OsgQuaternionConversions.h

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// This file is a part of the OpenSurgSim project.
// Copyright 2013, SimQuest Solutions Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.


#ifndef SURGSIM_GRAPHICS_OSGQUATERNIONCONVERSIONS_H
#define SURGSIM_GRAPHICS_OSGQUATERNIONCONVERSIONS_H

#include "SurgSim/Math/Quaternion.h"

#include <osg/Quat>

namespace SurgSim
{

namespace Graphics
{

inline osg::Quat toOsg(const SurgSim::Math::Quaternionf& quaternion)
{
    return osg::Quat(quaternion.x(), quaternion.y(), quaternion.z(), quaternion.w());
}

inline osg::Quat toOsg(const SurgSim::Math::Quaterniond& quaternion)
{
    return osg::Quat(quaternion.x(), quaternion.y(), quaternion.z(), quaternion.w());
}

template <typename T> inline
Eigen::Quaternion<T> fromOsg(const osg::Quat& quaternion)
{
    return Eigen::Quaternion<T>(quaternion.w(), quaternion.x(), quaternion.y(), quaternion.z());
}

};  // namespace Graphics

};  // namespace SurgSim

#endif  // SURGSIM_GRAPHICS_OSGQUATERNIONCONVERSIONS_H