diguyOsgUtil.cpp

DI-Guy API Version 12.5.1

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/* * Copyright (C) 1992-2011 Boston Dynamics * ALL RIGHTS RESERVED. * * These coded instructions, statements, and computer programs * contain unpublished proprietary information of Boston Dynamics * and are protected by Copyright Laws of the United States. * They may not be used, duplicated, or disclosed in any form, in * whole or in part, without the prior written consent from Boston * Dynamics. * * RESTRICTED RIGHTS LEGEND * Use, duplication, or disclosure by the government is subject * to restrictions as set forth in FAR 52.227.19(c)(2) or * subparagraph (c)(1)(ii) of the Rights in Technical Data and * Computer Software clause at DFARS 252.227-7013 and/or in * similar or successor clauses in the FAR, or the DOD or NASA * FAR Supplement, or to subparagraphs (c)(1) and (c)(2) of the * Commercial Computer Software--Restricted Rights at 48 CFR * 52.227-19, as applicable. Unpublished-rights reserved under * the Copyright Laws of the United States. * Contractor/Manufacturer is: * Boston Dynamics/78 Fourth Avenue/Waltham MA 02451. */ #include <stdio.h> #include <libbdilog.h> #include <diguyAuthorInterface.h> #include <diguy_vector_classes.h> #include <osg/BlendFunc> #include <osg/CullFace> #include <osg/Geode> #include <osg/Geometry> #include <osg/LineWidth> #include <osg/Material> #include <osg/MatrixTransform> #include <osg/ShapeDrawable> #include <osg/StateSet> #include "diguyOsgUtil.h"

// static void diguyOsgUtil::detach_and_null(osg::ref_ptr<osg::MatrixTransform>& child) {     if (child == NULL)         return;     while (child->getNumParents() > 0)         child->getParent(0)->removeChild(child);     child = NULL; }

// static void diguyOsgUtil::detach_and_null(osg::ref_ptr<osg::Geode>& child) {     if (child == NULL)         return;     while (child->getNumParents() > 0)         child->getParent(0)->removeChild(child);     child = NULL; }

// static void diguyOsgUtil::detach_and_null(osg::Geode* geode, osg::ref_ptr<osg::Geometry>& drawable) {     if (drawable == NULL)         return;     if (geode == NULL)         return;     geode->removeDrawable(drawable);     drawable = NULL; }

// static osg::Geometry* diguyOsgUtil::create_sphere_solid(float radius,     int num_slices,     int num_layers,     const diguyVec4f & color) {     int index;     int num_vertices = 0;     /*      * Generate vertices.      */     diguyVec3f* vertices;     diguyVec3f* normals;     diguyVec2f* texture_indices;     int num_indices;     unsigned int* indices;     diguyAuthorInterface::generate_sphere_vertices(radius,         num_slices,         num_layers,         diguyVec3f(0.0f),         diguyVec3f(0.0f),         &num_vertices,         &vertices,         &normals,         &texture_indices,         0,         &num_indices,         &indices);     /*      * Create a geometry drawable object.      */     osg::Geometry* geometry = new osg::Geometry;     geometry->setDataVariance(osg::Object::STATIC);     geometry->setUseVertexBufferObjects(true);     /*      * Create osg vertices array.      *      * Long way for now, adding data vertex by vertex. I'd like to find      * the OSG way for simply copying a binary block of data containing      * float vertex data into the vertices array.      */     osg::Vec3Array* osg_vertices = new osg::Vec3Array;     osg_vertices->reserve(num_vertices);     float* vptr = &(vertices[0].x);     for (index=0; index<num_vertices; index++)     {         osg_vertices->push_back(osg::Vec3(*vptr, *(vptr+1), *(vptr+2)));         vptr += 3;     }     geometry->setVertexArray(osg_vertices);     /*      * Create osg normals array.      */     osg::Vec3Array* osg_normals = new osg::Vec3Array;     geometry->setNormalArray(osg_normals);     geometry->setNormalBinding(osg::Geometry::BIND_PER_VERTEX);     float* nptr = &(normals[0].x);     osg_normals->reserve(num_vertices);     for (index=0; index<num_vertices; index++)     {         osg_normals->push_back(osg::Vec3(*nptr, *(nptr+1), *(nptr+2)));         nptr += 3;     }     /*      * Create osg texture indices array.      */     // not done yet     /*      * Triangle vertex indices.      */     osg::DrawElementsUInt* index_set = new osg::DrawElementsUInt(osg::PrimitiveSet::TRIANGLES, 0);     index_set->reserve(num_indices);     geometry->addPrimitiveSet(index_set);     int i;     for (i=0; i<num_indices; i++)         index_set->push_back(indices[i]);     diguyAuthorInterface::delete_generated_vertices(vertices,         normals,         texture_indices,         indices);     /*      * State set.      */     osg::StateSet* state_set = create_material_state_set(color, true);     geometry->setStateSet(state_set);     return geometry; }

// static osg::Geometry* diguyOsgUtil::create_sphere_wireframe(float radius,     int num_slices,     int num_layers,     const diguyVec4f & color,     float line_width,     bool lit) {     int index;     int num_vertices = 0;     /*      * Generate vertices.      */     diguyVec3f* vertices;     diguyVec3f* normals;     diguyVec2f* texture_indices;     int num_indices;     unsigned int* indices;     diguyAuthorInterface::generate_sphere_vertices(radius,         num_slices,         num_layers,         diguyVec3f(0.0f),         diguyVec3f(0.0f),         &num_vertices,         &vertices,         &normals,         &texture_indices,         1,         &num_indices,         &indices);     /*      * Create a geometry drawable object.      */     osg::Geometry* geometry = new osg::Geometry;     geometry->setDataVariance(osg::Object::STATIC);     /*      * Create osg vertices array.      *      * Long way for now, adding data vertex by vertex. I'd like to find      * the OSG way for simply copying a binary block of data containing      * float vertex data into the vertices array.      */     osg::Vec3Array* osg_vertices = new osg::Vec3Array(num_indices);     for (index=0; index<num_indices; index++)     {         int vertex_index = indices[index];         float* vptr = &(vertices[vertex_index].x);         (*osg_vertices)[index].set(vptr[0], vptr[1], vptr[2]);     }     geometry->setVertexArray(osg_vertices);     if (lit)     {         osg::Vec3Array* osg_normals = new osg::Vec3Array(num_indices);         for (index=0; index<num_indices; index++)         {             int vertex_index = indices[index];             float* nptr = &(normals[vertex_index].x);             (*osg_normals)[index].set(nptr[0], nptr[1], nptr[2]);         }         geometry->setNormalArray(osg_normals);         geometry->setNormalBinding(osg::Geometry::BIND_PER_VERTEX);     }     geometry->addPrimitiveSet(new osg::DrawArrays(osg::PrimitiveSet::LINES, 0, num_indices));     diguyAuthorInterface::delete_generated_vertices(vertices,         normals,         texture_indices,         indices);     /*      * State set.      */     osg::StateSet* state_set = create_material_state_set(color, false);     osg::LineWidth* osg_line_width = new osg::LineWidth;     osg_line_width->setWidth(line_width);     state_set->setAttributeAndModes(osg_line_width, osg::StateAttribute::ON);     state_set->setMode(GL_BLEND, osg::StateAttribute::OFF);     state_set->setTextureMode(0, GL_TEXTURE_1D, osg::StateAttribute::OFF);     state_set->setTextureMode(0, GL_TEXTURE_2D, osg::StateAttribute::OFF);     if (!lit)         state_set->setMode(GL_LIGHTING, osg::StateAttribute::OVERRIDE|osg::StateAttribute::OFF);     geometry->setStateSet(state_set);     return geometry; }

// static osg::Geometry* diguyOsgUtil::create_cone_solid(float radius,     float height,     int num_slices,     int num_layers,     const diguyVec3f & position_offset,     const diguyVec3f & orientation,     const diguyVec4f & color) {     int index;     int num_vertices = 0;     /*      * Generate vertices.      */     diguyVec3f* vertices;     diguyVec3f* normals;     diguyVec2f* texture_indices;     int num_indices;     unsigned int* indices;     diguyAuthorInterface::generate_cone_vertices(radius,         height,         num_slices,         num_layers,         position_offset,         orientation,         &num_vertices,         &vertices,         &normals,         &texture_indices,         0,         &num_indices,         &indices);     /*      * Create a geometry drawable object.      */     osg::Geometry* geometry = new osg::Geometry;     geometry->setDataVariance(osg::Object::STATIC);     geometry->setUseVertexBufferObjects(true);     /*      * Create osg vertices array.      */     osg::Vec3Array* osg_vertices = new osg::Vec3Array;     osg_vertices->reserve(num_vertices);     osg::Vec3Array* osg_normals = new osg::Vec3Array;     osg_normals->reserve(num_vertices);     float* vptr = &(vertices[0].x);     float* nptr = &(normals[0].x);     for (index=0; index<num_vertices; index++)     {         osg_vertices->push_back(osg::Vec3(*vptr, *(vptr+1), *(vptr+2)));         vptr += 3;         osg_normals->push_back(osg::Vec3(*nptr, *(nptr+1), *(nptr+2)));         nptr += 3;     }     geometry->setVertexArray(osg_vertices);     geometry->setNormalArray(osg_normals);     geometry->setNormalBinding(osg::Geometry::BIND_PER_VERTEX);     /*      * Create osg texture indices array.      */     // not done yet     /*      * Triangle vertex indices.      */     osg::DrawElementsUInt* index_set = new osg::DrawElementsUInt(osg::PrimitiveSet::TRIANGLES, 0);     index_set->reserve(num_indices);     geometry->addPrimitiveSet(index_set);     int i;     for (i=0; i<num_indices; i++)         index_set->push_back(indices[i]);     diguyAuthorInterface::delete_generated_vertices(vertices,         normals,         texture_indices,         indices);     /*      * State set.      */     osg::StateSet* state_set = create_material_state_set(color, true);     geometry->setStateSet(state_set);     return geometry; }

// static osg::Geometry* diguyOsgUtil::create_cone_wireframe(float radius,     float height,     int num_slices,     int num_layers,     const diguyVec3f & position_offset,     const diguyVec3f & orientation,     const diguyVec4f & color,     float line_width,     bool lit) {     int index;     int num_vertices = 0;     /*      * Generate vertices.      */     diguyVec3f* vertices;     diguyVec3f* normals;     diguyVec2f* texture_indices;     int num_indices;     unsigned int* indices;     diguyAuthorInterface::generate_cone_vertices(radius,         height,         num_slices,         num_layers,         position_offset,         orientation,         &num_vertices,         &vertices,         &normals,         &texture_indices,         1,         &num_indices,         &indices);     /*      * Create a geometry drawable object.      */     osg::Geometry* geometry = new osg::Geometry;     geometry->setDataVariance(osg::Object::STATIC);     geometry->setUseVertexBufferObjects(true);     /*      * Create osg vertices array.      */     osg::Vec3Array* osg_vertices = new osg::Vec3Array(num_indices);     for (index=0; index<num_indices; index++)     {         int vertex_index = indices[index];         float* vptr = &(vertices[vertex_index].x);         (*osg_vertices)[index].set(vptr[0], vptr[1], vptr[2]);     }     geometry->setVertexArray(osg_vertices);     if (lit)     {         osg::Vec3Array* osg_normals = new osg::Vec3Array(num_indices);         for (index=0; index<num_indices; index++)         {             int vertex_index = indices[index];             float* nptr = &(normals[vertex_index].x);             (*osg_normals)[index].set(nptr[0], nptr[1], nptr[2]);         }         geometry->setNormalArray(osg_normals);         geometry->setNormalBinding(osg::Geometry::BIND_PER_VERTEX);     }     geometry->addPrimitiveSet(new osg::DrawArrays(osg::PrimitiveSet::LINES, 0, num_indices));     diguyAuthorInterface::delete_generated_vertices(vertices,         normals,         texture_indices,         indices);     /*      * State set.      */     osg::StateSet* state_set = create_material_state_set(color, false);     osg::LineWidth* osg_line_width = new osg::LineWidth;     osg_line_width->setWidth(line_width);     state_set->setAttributeAndModes(osg_line_width, osg::StateAttribute::ON);     state_set->setMode(GL_BLEND, osg::StateAttribute::OFF);     state_set->setTextureMode(0, GL_TEXTURE_1D, osg::StateAttribute::OFF);     state_set->setTextureMode(0, GL_TEXTURE_2D, osg::StateAttribute::OFF);     if (!lit)         state_set->setMode(GL_LIGHTING, osg::StateAttribute::OVERRIDE|osg::StateAttribute::OFF);     geometry->setStateSet(state_set);     return geometry; }

// static osg::Geometry* diguyOsgUtil::create_cylinder_solid(float radius,     float height,     int num_slices,     int num_layers,     const diguyVec3f & position_offset,     const diguyVec3f & orientation,     const diguyVec4f & color) {     int index;     int num_vertices = 0;     /*      * Generate vertices.      */     diguyVec3f* vertices;     diguyVec3f* normals;     diguyVec2f* texture_indices;     int num_indices;     unsigned int* indices;     diguyAuthorInterface::generate_cylinder_vertices(radius,         height,         num_slices,         num_layers,         position_offset,         orientation,         &num_vertices,         &vertices,         &normals,         &texture_indices,         0,         &num_indices,         &indices);     /*      * Create a geometry drawable object.      */     osg::Geometry* geometry = new osg::Geometry;     geometry->setDataVariance(osg::Object::STATIC);     geometry->setUseVertexBufferObjects(true);     /*      * Create osg vertices array.      */     osg::Vec3Array* osg_vertices = new osg::Vec3Array;     osg_vertices->reserve(num_vertices);     osg::Vec3Array* osg_normals = new osg::Vec3Array;     osg_normals->reserve(num_vertices);     float* vptr = &(vertices[0].x);     float* nptr = &(normals[0].x);     for (index=0; index<num_vertices; index++)     {         osg_vertices->push_back(osg::Vec3(*vptr, *(vptr+1), *(vptr+2)));         vptr += 3;         osg_normals->push_back(osg::Vec3(*nptr, *(nptr+1), *(nptr+2)));         nptr += 3;     }     geometry->setVertexArray(osg_vertices);     geometry->setNormalArray(osg_normals);     geometry->setNormalBinding(osg::Geometry::BIND_PER_VERTEX);     /*      * Create osg texture indices array.      */     // not done yet     /*      * Triangle vertex indices.      */     osg::DrawElementsUInt* index_set = new osg::DrawElementsUInt(osg::PrimitiveSet::TRIANGLES, 0);     index_set->reserve(num_indices);     geometry->addPrimitiveSet(index_set);     int i;     for (i=0; i<num_indices; i++)         index_set->push_back(indices[i]);     diguyAuthorInterface::delete_generated_vertices(vertices,         normals,         texture_indices,         indices);     /*      * State set.      */     osg::StateSet* state_set = create_material_state_set(color, true);     geometry->setStateSet(state_set);     return geometry; }

// static osg::Geometry* diguyOsgUtil::create_cylinder_wireframe(float radius,     float height,     int num_slices,     int num_layers,     const diguyVec3f & position_offset,     const diguyVec3f & orientation,     const diguyVec4f & color,     float line_width,     bool lit) {     int index;     int num_vertices = 0;     /*      * Generate vertices.      */     diguyVec3f* vertices;     diguyVec3f* normals;     diguyVec2f* texture_indices;     int num_indices;     unsigned int* indices;     diguyAuthorInterface::generate_cylinder_vertices(radius,         height,         num_slices,         num_layers,         position_offset,         orientation,         &num_vertices,         &vertices,         &normals,         &texture_indices,         1,         &num_indices,         &indices);     /*      * Create a geometry drawable object.      */     osg::Geometry* geometry = new osg::Geometry;     geometry->setDataVariance(osg::Object::STATIC);     geometry->setUseVertexBufferObjects(true);     /*      * Create osg vertices array.      */     osg::Vec3Array* osg_vertices = new osg::Vec3Array(num_indices);     for (index=0; index<num_indices; index++)     {         int vertex_index = indices[index];         float* vptr = &(vertices[vertex_index].x);         (*osg_vertices)[index].set(vptr[0], vptr[1], vptr[2]);     }     geometry->setVertexArray(osg_vertices);     if (lit)     {         osg::Vec3Array* osg_normals = new osg::Vec3Array(num_indices);         for (index=0; index<num_indices; index++)         {             int vertex_index = indices[index];             float* nptr = &(normals[vertex_index].x);             (*osg_normals)[index].set(nptr[0], nptr[1], nptr[2]);         }         geometry->setNormalArray(osg_normals);         geometry->setNormalBinding(osg::Geometry::BIND_PER_VERTEX);     }     geometry->addPrimitiveSet(new osg::DrawArrays(osg::PrimitiveSet::LINES, 0, num_indices));     diguyAuthorInterface::delete_generated_vertices(vertices,         normals,         texture_indices,         indices);     /*      * State set.      */     osg::StateSet* state_set = create_material_state_set(color, false);     osg::LineWidth* osg_line_width = new osg::LineWidth;     osg_line_width->setWidth(line_width);     state_set->setAttributeAndModes(osg_line_width, osg::StateAttribute::ON);     state_set->setMode(GL_BLEND, osg::StateAttribute::OFF);     state_set->setTextureMode(0, GL_TEXTURE_1D, osg::StateAttribute::OFF);     state_set->setTextureMode(0, GL_TEXTURE_2D, osg::StateAttribute::OFF);     if (!lit)         state_set->setMode(GL_LIGHTING, osg::StateAttribute::OVERRIDE|osg::StateAttribute::OFF);     geometry->setStateSet(state_set);     return geometry; }

// static osg::Geometry* diguyOsgUtil::create_box_solid(const diguyVec3f & min,     const diguyVec3f & max,     const diguyVec3f & position_offset,     const diguyVec3f & orientation,     const diguyVec4f & color) {     int index;     int num_vertices = 0;     /*      * Generate vertices.      */     diguyVec3f* vertices;     diguyVec3f* normals;     diguyVec2f* texture_indices;     int num_indices;     unsigned int* indices;     diguyAuthorInterface::generate_box_vertices(min,         max,         position_offset,         orientation,         &num_vertices,         &vertices,         &normals,         &texture_indices,         0,         &num_indices,         &indices);     /*      * Create a geometry drawable object.      */     osg::Geometry* geometry = new osg::Geometry;     geometry->setDataVariance(osg::Object::STATIC);     geometry->setUseVertexBufferObjects(true);     /*      * Create osg vertices array.      */     osg::Vec3Array* osg_vertices = new osg::Vec3Array;     osg_vertices->reserve(num_vertices);     osg::Vec3Array* osg_normals = new osg::Vec3Array;     osg_normals->reserve(num_vertices);     float* vptr = &(vertices[0].x);     float* nptr = &(normals[0].x);     for (index=0; index<num_vertices; index++)     {         osg_vertices->push_back(osg::Vec3(*vptr, *(vptr+1), *(vptr+2)));         vptr += 3;         osg_normals->push_back(osg::Vec3(*nptr, *(nptr+1), *(nptr+2)));         nptr += 3;     }     geometry->setVertexArray(osg_vertices);     geometry->setNormalArray(osg_normals);     geometry->setNormalBinding(osg::Geometry::BIND_PER_VERTEX);     /*      * Create osg texture indices array.      */     // not done yet     /*      * Triangle vertex indices.      */     osg::DrawElementsUInt* index_set = new osg::DrawElementsUInt(osg::PrimitiveSet::TRIANGLES, 0);     index_set->reserve(num_indices);     geometry->addPrimitiveSet(index_set);     int i;     for (i=0; i<num_indices; i++)         index_set->push_back(indices[i]);     diguyAuthorInterface::delete_generated_vertices(vertices,         normals,         texture_indices,         indices);     /*      * State set.      */     osg::StateSet* state_set = create_material_state_set(color, true);     geometry->setStateSet(state_set);     return geometry; }

// static osg::Geometry* diguyOsgUtil::create_box_wireframe(const diguyVec3f & min,     const diguyVec3f & max,     const diguyVec3f & position_offset,     const diguyVec3f & orientation,     const diguyVec4f & color,     float line_width,     bool lit) {     int index;     int num_vertices = 0;     /*      * Generate vertices.      */     diguyVec3f* vertices;     diguyVec3f* normals;     diguyVec2f* texture_indices;     int num_indices;     unsigned int* indices;     diguyAuthorInterface::generate_box_vertices(min,         max,         position_offset,         orientation,         &num_vertices,         &vertices,         &normals,         &texture_indices,         1, // for_wireframe         &num_indices,         &indices);     /*      * Create a geometry drawable object.      */     osg::Geometry* geometry = new osg::Geometry;     geometry->setDataVariance(osg::Object::STATIC);     geometry->setUseVertexBufferObjects(true);     /*      * Create osg vertices array.      */     osg::Vec3Array* osg_vertices = new osg::Vec3Array(num_indices);     for (index=0; index<num_indices; index++)     {         int vertex_index = indices[index];         float* vptr = &(vertices[vertex_index].x);         (*osg_vertices)[index].set(vptr[0], vptr[1], vptr[2]);     }     geometry->setVertexArray(osg_vertices);     if (lit)     {         osg::Vec3Array* osg_normals = new osg::Vec3Array(num_indices);         for (index=0; index<num_indices; index++)         {             int vertex_index = indices[index];             float* nptr = &(normals[vertex_index].x);             (*osg_normals)[index].set(nptr[0], nptr[1], nptr[2]);         }         geometry->setNormalArray(osg_normals);         geometry->setNormalBinding(osg::Geometry::BIND_PER_VERTEX);     }     geometry->addPrimitiveSet(new osg::DrawArrays(osg::PrimitiveSet::LINES, 0, num_indices));     diguyAuthorInterface::delete_generated_vertices(vertices,         normals,         texture_indices,         indices);     /*      * State set.      */     osg::StateSet* state_set = create_material_state_set(color, false);     osg::LineWidth* osg_line_width = new osg::LineWidth;     osg_line_width->setWidth(line_width);     state_set->setAttributeAndModes(osg_line_width, osg::StateAttribute::ON);     state_set->setMode(GL_BLEND, osg::StateAttribute::OFF);     state_set->setTextureMode(0, GL_TEXTURE_1D, osg::StateAttribute::OFF);     state_set->setTextureMode(0, GL_TEXTURE_2D, osg::StateAttribute::OFF);     if (!lit)         state_set->setMode(GL_LIGHTING, osg::StateAttribute::OVERRIDE|osg::StateAttribute::OFF);     geometry->setStateSet(state_set);     return geometry; }

// static osg::StateSet* diguyOsgUtil::create_material_state_set(const diguyVec4f & color, bool lit) {     osg::Material* material = new osg::Material;     material->setAmbient(osg::Material::FRONT, osg::Vec4(color.r, color.g, color.b, color.a));     material->setDiffuse(osg::Material::FRONT, osg::Vec4(color.r, color.g, color.b, color.a));     material->setSpecular(osg::Material::FRONT, osg::Vec4(0.0f, 0.0f, 0.0f, 1.0f));     material->setEmission(osg::Material::FRONT, osg::Vec4(0.0f, 0.0f, 0.0f, 1.0f));     material->setShininess(osg::Material::FRONT, 10.0f);     osg::StateSet* state_set = new osg::StateSet;     state_set->setAttribute(material);     if (color.w < 1.0f)     {         osg::BlendFunc* bf = new osg::BlendFunc(osg::BlendFunc::SRC_ALPHA,             osg::BlendFunc::ONE_MINUS_SRC_ALPHA);         state_set->setAttributeAndModes(bf);         state_set->setRenderingHint(osg::StateSet::TRANSPARENT_BIN);     }     else     {         state_set->setRenderingHint(osg::StateSet::OPAQUE_BIN);     }     osg::CullFace* cull = new osg::CullFace;     cull->setMode(osg::CullFace::BACK);     state_set->setAttributeAndModes(cull, osg::StateAttribute::ON|osg::StateAttribute::OVERRIDE);     return state_set; }

// static osg::StateSet* diguyOsgUtil::create_material_state_set(diguyAuthorVisualMaterial* visual_material) {     osg::Material* material = new osg::Material;     diguyVec4f brush_color = visual_material->get_brush_color();     material->setAmbient(osg::Material::FRONT, diguyVec4_to_osgVec4(brush_color));     material->setDiffuse(osg::Material::FRONT, diguyVec4_to_osgVec4(brush_color));     material->setSpecular(osg::Material::FRONT, osg::Vec4(0.0f, 0.0f, 0.0f, 1.0f));     material->setEmission(osg::Material::FRONT, osg::Vec4(0.0f, 0.0f, 0.0f, 1.0f));     material->setShininess(osg::Material::FRONT, 10.0f);     osg::StateSet* state_set = new osg::StateSet;     state_set->setAttribute(material);     if (brush_color.w < 1.0f)     {         osg::BlendFunc* bf = new osg::BlendFunc(osg::BlendFunc::SRC_ALPHA,             osg::BlendFunc::ONE_MINUS_SRC_ALPHA);         state_set->setAttributeAndModes(bf);         state_set->setRenderingHint(osg::StateSet::TRANSPARENT_BIN);     }     else     {         state_set->setRenderingHint(osg::StateSet::OPAQUE_BIN);     }     osg::CullFace* cull = new osg::CullFace;     cull->setMode(osg::CullFace::BACK);     state_set->setAttributeAndModes(cull, osg::StateAttribute::ON|osg::StateAttribute::OVERRIDE);     return state_set; }

// static osg::Vec3 diguyOsgUtil::diguyVec3_to_osgVec3(const diguyVec3f & diguy_vec3) {     return osg::Vec3(diguy_vec3.x, diguy_vec3.y, diguy_vec3.z); }

// static osg::Vec4 diguyOsgUtil::diguyVec4_to_osgVec4(const diguyVec4f & diguy_vec4) {     return osg::Vec4(diguy_vec4.x, diguy_vec4.y, diguy_vec4.z, diguy_vec4.w); }

// static osg::Quat diguyOsgUtil::diguy_euler_zxy_radians_to_osgQuat(const diguyVec3f & diguy_euler) {     diguyVec4f diguy_quat = diguy_euler.diguy_euler_angles_to_quaternion();     return osg::Quat(diguy_quat.qx, diguy_quat.qy, diguy_quat.qz, diguy_quat.qw); }

// static osg::Quat diguyOsgUtil::diguy_euler_zxy_degrees_to_osgQuat(const diguyVec3f & diguy_euler) {     diguyVec3f diguy_euler_radians(diguy_euler.rz * DIGUY_DEG2RAD, // yaw         diguy_euler.rx * DIGUY_DEG2RAD, // roll         diguy_euler.ry * DIGUY_DEG2RAD); // pitch     diguyVec4f diguy_quat = diguy_euler_radians.diguy_euler_angles_to_quaternion();     return osg::Quat(diguy_quat.qx, diguy_quat.qy, diguy_quat.qz, diguy_quat.qw); }

// static diguyVec3f diguyOsgUtil::osgVec3_to_diguyVec3(const osg::Vec3& osg_vec3) {     return diguyVec3f(osg_vec3.x(), osg_vec3.y(), osg_vec3.z()); }

// static diguyVec4f diguyOsgUtil::osgVec4_to_diguyVec4(const osg::Vec4& osg_vec4) {     return diguyVec4f(osg_vec4.x(), osg_vec4.y(), osg_vec4.z(), osg_vec4.w()); }

// static void diguyOsgUtil::set_name_from_uid(osg::Object* object, long uid) {     char sprintf_temp[128];     sprintf(sprintf_temp, "%ld", uid);     object->setName(sprintf_temp); }