1 files changed, 337 insertions, 0 deletions
diff --git a/eigen/unsupported/test/openglsupport.cpp b/eigen/unsupported/test/openglsupport.cpp
new file mode 100644
index 0000000..706a816
--- /dev/null
+++ b/eigen/unsupported/test/openglsupport.cpp
@@ -0,0 +1,337 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2010 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 <main.h>
+#include <iostream>
+#include <GL/glew.h>
+#include <Eigen/OpenGLSupport>
+#include <GL/glut.h>
+using namespace Eigen;
+
+
+
+
+#define VERIFY_MATRIX(CODE,REF) { \
+    glLoadIdentity(); \
+    CODE; \
+    Matrix<float,4,4,ColMajor> m; m.setZero(); \
+    glGet(GL_MODELVIEW_MATRIX, m); \
+    if(!(REF).cast<float>().isApprox(m)) { \
+      std::cerr << "Expected:\n" << ((REF).cast<float>()) << "\n" << "got\n" << m << "\n\n"; \
+    } \
+    VERIFY_IS_APPROX((REF).cast<float>(), m); \
+  }
+
+#define VERIFY_UNIFORM(SUFFIX,NAME,TYPE) { \
+    TYPE value; value.setRandom(); \
+    TYPE data; \
+    int loc = glGetUniformLocation(prg_id, #NAME); \
+    VERIFY((loc!=-1) && "uniform not found"); \
+    glUniform(loc,value); \
+    EIGEN_CAT(glGetUniform,SUFFIX)(prg_id,loc,data.data()); \
+    if(!value.isApprox(data)) { \
+      std::cerr << "Expected:\n" << value << "\n" << "got\n" << data << "\n\n"; \
+    } \
+    VERIFY_IS_APPROX(value, data); \
+  }
+  
+#define VERIFY_UNIFORMi(NAME,TYPE) { \
+    TYPE value = TYPE::Random().eval().cast<float>().cast<TYPE::Scalar>(); \
+    TYPE data; \
+    int loc = glGetUniformLocation(prg_id, #NAME); \
+    VERIFY((loc!=-1) && "uniform not found"); \
+    glUniform(loc,value); \
+    glGetUniformiv(prg_id,loc,(GLint*)data.data()); \
+    if(!value.isApprox(data)) { \
+      std::cerr << "Expected:\n" << value << "\n" << "got\n" << data << "\n\n"; \
+    } \
+    VERIFY_IS_APPROX(value, data); \
+  }
+  
+void printInfoLog(GLuint objectID)
+{
+    int infologLength, charsWritten;
+    GLchar *infoLog;
+    glGetProgramiv(objectID,GL_INFO_LOG_LENGTH, &infologLength);
+    if(infologLength > 0)
+    {
+        infoLog = new GLchar[infologLength];
+        glGetProgramInfoLog(objectID, infologLength, &charsWritten, infoLog);
+        if (charsWritten>0)
+          std::cerr << "Shader info : \n" << infoLog << std::endl;
+        delete[] infoLog;
+    }
+}
+
+GLint createShader(const char* vtx, const char* frg)
+{
+  GLint prg_id = glCreateProgram();
+  GLint vtx_id = glCreateShader(GL_VERTEX_SHADER);
+  GLint frg_id = glCreateShader(GL_FRAGMENT_SHADER);
+  GLint ok;
+  
+  glShaderSource(vtx_id, 1, &vtx, 0);
+  glCompileShader(vtx_id);
+  glGetShaderiv(vtx_id,GL_COMPILE_STATUS,&ok);
+  if(!ok)
+  {
+    std::cerr << "vtx compilation failed\n";
+  }
+  
+  glShaderSource(frg_id, 1, &frg, 0);
+  glCompileShader(frg_id);
+  glGetShaderiv(frg_id,GL_COMPILE_STATUS,&ok);
+  if(!ok)
+  {
+    std::cerr << "frg compilation failed\n";
+  }
+  
+  glAttachShader(prg_id, vtx_id);
+  glAttachShader(prg_id, frg_id);
+  glLinkProgram(prg_id);
+  glGetProgramiv(prg_id,GL_LINK_STATUS,&ok);
+  if(!ok)
+  {
+    std::cerr << "linking failed\n";
+  }
+  printInfoLog(prg_id);
+  
+  glUseProgram(prg_id);
+  return prg_id;
+}
+
+void test_openglsupport()
+{
+  int argc = 0;
+  glutInit(&argc, 0);
+  glutInitDisplayMode(GLUT_DOUBLE | GLUT_RGB | GLUT_DEPTH);
+  glutInitWindowPosition (0,0);
+  glutInitWindowSize(10, 10);
+
+  if(glutCreateWindow("Eigen") <= 0)
+  {
+    std::cerr << "Error: Unable to create GLUT Window.\n";
+    exit(1);
+  }
+  
+  glewExperimental = GL_TRUE;
+  if(glewInit() != GLEW_OK)
+  {
+    std::cerr << "Warning: Failed to initialize GLEW\n";
+  }
+
+  Vector3f v3f;
+  Matrix3f rot;
+  glBegin(GL_POINTS);
+  
+  glVertex(v3f);
+  glVertex(2*v3f+v3f);
+  glVertex(rot*v3f);
+  
+  glEnd();
+  
+  // 4x4 matrices
+  Matrix4f mf44; mf44.setRandom();
+  VERIFY_MATRIX(glLoadMatrix(mf44), mf44);
+  VERIFY_MATRIX(glMultMatrix(mf44), mf44);
+  Matrix4d md44; md44.setRandom();
+  VERIFY_MATRIX(glLoadMatrix(md44), md44);
+  VERIFY_MATRIX(glMultMatrix(md44), md44);
+  
+  // Quaternion
+  Quaterniond qd(AngleAxisd(internal::random<double>(), Vector3d::Random()));
+  VERIFY_MATRIX(glRotate(qd), Projective3d(qd).matrix());
+  
+  Quaternionf qf(AngleAxisf(internal::random<double>(), Vector3f::Random()));
+  VERIFY_MATRIX(glRotate(qf), Projective3f(qf).matrix());
+  
+  // 3D Transform
+  Transform<float,3,AffineCompact> acf3; acf3.matrix().setRandom();
+  VERIFY_MATRIX(glLoadMatrix(acf3), Projective3f(acf3).matrix());
+  VERIFY_MATRIX(glMultMatrix(acf3), Projective3f(acf3).matrix());
+  
+  Transform<float,3,Affine> af3(acf3);
+  VERIFY_MATRIX(glLoadMatrix(af3), Projective3f(af3).matrix());
+  VERIFY_MATRIX(glMultMatrix(af3), Projective3f(af3).matrix());
+  
+  Transform<float,3,Projective> pf3; pf3.matrix().setRandom();
+  VERIFY_MATRIX(glLoadMatrix(pf3), Projective3f(pf3).matrix());
+  VERIFY_MATRIX(glMultMatrix(pf3), Projective3f(pf3).matrix());
+  
+  Transform<double,3,AffineCompact> acd3; acd3.matrix().setRandom();
+  VERIFY_MATRIX(glLoadMatrix(acd3), Projective3d(acd3).matrix());
+  VERIFY_MATRIX(glMultMatrix(acd3), Projective3d(acd3).matrix());
+  
+  Transform<double,3,Affine> ad3(acd3);
+  VERIFY_MATRIX(glLoadMatrix(ad3), Projective3d(ad3).matrix());
+  VERIFY_MATRIX(glMultMatrix(ad3), Projective3d(ad3).matrix());
+  
+  Transform<double,3,Projective> pd3; pd3.matrix().setRandom();
+  VERIFY_MATRIX(glLoadMatrix(pd3), Projective3d(pd3).matrix());
+  VERIFY_MATRIX(glMultMatrix(pd3), Projective3d(pd3).matrix());
+  
+  // translations (2D and 3D)
+  {
+    Vector2f vf2; vf2.setRandom(); Vector3f vf23; vf23 << vf2, 0;
+    VERIFY_MATRIX(glTranslate(vf2), Projective3f(Translation3f(vf23)).matrix());
+    Vector2d vd2; vd2.setRandom(); Vector3d vd23; vd23 << vd2, 0;
+    VERIFY_MATRIX(glTranslate(vd2), Projective3d(Translation3d(vd23)).matrix());
+    
+    Vector3f vf3; vf3.setRandom();
+    VERIFY_MATRIX(glTranslate(vf3), Projective3f(Translation3f(vf3)).matrix());
+    Vector3d vd3; vd3.setRandom();
+    VERIFY_MATRIX(glTranslate(vd3), Projective3d(Translation3d(vd3)).matrix());
+    
+    Translation<float,3> tf3; tf3.vector().setRandom();
+    VERIFY_MATRIX(glTranslate(tf3), Projective3f(tf3).matrix());
+    
+    Translation<double,3> td3;  td3.vector().setRandom();
+    VERIFY_MATRIX(glTranslate(td3), Projective3d(td3).matrix());
+  }
+  
+  // scaling (2D and 3D)
+  {
+    Vector2f vf2; vf2.setRandom(); Vector3f vf23; vf23 << vf2, 1;
+    VERIFY_MATRIX(glScale(vf2), Projective3f(Scaling(vf23)).matrix());
+    Vector2d vd2; vd2.setRandom(); Vector3d vd23; vd23 << vd2, 1;
+    VERIFY_MATRIX(glScale(vd2), Projective3d(Scaling(vd23)).matrix());
+    
+    Vector3f vf3; vf3.setRandom();
+    VERIFY_MATRIX(glScale(vf3), Projective3f(Scaling(vf3)).matrix());
+    Vector3d vd3; vd3.setRandom();
+    VERIFY_MATRIX(glScale(vd3), Projective3d(Scaling(vd3)).matrix());
+    
+    UniformScaling<float> usf(internal::random<float>());
+    VERIFY_MATRIX(glScale(usf), Projective3f(usf).matrix());
+    
+    UniformScaling<double> usd(internal::random<double>());
+    VERIFY_MATRIX(glScale(usd), Projective3d(usd).matrix());
+  }
+  
+  // uniform
+  {
+    const char* vtx = "void main(void) { gl_Position = gl_Vertex; }\n";
+    
+    if(GLEW_VERSION_2_0)
+    {
+      #ifdef GL_VERSION_2_0
+      const char* frg = ""
+        "uniform vec2 v2f;\n"
+        "uniform vec3 v3f;\n"
+        "uniform vec4 v4f;\n"
+        "uniform ivec2 v2i;\n"
+        "uniform ivec3 v3i;\n"
+        "uniform ivec4 v4i;\n"
+        "uniform mat2 m2f;\n"
+        "uniform mat3 m3f;\n"
+        "uniform mat4 m4f;\n"
+        "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";
+        
+      GLint prg_id = createShader(vtx,frg);
+      
+      VERIFY_UNIFORM(fv,v2f, Vector2f);
+      VERIFY_UNIFORM(fv,v3f, Vector3f);
+      VERIFY_UNIFORM(fv,v4f, Vector4f);
+      VERIFY_UNIFORMi(v2i, Vector2i);
+      VERIFY_UNIFORMi(v3i, Vector3i);
+      VERIFY_UNIFORMi(v4i, Vector4i);
+      VERIFY_UNIFORM(fv,m2f, Matrix2f);
+      VERIFY_UNIFORM(fv,m3f, Matrix3f);
+      VERIFY_UNIFORM(fv,m4f, Matrix4f);
+      #endif
+    }
+    else
+      std::cerr << "Warning: opengl 2.0 was not tested\n";
+    
+    if(GLEW_VERSION_2_1)
+    {
+      #ifdef GL_VERSION_2_1
+      const char* frg = "#version 120\n"
+        "uniform mat2x3 m23f;\n"
+        "uniform mat3x2 m32f;\n"
+        "uniform mat2x4 m24f;\n"
+        "uniform mat4x2 m42f;\n"
+        "uniform mat3x4 m34f;\n"
+        "uniform mat4x3 m43f;\n"
+        "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";
+        
+      GLint prg_id = createShader(vtx,frg);
+      
+      typedef Matrix<float,2,3> Matrix23f;
+      typedef Matrix<float,3,2> Matrix32f;
+      typedef Matrix<float,2,4> Matrix24f;
+      typedef Matrix<float,4,2> Matrix42f;
+      typedef Matrix<float,3,4> Matrix34f;
+      typedef Matrix<float,4,3> Matrix43f;
+      
+      VERIFY_UNIFORM(fv,m23f, Matrix23f);
+      VERIFY_UNIFORM(fv,m32f, Matrix32f);
+      VERIFY_UNIFORM(fv,m24f, Matrix24f);
+      VERIFY_UNIFORM(fv,m42f, Matrix42f);
+      VERIFY_UNIFORM(fv,m34f, Matrix34f);
+      VERIFY_UNIFORM(fv,m43f, Matrix43f);
+      #endif
+    }
+    else
+      std::cerr << "Warning: opengl 2.1 was not tested\n";
+    
+    if(GLEW_VERSION_3_0)
+    {
+      #ifdef GL_VERSION_3_0
+      const char* frg = "#version 150\n"
+        "uniform uvec2 v2ui;\n"
+        "uniform uvec3 v3ui;\n"
+        "uniform uvec4 v4ui;\n"
+        "out vec4 data;\n"
+        "void main(void) { data = vec4(v2ui[0]+v3ui[0]+v4ui[0]); }\n";
+        
+      GLint prg_id = createShader(vtx,frg);
+      
+      typedef Matrix<unsigned int,2,1> Vector2ui;
+      typedef Matrix<unsigned int,3,1> Vector3ui;
+      typedef Matrix<unsigned int,4,1> Vector4ui;
+      
+      VERIFY_UNIFORMi(v2ui, Vector2ui);
+      VERIFY_UNIFORMi(v3ui, Vector3ui);
+      VERIFY_UNIFORMi(v4ui, Vector4ui);
+      #endif
+    }
+    else
+      std::cerr << "Warning: opengl 3.0 was not tested\n";
+    
+    #ifdef GLEW_ARB_gpu_shader_fp64
+    if(GLEW_ARB_gpu_shader_fp64)
+    {
+      #ifdef GL_ARB_gpu_shader_fp64
+      const char* frg = "#version 150\n"
+        "uniform dvec2 v2d;\n"
+        "uniform dvec3 v3d;\n"
+        "uniform dvec4 v4d;\n"
+        "out vec4 data;\n"
+        "void main(void) { data = vec4(v2d[0]+v3d[0]+v4d[0]); }\n";
+        
+      GLint prg_id = createShader(vtx,frg);
+      
+      typedef Vector2d Vector2d;
+      typedef Vector3d Vector3d;
+      typedef Vector4d Vector4d;
+      
+      VERIFY_UNIFORM(dv,v2d, Vector2d);
+      VERIFY_UNIFORM(dv,v3d, Vector3d);
+      VERIFY_UNIFORM(dv,v4d, Vector4d);
+      #endif
+    }
+    else
+      std::cerr << "Warning: GLEW_ARB_gpu_shader_fp64 was not tested\n";
+    #else
+      std::cerr << "Warning: GLEW_ARB_gpu_shader_fp64 was not tested\n";
+    #endif
+  }
+  
+}