Classes
class	Glew

class	Opengl_callable

Functions
template<bool bgr_format>
float *	to_gl_array (const Image &img)
	Allocate and build a float array representing the pixel data. More...

void	glRotate (const kjb::Quaternion &q)
	glRotate for a kjb::Quaternion. More...

void	glTranslate (const kjb::Vector &p)
	glTranslate for a kjb::Vector. More...

void	glTranslate (const kjb::Vector3 &p)
	glTranslate for a kjb::Vector3. More...

void	glVertex (const Vector &p)
	glVertex for a kjb::Vector. More...

void	glTranslate (const kjb::Vector2 &p)

void	glVertex (const Vector2 &p)

void	glVertex (const Vector3 &p)

void	glVertex (const Vector4 &p)

void	glColor (const Vector &color)
	glColor for a kjb::Vector. More...

void	glColor (const kjb::PixelRGBA &color)

void	glColor (const Vector3 &color)

void	glColor (const Vector4 &color)

void	glLoadMatrix (const kjb::Matrix &m)
	glLoadMatrix for a kjb::Matrix. More...

void	glLoadMatrix (const kjb::Matrix_d< 4, 4 > &m)

template<class Matrix_type >
void	glMultMatrix_disp_ (const Matrix_type &m)

void	glMultMatrix (const kjb::Matrix &m)
	glMultMatrix for a kjb::Matrix. More...

void	glMultMatrix (const Matrix_d< 4, 4 > &m)

void	gluBuild2DMipmaps (const Image &img)
	NEEDS COMMENTING!!!. More...

void	glTexImage2D (const Image &img)
	Copy kjb::Image into an opengl texture. More...

template<class ReturnVectorType , class VectorType >
ReturnVectorType	gluUnProject_dispatch_ (const VectorType &vertex, double modelview, double projection, int *viewport)

Vector	gluUnProject (const Vector &vertex, double modelview, double projection, int *viewport)
	Wraps gluUnproject using kjb::Vertex. More...

Vector3	gluUnProject (const Vector2 &vertex, double modelview, double projection, int *viewport)

Vector3	gluUnProject (const Vector3 &vertex, double modelview, double projection, int *viewport)

void	gluLookAt (Matrix &M, const Vector &eye, const Vector &target, const Vector &up)
	Computes a gluLookAt matrix and multiplies it by the given matrix. More...

template<class Matrix_type >
void	glOrtho_disp_ (Matrix_type &state, double left, double right, double bottom, double top, double znear, double zfar)

template void	glOrtho_disp_ (Matrix &state, double left, double right, double bottom, double top, double znear, double zfar)

template void	glOrtho_disp_ (Matrix_d< 4, 4 > &state, double left, double right, double bottom, double top, double znear, double zfar)

void	glOrtho (Matrix &state, double left, double right, double bottom, double top, double znear, double zfar)

void	glOrtho (Matrix_d< 4, 4 > &state, double left, double right, double bottom, double top, double znear, double zfar)

void	glClearDepthBuffer ()

void	glcolormask (bool b1, bool b2, bool b3, bool b4)

void	glEnableLineSmooth ()

void	glDisableLineSmooth ()

void	default_init_opengl (unsigned int width=100, unsigned int height=100)
	Initializes OpenGL in a standard way. More...

size_t	get_viewport_width ()
	Get current GL viewport width. More...

size_t	get_viewport_height ()
	Get current GL viewport height. More...

Image	get_framebuffer_as_image ()
	Read pixels from opengl's whole back-buffer into an image. More...

Matrix	get_modelview_matrix ()
	Returns a copy of the current modelview matrix. More...

Matrix	get_projection_matrix ()
	Returns a copy of the current projection matrix. More...

Vector	project (const Vector &x)
	Computes the window coordinates of the given point using current GL state. More...

Vector2	project (const Vector3 &x)

template<class ReturnVectorType , class VectorType >
ReturnVectorType	unproject_dispatch_ (const VectorType &vertex)

Vector	unproject (const Vector &vertex)
	Unproject a point from screen coordinates to world coordinates. More...

Vector3	unproject (const Vector2 &vertex)

Vector3	unproject (const Vector3 &vertex)

void	draw_full_screen_quad (float z)

bool	has_stencil_buffer ()
	Returns true if OpenGL version supports stencil buffer (right?). More...

void	set_framebuffer (const Image &img)
	Puts the contents of an image into the framebuffer. More...

void	set_framebuffer (const Matrix &mat)
	Puts the contents of a matrix into the framebuffer. More...

void	set_framebuffer (const Int_matrix &mat)
	Puts the contents of a int matrix into the framebuffer. More...

Image	get_framebuffer_as_image (size_t x, size_t y, size_t width, size_t height)
	Read pixels from opengl's back-buffer into an image. More...

void	get_buffer_as_matrix_ (size_t x, size_t y, size_t width, size_t height, GLenum format, Matrix &result)

void	get_framebuffer_as_matrix (size_t x, size_t y, size_t width, size_t height, Matrix &result)

void	get_depth_buffer_as_matrix (size_t x, size_t y, size_t width, size_t height, Matrix &result)

Matrix	get_framebuffer_as_matrix (size_t x, size_t y, size_t width, size_t height)

Matrix	get_depth_buffer_as_matrix (size_t x, size_t y, size_t width, size_t height)

Matrix	get_framebuffer_as_matrix ()
	Read pixels from opengl's whole back-buffer into a matrix. More...

Matrix	get_depth_buffer_as_matrix ()
	Read pixels from opengl's whole (back) depth-buffer into a matrix. More...

Int_matrix	get_framebuffer_as_int_matrix ()
	Read pixels from opengl's whole back-buffer into a int matrix. More...

Int_matrix	get_framebuffer_as_int_matrix (size_t x, size_t y, size_t width, size_t height)

void	bitmap_string (const std::string &s, double x, double y, void *font=NULL)
	Draws a bitmap string at the specified location. More...

void	move_in_plane (kjb::Vector3 &plane_pt, const kjb::Vector2 &new_pt)
	Translate a point so it projects to a screen point. More...

void	get_backprojection_line (const Vector2 &pt, Vector3 &line_pt, Vector3 &line_dir)
	Get backprojection line using current opengl state. More...

void	render_xz_plane_grid (double xmin, double xmax, double zmin, double zmax, double csz=1.0)
	Draw a grid representing the ground plane. More...

void	render_xy_plane_grid (double xmin, double xmax, double ymin, double ymax, double csz=1.0)
	Draw a grid representing the ground plane. More...

void	glLoadMatrix (const kjb::Matrix4 &m)
	glLoadMatrix for a kjb::Matrix4. More...

void	glMultMatrix (const kjb::Matrix4 &m)
	glLoadMatrix for a kjb::Matrix4. More...

void	glOrtho (Matrix4 &state, double left, double right, double bottom, double top, double znear, double zfar)

void	uint_to_rgb (unsigned int i, unsigned char *rgb)

unsigned int	rgb_to_uint (unsigned char rgb[3])

void	kjb_opengl_debug_display_buffer ()
	Pop up a window displaying the opengl color buffer. More...

void	generate_video_frames (const boost::function0< void > &draw, const boost::function0< void > &tick, const size_t num_frames, const std::string &frame_out_fmt)

Variables
const Vector3	WHITE (1.0, 1.0, 1.0)

const Vector3	BLACK (0.0, 0.0, 0.0)

const Vector3	RED (1.0, 0.0, 0.0)

const Vector3	GREEN (0.0, 1.0, 0.0)

const Vector3	BLUE (0.0, 0.0, 1.0)

const Vector3	YELLOW (1.0, 1.0, 0.0)

const Vector3	CYAN (0.0, 1.0, 1.0)

const Vector3	MAGENTA (1.0, 0.0, 1.0)

Function Documentation

void kjb::opengl::bitmap_string	(	const std::string &	s,
		double	x,
		double	y,
		void *	font
	)

Draws a bitmap string at the specified location.

Parameters

font	Glut font (default GLUT_BITMAP_8_BY_13)

void kjb::opengl::default_init_opengl	(	unsigned int	width,
		unsigned int	height
	)

Initializes OpenGL in a standard way.

void kjb::opengl::draw_full_screen_quad ( float z = 0.0 )

Parameters

z	Depth of the quad. Values must be insiderange [-1, 1], otherwise the quad might not appear.

void kjb::opengl::generate_video_frames	(	const boost::function0< void > &	draw,
		const boost::function0< void > &	tick,
		const size_t	num_frames,
		const std::string &	frame_out_fmt
	)

Generate a set of video frames using opengl. User provides two callbacks: one to render the current scene, and one to advance the scene state.

To render an offscreen buffer, simply activate/bind the buffer before calling this.

Parameters

draw	Draw callback. This should paint the current scene to the current opengl colorbuffer. This reads from the backbuffer by default, so the draw method should NOT include a call to swap the front and back buffers.
tick	"Tick" callback. Calling this should advance the scene state by one frame
num_frames	Number of frames to generate
frame_fmt	Printf-formatted string representing filenames to draw frames to (e.g. frame_%03d.jpg). File extension will determine the image format used

Generate a set of video frames using opengl.

void kjb::opengl::get_backprojection_line	(	const Vector2 &	pt,
		Vector3 &	line_pt,
		Vector3 &	line_dir
	)

Get backprojection line using current opengl state.

Use current opengl matrix state to get the backprojection line for a given screen point

Parameters

pt	Point in OpenGL screen coordinates (bottom-left origin)
line_pt	Output. point on the backprojection line
line_dir	Output. direction vector for backprojection line

void kjb::opengl::get_buffer_as_matrix_	(	size_t	x,
		size_t	y,
		size_t	width,
		size_t	height,
		GLenum	format,
		Matrix &	result
	)

Retrieve pixels from an opengl buffer. all values will be between [0,1] unless some fancy glPixelTranfer tricks are in use.

Parameters

format The format of the pixel data. Specifies which buffer will be retrieved. See glReadPixels for valid values.

void kjb::opengl::get_depth_buffer_as_matrix	(	size_t	x,
		size_t	y,
		size_t	width,
		size_t	height,
		Matrix &	result
	)

Read pixels from opengl's (back) depth-buffer into a matrix.

Parameters

x	Horizontal offset
y	Vertical offset
width	Matrix width
height	Matrix height
out	Matrix to store result

Matrix kjb::opengl::get_depth_buffer_as_matrix	(	size_t	x,
		size_t	y,
		size_t	width,
		size_t	height
	)

Read pixels from opengl's (back) depth-buffer into a matrix.

Parameters

x	Horizontal offset
y	Vertical offset
width	Matrix width
height	Matrix height

Matrix kjb::opengl::get_depth_buffer_as_matrix ( )

Read pixels from opengl's whole (back) depth-buffer into a matrix.

Image kjb::opengl::get_framebuffer_as_image ( )

Read pixels from opengl's whole back-buffer into an image.

Image kjb::opengl::get_framebuffer_as_image	(	size_t	x,
		size_t	y,
		size_t	width,
		size_t	height
	)

Read pixels from opengl's back-buffer into an image.

Parameters

x	Horizontal offset
y	Vertical offset
width	Image width
height	Image height

Int_matrix kjb::opengl::get_framebuffer_as_int_matrix ( )

Read pixels from opengl's whole back-buffer into a int matrix.

Int_matrix kjb::opengl::get_framebuffer_as_int_matrix	(	size_t	x,
		size_t	y,
		size_t	width,
		size_t	height
	)

Read pixels from opengl's back-buffer into a int matrix.

Parameters

x	Horizontal offset
y	Vertical offset
width	Matrix width
height	Matrix height

void kjb::opengl::get_framebuffer_as_matrix	(	size_t	x,
		size_t	y,
		size_t	width,
		size_t	height,
		Matrix &	out
	)

Read pixels from opengl's back-buffer into a matrix.

Parameters

x	Horizontal offset
y	Vertical offset
width	Matrix width
height	Matrix height
out	Matrix to store result

Matrix kjb::opengl::get_framebuffer_as_matrix	(	size_t	x,
		size_t	y,
		size_t	width,
		size_t	height
	)

Read pixels from opengl's back-buffer into a matrix.

Parameters

x	Horizontal offset
y	Vertical offset
width	Matrix width
height	Matrix height

Matrix kjb::opengl::get_framebuffer_as_matrix ( )

Read pixels from opengl's whole back-buffer into a matrix.

Matrix kjb::opengl::get_modelview_matrix ( )

Returns a copy of the current modelview matrix.

Matrix kjb::opengl::get_projection_matrix ( )

Returns a copy of the current projection matrix.

size_t kjb::opengl::get_viewport_height ( )

Get current GL viewport height.

size_t kjb::opengl::get_viewport_width ( )

Get current GL viewport width.

void kjb::opengl::glClearDepthBuffer ( )

void kjb::opengl::glColor ( const Vector & color )

glColor for a kjb::Vector.

void kjb::opengl::glColor ( const kjb::PixelRGBA & color )

void kjb::opengl::glColor ( const Vector3 & color )

void kjb::opengl::glColor ( const Vector4 & color )

void kjb::opengl::glcolormask	(	bool	b1,
		bool	b2,
		bool	b3,
		bool	b4
	)

void kjb::opengl::glDisableLineSmooth ( )

void kjb::opengl::glEnableLineSmooth ( )

void kjb::opengl::glLoadMatrix ( const kjb::Matrix4 & m )

glLoadMatrix for a kjb::Matrix4.

void kjb::opengl::glLoadMatrix ( const Matrix & m )

glLoadMatrix for a kjb::Matrix.

void kjb::opengl::glLoadMatrix ( const kjb::Matrix_d< 4, 4 > & m )

void kjb::opengl::glMultMatrix ( const kjb::Matrix4 & m )

glLoadMatrix for a kjb::Matrix4.

void kjb::opengl::glMultMatrix ( const Matrix & m )

glMultMatrix for a kjb::Matrix.

void kjb::opengl::glMultMatrix ( const Matrix_d< 4, 4 > & m )

template<class Matrix_type >

void kjb::opengl::glMultMatrix_disp_ ( const Matrix_type & m )

void kjb::opengl::glOrtho	(	Matrix4 &	state,
		double	left,
		double	right,
		double	bottom,
		double	top,
		double	znear,
		double	zfar
	)

right-multiply the state matrix with the equivalent of opengl's glOrtho matrix.

Precondition: state.get_num_rows() == 4; state.get_num_cols() == 4

void kjb::opengl::glOrtho	(	Matrix &	state,
		double	left,
		double	right,
		double	bottom,
		double	top,
		double	znear,
		double	zfar
	)

right-multiply the state matrix with the equivalent of opengl's glOrtho matrix.

Precondition: state.get_num_rows() == 4; state.get_num_cols() == 4

void kjb::opengl::glOrtho	(	Matrix_d< 4, 4 > &	state,
		double	left,
		double	right,
		double	bottom,
		double	top,
		double	znear,
		double	zfar
	)

template<class Matrix_type >

void kjb::opengl::glOrtho_disp_	(	Matrix_type &	state,
		double	left,
		double	right,
		double	bottom,
		double	top,
		double	znear,
		double	zfar
	)

Template dispatch function; do not call directly.

template void kjb::opengl::glOrtho_disp_	(	Matrix &	state,
		double	left,
		double	right,
		double	bottom,
		double	top,
		double	znear,
		double	zfar
	)

template void kjb::opengl::glOrtho_disp_	(	Matrix_d< 4, 4 > &	state,
		double	left,
		double	right,
		double	bottom,
		double	top,
		double	znear,
		double	zfar
	)

void kjb::opengl::glRotate ( const kjb::Quaternion & q )

glRotate for a kjb::Quaternion.

void kjb::opengl::glTexImage2D ( const Image & img )

Copy kjb::Image into an opengl texture.

void kjb::opengl::glTranslate ( const kjb::Vector & p )

glTranslate for a kjb::Vector.

void kjb::opengl::glTranslate ( const kjb::Vector3 & p )

glTranslate for a kjb::Vector3.

void kjb::opengl::glTranslate ( const kjb::Vector2 & p )

void kjb::opengl::gluBuild2DMipmaps ( const Image & img )

NEEDS COMMENTING!!!.

void kjb::opengl::gluLookAt	(	Matrix &	M,
		const Vector &	eye,
		const Vector &	target,
		const Vector &	up
	)

Computes a gluLookAt matrix and multiplies it by the given matrix.

Vector kjb::opengl::gluUnProject	(	const Vector &	vertex,
		double *	modelview,
		double *	projection,
		int *	viewport
	)

Wraps gluUnproject using kjb::Vertex.

Vector3 kjb::opengl::gluUnProject	(	const Vector2 &	vertex,
		double *	modelview,
		double *	projection,
		int *	viewport
	)

Vector3 kjb::opengl::gluUnProject	(	const Vector3 &	vertex,
		double *	modelview,
		double *	projection,
		int *	viewport
	)

template<class ReturnVectorType , class VectorType >

ReturnVectorType kjb::opengl::gluUnProject_dispatch_	(	const VectorType &	vertex,
		double *	modelview,
		double *	projection,
		int *	viewport
	)

void kjb::opengl::glVertex ( const Vector & p )

glVertex for a kjb::Vector.

void kjb::opengl::glVertex ( const Vector2 & p )

void kjb::opengl::glVertex ( const Vector3 & p )

void kjb::opengl::glVertex ( const Vector4 & p )

bool kjb::opengl::has_stencil_buffer ( )

Returns true if OpenGL version supports stencil buffer (right?).

void kjb::opengl::kjb_opengl_debug_display_buffer ( )

Pop up a window displaying the opengl color buffer.

This pops up a window to display the contents of the opengl color buffer during debugging.

This is intentionally in the global namespace to make it callable inside gdb using "print kjb_opengl_debug_display_buffer()".

Since it's difficult to know exactly the format of the active buffer, this simply assumes it's grayscale and reads the red component only. This should be good enough for debugging.

void kjb::opengl::move_in_plane	(	kjb::Vector3 &	plane_pt,
		const kjb::Vector2 &	new_pt
	)

Translate a point so it projects to a screen point.

Move a 3d point so that it projects to a given screen position. Point will remain in the plane parallel to the image plane (i.e. it's depth won't change). Uses the current opengl matrix and viewport state to do camera computations.

Parameters

world_point	A 3D point to move, given in world coordinates.
screen_point	A 2d cursor position where the 3d point should project to Note that cursor coordinates are relatve to bottom-left of screen, following OpenGL standard (as opposed to Glut-standard top-left)

Vector kjb::opengl::project ( const Vector & x )

Computes the window coordinates of the given point using current GL state.

Vector2 kjb::opengl::project ( const Vector3 & x )

void kjb::opengl::render_xy_plane_grid	(	double	xmin,
		double	xmax,
		double	ymin,
		double	ymax,
		double	csz = `1.0`
	)

Draw a grid representing the ground plane.

This function draws the a grid on the XY-plane, extending from xmin to xmax in the X direction and from zmin to zmax in the Y direction.

Parameters

xmin	How far to extend in -X.
xmax	How far to extend in X.
zmin	How far to extend in -Y.
zmax	How far to extend in Y.
csz	Size of grid cells (in world units).

void kjb::opengl::render_xz_plane_grid	(	double	xmin,
		double	xmax,
		double	zmin,
		double	zmax,
		double	csz = `1.0`
	)

Draw a grid representing the ground plane.

This function draws the a grid on the XZ-plane, extending from xmin to xmax in the X direction and from zmin to zmax in the Z direction.

Parameters

xmin	How far to extend in -X.
xmax	How far to extend in X.
zmin	How far to extend in -Z.
zmax	How far to extend in Z.
csz	Size of grid cells (in world units).

unsigned int kjb::opengl::rgb_to_uint ( unsigned char rgb[3] )

inline

unpack 3-element byte array into lowest 24 bits of an unsigned integer

Parameters

rgb	pointer to a 3-element byte array

void kjb::opengl::set_framebuffer ( const Image & img )

Puts the contents of an image into the framebuffer.

void kjb::opengl::set_framebuffer ( const Matrix & mat )

Puts the contents of a matrix into the framebuffer.

Note: At the moment, this function only sets the red channel. Later, it might provide the option of setting other channels.

void kjb::opengl::set_framebuffer ( const Int_matrix & mat )

Puts the contents of a int matrix into the framebuffer.

The matrix is intepreted as having the RGBA values as bytes packed in each integer.

template<bool bgr_format>

float* kjb::opengl::to_gl_array ( const Image & img )

Allocate and build a float array representing the pixel data.

Data will be arranged in row-major format with BGR or RGB order, with values in [0,1]. Caller is responsible for freeing the result.

This is useful for interfacing C functions like Opengl that require a pixel array as input.

Template Parameters

bgr_format If true, the order of channels will be blue, green, red; if false, the channel order will be red, green, blue. Most opengl implementations store textures in BGR format, so this is generally faster when loading textures.

Parameters

img	The image to convert to an array.

Note: This function is not available from the outside. It's exclusively used in this file.

void kjb::opengl::uint_to_rgb	(	unsigned int	i,
		unsigned char *	rgb
	)

inline

pack the lowest 24-bits of i into a 3-element byte array.

Parameters

rgb	pointer to a 3-element byte array to store result

Vector kjb::opengl::unproject ( const Vector & vertex )

Unproject a point from screen coordinates to world coordinates.

This function performs all the steps of unprojecting a vertex from screen coordinates into world coordinates, including querying OpenGl for the transformation matrices and viewport, and calling gluUnproject().

Vector3 kjb::opengl::unproject ( const Vector2 & vertex )

Vector3 kjb::opengl::unproject ( const Vector3 & vertex )

template<class ReturnVectorType , class VectorType >

ReturnVectorType kjb::opengl::unproject_dispatch_ ( const VectorType & vertex )

Variable Documentation

const Vector3 kjb::opengl::BLACK

const Vector3 kjb::opengl::BLUE

const Vector3 kjb::opengl::CYAN

const Vector3 kjb::opengl::GREEN

const Vector3 kjb::opengl::MAGENTA

const Vector3 kjb::opengl::RED

const Vector3 kjb::opengl::WHITE

const Vector3 kjb::opengl::YELLOW

Classes

Functions

Variables

Function Documentation

Variable Documentation