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::Vec3d eigToOsgVec3(const Eigen::MatrixBase<Derived>& vec)
{
  return ::osg::Vec3d(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::Vec4d eigToOsgVec4(const Eigen::MatrixBase<Derived>& vec)
{
  return ::osg::Vec4d(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_