“Computer Science is no

more about computers

than astronomy is about
telescopes.”
Professor Edsger Dijkstra
OpenGL
Notes
&
Guides
 Required files for Windows

• In the System Directory

– glu32.dll
– opengl32.dll
– glut32.dll
• In the C++ Include Directory
– gl\gl.h
– l\glu.h
– gl\glaux.h (probably won't need it)
– gl\glut.h (includes both gl.h and glu.h)
• In the C++ Library Directory
– gl\glu32.lib
– l\opengl32.lib
– gl\glaux.lib (probably won't need it)
– gl\glut32.lib
 OpenGL Libraries

OpenGL
Application

GLU GL GLUT GLX

Frame Buffer

Display
 Event Loop
• OpenGL programs often run in an event loop:
– Start the program
– Run some initialization code
– Run an infinite loop and wait for events such as
• Key press
• Mouse move, click
• Reshape window
• Expose event
 OpenGL Command Syntax (1)
• OpenGL commands start with “gl”
• OpenGL constants start with “GL_”
• Some commands end in a number and one, two or three letters
at the end (indicating number and type of arguments)
• A Number indicates number of arguments
• Characters indicate type of argument
 OpenGL Command Syntax (2)
– `f' float
– `d' double float
– `s' signed short integer
– `i' signed integer
– `b' character
– `ub' unsigned character
– `us' unsigned short integer
– `ui' unsigned integer
 OpenGL Command Syntax (3)
• “v” at the end of the name indicates a vector format.
Examples: glColor*()
• glColor3b, glColor3d, glColor3f, glColor3i, glColor3s,
glColor3ub, glColor3ui, glColor3us, glColor4b, glColor4d,
glColor4f, glColor4i, glColor4s, glColor4ub, glColor4ui,
glColor4us, glColor3bv, glColor3dv, glColor3fv,
glColor3iv, glColor3sv, glColor3ubv, glColor3uiv,
glColor3usv, glColor4bv, glColor4dv, glColor4fv,
glColor4iv, glColor4sv, glColor4ubv, glColor4uiv,
glColor4usv
 OpenGL Primitives
• GL_POINTS
• GL_LINES
• GL_LINE_STRIP
• GL_LINE_LOOP
• GL_TRIANGLES
• GL_TRIANGLE_STRIP
• GL_TRIANGLE_FAN
• GL_QUADS
• GL_QUAD_STRIP
• GL_POLYGON
 Scene Graph

Ground
T1

Body

T2 T3 T4

Head Left Arm Right Arm

 OpenGL Program Organization
• main:
– find GL visual and create window
– initialize GL states (e.g. viewing, color, lighting)
– initialize display lists
– loop
• check for events (and process them)
• if window event (window moved, exposed, etc.)
• modify viewport, if needed
• redraw
• else if mouse or keyboard
• do something, e.g., change states and redraw
• redraw:
– clear screen (to background color)
– change state(s), if needed
– render some graphics
– change more states
– render some more graphics
– .
– .
– .
– swap buffers
 glMatrixMode
• glMatrixMode
– - specify which matrix is the current matrix
• C Specification
– void glMatrixMode( GLenum mode )
• Parameters
– mode Specifies which matrix stack is the target for subsequent matrix operations. Three values are
accepted: GL_MODELVIEW, GL_PROJECTION, and GL_TEXTURE. The default value is
GL_MODELVIEW.
• Description
– glMatrixMode sets the current matrix mode. mode can assume one of three values:
GL_MODELVIEW Applies subsequent matrix operations to the modelview matrix stack.
GL_PROJECTION Applies subsequent matrix operations to the projection matrix stack.
Viewing Pipeline
 General 3D Viewing Pipeline

• Modeling coordinates (MC)

• World coordinates (WC)
• Viewing coordinates (VC)
• Projection coordinates (PC)
• Normalized coordinates (NC)
• Device coordinates (DC)
 Virtual Camera Model
• Viewing Transformation
– The camera position and orientation is determined
• Projection Transformation
– The selected view of a 3D scene is projected onto a view plane
 Viewing-Coordinate Parameters
• Look-at point Pref

N = P0 − Pref

• View-up vector V
– N and V are specified in the world coordinates
 Viewing-Coordinate Reference Frame
• The camera orientation is determined by the uvn reference
frame

N
n= = (nx , n y , nz )
N
V ×n
u= = (u x , u y , u z )
V u
v
n
v = n × u = (v x , v y , v z )
World-to-Viewing Transformation

u x uy uz 0 1 0 0 − x0 
v vy vz 0 0 1 0 − y0 
R= x T=
nx ny nz 0 0 0 1 − z0 
   
0 0 0 1 0 0 0 1 

u x uy uz − u ⋅ P0 
v vy vz − v ⋅ P0 
M wc ,vc = R ⋅T =  x
n x ny nz − n ⋅ P0 
 
0 0 0 1 
 Perspective-Projection View Volume
• Viewing frustum
– Why do we need near and far clipping plane ?
 Normalizing Transformation
• Transform an arbitrary perspective-projection view volume
into the canonical view volume

• Step 1: from frustum to parallelepiped

 Normalizing Transformation
• Transform an arbitrary perspective-projection view volume
into the canonical view volume

• Step 2: from parallelepiped to normalized

 Orthographic Transformation
• Preserves relative dimension
• The center of projection at infinity
• The direction of projection is parallel to a principle axis
• Architectural and engineering drawings
 OpenGL 3D Viewing Functions
• Viewing-transformation function
– glMatrixMode(GL_MODELVIEW);
– gluLookAt(x0,y0,z0,xref,yref,zref,vx,vy,vz);
– Default: gluLookAt(0,0,0, 0,0,-1, 0,1,0);

• OpenGL orthogonal-projection function

– glMatrixMode(GL_PROJECTION);
– gluOrtho(xwmin,xwmax, ywmin,ywmax, dnear,dfar);
– Default: gluOrtho(-1,1, -1,1, -1,1);
– Note that
• dnear and dfar must be assigned positive values
• znear=-dnear and zfar=-dfar
• The near clipping plane is the view plane
 glViewport
• C Specification
– void glViewport(GLint x, GLint y, GLsizei width, GLsizei height)
• Parameters
– x, y: Specify the lower left corner of the viewport rectangle, in pixels. The
initial value is (0, 0).
– width, height: Specify the width and height of the viewport. When a GL
context is first attached to a surface (e.g. window), width and height are set
to the dimensions of that surface.
• glViewport specifies the affine transformation of x and y from
normalized device coordinates to window coordinates. Let (xnd, ynd) be
normalized device coordinates. Then the window coordinates (xw, yw)
are computed as follows:
width
xw = ( xnd + 1) * +x
2
height
y w = ( ynd + 1) * +y
2
 OpenGL 3D Viewing Functions
• OpenGL perspective-projection function
– The projection reference point is the viewing-coordinate origin
– The near clipping plane is the view plane
– Symmetric: gluPerspective(theta,aspect,dnear,dfar)
– General: glFrustum(xwmin,xwmax,ywmin,ywmax,dnear,dfar)
 glFrustum
• glFrustum
– glFrustum - multiply the current matrix by a perspective matrix C
Specification
– void glFrustum( GLdouble left, GLdouble right, GLdouble bottom,
GLdouble top, GLdouble near, GLdouble far )

 2 * near right + left 

 right − left 0 0 
right − left
 
 2 * near top + bottom 
0 0
 right − left top − bottom 
 far + near 2 * far * near 
 0 0 
 far − near far − near 
 0 0 −1 0 