Utils.hpp

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#ifndef DART_GUI_OSG_UTILS_HPP_
#define DART_GUI_OSG_UTILS_HPP_
 
#include <Eigen/Geometry>
#include <osg/Matrix>
 
//==============================================================================
template <typename Scalar>
::osg::Matrix eigToOsgMatrix(
    const Eigen::Transform<Scalar, 3, Eigen::Isometry>& tf)
{
  return ::osg::Matrix(
      tf(0, 0),
      tf(1, 0),
      tf(2, 0),
      tf(3, 0),
      tf(0, 1),
      tf(1, 1),
      tf(2, 1),
      tf(3, 1),
      tf(0, 2),
      tf(1, 2),
      tf(2, 2),
      tf(3, 2),
      tf(0, 3),
      tf(1, 3),
      tf(2, 3),
      tf(3, 3));
}
 
//==============================================================================
template <typename Derived>
::osg::Matrix eigToOsgMatrix(const Eigen::DenseBase<Derived>& M)
{
  return ::osg::Matrix(
      M(0, 0),
      M(1, 0),
      M(2, 0),
      M(3, 0),
      M(0, 1),
      M(1, 1),
      M(2, 1),
      M(3, 1),
      M(0, 2),
      M(1, 2),
      M(2, 2),
      M(3, 2),
      M(0, 3),
      M(1, 3),
      M(2, 3),
      M(3, 3));
}
 
//==============================================================================
template <typename Derived>
::osg::Vec3f eigToOsgVec3f(const Eigen::MatrixBase<Derived>& vec)
{
  return ::osg::Vec3f(vec[0], vec[1], vec[2]);
}
 
//==============================================================================
template <typename Derived>
::osg::Vec3d eigToOsgVec3d(const Eigen::MatrixBase<Derived>& vec)
{
  return ::osg::Vec3d(vec[0], vec[1], vec[2]);
}
 
//==============================================================================
template <typename Derived>
typename std::conditional<
    std::is_same<typename Derived::Scalar, float>::value,
    ::osg::Vec3f,
    ::osg::Vec3d>::type
eigToOsgVec3(const Eigen::MatrixBase<Derived>& vec)
{
  using Vec3 = typename std::conditional<
      std::is_same<typename Derived::Scalar, float>::value,
      ::osg::Vec3f,
      ::osg::Vec3d>::type;
 
  return Vec3(vec[0], vec[1], vec[2]);
}
 
//==============================================================================
inline Eigen::Vector3f osgToEigVec3(const ::osg::Vec3f& vec)
{
  return Eigen::Vector3f(vec[0], vec[1], vec[2]);
}
 
//==============================================================================
inline Eigen::Vector3d osgToEigVec3(const ::osg::Vec3d& vec)
{
  return Eigen::Vector3d(vec[0], vec[1], vec[2]);
}
 
//==============================================================================
template <typename Derived>
::osg::Vec4f eigToOsgVec4f(const Eigen::MatrixBase<Derived>& vec)
{
  return ::osg::Vec4f(vec[0], vec[1], vec[2], vec[3]);
}
 
//==============================================================================
template <typename Derived>
::osg::Vec4d eigToOsgVec4d(const Eigen::MatrixBase<Derived>& vec)
{
  return ::osg::Vec4d(vec[0], vec[1], vec[2], vec[3]);
}
 
//==============================================================================
template <typename Derived>
std::conditional<
    std::is_same<typename Derived::Scalar, float>::value,
    ::osg::Vec4f,
    ::osg::Vec4d>
eigToOsgVec4(const Eigen::MatrixBase<Derived>& vec)
{
  return std::conditional<
      std::is_same<typename Derived::Scalar, float>::value,
      ::osg::Vec4f,
      ::osg::Vec4d>(vec[0], vec[1], vec[2], vec[3]);
}
 
//==============================================================================
inline Eigen::Vector4f osgToEigVec4(const ::osg::Vec4f& vec)
{
  return Eigen::Vector4f(vec[0], vec[1], vec[2], vec[3]);
}
 
//==============================================================================
inline Eigen::Vector4d osgToEigVec4(const ::osg::Vec4d& vec)
{
  return Eigen::Vector4d(vec[0], vec[1], vec[2], vec[3]);
}
 
#endif // DART_GUI_OSG_UTILS_HPP_