conversions.h

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/*
 * Copyright 2014 Google Inc. All Rights Reserved.
 *
 * 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 TANGO_GL_GL_TANGO_CONVERSIONS_H_
#define TANGO_GL_GL_TANGO_CONVERSIONS_H_

#define GLM_FORCE_RADIANS

#include "glm/glm.hpp"
#include "glm/gtc/matrix_transform.hpp"
#include "glm/gtc/quaternion.hpp"

namespace tango_gl {
namespace conversions {

inline glm::vec3 Vec3FromArray(const double* array) {
  return glm::vec3(array[0], array[1], array[2]);
}

inline glm::quat QuatFromArray(const double* array) {
  // Note GLM expects arguments in order {w, x, y, z}.
  return glm::quat(array[3], array[0], array[1], array[2]);
}

inline glm::mat4 TransformFromArrays(const double* A_p_B, const double* A_q_B) {
  glm::vec3 glm_A_p_B = Vec3FromArray(A_p_B);
  glm::quat glm_A_q_B = QuatFromArray(A_q_B);
  return glm::translate(glm::mat4(1.0f), glm_A_p_B) * glm::mat4_cast(glm_A_q_B);
}

inline glm::mat4 TransformFromVecAndQuat(const glm::vec3& A_p_B, const glm::quat& A_q_B) {
  return glm::translate(glm::mat4(1.0f), A_p_B) * glm::mat4_cast(A_q_B);
}

inline glm::vec3 Vec3TangoToGl(const glm::vec3& tango_vec) {
  return glm::vec3(tango_vec.x, tango_vec.z, -tango_vec.y);
}

inline glm::vec3 Vec3GlToTango(const glm::vec3& gl_vec) {
  return glm::vec3(gl_vec.x, -gl_vec.z, gl_vec.y);
}

glm::quat QuatTangoToGl(const glm::quat& tango_q_any);

glm::mat4 opengl_world_T_tango_world();

glm::mat4 color_camera_T_opengl_camera();

glm::mat4 depth_camera_T_opengl_camera();

}  // namespace conversions
}  // namespace tango_gl
#endif  // TANGO_GL_GL_TANGO_CONVERSIONS_H_