Introduction to OpenGL Programming

What is OpenGL

OpenGL is a software API to graphics hardware.

designed as a streamlined, hardware-independent interface to be implemented on many different hardware platforms Intuitive, procedural interface with c binding No windowing commands ! No high-level commands for describing models of threedimensional objects The OpenGL Utility Library (GLU) provides many of the modeling features, such as quadric surfaces and NURBS curves and surfaces

SGI and GL

Silicon Graphics (SGI) revolutionized the graphics workstation by implementing the pipeline in hardware (1982) To access the system, application programmers used a library called GL With GL, it was relatively simple to program three dimensional interactive applications

OpenGL
The success of GL lead to OpenGL (1992), a platform-independent API that was

Easy to use Close enough to the hardware to get excellent performance Focus on rendering Omitted windowing and input to avoid window system dependencies

OpenGL Evolution

Controlled by an Architectural Review Board (ARB)

Members include SGI, Microsoft, Nvidia, HP, 3DLabs, IBM,. Relatively stable (present version 2.0)

Evolution reflects new hardware capabilities

3D texture mapping and texture objects Vertex and fragment programs

Allows for platform specific features through extensions

OpenGL Libraries

OpenGL core library OpenGL32 on Windows GL on most unix/linux systems (libGL.a) OpenGL Utility Library (GLU) Provides functionality in OpenGL core but avoids having to rewrite code Links with window system GLX for X window systems, WGL for Windows Cross-platform GUI libraries: GLUT, SDL, FLTK, QT,

Windowing with OpenGL

OpenGL is independent of any specific window system OpenGL can be used with different window systems

X windows (GLX) MFC

GLUT provide a portable API for creating window and interacting with I/O devices

GLUT

OpenGL Utility Toolkit (GLUT) Provides functionality common to all window systems

Open a window Get input from mouse and keyboard Menus Event-driven

Code is portable but GLUT lacks the functionality of a good toolkit for a specific platform

No slide bars, buttons,

Software Organization
application program
OpenGL Motif widget or similar

GLUT GLU OpenGL

GLX, AGL or WGL

X, Win32, Mac O/S

software and/or hardware

OpenGL Architecture
Immediate Mode

geometry pipeline
Per Vertex Operations & Primitive Assembly

Polynomial Evaluator

CPU

Display List

Rasterization

Per Fragment Operations

Frame Buffer

Pixel Operations

Texture Memor y

OpenGL as a state machine

GL State Variables- can be set and queried by OpenGL. Remains unchanged until the next change.

Projection and viewing matrix Color and material properties Lights and shading Line and polygon drawing modes Primitive generating

OpenGL functions are of two types

Can cause output if primitive is visible How vertices are processed and appearance of primitive are controlled by the state
Transformation functions Attribute functions

State changing

OpenGL Syntax

Functions have prefix gl and initial capital letters for each word

glClearColor(), glEnable(), glPushMatrix()

glu for GLU functions

gluLookAt(), gluPerspective()

Constants begin with GL_, use all capital letters

GL_COLOR_BUFFER_BIT, GL_PROJECTION, GL_MODELVIEW

Extra letters in some commands indicate the number and type of variables

glColor3f(), glVertex3f()

OpenGL data types

GLfloat, GLdouble, GLint, GLenum,

Underlying storage mode is the same Easy to create overloaded functions in C++ but issue is efficiency

OpenGL function format

dimensions

belongs to GL library

glVertex3fv(p) p is a pointer to an array

OpenGL #defines

Most constants are defined in the include files gl.h, glu.h and glut.h

Note #include <GL/glut.h> should automatically include the others Examples glBegin(GL_POLYGON) glClear(GL_COLOR_BUFFER_BIT)

include files also define OpenGL data types: GLfloat, GLdouble,.

GLUT

Developed by Mark Kilgard Hides the complexities of differing window system APIs

Default user interface for class projects glutCreateWindow()

Glut routines have prefix glut

Has very limited GUI interface Glui is the C++ extension of glut

Glut Routines

Initialization: glutInit() processes (and removes) commandline arguments that may be of interest to glut and the window system and does general initialization of Glut and OpenGL

Must be called before any other glut routines

Display Mode: The next procedure, glutInitDisplayMode(), performs initializations informing OpenGL how to set up the frame buffer.

Display Mode GLUT_RGB GLUT_RGBA GLUT_INDEX GLUT_DOUBLE GLUT_SINGLE

Meaning Use RGB colors Use RGB plus alpha (for transparency) Use indexed colors (not recommended) Use double buffering (recommended) Use single buffering (not recommended)

GLUT_DEPTH

Use depthbuffer (for hidden surface removal.)

Glut Routines

Window Setup

glutInitWindowSize(int width, int height) glutInitWindowPosition(int x, int y) glutCreateWindow(char* title)

A Simple Program
Generate a square on a solid background

simple.c

#include <GL/glut.h>
void mydisplay(){ glClear(GL_COLOR_BUFFER_BIT); glBegin(GL_POLYGON); glVertex2f(-0.5, -0.5); glVertex2f(-0.5, 0.5); glVertex2f(0.5, 0.5); glVertex2f(0.5, -0.5); glEnd(); glFlush(); }

int main(int argc, char** argv){ glutInit(&argc, argv); glutInitDisplayMode (GLUT_SINGLE | GLUT_RGB); glutInitWindowSize(500,500); glutInitWindowPosition(0,0); glutCreateWindow("simple"); glutDisplayFunc(mydisplay); init(); glutMainLoop(); }

Closer Look at the main()

includes gl.h

int main(int argc, char** argv) { glutInit(&argc,argv); glutInitDisplayMode(GLUT_SINGLE|GLUT_RGB); glutInitWindowSize(500,500); glutInitWindowPosition(0,0); glutCreateWindow("simple"); define window glutDisplayFunc(mydisplay); init(); glutMainLoop(); }

properties

display callback set OpenGL state enter event loop

init.c
void init() { glClearColor (0.0, 0.0, 0.0, 1.0); glColor3f(1.0, 1.0, 1.0);

black clear color opaque window

fill/draw with white

glMatrixMode (GL_PROJECTION); glLoadIdentity (); glOrtho(-1.0, 1.0, -1.0, 1.0, -1.0, 1.0); }

viewing volume

Event Handling

Virtually all interactive graphics programs are even driven GLUT uses callbacks to handle events

Windows system invokes a particular procedure when an event of particular type occurs. MOST IMPORTANT: display event Signaled when window first displays and whenever portions of the window reveals from blocking window glutDisplayFunc(void (*func)(void)) registers the display callback function Main event loop. Never exit()

Running the program: glutMainLoop()

More Callbacks

glutReshapeFunc(void (*func)(int w, int h)) indicates what action should be taken when the window is resized. glutKeyboardFunc(void (*func)(unsigned char key, int x, int y)) and glutMouseFunc(void (*func)(int button, int state, int x, int y)) allow you to link a keyboard key or a mouse button with a routine that's invoked when the key or mouse button is pressed or released. glutMotionFunc(void (*func)(int x, int y)) registers a routine to call back when the mouse is moved while a mouse button is also pressed. glutIdleFunc(void (*func)(void)) registers a function that's to be executed if no other events are pending - for example, when the event loop would otherwise be idle

Compilation on Windows

See class web site on how to set up a project with OpenGL Visual C++

Get glut.h, glut32.lib and glut32.dll from web Create a console application Add opengl32.lib, glut32.lib, glut32.lib to project settings (under link tab)

Simple Animation

Animation

Redraw + swap buffers What looks like if using single buffer Example program Chapter 2 of textbook OpenGL redbook Links in the class resources page

More on the glut documentation

OpenGL Drawing

We have learned how to create a window Steps in the display function

Clear the window Set drawing attributes Send drawing commands Swap the buffers

OpenGL coordinate system has different origin from the window system

Uses lower left corner instead of upper left corner as origin

Clear the Window

glClear(GL_COLOR_BUFFER_BIT)

clears the frame buffer by overwriting it with the background color. Background color is a state set by glClearColor(GLfloat r, GLfloat g, GLfloat b, GLfloat a) in the init().

Drawing Attributes: Color

glColor3f(GLfloat r, GLfloat g, GLfloat b)

sets the

drawing color

glColor3d(), glColor3ui() can also be used

Remember OpenGL is a state machine Once set, the attribute applies to all subsequent defined objects until it is set to some other value glColor3fv() takes a flat array as input Point size: glPointSize() Line width: glLinewidth() Dash or dotted line: glLineStipple() Polygon pattern: glPolygonStipple()

There are more drawing attributes than color

Drawing Commands

Simple Objects glRectf() Complex Objects

Use construct glBegin(mode) and glEnd() and a list of vertices in between

glBegin(mode) glVertex(v0); glVertex(v1); ... glEnd();

Some other commands can also be used between glBegin() and glEnd(), e.g.
glColor3f().

Example

Projection and Viewport

Orthographic projection

Orthographic View

glOrtho(left, right, bottom, top, front, back)

Specifies the coordinates of 3D region to be projected into the image space. Any drawing outside the region will be automatically clipped away.

z=0

Viewports

Do not have use the entire window for the image: glViewport(x,y,w,h) Values in pixels (screen coordinates)

Window to Viewport mapping

Aspect Ratio: Height/Width If the aspect ratio of the window Is different from that of the viewport, the picture will be distorted.

Sierpinski Gasket (2D)

Start with a triangle

Connect bisectors of sides and remove central triangle

Repeat

Example

Five subdivisions

Gasket Program
#include <GL/glut.h> /* initial triangle */ GLfloat v[3][2]={{-1.0, -0.58}, {1.0, -0.58}, {0.0, 1.15}}; int n; /* number of recursive steps */

void triangle( GLfloat *a, GLfloat *b, GLfloat *c) /* display one triangle */ { glVertex2fv(a); glVertex2fv(b); glVertex2fv(c); }

Triangle Subdivision
void divide_triangle(GLfloat *a, GLfloat *b, GLfloat *c, int m) { /* triangle subdivision using vertex numbers */ point2 v0, v1, v2; int j; if(m>0) { for(j=0; j<2; j++) v0[j]=(a[j]+b[j])/2; for(j=0; j<2; j++) v1[j]=(a[j]+c[j])/2; for(j=0; j<2; j++) v2[j]=(b[j]+c[j])/2; divide_triangle(a, v0, v1, m-1); divide_triangle(c, v1, v2, m-1); divide_triangle(b, v2, v0, m-1); } else(triangle(a,b,c)); /* draw triangle at end of recursion */ }

Gasket Display Functions

Example: 3D Gasket
after 5 iterations

Tetrahedron Code
void tetrahedron( int m) { glColor3f(1.0,0.0,0.0); divide_triangle(v[0], v[1], glColor3f(0.0,1.0,0.0); divide_triangle(v[3], v[2], glColor3f(0.0,0.0,1.0); divide_triangle(v[0], v[3], glColor3f(0.0,0.0,0.0); divide_triangle(v[0], v[2], }

v[2], m); v[1], m); v[1], m); v[3], m);