OsgMatrixConversions.h File Reference

Conversions to and from OSG matrix types. More...

#include "SurgSim/Math/Matrix.h"
#include <osg/Matrixf>
#include <osg/Matrixd>
#include <osg/Uniform>

Go to the source code of this file.

Namespaces
	SurgSim
	Wraps glewInit() to separate the glew opengl definitions from the osg opengl definitions only imgui needs glew but we need to call glewInit() from a osg callback, using this call we avoid getting warnings about redefinitions.

Functions
template<int MOpt>
const osg::Matrix2	SurgSim::Graphics::toOsg (const Eigen::Matrix< float, 2, 2, MOpt > &matrix)
	Convert a fixed-size 2x2 matrix of floats to OSG.
template<int MOpt>
const osg::Matrix2d	SurgSim::Graphics::toOsg (const Eigen::Matrix< double, 2, 2, MOpt > &matrix)
	Convert a fixed-size 2x2 matrix of doubles to OSG.
const Eigen::Matrix< float, 2, 2, Eigen::RowMajor >	SurgSim::Graphics::fromOsg (const osg::Matrix2 &matrix)
	Convert from OSG to a 2x2 matrix of floats.
const Eigen::Matrix< double, 2, 2, Eigen::RowMajor >	SurgSim::Graphics::fromOsg (const osg::Matrix2d &matrix)
	Convert from OSG to a 2x2 matrix of doubles.
template<int MOpt>
const osg::Matrix3	SurgSim::Graphics::toOsg (const Eigen::Matrix< float, 3, 3, MOpt > &matrix)
	Convert a fixed-size 3x3 matrix of floats to OSG.
template<int MOpt>
const osg::Matrix3d	SurgSim::Graphics::toOsg (const Eigen::Matrix< double, 3, 3, MOpt > &matrix)
	Convert a fixed-size 3x3 matrix of doubles to OSG.
const Eigen::Matrix< float, 3, 3, Eigen::RowMajor >	SurgSim::Graphics::fromOsg (const osg::Matrix3 &matrix)
	Convert from OSG to a 3x3 matrix of floats.
const Eigen::Matrix< double, 3, 3, Eigen::RowMajor >	SurgSim::Graphics::fromOsg (const osg::Matrix3d &matrix)
	Convert from OSG to a 3x3 matrix of doubles.
template<int MOpt>
const osg::Matrixf	SurgSim::Graphics::toOsg (const Eigen::Matrix< float, 4, 4, MOpt > &matrix)
	Convert a fixed-size 4x4 matrix of floats to OSG.
const Eigen::Matrix< float, 4, 4, Eigen::RowMajor >	SurgSim::Graphics::fromOsg (const osg::Matrixf &matrix)
	Convert from OSG to a 4x4 matrix of floats.
template<int MOpt>
const osg::Matrixd	SurgSim::Graphics::toOsg (const Eigen::Matrix< double, 4, 4, MOpt > &matrix)
	Convert a fixed-size 4x4 matrix of doubles to OSG.
const Eigen::Matrix< double, 4, 4, Eigen::RowMajor >	SurgSim::Graphics::fromOsg (const osg::Matrixd &matrix)
	Convert from OSG to a 4x4 matrix of doubles.

Detailed Description

Conversions to and from OSG matrix types.

SurgSim's Eigen vectors are a single column, and matrix operations use postfix notation. OSG vectors are a single row and matrix operations use prefix notation,

For example, with Eigen, one might write:

Vector3d columnVector;
Matrix33d matrix;
Vector3d result = matrix * columnVector;

However, with OSG, this should be written in the form:

osg::Vec3d rowVector;
osg::Matrix3d columnMajorMatrix;
osg::Vec3d result = rowVector * columnMajorMatrix;

For the result to be the same, the OSG matrix data must be interpreted as column-major. These conversions handle that.