geometry.h

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/*
 * Copyright (c) 2012, Willow Garage, Inc.
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
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 *     * Redistributions in binary form must reproduce the above copyright
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 *     * Neither the name of the Willow Garage, Inc. nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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#ifndef GEOMETRY_H
#define GEOMETRY_H

namespace Ogre
{
class Plane;
class Vector3;
class Vector2;
}

namespace rviz
{

bool getPointOnPlaneFromWindowXY( Ogre::Viewport* viewport,
                                  Ogre::Plane& plane,
                                  int window_x, int window_y,
                                  Ogre::Vector3& intersection_out );


float mapAngleTo0_2Pi( float angle );

Ogre::Vector2 project3DPointToViewportXY(const Ogre::Viewport* view, const Ogre::Vector3& pos);

} // end namespace rviz

#endif