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-rw-r--r--eigen/demos/opengl/CMakeLists.txt28
-rw-r--r--eigen/demos/opengl/README13
-rw-r--r--eigen/demos/opengl/camera.cpp264
-rw-r--r--eigen/demos/opengl/camera.h118
-rw-r--r--eigen/demos/opengl/gpuhelper.cpp126
-rw-r--r--eigen/demos/opengl/gpuhelper.h207
-rw-r--r--eigen/demos/opengl/icosphere.cpp120
-rw-r--r--eigen/demos/opengl/icosphere.h30
-rw-r--r--eigen/demos/opengl/quaternion_demo.cpp656
-rw-r--r--eigen/demos/opengl/quaternion_demo.h114
-rw-r--r--eigen/demos/opengl/trackball.cpp59
-rw-r--r--eigen/demos/opengl/trackball.h42
12 files changed, 0 insertions, 1777 deletions
diff --git a/eigen/demos/opengl/CMakeLists.txt b/eigen/demos/opengl/CMakeLists.txt
deleted file mode 100644
index 299aa44..0000000
--- a/eigen/demos/opengl/CMakeLists.txt
+++ /dev/null
@@ -1,28 +0,0 @@
-find_package(Qt4)
-find_package(OpenGL)
-
-if(QT4_FOUND AND OPENGL_FOUND)
-
- set(QT_USE_QTOPENGL TRUE)
- include(${QT_USE_FILE})
-
- set(CMAKE_INCLUDE_CURRENT_DIR ON)
-
- include_directories( ${QT_INCLUDE_DIR} )
-
- set(quaternion_demo_SRCS gpuhelper.cpp icosphere.cpp camera.cpp trackball.cpp quaternion_demo.cpp)
-
- qt4_automoc(${quaternion_demo_SRCS})
-
- add_executable(quaternion_demo ${quaternion_demo_SRCS})
- add_dependencies(demos quaternion_demo)
-
- target_link_libraries(quaternion_demo
- ${QT_QTCORE_LIBRARY} ${QT_QTGUI_LIBRARY}
- ${QT_QTOPENGL_LIBRARY} ${OPENGL_LIBRARIES} )
-
-else()
-
- message(STATUS "OpenGL demo disabled because Qt4 and/or OpenGL have not been found.")
-
-endif() \ No newline at end of file
diff --git a/eigen/demos/opengl/README b/eigen/demos/opengl/README
deleted file mode 100644
index 8fb1649..0000000
--- a/eigen/demos/opengl/README
+++ /dev/null
@@ -1,13 +0,0 @@
-
-Navigation:
- left button: rotate around the target
- middle button: zoom
- left button + ctrl quake rotate (rotate around camera position)
- middle button + ctrl walk (progress along camera's z direction)
- left button: pan (translate in the XY camera's plane)
-
-R : move the camera to initial position
-A : start/stop animation
-C : clear the animation
-G : add a key frame
-
diff --git a/eigen/demos/opengl/camera.cpp b/eigen/demos/opengl/camera.cpp
deleted file mode 100644
index 8a2344c..0000000
--- a/eigen/demos/opengl/camera.cpp
+++ /dev/null
@@ -1,264 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#include "camera.h"
-
-#include "gpuhelper.h"
-#include <GL/glu.h>
-
-#include "Eigen/LU"
-using namespace Eigen;
-
-Camera::Camera()
- : mViewIsUptodate(false), mProjIsUptodate(false)
-{
- mViewMatrix.setIdentity();
-
- mFovY = M_PI/3.;
- mNearDist = 1.;
- mFarDist = 50000.;
-
- mVpX = 0;
- mVpY = 0;
-
- setPosition(Vector3f::Constant(100.));
- setTarget(Vector3f::Zero());
-}
-
-Camera& Camera::operator=(const Camera& other)
-{
- mViewIsUptodate = false;
- mProjIsUptodate = false;
-
- mVpX = other.mVpX;
- mVpY = other.mVpY;
- mVpWidth = other.mVpWidth;
- mVpHeight = other.mVpHeight;
-
- mTarget = other.mTarget;
- mFovY = other.mFovY;
- mNearDist = other.mNearDist;
- mFarDist = other.mFarDist;
-
- mViewMatrix = other.mViewMatrix;
- mProjectionMatrix = other.mProjectionMatrix;
-
- return *this;
-}
-
-Camera::Camera(const Camera& other)
-{
- *this = other;
-}
-
-Camera::~Camera()
-{
-}
-
-
-void Camera::setViewport(uint offsetx, uint offsety, uint width, uint height)
-{
- mVpX = offsetx;
- mVpY = offsety;
- mVpWidth = width;
- mVpHeight = height;
-
- mProjIsUptodate = false;
-}
-
-void Camera::setViewport(uint width, uint height)
-{
- mVpWidth = width;
- mVpHeight = height;
-
- mProjIsUptodate = false;
-}
-
-void Camera::setFovY(float value)
-{
- mFovY = value;
- mProjIsUptodate = false;
-}
-
-Vector3f Camera::direction(void) const
-{
- return - (orientation() * Vector3f::UnitZ());
-}
-Vector3f Camera::up(void) const
-{
- return orientation() * Vector3f::UnitY();
-}
-Vector3f Camera::right(void) const
-{
- return orientation() * Vector3f::UnitX();
-}
-
-void Camera::setDirection(const Vector3f& newDirection)
-{
- // TODO implement it computing the rotation between newDirection and current dir ?
- Vector3f up = this->up();
-
- Matrix3f camAxes;
-
- camAxes.col(2) = (-newDirection).normalized();
- camAxes.col(0) = up.cross( camAxes.col(2) ).normalized();
- camAxes.col(1) = camAxes.col(2).cross( camAxes.col(0) ).normalized();
- setOrientation(Quaternionf(camAxes));
-
- mViewIsUptodate = false;
-}
-
-void Camera::setTarget(const Vector3f& target)
-{
- mTarget = target;
- if (!mTarget.isApprox(position()))
- {
- Vector3f newDirection = mTarget - position();
- setDirection(newDirection.normalized());
- }
-}
-
-void Camera::setPosition(const Vector3f& p)
-{
- mFrame.position = p;
- mViewIsUptodate = false;
-}
-
-void Camera::setOrientation(const Quaternionf& q)
-{
- mFrame.orientation = q;
- mViewIsUptodate = false;
-}
-
-void Camera::setFrame(const Frame& f)
-{
- mFrame = f;
- mViewIsUptodate = false;
-}
-
-void Camera::rotateAroundTarget(const Quaternionf& q)
-{
- Matrix4f mrot, mt, mtm;
-
- // update the transform matrix
- updateViewMatrix();
- Vector3f t = mViewMatrix * mTarget;
-
- mViewMatrix = Translation3f(t)
- * q
- * Translation3f(-t)
- * mViewMatrix;
-
- Quaternionf qa(mViewMatrix.linear());
- qa = qa.conjugate();
- setOrientation(qa);
- setPosition(- (qa * mViewMatrix.translation()) );
-
- mViewIsUptodate = true;
-}
-
-void Camera::localRotate(const Quaternionf& q)
-{
- float dist = (position() - mTarget).norm();
- setOrientation(orientation() * q);
- mTarget = position() + dist * direction();
- mViewIsUptodate = false;
-}
-
-void Camera::zoom(float d)
-{
- float dist = (position() - mTarget).norm();
- if(dist > d)
- {
- setPosition(position() + direction() * d);
- mViewIsUptodate = false;
- }
-}
-
-void Camera::localTranslate(const Vector3f& t)
-{
- Vector3f trans = orientation() * t;
- setPosition( position() + trans );
- setTarget( mTarget + trans );
-
- mViewIsUptodate = false;
-}
-
-void Camera::updateViewMatrix(void) const
-{
- if(!mViewIsUptodate)
- {
- Quaternionf q = orientation().conjugate();
- mViewMatrix.linear() = q.toRotationMatrix();
- mViewMatrix.translation() = - (mViewMatrix.linear() * position());
-
- mViewIsUptodate = true;
- }
-}
-
-const Affine3f& Camera::viewMatrix(void) const
-{
- updateViewMatrix();
- return mViewMatrix;
-}
-
-void Camera::updateProjectionMatrix(void) const
-{
- if(!mProjIsUptodate)
- {
- mProjectionMatrix.setIdentity();
- float aspect = float(mVpWidth)/float(mVpHeight);
- float theta = mFovY*0.5;
- float range = mFarDist - mNearDist;
- float invtan = 1./tan(theta);
-
- mProjectionMatrix(0,0) = invtan / aspect;
- mProjectionMatrix(1,1) = invtan;
- mProjectionMatrix(2,2) = -(mNearDist + mFarDist) / range;
- mProjectionMatrix(3,2) = -1;
- mProjectionMatrix(2,3) = -2 * mNearDist * mFarDist / range;
- mProjectionMatrix(3,3) = 0;
-
- mProjIsUptodate = true;
- }
-}
-
-const Matrix4f& Camera::projectionMatrix(void) const
-{
- updateProjectionMatrix();
- return mProjectionMatrix;
-}
-
-void Camera::activateGL(void)
-{
- glViewport(vpX(), vpY(), vpWidth(), vpHeight());
- gpu.loadMatrix(projectionMatrix(),GL_PROJECTION);
- gpu.loadMatrix(viewMatrix().matrix(),GL_MODELVIEW);
-}
-
-
-Vector3f Camera::unProject(const Vector2f& uv, float depth) const
-{
- Matrix4f inv = mViewMatrix.inverse().matrix();
- return unProject(uv, depth, inv);
-}
-
-Vector3f Camera::unProject(const Vector2f& uv, float depth, const Matrix4f& invModelview) const
-{
- updateViewMatrix();
- updateProjectionMatrix();
-
- Vector3f a(2.*uv.x()/float(mVpWidth)-1., 2.*uv.y()/float(mVpHeight)-1., 1.);
- a.x() *= depth/mProjectionMatrix(0,0);
- a.y() *= depth/mProjectionMatrix(1,1);
- a.z() = -depth;
- // FIXME /\/|
- Vector4f b = invModelview * Vector4f(a.x(), a.y(), a.z(), 1.);
- return Vector3f(b.x(), b.y(), b.z());
-}
diff --git a/eigen/demos/opengl/camera.h b/eigen/demos/opengl/camera.h
deleted file mode 100644
index 15714d2..0000000
--- a/eigen/demos/opengl/camera.h
+++ /dev/null
@@ -1,118 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_CAMERA_H
-#define EIGEN_CAMERA_H
-
-#include <Eigen/Geometry>
-#include <QObject>
-// #include <frame.h>
-
-class Frame
-{
- public:
- EIGEN_MAKE_ALIGNED_OPERATOR_NEW
-
- inline Frame(const Eigen::Vector3f& pos = Eigen::Vector3f::Zero(),
- const Eigen::Quaternionf& o = Eigen::Quaternionf())
- : orientation(o), position(pos)
- {}
- Frame lerp(float alpha, const Frame& other) const
- {
- return Frame((1.f-alpha)*position + alpha * other.position,
- orientation.slerp(alpha,other.orientation));
- }
-
- Eigen::Quaternionf orientation;
- Eigen::Vector3f position;
-};
-
-class Camera
-{
- public:
- EIGEN_MAKE_ALIGNED_OPERATOR_NEW
-
- Camera(void);
-
- Camera(const Camera& other);
-
- virtual ~Camera();
-
- Camera& operator=(const Camera& other);
-
- void setViewport(uint offsetx, uint offsety, uint width, uint height);
- void setViewport(uint width, uint height);
-
- inline uint vpX(void) const { return mVpX; }
- inline uint vpY(void) const { return mVpY; }
- inline uint vpWidth(void) const { return mVpWidth; }
- inline uint vpHeight(void) const { return mVpHeight; }
-
- inline float fovY(void) const { return mFovY; }
- void setFovY(float value);
-
- void setPosition(const Eigen::Vector3f& pos);
- inline const Eigen::Vector3f& position(void) const { return mFrame.position; }
-
- void setOrientation(const Eigen::Quaternionf& q);
- inline const Eigen::Quaternionf& orientation(void) const { return mFrame.orientation; }
-
- void setFrame(const Frame& f);
- const Frame& frame(void) const { return mFrame; }
-
- void setDirection(const Eigen::Vector3f& newDirection);
- Eigen::Vector3f direction(void) const;
- void setUp(const Eigen::Vector3f& vectorUp);
- Eigen::Vector3f up(void) const;
- Eigen::Vector3f right(void) const;
-
- void setTarget(const Eigen::Vector3f& target);
- inline const Eigen::Vector3f& target(void) { return mTarget; }
-
- const Eigen::Affine3f& viewMatrix(void) const;
- const Eigen::Matrix4f& projectionMatrix(void) const;
-
- void rotateAroundTarget(const Eigen::Quaternionf& q);
- void localRotate(const Eigen::Quaternionf& q);
- void zoom(float d);
-
- void localTranslate(const Eigen::Vector3f& t);
-
- /** Setup OpenGL matrices and viewport */
- void activateGL(void);
-
- Eigen::Vector3f unProject(const Eigen::Vector2f& uv, float depth, const Eigen::Matrix4f& invModelview) const;
- Eigen::Vector3f unProject(const Eigen::Vector2f& uv, float depth) const;
-
- protected:
- void updateViewMatrix(void) const;
- void updateProjectionMatrix(void) const;
-
- protected:
-
- uint mVpX, mVpY;
- uint mVpWidth, mVpHeight;
-
- Frame mFrame;
-
- mutable Eigen::Affine3f mViewMatrix;
- mutable Eigen::Matrix4f mProjectionMatrix;
-
- mutable bool mViewIsUptodate;
- mutable bool mProjIsUptodate;
-
- // used by rotateAroundTarget
- Eigen::Vector3f mTarget;
-
- float mFovY;
- float mNearDist;
- float mFarDist;
-};
-
-#endif // EIGEN_CAMERA_H
diff --git a/eigen/demos/opengl/gpuhelper.cpp b/eigen/demos/opengl/gpuhelper.cpp
deleted file mode 100644
index fd236b1..0000000
--- a/eigen/demos/opengl/gpuhelper.cpp
+++ /dev/null
@@ -1,126 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#include "gpuhelper.h"
-#include "icosphere.h"
-#include <GL/glu.h>
-// PLEASE don't look at this old code... ;)
-
-#include <fstream>
-#include <algorithm>
-
-GpuHelper gpu;
-
-GpuHelper::GpuHelper()
-{
- mVpWidth = mVpHeight = 0;
- mCurrentMatrixTarget = 0;
- mInitialized = false;
-}
-
-GpuHelper::~GpuHelper()
-{
-}
-
-void GpuHelper::pushProjectionMode2D(ProjectionMode2D pm)
-{
- // switch to 2D projection
- pushMatrix(Matrix4f::Identity(),GL_PROJECTION);
-
- if(pm==PM_Normalized)
- {
- //glOrtho(-1., 1., -1., 1., 0., 1.);
- }
- else if(pm==PM_Viewport)
- {
- GLint vp[4];
- glGetIntegerv(GL_VIEWPORT, vp);
- glOrtho(0., vp[2], 0., vp[3], -1., 1.);
- }
-
- pushMatrix(Matrix4f::Identity(),GL_MODELVIEW);
-}
-
-void GpuHelper::popProjectionMode2D(void)
-{
- popMatrix(GL_PROJECTION);
- popMatrix(GL_MODELVIEW);
-}
-
-void GpuHelper::drawVector(const Vector3f& position, const Vector3f& vec, const Color& color, float aspect /* = 50.*/)
-{
- static GLUquadricObj *cylindre = gluNewQuadric();
- glColor4fv(color.data());
- float length = vec.norm();
- pushMatrix(GL_MODELVIEW);
- glTranslatef(position.x(), position.y(), position.z());
- Vector3f ax = Matrix3f::Identity().col(2).cross(vec);
- ax.normalize();
- Vector3f tmp = vec;
- tmp.normalize();
- float angle = 180.f/M_PI * acos(tmp.z());
- if (angle>1e-3)
- glRotatef(angle, ax.x(), ax.y(), ax.z());
- gluCylinder(cylindre, length/aspect, length/aspect, 0.8*length, 10, 10);
- glTranslatef(0.0,0.0,0.8*length);
- gluCylinder(cylindre, 2.0*length/aspect, 0.0, 0.2*length, 10, 10);
-
- popMatrix(GL_MODELVIEW);
-}
-
-void GpuHelper::drawVectorBox(const Vector3f& position, const Vector3f& vec, const Color& color, float aspect)
-{
- static GLUquadricObj *cylindre = gluNewQuadric();
- glColor4fv(color.data());
- float length = vec.norm();
- pushMatrix(GL_MODELVIEW);
- glTranslatef(position.x(), position.y(), position.z());
- Vector3f ax = Matrix3f::Identity().col(2).cross(vec);
- ax.normalize();
- Vector3f tmp = vec;
- tmp.normalize();
- float angle = 180.f/M_PI * acos(tmp.z());
- if (angle>1e-3)
- glRotatef(angle, ax.x(), ax.y(), ax.z());
- gluCylinder(cylindre, length/aspect, length/aspect, 0.8*length, 10, 10);
- glTranslatef(0.0,0.0,0.8*length);
- glScalef(4.0*length/aspect,4.0*length/aspect,4.0*length/aspect);
- drawUnitCube();
- popMatrix(GL_MODELVIEW);
-}
-
-void GpuHelper::drawUnitCube(void)
-{
- static float vertices[][3] = {
- {-0.5,-0.5,-0.5},
- { 0.5,-0.5,-0.5},
- {-0.5, 0.5,-0.5},
- { 0.5, 0.5,-0.5},
- {-0.5,-0.5, 0.5},
- { 0.5,-0.5, 0.5},
- {-0.5, 0.5, 0.5},
- { 0.5, 0.5, 0.5}};
-
- glBegin(GL_QUADS);
- glNormal3f(0,0,-1); glVertex3fv(vertices[0]); glVertex3fv(vertices[2]); glVertex3fv(vertices[3]); glVertex3fv(vertices[1]);
- glNormal3f(0,0, 1); glVertex3fv(vertices[4]); glVertex3fv(vertices[5]); glVertex3fv(vertices[7]); glVertex3fv(vertices[6]);
- glNormal3f(0,-1,0); glVertex3fv(vertices[0]); glVertex3fv(vertices[1]); glVertex3fv(vertices[5]); glVertex3fv(vertices[4]);
- glNormal3f(0, 1,0); glVertex3fv(vertices[2]); glVertex3fv(vertices[6]); glVertex3fv(vertices[7]); glVertex3fv(vertices[3]);
- glNormal3f(-1,0,0); glVertex3fv(vertices[0]); glVertex3fv(vertices[4]); glVertex3fv(vertices[6]); glVertex3fv(vertices[2]);
- glNormal3f( 1,0,0); glVertex3fv(vertices[1]); glVertex3fv(vertices[3]); glVertex3fv(vertices[7]); glVertex3fv(vertices[5]);
- glEnd();
-}
-
-void GpuHelper::drawUnitSphere(int level)
-{
- static IcoSphere sphere;
- sphere.draw(level);
-}
-
-
diff --git a/eigen/demos/opengl/gpuhelper.h b/eigen/demos/opengl/gpuhelper.h
deleted file mode 100644
index 9ff98e9..0000000
--- a/eigen/demos/opengl/gpuhelper.h
+++ /dev/null
@@ -1,207 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_GPUHELPER_H
-#define EIGEN_GPUHELPER_H
-
-#include <Eigen/Geometry>
-#include <GL/gl.h>
-#include <vector>
-
-using namespace Eigen;
-
-typedef Vector4f Color;
-
-class GpuHelper
-{
- public:
-
- GpuHelper();
-
- ~GpuHelper();
-
- enum ProjectionMode2D { PM_Normalized = 1, PM_Viewport = 2 };
- void pushProjectionMode2D(ProjectionMode2D pm);
- void popProjectionMode2D();
-
- /** Multiply the OpenGL matrix \a matrixTarget by the matrix \a mat.
- Essentially, this helper function automatically calls glMatrixMode(matrixTarget) if required
- and does a proper call to the right glMultMatrix*() function according to the scalar type
- and storage order.
- \warning glMatrixMode() must never be called directly. If your're unsure, use forceMatrixMode().
- \sa Matrix, loadMatrix(), forceMatrixMode()
- */
- template<typename Scalar, int _Flags>
- void multMatrix(const Matrix<Scalar,4,4, _Flags, 4,4>& mat, GLenum matrixTarget);
-
- /** Load the matrix \a mat to the OpenGL matrix \a matrixTarget.
- Essentially, this helper function automatically calls glMatrixMode(matrixTarget) if required
- and does a proper call to the right glLoadMatrix*() or glLoadIdentity() function according to the scalar type
- and storage order.
- \warning glMatrixMode() must never be called directly. If your're unsure, use forceMatrixMode().
- \sa Matrix, multMatrix(), forceMatrixMode()
- */
- template<typename Scalar, int _Flags>
- void loadMatrix(const Eigen::Matrix<Scalar,4,4, _Flags, 4,4>& mat, GLenum matrixTarget);
-
- template<typename Scalar, typename Derived>
- void loadMatrix(
- const Eigen::CwiseNullaryOp<Eigen::internal::scalar_identity_op<Scalar>,Derived>&,
- GLenum matrixTarget);
-
- /** Make the matrix \a matrixTarget the current OpenGL matrix target.
- Call this function before loadMatrix() or multMatrix() if you cannot guarantee that glMatrixMode()
- has never been called after the last loadMatrix() or multMatrix() calls.
- \todo provides a debug mode checking the sanity of the cached matrix mode.
- */
- inline void forceMatrixTarget(GLenum matrixTarget) {glMatrixMode(mCurrentMatrixTarget=matrixTarget);}
-
- inline void setMatrixTarget(GLenum matrixTarget);
-
- /** Push the OpenGL matrix \a matrixTarget and load \a mat.
- */
- template<typename Scalar, int _Flags>
- inline void pushMatrix(const Matrix<Scalar,4,4, _Flags, 4,4>& mat, GLenum matrixTarget);
-
- template<typename Scalar, typename Derived>
- void pushMatrix(
- const Eigen::CwiseNullaryOp<Eigen::internal::scalar_identity_op<Scalar>,Derived>&,
- GLenum matrixTarget);
-
- /** Push and clone the OpenGL matrix \a matrixTarget
- */
- inline void pushMatrix(GLenum matrixTarget);
-
- /** Pop the OpenGL matrix \a matrixTarget
- */
- inline void popMatrix(GLenum matrixTarget);
-
- void drawVector(const Vector3f& position, const Vector3f& vec, const Color& color, float aspect = 50.);
- void drawVectorBox(const Vector3f& position, const Vector3f& vec, const Color& color, float aspect = 50.);
- void drawUnitCube(void);
- void drawUnitSphere(int level=0);
-
- /// draw the \a nofElement first elements
- inline void draw(GLenum mode, uint nofElement);
-
- /// draw a range of elements
- inline void draw(GLenum mode, uint start, uint end);
-
- /// draw an indexed subset
- inline void draw(GLenum mode, const std::vector<uint>* pIndexes);
-
-protected:
-
- void update(void);
-
- GLuint mColorBufferId;
- int mVpWidth, mVpHeight;
- GLenum mCurrentMatrixTarget;
- bool mInitialized;
-};
-
-/** Singleton shortcut
-*/
-extern GpuHelper gpu;
-
-
-/** \internal
-*/
-template<bool RowMajor, int _Flags> struct GlMatrixHelper;
-
-template<int _Flags> struct GlMatrixHelper<false,_Flags>
-{
- static void loadMatrix(const Matrix<float, 4,4, _Flags, 4,4>& mat) { glLoadMatrixf(mat.data()); }
- static void loadMatrix(const Matrix<double,4,4, _Flags, 4,4>& mat) { glLoadMatrixd(mat.data()); }
- static void multMatrix(const Matrix<float, 4,4, _Flags, 4,4>& mat) { glMultMatrixf(mat.data()); }
- static void multMatrix(const Matrix<double,4,4, _Flags, 4,4>& mat) { glMultMatrixd(mat.data()); }
-};
-
-template<int _Flags> struct GlMatrixHelper<true,_Flags>
-{
- static void loadMatrix(const Matrix<float, 4,4, _Flags, 4,4>& mat) { glLoadMatrixf(mat.transpose().eval().data()); }
- static void loadMatrix(const Matrix<double,4,4, _Flags, 4,4>& mat) { glLoadMatrixd(mat.transpose().eval().data()); }
- static void multMatrix(const Matrix<float, 4,4, _Flags, 4,4>& mat) { glMultMatrixf(mat.transpose().eval().data()); }
- static void multMatrix(const Matrix<double,4,4, _Flags, 4,4>& mat) { glMultMatrixd(mat.transpose().eval().data()); }
-};
-
-inline void GpuHelper::setMatrixTarget(GLenum matrixTarget)
-{
- if (matrixTarget != mCurrentMatrixTarget)
- glMatrixMode(mCurrentMatrixTarget=matrixTarget);
-}
-
-template<typename Scalar, int _Flags>
-void GpuHelper::multMatrix(const Matrix<Scalar,4,4, _Flags, 4,4>& mat, GLenum matrixTarget)
-{
- setMatrixTarget(matrixTarget);
- GlMatrixHelper<_Flags&Eigen::RowMajorBit, _Flags>::multMatrix(mat);
-}
-
-template<typename Scalar, typename Derived>
-void GpuHelper::loadMatrix(
- const Eigen::CwiseNullaryOp<Eigen::internal::scalar_identity_op<Scalar>,Derived>&,
- GLenum matrixTarget)
-{
- setMatrixTarget(matrixTarget);
- glLoadIdentity();
-}
-
-template<typename Scalar, int _Flags>
-void GpuHelper::loadMatrix(const Eigen::Matrix<Scalar,4,4, _Flags, 4,4>& mat, GLenum matrixTarget)
-{
- setMatrixTarget(matrixTarget);
- GlMatrixHelper<(_Flags&Eigen::RowMajorBit)!=0, _Flags>::loadMatrix(mat);
-}
-
-inline void GpuHelper::pushMatrix(GLenum matrixTarget)
-{
- setMatrixTarget(matrixTarget);
- glPushMatrix();
-}
-
-template<typename Scalar, int _Flags>
-inline void GpuHelper::pushMatrix(const Matrix<Scalar,4,4, _Flags, 4,4>& mat, GLenum matrixTarget)
-{
- pushMatrix(matrixTarget);
- GlMatrixHelper<_Flags&Eigen::RowMajorBit,_Flags>::loadMatrix(mat);
-}
-
-template<typename Scalar, typename Derived>
-void GpuHelper::pushMatrix(
- const Eigen::CwiseNullaryOp<Eigen::internal::scalar_identity_op<Scalar>,Derived>&,
- GLenum matrixTarget)
-{
- pushMatrix(matrixTarget);
- glLoadIdentity();
-}
-
-inline void GpuHelper::popMatrix(GLenum matrixTarget)
-{
- setMatrixTarget(matrixTarget);
- glPopMatrix();
-}
-
-inline void GpuHelper::draw(GLenum mode, uint nofElement)
-{
- glDrawArrays(mode, 0, nofElement);
-}
-
-
-inline void GpuHelper::draw(GLenum mode, const std::vector<uint>* pIndexes)
-{
- glDrawElements(mode, pIndexes->size(), GL_UNSIGNED_INT, &(pIndexes->front()));
-}
-
-inline void GpuHelper::draw(GLenum mode, uint start, uint end)
-{
- glDrawArrays(mode, start, end-start);
-}
-
-#endif // EIGEN_GPUHELPER_H
diff --git a/eigen/demos/opengl/icosphere.cpp b/eigen/demos/opengl/icosphere.cpp
deleted file mode 100644
index 39444cb..0000000
--- a/eigen/demos/opengl/icosphere.cpp
+++ /dev/null
@@ -1,120 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#include "icosphere.h"
-
-#include <GL/gl.h>
-#include <map>
-
-using namespace Eigen;
-
-//--------------------------------------------------------------------------------
-// icosahedron data
-//--------------------------------------------------------------------------------
-#define X .525731112119133606
-#define Z .850650808352039932
-
-static GLfloat vdata[12][3] = {
- {-X, 0.0, Z}, {X, 0.0, Z}, {-X, 0.0, -Z}, {X, 0.0, -Z},
- {0.0, Z, X}, {0.0, Z, -X}, {0.0, -Z, X}, {0.0, -Z, -X},
- {Z, X, 0.0}, {-Z, X, 0.0}, {Z, -X, 0.0}, {-Z, -X, 0.0}
-};
-
-static GLint tindices[20][3] = {
- {0,4,1}, {0,9,4}, {9,5,4}, {4,5,8}, {4,8,1},
- {8,10,1}, {8,3,10}, {5,3,8}, {5,2,3}, {2,7,3},
- {7,10,3}, {7,6,10}, {7,11,6}, {11,0,6}, {0,1,6},
- {6,1,10}, {9,0,11}, {9,11,2}, {9,2,5}, {7,2,11} };
-//--------------------------------------------------------------------------------
-
-IcoSphere::IcoSphere(unsigned int levels)
-{
- // init with an icosahedron
- for (int i = 0; i < 12; i++)
- mVertices.push_back(Map<Vector3f>(vdata[i]));
- mIndices.push_back(new std::vector<int>);
- std::vector<int>& indices = *mIndices.back();
- for (int i = 0; i < 20; i++)
- {
- for (int k = 0; k < 3; k++)
- indices.push_back(tindices[i][k]);
- }
- mListIds.push_back(0);
-
- while(mIndices.size()<levels)
- _subdivide();
-}
-
-const std::vector<int>& IcoSphere::indices(int level) const
-{
- while (level>=int(mIndices.size()))
- const_cast<IcoSphere*>(this)->_subdivide();
- return *mIndices[level];
-}
-
-void IcoSphere::_subdivide(void)
-{
- typedef unsigned long long Key;
- std::map<Key,int> edgeMap;
- const std::vector<int>& indices = *mIndices.back();
- mIndices.push_back(new std::vector<int>);
- std::vector<int>& refinedIndices = *mIndices.back();
- int end = indices.size();
- for (int i=0; i<end; i+=3)
- {
- int ids0[3], // indices of outer vertices
- ids1[3]; // indices of edge vertices
- for (int k=0; k<3; ++k)
- {
- int k1 = (k+1)%3;
- int e0 = indices[i+k];
- int e1 = indices[i+k1];
- ids0[k] = e0;
- if (e1>e0)
- std::swap(e0,e1);
- Key edgeKey = Key(e0) | (Key(e1)<<32);
- std::map<Key,int>::iterator it = edgeMap.find(edgeKey);
- if (it==edgeMap.end())
- {
- ids1[k] = mVertices.size();
- edgeMap[edgeKey] = ids1[k];
- mVertices.push_back( (mVertices[e0]+mVertices[e1]).normalized() );
- }
- else
- ids1[k] = it->second;
- }
- refinedIndices.push_back(ids0[0]); refinedIndices.push_back(ids1[0]); refinedIndices.push_back(ids1[2]);
- refinedIndices.push_back(ids0[1]); refinedIndices.push_back(ids1[1]); refinedIndices.push_back(ids1[0]);
- refinedIndices.push_back(ids0[2]); refinedIndices.push_back(ids1[2]); refinedIndices.push_back(ids1[1]);
- refinedIndices.push_back(ids1[0]); refinedIndices.push_back(ids1[1]); refinedIndices.push_back(ids1[2]);
- }
- mListIds.push_back(0);
-}
-
-void IcoSphere::draw(int level)
-{
- while (level>=int(mIndices.size()))
- const_cast<IcoSphere*>(this)->_subdivide();
- if (mListIds[level]==0)
- {
- mListIds[level] = glGenLists(1);
- glNewList(mListIds[level], GL_COMPILE);
- glVertexPointer(3, GL_FLOAT, 0, mVertices[0].data());
- glNormalPointer(GL_FLOAT, 0, mVertices[0].data());
- glEnableClientState(GL_VERTEX_ARRAY);
- glEnableClientState(GL_NORMAL_ARRAY);
- glDrawElements(GL_TRIANGLES, mIndices[level]->size(), GL_UNSIGNED_INT, &(mIndices[level]->at(0)));
- glDisableClientState(GL_VERTEX_ARRAY);
- glDisableClientState(GL_NORMAL_ARRAY);
- glEndList();
- }
- glCallList(mListIds[level]);
-}
-
-
diff --git a/eigen/demos/opengl/icosphere.h b/eigen/demos/opengl/icosphere.h
deleted file mode 100644
index b0210ed..0000000
--- a/eigen/demos/opengl/icosphere.h
+++ /dev/null
@@ -1,30 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_ICOSPHERE_H
-#define EIGEN_ICOSPHERE_H
-
-#include <Eigen/Core>
-#include <vector>
-
-class IcoSphere
-{
- public:
- IcoSphere(unsigned int levels=1);
- const std::vector<Eigen::Vector3f>& vertices() const { return mVertices; }
- const std::vector<int>& indices(int level) const;
- void draw(int level);
- protected:
- void _subdivide();
- std::vector<Eigen::Vector3f> mVertices;
- std::vector<std::vector<int>*> mIndices;
- std::vector<int> mListIds;
-};
-
-#endif // EIGEN_ICOSPHERE_H
diff --git a/eigen/demos/opengl/quaternion_demo.cpp b/eigen/demos/opengl/quaternion_demo.cpp
deleted file mode 100644
index dd323a4..0000000
--- a/eigen/demos/opengl/quaternion_demo.cpp
+++ /dev/null
@@ -1,656 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#include "quaternion_demo.h"
-#include "icosphere.h"
-
-#include <Eigen/Geometry>
-#include <Eigen/QR>
-#include <Eigen/LU>
-
-#include <iostream>
-#include <QEvent>
-#include <QMouseEvent>
-#include <QInputDialog>
-#include <QGridLayout>
-#include <QButtonGroup>
-#include <QRadioButton>
-#include <QDockWidget>
-#include <QPushButton>
-#include <QGroupBox>
-
-using namespace Eigen;
-
-class FancySpheres
-{
- public:
- EIGEN_MAKE_ALIGNED_OPERATOR_NEW
-
- FancySpheres()
- {
- const int levels = 4;
- const float scale = 0.33;
- float radius = 100;
- std::vector<int> parents;
-
- // leval 0
- mCenters.push_back(Vector3f::Zero());
- parents.push_back(-1);
- mRadii.push_back(radius);
-
- // generate level 1 using icosphere vertices
- radius *= 0.45;
- {
- float dist = mRadii[0]*0.9;
- for (int i=0; i<12; ++i)
- {
- mCenters.push_back(mIcoSphere.vertices()[i] * dist);
- mRadii.push_back(radius);
- parents.push_back(0);
- }
- }
-
- static const float angles [10] = {
- 0, 0,
- M_PI, 0.*M_PI,
- M_PI, 0.5*M_PI,
- M_PI, 1.*M_PI,
- M_PI, 1.5*M_PI
- };
-
- // generate other levels
- int start = 1;
- for (int l=1; l<levels; l++)
- {
- radius *= scale;
- int end = mCenters.size();
- for (int i=start; i<end; ++i)
- {
- Vector3f c = mCenters[i];
- Vector3f ax0 = (c - mCenters[parents[i]]).normalized();
- Vector3f ax1 = ax0.unitOrthogonal();
- Quaternionf q;
- q.setFromTwoVectors(Vector3f::UnitZ(), ax0);
- Affine3f t = Translation3f(c) * q * Scaling(mRadii[i]+radius);
- for (int j=0; j<5; ++j)
- {
- Vector3f newC = c + ( (AngleAxisf(angles[j*2+1], ax0)
- * AngleAxisf(angles[j*2+0] * (l==1 ? 0.35 : 0.5), ax1)) * ax0)
- * (mRadii[i] + radius*0.8);
- mCenters.push_back(newC);
- mRadii.push_back(radius);
- parents.push_back(i);
- }
- }
- start = end;
- }
- }
-
- void draw()
- {
- int end = mCenters.size();
- glEnable(GL_NORMALIZE);
- for (int i=0; i<end; ++i)
- {
- Affine3f t = Translation3f(mCenters[i]) * Scaling(mRadii[i]);
- gpu.pushMatrix(GL_MODELVIEW);
- gpu.multMatrix(t.matrix(),GL_MODELVIEW);
- mIcoSphere.draw(2);
- gpu.popMatrix(GL_MODELVIEW);
- }
- glDisable(GL_NORMALIZE);
- }
- protected:
- std::vector<Vector3f> mCenters;
- std::vector<float> mRadii;
- IcoSphere mIcoSphere;
-};
-
-
-// generic linear interpolation method
-template<typename T> T lerp(float t, const T& a, const T& b)
-{
- return a*(1-t) + b*t;
-}
-
-// quaternion slerp
-template<> Quaternionf lerp(float t, const Quaternionf& a, const Quaternionf& b)
-{ return a.slerp(t,b); }
-
-// linear interpolation of a frame using the type OrientationType
-// to perform the interpolation of the orientations
-template<typename OrientationType>
-inline static Frame lerpFrame(float alpha, const Frame& a, const Frame& b)
-{
- return Frame(lerp(alpha,a.position,b.position),
- Quaternionf(lerp(alpha,OrientationType(a.orientation),OrientationType(b.orientation))));
-}
-
-template<typename _Scalar> class EulerAngles
-{
-public:
- enum { Dim = 3 };
- typedef _Scalar Scalar;
- typedef Matrix<Scalar,3,3> Matrix3;
- typedef Matrix<Scalar,3,1> Vector3;
- typedef Quaternion<Scalar> QuaternionType;
-
-protected:
-
- Vector3 m_angles;
-
-public:
-
- EulerAngles() {}
- inline EulerAngles(Scalar a0, Scalar a1, Scalar a2) : m_angles(a0, a1, a2) {}
- inline EulerAngles(const QuaternionType& q) { *this = q; }
-
- const Vector3& coeffs() const { return m_angles; }
- Vector3& coeffs() { return m_angles; }
-
- EulerAngles& operator=(const QuaternionType& q)
- {
- Matrix3 m = q.toRotationMatrix();
- return *this = m;
- }
-
- EulerAngles& operator=(const Matrix3& m)
- {
- // mat = cy*cz -cy*sz sy
- // cz*sx*sy+cx*sz cx*cz-sx*sy*sz -cy*sx
- // -cx*cz*sy+sx*sz cz*sx+cx*sy*sz cx*cy
- m_angles.coeffRef(1) = std::asin(m.coeff(0,2));
- m_angles.coeffRef(0) = std::atan2(-m.coeff(1,2),m.coeff(2,2));
- m_angles.coeffRef(2) = std::atan2(-m.coeff(0,1),m.coeff(0,0));
- return *this;
- }
-
- Matrix3 toRotationMatrix(void) const
- {
- Vector3 c = m_angles.array().cos();
- Vector3 s = m_angles.array().sin();
- Matrix3 res;
- res << c.y()*c.z(), -c.y()*s.z(), s.y(),
- c.z()*s.x()*s.y()+c.x()*s.z(), c.x()*c.z()-s.x()*s.y()*s.z(), -c.y()*s.x(),
- -c.x()*c.z()*s.y()+s.x()*s.z(), c.z()*s.x()+c.x()*s.y()*s.z(), c.x()*c.y();
- return res;
- }
-
- operator QuaternionType() { return QuaternionType(toRotationMatrix()); }
-};
-
-// Euler angles slerp
-template<> EulerAngles<float> lerp(float t, const EulerAngles<float>& a, const EulerAngles<float>& b)
-{
- EulerAngles<float> res;
- res.coeffs() = lerp(t, a.coeffs(), b.coeffs());
- return res;
-}
-
-
-RenderingWidget::RenderingWidget()
-{
- mAnimate = false;
- mCurrentTrackingMode = TM_NO_TRACK;
- mNavMode = NavTurnAround;
- mLerpMode = LerpQuaternion;
- mRotationMode = RotationStable;
- mTrackball.setCamera(&mCamera);
-
- // required to capture key press events
- setFocusPolicy(Qt::ClickFocus);
-}
-
-void RenderingWidget::grabFrame(void)
-{
- // ask user for a time
- bool ok = false;
- double t = 0;
- if (!m_timeline.empty())
- t = (--m_timeline.end())->first + 1.;
- t = QInputDialog::getDouble(this, "Eigen's RenderingWidget", "time value: ",
- t, 0, 1e3, 1, &ok);
- if (ok)
- {
- Frame aux;
- aux.orientation = mCamera.viewMatrix().linear();
- aux.position = mCamera.viewMatrix().translation();
- m_timeline[t] = aux;
- }
-}
-
-void RenderingWidget::drawScene()
-{
- static FancySpheres sFancySpheres;
- float length = 50;
- gpu.drawVector(Vector3f::Zero(), length*Vector3f::UnitX(), Color(1,0,0,1));
- gpu.drawVector(Vector3f::Zero(), length*Vector3f::UnitY(), Color(0,1,0,1));
- gpu.drawVector(Vector3f::Zero(), length*Vector3f::UnitZ(), Color(0,0,1,1));
-
- // draw the fractal object
- float sqrt3 = std::sqrt(3.);
- glLightfv(GL_LIGHT0, GL_AMBIENT, Vector4f(0.5,0.5,0.5,1).data());
- glLightfv(GL_LIGHT0, GL_DIFFUSE, Vector4f(0.5,1,0.5,1).data());
- glLightfv(GL_LIGHT0, GL_SPECULAR, Vector4f(1,1,1,1).data());
- glLightfv(GL_LIGHT0, GL_POSITION, Vector4f(-sqrt3,-sqrt3,sqrt3,0).data());
-
- glLightfv(GL_LIGHT1, GL_AMBIENT, Vector4f(0,0,0,1).data());
- glLightfv(GL_LIGHT1, GL_DIFFUSE, Vector4f(1,0.5,0.5,1).data());
- glLightfv(GL_LIGHT1, GL_SPECULAR, Vector4f(1,1,1,1).data());
- glLightfv(GL_LIGHT1, GL_POSITION, Vector4f(-sqrt3,sqrt3,-sqrt3,0).data());
-
- glMaterialfv(GL_FRONT_AND_BACK, GL_AMBIENT, Vector4f(0.7, 0.7, 0.7, 1).data());
- glMaterialfv(GL_FRONT_AND_BACK, GL_DIFFUSE, Vector4f(0.8, 0.75, 0.6, 1).data());
- glMaterialfv(GL_FRONT_AND_BACK, GL_SPECULAR, Vector4f(1, 1, 1, 1).data());
- glMaterialf(GL_FRONT_AND_BACK, GL_SHININESS, 64);
-
- glEnable(GL_LIGHTING);
- glEnable(GL_LIGHT0);
- glEnable(GL_LIGHT1);
-
- sFancySpheres.draw();
- glVertexPointer(3, GL_FLOAT, 0, mVertices[0].data());
- glNormalPointer(GL_FLOAT, 0, mNormals[0].data());
- glEnableClientState(GL_VERTEX_ARRAY);
- glEnableClientState(GL_NORMAL_ARRAY);
- glDrawArrays(GL_TRIANGLES, 0, mVertices.size());
- glDisableClientState(GL_VERTEX_ARRAY);
- glDisableClientState(GL_NORMAL_ARRAY);
-
- glDisable(GL_LIGHTING);
-}
-
-void RenderingWidget::animate()
-{
- m_alpha += double(m_timer.interval()) * 1e-3;
-
- TimeLine::const_iterator hi = m_timeline.upper_bound(m_alpha);
- TimeLine::const_iterator lo = hi;
- --lo;
-
- Frame currentFrame;
-
- if(hi==m_timeline.end())
- {
- // end
- currentFrame = lo->second;
- stopAnimation();
- }
- else if(hi==m_timeline.begin())
- {
- // start
- currentFrame = hi->second;
- }
- else
- {
- float s = (m_alpha - lo->first)/(hi->first - lo->first);
- if (mLerpMode==LerpEulerAngles)
- currentFrame = ::lerpFrame<EulerAngles<float> >(s, lo->second, hi->second);
- else if (mLerpMode==LerpQuaternion)
- currentFrame = ::lerpFrame<Eigen::Quaternionf>(s, lo->second, hi->second);
- else
- {
- std::cerr << "Invalid rotation interpolation mode (abort)\n";
- exit(2);
- }
- currentFrame.orientation.coeffs().normalize();
- }
-
- currentFrame.orientation = currentFrame.orientation.inverse();
- currentFrame.position = - (currentFrame.orientation * currentFrame.position);
- mCamera.setFrame(currentFrame);
-
- updateGL();
-}
-
-void RenderingWidget::keyPressEvent(QKeyEvent * e)
-{
- switch(e->key())
- {
- case Qt::Key_Up:
- mCamera.zoom(2);
- break;
- case Qt::Key_Down:
- mCamera.zoom(-2);
- break;
- // add a frame
- case Qt::Key_G:
- grabFrame();
- break;
- // clear the time line
- case Qt::Key_C:
- m_timeline.clear();
- break;
- // move the camera to initial pos
- case Qt::Key_R:
- resetCamera();
- break;
- // start/stop the animation
- case Qt::Key_A:
- if (mAnimate)
- {
- stopAnimation();
- }
- else
- {
- m_alpha = 0;
- connect(&m_timer, SIGNAL(timeout()), this, SLOT(animate()));
- m_timer.start(1000/30);
- mAnimate = true;
- }
- break;
- default:
- break;
- }
-
- updateGL();
-}
-
-void RenderingWidget::stopAnimation()
-{
- disconnect(&m_timer, SIGNAL(timeout()), this, SLOT(animate()));
- m_timer.stop();
- mAnimate = false;
- m_alpha = 0;
-}
-
-void RenderingWidget::mousePressEvent(QMouseEvent* e)
-{
- mMouseCoords = Vector2i(e->pos().x(), e->pos().y());
- bool fly = (mNavMode==NavFly) || (e->modifiers()&Qt::ControlModifier);
- switch(e->button())
- {
- case Qt::LeftButton:
- if(fly)
- {
- mCurrentTrackingMode = TM_LOCAL_ROTATE;
- mTrackball.start(Trackball::Local);
- }
- else
- {
- mCurrentTrackingMode = TM_ROTATE_AROUND;
- mTrackball.start(Trackball::Around);
- }
- mTrackball.track(mMouseCoords);
- break;
- case Qt::MidButton:
- if(fly)
- mCurrentTrackingMode = TM_FLY_Z;
- else
- mCurrentTrackingMode = TM_ZOOM;
- break;
- case Qt::RightButton:
- mCurrentTrackingMode = TM_FLY_PAN;
- break;
- default:
- break;
- }
-}
-void RenderingWidget::mouseReleaseEvent(QMouseEvent*)
-{
- mCurrentTrackingMode = TM_NO_TRACK;
- updateGL();
-}
-
-void RenderingWidget::mouseMoveEvent(QMouseEvent* e)
-{
- // tracking
- if(mCurrentTrackingMode != TM_NO_TRACK)
- {
- float dx = float(e->x() - mMouseCoords.x()) / float(mCamera.vpWidth());
- float dy = - float(e->y() - mMouseCoords.y()) / float(mCamera.vpHeight());
-
- // speedup the transformations
- if(e->modifiers() & Qt::ShiftModifier)
- {
- dx *= 10.;
- dy *= 10.;
- }
-
- switch(mCurrentTrackingMode)
- {
- case TM_ROTATE_AROUND:
- case TM_LOCAL_ROTATE:
- if (mRotationMode==RotationStable)
- {
- // use the stable trackball implementation mapping
- // the 2D coordinates to 3D points on a sphere.
- mTrackball.track(Vector2i(e->pos().x(), e->pos().y()));
- }
- else
- {
- // standard approach mapping the x and y displacements as rotations
- // around the camera's X and Y axes.
- Quaternionf q = AngleAxisf( dx*M_PI, Vector3f::UnitY())
- * AngleAxisf(-dy*M_PI, Vector3f::UnitX());
- if (mCurrentTrackingMode==TM_LOCAL_ROTATE)
- mCamera.localRotate(q);
- else
- mCamera.rotateAroundTarget(q);
- }
- break;
- case TM_ZOOM :
- mCamera.zoom(dy*100);
- break;
- case TM_FLY_Z :
- mCamera.localTranslate(Vector3f(0, 0, -dy*200));
- break;
- case TM_FLY_PAN :
- mCamera.localTranslate(Vector3f(dx*200, dy*200, 0));
- break;
- default:
- break;
- }
-
- updateGL();
- }
-
- mMouseCoords = Vector2i(e->pos().x(), e->pos().y());
-}
-
-void RenderingWidget::paintGL()
-{
- glEnable(GL_DEPTH_TEST);
- glDisable(GL_CULL_FACE);
- glPolygonMode(GL_FRONT_AND_BACK,GL_FILL);
- glDisable(GL_COLOR_MATERIAL);
- glDisable(GL_BLEND);
- glDisable(GL_ALPHA_TEST);
- glDisable(GL_TEXTURE_1D);
- glDisable(GL_TEXTURE_2D);
- glDisable(GL_TEXTURE_3D);
-
- // Clear buffers
- glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
-
- mCamera.activateGL();
-
- drawScene();
-}
-
-void RenderingWidget::initializeGL()
-{
- glClearColor(1., 1., 1., 0.);
- glLightModeli(GL_LIGHT_MODEL_LOCAL_VIEWER, 1);
- glDepthMask(GL_TRUE);
- glColorMask(GL_TRUE, GL_TRUE, GL_TRUE, GL_TRUE);
-
- mCamera.setPosition(Vector3f(-200, -200, -200));
- mCamera.setTarget(Vector3f(0, 0, 0));
- mInitFrame.orientation = mCamera.orientation().inverse();
- mInitFrame.position = mCamera.viewMatrix().translation();
-}
-
-void RenderingWidget::resizeGL(int width, int height)
-{
- mCamera.setViewport(width,height);
-}
-
-void RenderingWidget::setNavMode(int m)
-{
- mNavMode = NavMode(m);
-}
-
-void RenderingWidget::setLerpMode(int m)
-{
- mLerpMode = LerpMode(m);
-}
-
-void RenderingWidget::setRotationMode(int m)
-{
- mRotationMode = RotationMode(m);
-}
-
-void RenderingWidget::resetCamera()
-{
- if (mAnimate)
- stopAnimation();
- m_timeline.clear();
- Frame aux0 = mCamera.frame();
- aux0.orientation = aux0.orientation.inverse();
- aux0.position = mCamera.viewMatrix().translation();
- m_timeline[0] = aux0;
-
- Vector3f currentTarget = mCamera.target();
- mCamera.setTarget(Vector3f::Zero());
-
- // compute the rotation duration to move the camera to the target
- Frame aux1 = mCamera.frame();
- aux1.orientation = aux1.orientation.inverse();
- aux1.position = mCamera.viewMatrix().translation();
- float duration = aux0.orientation.angularDistance(aux1.orientation) * 0.9;
- if (duration<0.1) duration = 0.1;
-
- // put the camera at that time step:
- aux1 = aux0.lerp(duration/2,mInitFrame);
- // and make it look at the target again
- aux1.orientation = aux1.orientation.inverse();
- aux1.position = - (aux1.orientation * aux1.position);
- mCamera.setFrame(aux1);
- mCamera.setTarget(Vector3f::Zero());
-
- // add this camera keyframe
- aux1.orientation = aux1.orientation.inverse();
- aux1.position = mCamera.viewMatrix().translation();
- m_timeline[duration] = aux1;
-
- m_timeline[2] = mInitFrame;
- m_alpha = 0;
- animate();
- connect(&m_timer, SIGNAL(timeout()), this, SLOT(animate()));
- m_timer.start(1000/30);
- mAnimate = true;
-}
-
-QWidget* RenderingWidget::createNavigationControlWidget()
-{
- QWidget* panel = new QWidget();
- QVBoxLayout* layout = new QVBoxLayout();
-
- {
- QPushButton* but = new QPushButton("reset");
- but->setToolTip("move the camera to initial position (with animation)");
- layout->addWidget(but);
- connect(but, SIGNAL(clicked()), this, SLOT(resetCamera()));
- }
- {
- // navigation mode
- QGroupBox* box = new QGroupBox("navigation mode");
- QVBoxLayout* boxLayout = new QVBoxLayout;
- QButtonGroup* group = new QButtonGroup(panel);
- QRadioButton* but;
- but = new QRadioButton("turn around");
- but->setToolTip("look around an object");
- group->addButton(but, NavTurnAround);
- boxLayout->addWidget(but);
- but = new QRadioButton("fly");
- but->setToolTip("free navigation like a spaceship\n(this mode can also be enabled pressing the \"shift\" key)");
- group->addButton(but, NavFly);
- boxLayout->addWidget(but);
- group->button(mNavMode)->setChecked(true);
- connect(group, SIGNAL(buttonClicked(int)), this, SLOT(setNavMode(int)));
- box->setLayout(boxLayout);
- layout->addWidget(box);
- }
- {
- // track ball, rotation mode
- QGroupBox* box = new QGroupBox("rotation mode");
- QVBoxLayout* boxLayout = new QVBoxLayout;
- QButtonGroup* group = new QButtonGroup(panel);
- QRadioButton* but;
- but = new QRadioButton("stable trackball");
- group->addButton(but, RotationStable);
- boxLayout->addWidget(but);
- but->setToolTip("use the stable trackball implementation mapping\nthe 2D coordinates to 3D points on a sphere");
- but = new QRadioButton("standard rotation");
- group->addButton(but, RotationStandard);
- boxLayout->addWidget(but);
- but->setToolTip("standard approach mapping the x and y displacements\nas rotations around the camera's X and Y axes");
- group->button(mRotationMode)->setChecked(true);
- connect(group, SIGNAL(buttonClicked(int)), this, SLOT(setRotationMode(int)));
- box->setLayout(boxLayout);
- layout->addWidget(box);
- }
- {
- // interpolation mode
- QGroupBox* box = new QGroupBox("spherical interpolation");
- QVBoxLayout* boxLayout = new QVBoxLayout;
- QButtonGroup* group = new QButtonGroup(panel);
- QRadioButton* but;
- but = new QRadioButton("quaternion slerp");
- group->addButton(but, LerpQuaternion);
- boxLayout->addWidget(but);
- but->setToolTip("use quaternion spherical interpolation\nto interpolate orientations");
- but = new QRadioButton("euler angles");
- group->addButton(but, LerpEulerAngles);
- boxLayout->addWidget(but);
- but->setToolTip("use Euler angles to interpolate orientations");
- group->button(mNavMode)->setChecked(true);
- connect(group, SIGNAL(buttonClicked(int)), this, SLOT(setLerpMode(int)));
- box->setLayout(boxLayout);
- layout->addWidget(box);
- }
- layout->addItem(new QSpacerItem(0,0,QSizePolicy::Minimum,QSizePolicy::Expanding));
- panel->setLayout(layout);
- return panel;
-}
-
-QuaternionDemo::QuaternionDemo()
-{
- mRenderingWidget = new RenderingWidget();
- setCentralWidget(mRenderingWidget);
-
- QDockWidget* panel = new QDockWidget("navigation", this);
- panel->setAllowedAreas((QFlags<Qt::DockWidgetArea>)(Qt::RightDockWidgetArea | Qt::LeftDockWidgetArea));
- addDockWidget(Qt::RightDockWidgetArea, panel);
- panel->setWidget(mRenderingWidget->createNavigationControlWidget());
-}
-
-int main(int argc, char *argv[])
-{
- std::cout << "Navigation:\n";
- std::cout << " left button: rotate around the target\n";
- std::cout << " middle button: zoom\n";
- std::cout << " left button + ctrl quake rotate (rotate around camera position)\n";
- std::cout << " middle button + ctrl walk (progress along camera's z direction)\n";
- std::cout << " left button: pan (translate in the XY camera's plane)\n\n";
- std::cout << "R : move the camera to initial position\n";
- std::cout << "A : start/stop animation\n";
- std::cout << "C : clear the animation\n";
- std::cout << "G : add a key frame\n";
-
- QApplication app(argc, argv);
- QuaternionDemo demo;
- demo.resize(600,500);
- demo.show();
- return app.exec();
-}
-
-#include "quaternion_demo.moc"
-
diff --git a/eigen/demos/opengl/quaternion_demo.h b/eigen/demos/opengl/quaternion_demo.h
deleted file mode 100644
index dbff46c..0000000
--- a/eigen/demos/opengl/quaternion_demo.h
+++ /dev/null
@@ -1,114 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_QUATERNION_DEMO_H
-#define EIGEN_QUATERNION_DEMO_H
-
-#include "gpuhelper.h"
-#include "camera.h"
-#include "trackball.h"
-#include <map>
-#include <QTimer>
-#include <QtGui/QApplication>
-#include <QtOpenGL/QGLWidget>
-#include <QtGui/QMainWindow>
-
-class RenderingWidget : public QGLWidget
-{
- Q_OBJECT
-
- typedef std::map<float,Frame> TimeLine;
- TimeLine m_timeline;
- Frame lerpFrame(float t);
-
- Frame mInitFrame;
- bool mAnimate;
- float m_alpha;
-
- enum TrackMode {
- TM_NO_TRACK=0, TM_ROTATE_AROUND, TM_ZOOM,
- TM_LOCAL_ROTATE, TM_FLY_Z, TM_FLY_PAN
- };
-
- enum NavMode {
- NavTurnAround,
- NavFly
- };
-
- enum LerpMode {
- LerpQuaternion,
- LerpEulerAngles
- };
-
- enum RotationMode {
- RotationStable,
- RotationStandard
- };
-
- Camera mCamera;
- TrackMode mCurrentTrackingMode;
- NavMode mNavMode;
- LerpMode mLerpMode;
- RotationMode mRotationMode;
- Vector2i mMouseCoords;
- Trackball mTrackball;
-
- QTimer m_timer;
-
- void setupCamera();
-
- std::vector<Vector3f> mVertices;
- std::vector<Vector3f> mNormals;
- std::vector<int> mIndices;
-
- protected slots:
-
- virtual void animate(void);
- virtual void drawScene(void);
-
- virtual void grabFrame(void);
- virtual void stopAnimation();
-
- virtual void setNavMode(int);
- virtual void setLerpMode(int);
- virtual void setRotationMode(int);
- virtual void resetCamera();
-
- protected:
-
- virtual void initializeGL();
- virtual void resizeGL(int width, int height);
- virtual void paintGL();
-
- //--------------------------------------------------------------------------------
- virtual void mousePressEvent(QMouseEvent * e);
- virtual void mouseReleaseEvent(QMouseEvent * e);
- virtual void mouseMoveEvent(QMouseEvent * e);
- virtual void keyPressEvent(QKeyEvent * e);
- //--------------------------------------------------------------------------------
-
- public:
- EIGEN_MAKE_ALIGNED_OPERATOR_NEW
-
- RenderingWidget();
- ~RenderingWidget() { }
-
- QWidget* createNavigationControlWidget();
-};
-
-class QuaternionDemo : public QMainWindow
-{
- Q_OBJECT
- public:
- QuaternionDemo();
- protected:
- RenderingWidget* mRenderingWidget;
-};
-
-#endif // EIGEN_QUATERNION_DEMO_H
diff --git a/eigen/demos/opengl/trackball.cpp b/eigen/demos/opengl/trackball.cpp
deleted file mode 100644
index 7c2da8e..0000000
--- a/eigen/demos/opengl/trackball.cpp
+++ /dev/null
@@ -1,59 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#include "trackball.h"
-#include "camera.h"
-
-using namespace Eigen;
-
-void Trackball::track(const Vector2i& point2D)
-{
- if (mpCamera==0)
- return;
- Vector3f newPoint3D;
- bool newPointOk = mapToSphere(point2D, newPoint3D);
-
- if (mLastPointOk && newPointOk)
- {
- Vector3f axis = mLastPoint3D.cross(newPoint3D).normalized();
- float cos_angle = mLastPoint3D.dot(newPoint3D);
- if ( std::abs(cos_angle) < 1.0 )
- {
- float angle = 2. * acos(cos_angle);
- if (mMode==Around)
- mpCamera->rotateAroundTarget(Quaternionf(AngleAxisf(angle, axis)));
- else
- mpCamera->localRotate(Quaternionf(AngleAxisf(-angle, axis)));
- }
- }
-
- mLastPoint3D = newPoint3D;
- mLastPointOk = newPointOk;
-}
-
-bool Trackball::mapToSphere(const Vector2i& p2, Vector3f& v3)
-{
- if ((p2.x() >= 0) && (p2.x() <= int(mpCamera->vpWidth())) &&
- (p2.y() >= 0) && (p2.y() <= int(mpCamera->vpHeight())) )
- {
- double x = (double)(p2.x() - 0.5*mpCamera->vpWidth()) / (double)mpCamera->vpWidth();
- double y = (double)(0.5*mpCamera->vpHeight() - p2.y()) / (double)mpCamera->vpHeight();
- double sinx = sin(M_PI * x * 0.5);
- double siny = sin(M_PI * y * 0.5);
- double sinx2siny2 = sinx * sinx + siny * siny;
-
- v3.x() = sinx;
- v3.y() = siny;
- v3.z() = sinx2siny2 < 1.0 ? sqrt(1.0 - sinx2siny2) : 0.0;
-
- return true;
- }
- else
- return false;
-}
diff --git a/eigen/demos/opengl/trackball.h b/eigen/demos/opengl/trackball.h
deleted file mode 100644
index 1ea842f..0000000
--- a/eigen/demos/opengl/trackball.h
+++ /dev/null
@@ -1,42 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_TRACKBALL_H
-#define EIGEN_TRACKBALL_H
-
-#include <Eigen/Geometry>
-
-class Camera;
-
-class Trackball
-{
- public:
-
- enum Mode {Around, Local};
-
- Trackball() : mpCamera(0) {}
-
- void start(Mode m = Around) { mMode = m; mLastPointOk = false; }
-
- void setCamera(Camera* pCam) { mpCamera = pCam; }
-
- void track(const Eigen::Vector2i& newPoint2D);
-
- protected:
-
- bool mapToSphere( const Eigen::Vector2i& p2, Eigen::Vector3f& v3);
-
- Camera* mpCamera;
- Eigen::Vector3f mLastPoint3D;
- Mode mMode;
- bool mLastPointOk;
-
-};
-
-#endif // EIGEN_TRACKBALL_H
generated by cgit v1.2.3 (git 2.39.1) at 2025-02-20 19:33:22 +0000