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1 // This file is part of Eigen, a lightweight C++ template library
2 // for linear algebra.
3 //
4 // Copyright (C) 2010 Gael Guennebaud <gael.guennebaud@inria.fr>
5 //
6 // This Source Code Form is subject to the terms of the Mozilla
7 // Public License v. 2.0. If a copy of the MPL was not distributed
8 // with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
9 
10 #include <main.h>
11 #include <iostream>
12 #include <GL/glew.h>
13 #include <Eigen/OpenGLSupport>
14 #include <GL/glut.h>
15 using namespace Eigen;
16 
17 
18 
19 
20 #define VERIFY_MATRIX(CODE,REF) { \
21     glLoadIdentity(); \
22     CODE; \
23     Matrix<float,4,4,ColMajor> m; m.setZero(); \
24     glGet(GL_MODELVIEW_MATRIX, m); \
25     if(!(REF).cast<float>().isApprox(m)) { \
26       std::cerr << "Expected:\n" << ((REF).cast<float>()) << "\n" << "got\n" << m << "\n\n"; \
27     } \
28     VERIFY_IS_APPROX((REF).cast<float>(), m); \
29   }
30 
31 #define VERIFY_UNIFORM(SUFFIX,NAME,TYPE) { \
32     TYPE value; value.setRandom(); \
33     TYPE data; \
34     int loc = glGetUniformLocation(prg_id, #NAME); \
35     VERIFY((loc!=-1) && "uniform not found"); \
36     glUniform(loc,value); \
37     EIGEN_CAT(glGetUniform,SUFFIX)(prg_id,loc,data.data()); \
38     if(!value.isApprox(data)) { \
39       std::cerr << "Expected:\n" << value << "\n" << "got\n" << data << "\n\n"; \
40     } \
41     VERIFY_IS_APPROX(value, data); \
42   }
43 
44 #define VERIFY_UNIFORMi(NAME,TYPE) { \
45     TYPE value = TYPE::Random().eval().cast<float>().cast<TYPE::Scalar>(); \
46     TYPE data; \
47     int loc = glGetUniformLocation(prg_id, #NAME); \
48     VERIFY((loc!=-1) && "uniform not found"); \
49     glUniform(loc,value); \
50     glGetUniformiv(prg_id,loc,(GLint*)data.data()); \
51     if(!value.isApprox(data)) { \
52       std::cerr << "Expected:\n" << value << "\n" << "got\n" << data << "\n\n"; \
53     } \
54     VERIFY_IS_APPROX(value, data); \
55   }
56 
printInfoLog(GLuint objectID)57 void printInfoLog(GLuint objectID)
58 {
59     int infologLength, charsWritten;
60     GLchar *infoLog;
61     glGetProgramiv(objectID,GL_INFO_LOG_LENGTH, &infologLength);
62     if(infologLength > 0)
63     {
64         infoLog = new GLchar[infologLength];
65         glGetProgramInfoLog(objectID, infologLength, &charsWritten, infoLog);
66         if (charsWritten>0)
67           std::cerr << "Shader info : \n" << infoLog << std::endl;
68         delete[] infoLog;
69     }
70 }
71 
createShader(const char * vtx,const char * frg)72 GLint createShader(const char* vtx, const char* frg)
73 {
74   GLint prg_id = glCreateProgram();
75   GLint vtx_id = glCreateShader(GL_VERTEX_SHADER);
76   GLint frg_id = glCreateShader(GL_FRAGMENT_SHADER);
77   GLint ok;
78 
79   glShaderSource(vtx_id, 1, &vtx, 0);
80   glCompileShader(vtx_id);
81   glGetShaderiv(vtx_id,GL_COMPILE_STATUS,&ok);
82   if(!ok)
83   {
84     std::cerr << "vtx compilation failed\n";
85   }
86 
87   glShaderSource(frg_id, 1, &frg, 0);
88   glCompileShader(frg_id);
89   glGetShaderiv(frg_id,GL_COMPILE_STATUS,&ok);
90   if(!ok)
91   {
92     std::cerr << "frg compilation failed\n";
93   }
94 
95   glAttachShader(prg_id, vtx_id);
96   glAttachShader(prg_id, frg_id);
97   glLinkProgram(prg_id);
98   glGetProgramiv(prg_id,GL_LINK_STATUS,&ok);
99   if(!ok)
100   {
101     std::cerr << "linking failed\n";
102   }
103   printInfoLog(prg_id);
104 
105   glUseProgram(prg_id);
106   return prg_id;
107 }
108 
test_openglsupport()109 void test_openglsupport()
110 {
111   int argc = 0;
112   glutInit(&argc, 0);
113   glutInitDisplayMode(GLUT_DOUBLE | GLUT_RGB | GLUT_DEPTH);
114   glutInitWindowPosition (0,0);
115   glutInitWindowSize(10, 10);
116 
117   if(glutCreateWindow("Eigen") <= 0)
118   {
119     std::cerr << "Error: Unable to create GLUT Window.\n";
120     exit(1);
121   }
122 
123   glewExperimental = GL_TRUE;
124   if(glewInit() != GLEW_OK)
125   {
126     std::cerr << "Warning: Failed to initialize GLEW\n";
127   }
128 
129   Vector3f v3f;
130   Matrix3f rot;
131   glBegin(GL_POINTS);
132 
133   glVertex(v3f);
134   glVertex(2*v3f+v3f);
135   glVertex(rot*v3f);
136 
137   glEnd();
138 
139   // 4x4 matrices
140   Matrix4f mf44; mf44.setRandom();
141   VERIFY_MATRIX(glLoadMatrix(mf44), mf44);
142   VERIFY_MATRIX(glMultMatrix(mf44), mf44);
143   Matrix4d md44; md44.setRandom();
144   VERIFY_MATRIX(glLoadMatrix(md44), md44);
145   VERIFY_MATRIX(glMultMatrix(md44), md44);
146 
147   // Quaternion
148   Quaterniond qd(AngleAxisd(internal::random<double>(), Vector3d::Random()));
149   VERIFY_MATRIX(glRotate(qd), Projective3d(qd).matrix());
150 
151   Quaternionf qf(AngleAxisf(internal::random<double>(), Vector3f::Random()));
152   VERIFY_MATRIX(glRotate(qf), Projective3f(qf).matrix());
153 
154   // 3D Transform
155   Transform<float,3,AffineCompact> acf3; acf3.matrix().setRandom();
156   VERIFY_MATRIX(glLoadMatrix(acf3), Projective3f(acf3).matrix());
157   VERIFY_MATRIX(glMultMatrix(acf3), Projective3f(acf3).matrix());
158 
159   Transform<float,3,Affine> af3(acf3);
160   VERIFY_MATRIX(glLoadMatrix(af3), Projective3f(af3).matrix());
161   VERIFY_MATRIX(glMultMatrix(af3), Projective3f(af3).matrix());
162 
163   Transform<float,3,Projective> pf3; pf3.matrix().setRandom();
164   VERIFY_MATRIX(glLoadMatrix(pf3), Projective3f(pf3).matrix());
165   VERIFY_MATRIX(glMultMatrix(pf3), Projective3f(pf3).matrix());
166 
167   Transform<double,3,AffineCompact> acd3; acd3.matrix().setRandom();
168   VERIFY_MATRIX(glLoadMatrix(acd3), Projective3d(acd3).matrix());
169   VERIFY_MATRIX(glMultMatrix(acd3), Projective3d(acd3).matrix());
170 
171   Transform<double,3,Affine> ad3(acd3);
172   VERIFY_MATRIX(glLoadMatrix(ad3), Projective3d(ad3).matrix());
173   VERIFY_MATRIX(glMultMatrix(ad3), Projective3d(ad3).matrix());
174 
175   Transform<double,3,Projective> pd3; pd3.matrix().setRandom();
176   VERIFY_MATRIX(glLoadMatrix(pd3), Projective3d(pd3).matrix());
177   VERIFY_MATRIX(glMultMatrix(pd3), Projective3d(pd3).matrix());
178 
179   // translations (2D and 3D)
180   {
181     Vector2f vf2; vf2.setRandom(); Vector3f vf23; vf23 << vf2, 0;
182     VERIFY_MATRIX(glTranslate(vf2), Projective3f(Translation3f(vf23)).matrix());
183     Vector2d vd2; vd2.setRandom(); Vector3d vd23; vd23 << vd2, 0;
184     VERIFY_MATRIX(glTranslate(vd2), Projective3d(Translation3d(vd23)).matrix());
185 
186     Vector3f vf3; vf3.setRandom();
187     VERIFY_MATRIX(glTranslate(vf3), Projective3f(Translation3f(vf3)).matrix());
188     Vector3d vd3; vd3.setRandom();
189     VERIFY_MATRIX(glTranslate(vd3), Projective3d(Translation3d(vd3)).matrix());
190 
191     Translation<float,3> tf3; tf3.vector().setRandom();
192     VERIFY_MATRIX(glTranslate(tf3), Projective3f(tf3).matrix());
193 
194     Translation<double,3> td3;  td3.vector().setRandom();
195     VERIFY_MATRIX(glTranslate(td3), Projective3d(td3).matrix());
196   }
197 
198   // scaling (2D and 3D)
199   {
200     Vector2f vf2; vf2.setRandom(); Vector3f vf23; vf23 << vf2, 1;
201     VERIFY_MATRIX(glScale(vf2), Projective3f(Scaling(vf23)).matrix());
202     Vector2d vd2; vd2.setRandom(); Vector3d vd23; vd23 << vd2, 1;
203     VERIFY_MATRIX(glScale(vd2), Projective3d(Scaling(vd23)).matrix());
204 
205     Vector3f vf3; vf3.setRandom();
206     VERIFY_MATRIX(glScale(vf3), Projective3f(Scaling(vf3)).matrix());
207     Vector3d vd3; vd3.setRandom();
208     VERIFY_MATRIX(glScale(vd3), Projective3d(Scaling(vd3)).matrix());
209 
210     UniformScaling<float> usf(internal::random<float>());
211     VERIFY_MATRIX(glScale(usf), Projective3f(usf).matrix());
212 
213     UniformScaling<double> usd(internal::random<double>());
214     VERIFY_MATRIX(glScale(usd), Projective3d(usd).matrix());
215   }
216 
217   // uniform
218   {
219     const char* vtx = "void main(void) { gl_Position = gl_Vertex; }\n";
220 
221     if(GLEW_VERSION_2_0)
222     {
223       #ifdef GL_VERSION_2_0
224       const char* frg = ""
225         "uniform vec2 v2f;\n"
226         "uniform vec3 v3f;\n"
227         "uniform vec4 v4f;\n"
228         "uniform ivec2 v2i;\n"
229         "uniform ivec3 v3i;\n"
230         "uniform ivec4 v4i;\n"
231         "uniform mat2 m2f;\n"
232         "uniform mat3 m3f;\n"
233         "uniform mat4 m4f;\n"
234         "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";
235 
236       GLint prg_id = createShader(vtx,frg);
237 
238       VERIFY_UNIFORM(fv,v2f, Vector2f);
239       VERIFY_UNIFORM(fv,v3f, Vector3f);
240       VERIFY_UNIFORM(fv,v4f, Vector4f);
241       VERIFY_UNIFORMi(v2i, Vector2i);
242       VERIFY_UNIFORMi(v3i, Vector3i);
243       VERIFY_UNIFORMi(v4i, Vector4i);
244       VERIFY_UNIFORM(fv,m2f, Matrix2f);
245       VERIFY_UNIFORM(fv,m3f, Matrix3f);
246       VERIFY_UNIFORM(fv,m4f, Matrix4f);
247       #endif
248     }
249     else
250       std::cerr << "Warning: opengl 2.0 was not tested\n";
251 
252     if(GLEW_VERSION_2_1)
253     {
254       #ifdef GL_VERSION_2_1
255       const char* frg = "#version 120\n"
256         "uniform mat2x3 m23f;\n"
257         "uniform mat3x2 m32f;\n"
258         "uniform mat2x4 m24f;\n"
259         "uniform mat4x2 m42f;\n"
260         "uniform mat3x4 m34f;\n"
261         "uniform mat4x3 m43f;\n"
262         "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";
263 
264       GLint prg_id = createShader(vtx,frg);
265 
266       typedef Matrix<float,2,3> Matrix23f;
267       typedef Matrix<float,3,2> Matrix32f;
268       typedef Matrix<float,2,4> Matrix24f;
269       typedef Matrix<float,4,2> Matrix42f;
270       typedef Matrix<float,3,4> Matrix34f;
271       typedef Matrix<float,4,3> Matrix43f;
272 
273       VERIFY_UNIFORM(fv,m23f, Matrix23f);
274       VERIFY_UNIFORM(fv,m32f, Matrix32f);
275       VERIFY_UNIFORM(fv,m24f, Matrix24f);
276       VERIFY_UNIFORM(fv,m42f, Matrix42f);
277       VERIFY_UNIFORM(fv,m34f, Matrix34f);
278       VERIFY_UNIFORM(fv,m43f, Matrix43f);
279       #endif
280     }
281     else
282       std::cerr << "Warning: opengl 2.1 was not tested\n";
283 
284     if(GLEW_VERSION_3_0)
285     {
286       #ifdef GL_VERSION_3_0
287       const char* frg = "#version 150\n"
288         "uniform uvec2 v2ui;\n"
289         "uniform uvec3 v3ui;\n"
290         "uniform uvec4 v4ui;\n"
291         "out vec4 data;\n"
292         "void main(void) { data = vec4(v2ui[0]+v3ui[0]+v4ui[0]); }\n";
293 
294       GLint prg_id = createShader(vtx,frg);
295 
296       typedef Matrix<unsigned int,2,1> Vector2ui;
297       typedef Matrix<unsigned int,3,1> Vector3ui;
298       typedef Matrix<unsigned int,4,1> Vector4ui;
299 
300       VERIFY_UNIFORMi(v2ui, Vector2ui);
301       VERIFY_UNIFORMi(v3ui, Vector3ui);
302       VERIFY_UNIFORMi(v4ui, Vector4ui);
303       #endif
304     }
305     else
306       std::cerr << "Warning: opengl 3.0 was not tested\n";
307 
308     #ifdef GLEW_ARB_gpu_shader_fp64
309     if(GLEW_ARB_gpu_shader_fp64)
310     {
311       #ifdef GL_ARB_gpu_shader_fp64
312       const char* frg = "#version 150\n"
313         "uniform dvec2 v2d;\n"
314         "uniform dvec3 v3d;\n"
315         "uniform dvec4 v4d;\n"
316         "out vec4 data;\n"
317         "void main(void) { data = vec4(v2d[0]+v3d[0]+v4d[0]); }\n";
318 
319       GLint prg_id = createShader(vtx,frg);
320 
321       typedef Vector2d Vector2d;
322       typedef Vector3d Vector3d;
323       typedef Vector4d Vector4d;
324 
325       VERIFY_UNIFORM(dv,v2d, Vector2d);
326       VERIFY_UNIFORM(dv,v3d, Vector3d);
327       VERIFY_UNIFORM(dv,v4d, Vector4d);
328       #endif
329     }
330     else
331       std::cerr << "Warning: GLEW_ARB_gpu_shader_fp64 was not tested\n";
332     #else
333       std::cerr << "Warning: GLEW_ARB_gpu_shader_fp64 was not tested\n";
334     #endif
335   }
336 
337 }
338