OgreUtils.h

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/*
 * Copyright (C) 2012 by
 *   MetraLabs GmbH (MLAB), GERMANY
 * and
 *   Neuroinformatics and Cognitive Robotics Labs (NICR) at TU Ilmenau, GERMANY
 * All rights reserved.
 *
 * Contact: info@mira-project.org
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#ifndef _MIRA_OGREUTILS_H_
#define _MIRA_OGREUTILS_H_

#include <geometry/Point.h>
#include <utils/Path.h>
#include <image/Color.h>

#include <transform/Pose.h>

#ifndef Q_MOC_RUN
#include <OGRE/OgreString.h>
#include <OGRE/OgreVector3.h>
#include <OGRE/OgreColourValue.h>
#include <OGRE/OgreSceneQuery.h>
#endif


namespace Ogre {
    class SceneManager;
    class SceneNode;
    class ManualObject;
    class MovableObject;
}


namespace mira { namespace OgreUtils {


template <typename TPoint>
inline Ogre::Vector3 toOgreVector(const TPoint& p)
{
    static_assert(sizeof(TPoint)==0, "toOgreVector is not implemented for this type");
    return Ogre::Vector3();
}

template <>
inline Ogre::Vector3 toOgreVector<Point2f>(const Point2f& p)
{
    return Ogre::Vector3(p.x(), p.y(), 0);
}

template <>
inline Ogre::Vector3 toOgreVector<Point3f>(const Point3f& p)
{
    return Ogre::Vector3(p.x(), p.y(), p.z());
}

template <>
inline Ogre::Vector3 toOgreVector<Pose2>(const Pose2& p)
{
    return Ogre::Vector3(p.x(), p.y(), 0);
}

template <>
inline Ogre::Vector3 toOgreVector<PoseCov2>(const PoseCov2& p)
{
    return Ogre::Vector3(p.x(), p.y(), 0);
}

template <>
inline Ogre::Vector3 toOgreVector<Pose3>(const Pose3& p)
{
    return Ogre::Vector3(p.x(), p.y(), p.z());
}

template <>
inline Ogre::Vector3 toOgreVector<PoseCov3>(const PoseCov3& p)
{
    return Ogre::Vector3(p.x(), p.y(), p.z());
}

template <>
inline Ogre::Vector3 toOgreVector<RigidTransform<double, 2> >(const RigidTransform<double, 2>& p)
{
    return Ogre::Vector3(p.x(), p.y(), 0);
}

template <>
inline Ogre::Vector3 toOgreVector<RigidTransformCov<double, 2> >(const RigidTransformCov<double, 2>& p)
{
    return Ogre::Vector3(p.x(), p.y(), 0);
}

template <>
inline Ogre::Vector3 toOgreVector<RigidTransform<double, 3> >(const RigidTransform<double, 3>& p)
{
    return Ogre::Vector3(p.x(), p.y(), p.z());
}

template <>
inline Ogre::Vector3 toOgreVector<RigidTransformCov<double, 3> >(const RigidTransformCov<double, 3>& p)
{
    return Ogre::Vector3(p.x(), p.y(), p.z());
}

template <typename ColorType>
inline Ogre::ColourValue toOgreColor(const ColorType& c)
{
    return Ogre::ColourValue();
}

template <>
inline Ogre::ColourValue toOgreColor<Color::RGB>(const Color::RGB& c)
{
    return Ogre::ColourValue(c.r, c.g, c.b, 1.0f);
}

template <>
inline Ogre::ColourValue toOgreColor<Color::RGBA>(const Color::RGBA& c)
{
    return Ogre::ColourValue(c.r, c.g, c.b, c.a);
}


void loadResource(const Path& path,
                                          const Ogre::String& resourceGroup);

void setTransform(Ogre::SceneNode* node,
                                          const RigidTransform2f& t);

void setTransform(Ogre::SceneNode* node,
                                          const RigidTransform3f& t);

void setPosition(Ogre::SceneNode* node,
                                         const Eigen::Vector2f& t);

void setPosition(Ogre::SceneNode* node,
                                         const Eigen::Vector3f& t);

void setOrientation(Ogre::SceneNode* node,
                                            const Eigen::Rotation2D<float>& r);

void setOrientation(Ogre::SceneNode* node,
                                            const Eigen::Quaternion<float>& r);

bool hasAttachedObject(Ogre::SceneNode* node,
                                               Ogre::MovableObject* object);


void rayQuery(Ogre::SceneNode* node,
                                      const Ogre::Ray& ray,
                                      Ogre::RaySceneQueryResult& oResult,
                                      uint32 queryMask=0xFFFFFFFF);


// intersection point: ray.getPoint(result.second);
std::pair<bool,float> rayObjectCollision(const Ogre::Ray& ray,
                                             const Ogre::MovableObject* object);


}}

#endif