1 // This file is part of Eigen, a lightweight C++ template library
2 // for linear algebra.
3 //
4 // Copyright (C) 2008 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 "gpuhelper.h"
11 #include "icosphere.h"
12 #include <GL/glu.h>
13 // PLEASE don't look at this old code... ;)
14 
15 #include <fstream>
16 #include <algorithm>
17 
18 GpuHelper gpu;
19 
GpuHelper()20 GpuHelper::GpuHelper()
21 {
22     mVpWidth = mVpHeight = 0;
23     mCurrentMatrixTarget = 0;
24     mInitialized = false;
25 }
26 
~GpuHelper()27 GpuHelper::~GpuHelper()
28 {
29 }
30 
pushProjectionMode2D(ProjectionMode2D pm)31 void GpuHelper::pushProjectionMode2D(ProjectionMode2D pm)
32 {
33     // switch to 2D projection
34     pushMatrix(Matrix4f::Identity(),GL_PROJECTION);
35 
36     if(pm==PM_Normalized)
37     {
38         //glOrtho(-1., 1., -1., 1., 0., 1.);
39     }
40     else if(pm==PM_Viewport)
41     {
42         GLint vp[4];
43         glGetIntegerv(GL_VIEWPORT, vp);
44         glOrtho(0., vp[2], 0., vp[3], -1., 1.);
45     }
46 
47     pushMatrix(Matrix4f::Identity(),GL_MODELVIEW);
48 }
49 
popProjectionMode2D(void)50 void GpuHelper::popProjectionMode2D(void)
51 {
52     popMatrix(GL_PROJECTION);
53     popMatrix(GL_MODELVIEW);
54 }
55 
drawVector(const Vector3f & position,const Vector3f & vec,const Color & color,float aspect)56 void GpuHelper::drawVector(const Vector3f& position, const Vector3f& vec, const Color& color, float aspect /* = 50.*/)
57 {
58     static GLUquadricObj *cylindre = gluNewQuadric();
59     glColor4fv(color.data());
60     float length = vec.norm();
61     pushMatrix(GL_MODELVIEW);
62     glTranslatef(position.x(), position.y(), position.z());
63     Vector3f ax = Matrix3f::Identity().col(2).cross(vec);
64     ax.normalize();
65     Vector3f tmp = vec;
66     tmp.normalize();
67     float angle = 180.f/M_PI * acos(tmp.z());
68     if (angle>1e-3)
69         glRotatef(angle, ax.x(), ax.y(), ax.z());
70     gluCylinder(cylindre, length/aspect, length/aspect, 0.8*length, 10, 10);
71     glTranslatef(0.0,0.0,0.8*length);
72     gluCylinder(cylindre, 2.0*length/aspect, 0.0, 0.2*length, 10, 10);
73 
74     popMatrix(GL_MODELVIEW);
75 }
76 
drawVectorBox(const Vector3f & position,const Vector3f & vec,const Color & color,float aspect)77 void GpuHelper::drawVectorBox(const Vector3f& position, const Vector3f& vec, const Color& color, float aspect)
78 {
79     static GLUquadricObj *cylindre = gluNewQuadric();
80     glColor4fv(color.data());
81     float length = vec.norm();
82     pushMatrix(GL_MODELVIEW);
83     glTranslatef(position.x(), position.y(), position.z());
84     Vector3f ax = Matrix3f::Identity().col(2).cross(vec);
85     ax.normalize();
86     Vector3f tmp = vec;
87     tmp.normalize();
88     float angle = 180.f/M_PI * acos(tmp.z());
89     if (angle>1e-3)
90         glRotatef(angle, ax.x(), ax.y(), ax.z());
91     gluCylinder(cylindre, length/aspect, length/aspect, 0.8*length, 10, 10);
92     glTranslatef(0.0,0.0,0.8*length);
93     glScalef(4.0*length/aspect,4.0*length/aspect,4.0*length/aspect);
94     drawUnitCube();
95     popMatrix(GL_MODELVIEW);
96 }
97 
drawUnitCube(void)98 void GpuHelper::drawUnitCube(void)
99 {
100     static float vertices[][3] = {
101         {-0.5,-0.5,-0.5},
102         { 0.5,-0.5,-0.5},
103         {-0.5, 0.5,-0.5},
104         { 0.5, 0.5,-0.5},
105         {-0.5,-0.5, 0.5},
106         { 0.5,-0.5, 0.5},
107         {-0.5, 0.5, 0.5},
108         { 0.5, 0.5, 0.5}};
109 
110     glBegin(GL_QUADS);
111     glNormal3f(0,0,-1); glVertex3fv(vertices[0]); glVertex3fv(vertices[2]); glVertex3fv(vertices[3]); glVertex3fv(vertices[1]);
112     glNormal3f(0,0, 1); glVertex3fv(vertices[4]); glVertex3fv(vertices[5]); glVertex3fv(vertices[7]); glVertex3fv(vertices[6]);
113     glNormal3f(0,-1,0); glVertex3fv(vertices[0]); glVertex3fv(vertices[1]); glVertex3fv(vertices[5]); glVertex3fv(vertices[4]);
114     glNormal3f(0, 1,0); glVertex3fv(vertices[2]); glVertex3fv(vertices[6]); glVertex3fv(vertices[7]); glVertex3fv(vertices[3]);
115     glNormal3f(-1,0,0); glVertex3fv(vertices[0]); glVertex3fv(vertices[4]); glVertex3fv(vertices[6]); glVertex3fv(vertices[2]);
116     glNormal3f( 1,0,0); glVertex3fv(vertices[1]); glVertex3fv(vertices[3]); glVertex3fv(vertices[7]); glVertex3fv(vertices[5]);
117     glEnd();
118 }
119 
drawUnitSphere(int level)120 void GpuHelper::drawUnitSphere(int level)
121 {
122   static IcoSphere sphere;
123   sphere.draw(level);
124 }
125 
126 
127