);
00160 VERIFY_MATRIX(glLoadMatrix(af3), Projective3f(af3).matrix());
00161 VERIFY_MATRIX(glMultMatrix(af3), Projective3f(af3).matrix());
00162
00163 Transform<float,3,Projective> pf3; pf3.matrix().setRandom();
00164 VERIFY_MATRIX(glLoadMatrix(pf3), Projective3f(pf3).matrix());
00165 VERIFY_MATRIX(glMultMatrix(pf3), Projective3f(pf3).matrix());
00166
00167 Transform<double,3,AffineCompact> acd3; acd3.matrix().setRandom();
00168 VERIFY_MATRIX(glLoadMatrix(acd3), Projective3d(acd3).matrix());
00169 VERIFY_MATRIX(glMultMatrix(acd3), Projective3d(acd3).matrix());
00170
00171 Transform<double,3,Affine> ad3(acd3);
00172 VERIFY_MATRIX(glLoadMatrix(ad3), Projective3d(ad3).matrix());
00173 VERIFY_MATRIX(glMultMatrix(ad3), Projective3d(ad3).matrix());
00174
00175 Transform<double,3,Projective> pd3; pd3.matrix().setRandom();
00176 VERIFY_MATRIX(glLoadMatrix(pd3), Projective3d(pd3).matrix());
00177 VERIFY_MATRIX(glMultMatrix(pd3), Projective3d(pd3).matrix());
00178
00179
00180 {
00181 Vector2f vf2; vf2.setRandom(); Vector3f vf23; vf23 << vf2, 0;
00182 VERIFY_MATRIX(glTranslate(vf2), Projective3f(Translation3f(vf23)).matrix());
00183 Vector2d vd2; vd2.setRandom(); Vector3d vd23; vd23 << vd2, 0;
00184 VERIFY_MATRIX(glTranslate(vd2), Projective3d(Translation3d(vd23)).matrix());
00185
00186 Vector3f vf3; vf3.setRandom();
00187 VERIFY_MATRIX(glTranslate(vf3), Projective3f(Translation3f(vf3)).matrix());
00188 Vector3d vd3; vd3.setRandom();
00189 VERIFY_MATRIX(glTranslate(vd3), Projective3d(Translation3d(vd3)).matrix());
00190
00191 Translation<float,3> tf3; tf3.vector().setRandom();
00192 VERIFY_MATRIX(glTranslate(tf3), Projective3f(tf3).matrix());
00193
00194 Translation<double,3> td3; td3.vector().setRandom();
00195 VERIFY_MATRIX(glTranslate(td3), Projective3d(td3).matrix());
00196 }
00197
00198
00199 {
00200 Vector2f vf2; vf2.setRandom(); Vector3f vf23; vf23 << vf2, 1;
00201 VERIFY_MATRIX(glScale(vf2), Projective3f(Scaling(vf23)).matrix());
00202 Vector2d vd2; vd2.setRandom(); Vector3d vd23; vd23 << vd2, 1;
00203 VERIFY_MATRIX(glScale(vd2), Projective3d(Scaling(vd23)).matrix());
00204
00205 Vector3f vf3; vf3.setRandom();
00206 VERIFY_MATRIX(glScale(vf3), Projective3f(Scaling(vf3)).matrix());
00207 Vector3d vd3; vd3.setRandom();
00208 VERIFY_MATRIX(glScale(vd3), Projective3d(Scaling(vd3)).matrix());
00209
00210 UniformScaling<float> usf(internal::random<float>());
00211 VERIFY_MATRIX(glScale(usf), Projective3f(usf).matrix());
00212
00213 UniformScaling<double> usd(internal::random<double>());
00214 VERIFY_MATRIX(glScale(usd), Projective3d(usd).matrix());
00215 }
00216
00217
00218 {
00219 const char* vtx = "void main(void) { gl_Position = gl_Vertex; }\n";
00220
00221 if(GLEW_VERSION_2_0)
00222 {
00223 #ifdef GL_VERSION_2_0
00224 const char* frg = ""
00225 "uniform vec2 v2f;\n"
00226 "uniform vec3 v3f;\n"
00227 "uniform vec4 v4f;\n"
00228 "uniform ivec2 v2i;\n"
00229 "uniform ivec3 v3i;\n"
00230 "uniform ivec4 v4i;\n"
00231 "uniform mat2 m2f;\n"
00232 "uniform mat3 m3f;\n"
00233 "uniform mat4 m4f;\n"
00234 "void main(void) { gl_FragColor = vec4(v2f[0]+v3f[0]+v4f[0])+vec4(v2i[0]+v3i[0]+v4i[0])+vec4(m2f[0][0]+m3f[0][0]+m4f[0][0]); }\n";
00235
00236 GLint prg_id = createShader(vtx,frg);
00237
00238 VERIFY_UNIFORM(fv,v2f, Vector2f);
00239 VERIFY_UNIFORM(fv,v3f, Vector3f);
00240 VERIFY_UNIFORM(fv,v4f, Vector4f);
00241 VERIFY_UNIFORMi(v2i, Vector2i);
00242 VERIFY_UNIFORMi(v3i, Vector3i);
00243 VERIFY_UNIFORMi(v4i, Vector4i);
00244 VERIFY_UNIFORM(fv,m2f, Matrix2f);
00245 VERIFY_UNIFORM(fv,m3f, Matrix3f);
00246 VERIFY_UNIFORM(fv,m4f, Matrix4f);
00247 #endif
00248 }
00249 else
00250 std::cerr << "Warning: opengl 2.0 was not tested\n";
00251
00252 if(GLEW_VERSION_2_1)
00253 {
00254 #ifdef GL_VERSION_2_1
00255 const char* frg = "#version 120\n"
00256 "uniform mat2x3 m23f;\n"
00257 "uniform mat3x2 m32f;\n"
00258 "uniform mat2x4 m24f;\n"
00259 "uniform mat4x2 m42f;\n"
00260 "uniform mat3x4 m34f;\n"
00261 "uniform mat4x3 m43f;\n"
00262 "void main(void) { gl_FragColor = vec4(m23f[0][0]+m32f[0][0]+m24f[0][0]+m42f[0][0]+m34f[0][0]+m43f[0][0]); }\n";
00263
00264 GLint prg_id = createShader(vtx,frg);
00265
00266 typedef Matrix<float,2,3> Matrix23f;
00267 typedef Matrix<float,3,2> Matrix32f;
00268 typedef Matrix<float,2,4> Matrix24f;
00269 typedef Matrix<float,4,2> Matrix42f;
00270 typedef Matrix<float,3,4> Matrix34f;
00271 typedef Matrix<float,4,3> Matrix43f;
00272
00273 VERIFY_UNIFORM(fv,m23f, Matrix23f);
00274 VERIFY_UNIFORM(fv,m32f, Matrix32f);
00275 VERIFY_UNIFORM(fv,m24f, Matrix24f);
00276 VERIFY_UNIFORM(fv,m42f, Matrix42f);
00277 VERIFY_UNIFORM(fv,m34f, Matrix34f);
00278 VERIFY_UNIFORM(fv,m43f, Matrix43f);
00279 #endif
00280 }
00281 else
00282 std::cerr << "Warning: opengl 2.1 was not tested\n";
00283
00284 if(GLEW_VERSION_3_0)
00285 {
00286 #ifdef GL_VERSION_3_0
00287 const char* frg = "#version 150\n"
00288 "uniform uvec2 v2ui;\n"
00289 "uniform uvec3 v3ui;\n"
00290 "uniform uvec4 v4ui;\n"
00291 "out vec4 data;\n"
00292 "void main(void) { data = vec4(v2ui[0]+v3ui[0]+v4ui[0]); }\n";
00293
00294 GLint prg_id = createShader(vtx,frg);
00295
00296 typedef Matrix<unsigned int,2,1> Vector2ui;
00297 typedef Matrix<unsigned int,3,1> Vector3ui;
00298 typedef Matrix<unsigned int,4,1> Vector4ui;
00299
00300 VERIFY_UNIFORMi(v2ui, Vector2ui);
00301 VERIFY_UNIFORMi(v3ui, Vector3ui);
00302 VERIFY_UNIFORMi(v4ui, Vector4ui);
00303 #endif
00304 }
00305 else
00306 std::cerr << "Warning: opengl 3.0 was not tested\n";
00307
00308 #ifdef GLEW_ARB_gpu_shader_fp64
00309 if(GLEW_ARB_gpu_shader_fp64)
00310 {
00311 #ifdef GL_ARB_gpu_shader_fp64
00312 const char* frg = "#version 150\n"
00313 "uniform dvec2 v2d;\n"
00314 "uniform dvec3 v3d;\n"
00315 "uniform dvec4 v4d;\n"
00316 "out vec4 data;\n"
00317 "void main(void) { data = vec4(v2d[0]+v3d[0]+v4d[0]); }\n";
00318
00319 GLint prg_id = createShader(vtx,frg);
00320
00321 typedef Vector2d Vector2d;
00322 typedef Vector3d Vector3d;
00323 typedef Vector4d Vector4d;
00324
00325 VERIFY_UNIFORM(dv,v2d, Vector2d);
00326 VERIFY_UNIFORM(dv,v3d, Vector3d);
00327 VERIFY_UNIFORM(dv,v4d, Vector4d);
00328 #endif
00329 }
00330 else
00331 std::cerr << "Warning: GLEW_ARB_gpu_shader_fp64 was not tested\n";
00332 #else
00333 std::cerr << "Warning: GLEW_ARB_gpu_shader_fp64 was not tested\n";
00334 #endif
00335 }
00336
00337 }