vrvOsgUtils.h

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/******************************************************************************
** Copyright (c) 2014 MAK Technologies, Inc.
** All rights reserved.
******************************************************************************/


#pragma once

#include <osg/Quat>
#include <osg/Texture2DArray>
#include <osg/Depth>
#include <osg/Camera>
#include <osg/MatrixTransform>
#include <osg/Geometry>

#include <vrvOsg/DtOsgShaderUtils.h>

namespace makVrv
{
   static void makeRotate( osg::Quat& q, const double& angle, const double& x, const double& y, const double& z )
   {
      double coshalfangle = cos( 0.5*angle );
      double sinhalfangle = sin( 0.5*angle );

      q.set(
         x * sinhalfangle,
         y * sinhalfangle,
         z * sinhalfangle,
         coshalfangle);
   }

   static void quatMult( osg::Quat& lhs, const osg::Quat& rhs )
   {
      // Algorithm from:
      // http://www.euclideanspace.com/maths/algebra/realNormedAlgebra/quaternions/code/
      double x =  lhs[0] * rhs[3] + lhs[1] * rhs[2] - lhs[2] * rhs[1] + lhs[3] * rhs[0];
      double y = -lhs[0] * rhs[2] + lhs[1] * rhs[3] + lhs[2] * rhs[0] + lhs[3] * rhs[1];
      double z =  lhs[0] * rhs[1] - lhs[1] * rhs[0] + lhs[2] * rhs[3] + lhs[3] * rhs[2];
      double w = -lhs[0] * rhs[0] - lhs[1] * rhs[1] - lhs[2] * rhs[2] + lhs[3] * rhs[3];

      lhs[0] = x;
      lhs[1] = y;
      lhs[2] = z;
      lhs[3] = w;
   }


   DT_DLL_VRVOSG osg::Camera * CreateTextureQuadOverlay(osg::Texture * texture,
      float x, float y, float w, float h);

   DT_DLL_VRVOSG osg::Camera * CreateTextureQuadOverlay(const std::string & shader_root, osg::Texture2DArray * textureArray,
      float x, float y, float w, float h);

   struct DT_DLL_VRVOSG DtOsgDebugFrustum : public osg::Referenced
   {
      osg::ref_ptr<osg::MatrixTransform> myTransform;
      osg::ref_ptr<osg::Geometry> myGeometry;
      DtOsgDebugFrustum(const osg::Vec4 & color);
      void updateDebugFrustum(osg::Vec3d * frustumVertices);
   };

   osg::MatrixTransform * create_axis_primitive();


   DT_DLL_VRVOSG osg::Matrixd oglRevDepthOrtho(double left, double right, double bottom,
      double top, double zNear, double zFar);

   DT_DLL_VRVOSG bool getRevZProjectionMatrixAsFrustum(const osg::Matrix& mat, double& left,
      double& right, double& bottom, double& top, double& zNear, double& zFar);

   DT_DLL_VRVOSG bool getRevPerspective(const osg::Matrix& mat, double& fovy,
      double& aspectRatio, double& zNear, double& zFar);

   DT_DLL_VRVOSG osg::Matrix makeRevFrustum(double left, double right,
      double bottom, double top, double zNear, double zFar);

   DT_DLL_VRVOSG osg::Matrix makeRevPerspective(double fovy, double aspectRatio,
      double zNear, double zFar);

   // helpers for matrix and reverse z matrixes
   DT_DLL_VRVOSG osg::Matrixd oglRevDepthOrtho(double left, double right, double bottom, double top, double zNear, double zFar);
   DT_DLL_VRVOSG osg::Matrix getOrthoMatrix(bool useReverseZ, double left, double right, double bottom, double top, double zNear, double zFar);

   void DT_DLL_VRVOSG getYPR(const osg::Matrix& m, double& yaw, double& pitch, double& roll);

}