Utils.hpp

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#ifndef DART_GUI_OSG_UTILS_HPP_
#define DART_GUI_OSG_UTILS_HPP_
 
#include <Eigen/Geometry>
#include <osg/Camera>
#include <osg/Matrix>
 
namespace dart::gui::osg {
 
template <typename T = double>
constexpr T getAlphaThreshold();
 
template <typename Scalar>
::osg::Matrix eigToOsgMatrix(
    const Eigen::Transform<Scalar, 3, Eigen::Isometry>& tf);
 
template <typename Derived>
::osg::Matrix eigToOsgMatrix(const Eigen::DenseBase<Derived>& M);
 
template <typename Derived>
::osg::Vec3f eigToOsgVec3f(const Eigen::MatrixBase<Derived>& vec);
 
template <typename Derived>
::osg::Vec3d eigToOsgVec3d(const Eigen::MatrixBase<Derived>& vec);
 
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);
 
Eigen::Vector3f osgToEigVec3(const ::osg::Vec3f& vec);
 
Eigen::Vector3d osgToEigVec3(const ::osg::Vec3d& vec);
 
template <typename Derived>
::osg::Vec4f eigToOsgVec4f(const Eigen::MatrixBase<Derived>& vec);
 
template <typename Derived>
::osg::Vec4d eigToOsgVec4d(const Eigen::MatrixBase<Derived>& vec);
 
template <typename Derived>
std::conditional<
    std::is_same<typename Derived::Scalar, float>::value,
    ::osg::Vec4f,
    ::osg::Vec4d>
eigToOsgVec4(const Eigen::MatrixBase<Derived>& vec);
 
Eigen::Vector4f osgToEigVec4(const ::osg::Vec4f& vec);
 
Eigen::Vector4d osgToEigVec4(const ::osg::Vec4d& vec);
 
::osg::Camera* createRttCamera(
    ::osg::Camera::BufferComponent buffer,
    ::osg::Texture* tex,
    bool isAbsolute = false);
 
::osg::Camera* createHudCamera(
    double left = 0, double right = 1, double bottom = 0, double top = 1);
 
::osg::Geode* createScreenQuad(float width, float height, float scale = 1.0f);
 
} // namespace dart::gui::osg
 
#include "dart/gui/osg/detail/Utils-impl.hpp"
 
#endif // DART_GUI_OSG_UTILS_HPP_