dartpy 7.0.0.dev0__cp312-cp312-manylinux_2_39_x86_64.whl

include/dart/gui/osg/GridVisual.hpp

@@ -0,0 +1,218 @@
+/*
+ * Copyright (c) 2011-2025, The DART development contributors
+ * All rights reserved.
+ *
+ * The list of contributors can be found at:
+ *   https://github.com/dartsim/dart/blob/main/LICENSE
+ *
+ * This file is provided under the following "BSD-style" License:
+ *   Redistribution and use in source and binary forms, with or
+ *   without modification, are permitted provided that the following
+ *   conditions are met:
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
+ *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
+ *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+ *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
+ *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
+ *   USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *   POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef DART_GUI_OSG_GRIDVISUAL_HPP_
+#define DART_GUI_OSG_GRIDVISUAL_HPP_
+
+#include <dart/gui/osg/ShapeFrameNode.hpp>
+#include <dart/gui/osg/Viewer.hpp>
+
+#include <dart/dynamics/SmartPointer.hpp>
+
+#include <osg/Geode>
+#include <osg/LineWidth>
+
+namespace dart {
+namespace gui {
+namespace osg {
+
+/// Attach this to a Viewer in order to visualize grid.
+class GridVisual : public ViewerAttachment
+{
+public:
+  enum class PlaneType : unsigned char
+  {
+    XY = 0u,
+    YZ = 1u,
+    ZX = 2u,
+  };
+
+  /// Default constructor
+  GridVisual();
+
+  /// Sets the number of cells along each axis
+  void setNumCells(std::size_t cells);
+
+  /// Returns the number of cells along each axis
+  std::size_t getNumCells() const;
+
+  /// Sets the step size of minor lines in meters
+  void setMinorLineStepSize(double size);
+
+  /// Returns the step size of minor lines in meters
+  double getMinorLineStepSize() const;
+
+  /// Sets the number of minor lines per major line
+  void setNumMinorLinesPerMajorLine(std::size_t size);
+
+  /// Returns the number of minor lines per major line
+  std::size_t getNumMinorLinesPerMajorLine() const;
+
+  /// Set the plane type among XY, YZ, ZX planes
+  void setPlaneType(PlaneType type);
+
+  /// Returns the plane type among XY, YZ, ZX planes
+  PlaneType getPlaneType() const;
+
+  /// Changes the offset at which the grid is displayed
+  void setOffset(const Eigen::Vector3d& offset);
+
+  /// Returns the elevation of display for the support polygon
+  const Eigen::Vector3d& getOffset() const;
+
+  /// Displays the support polygon
+  void display(bool display);
+
+  /// Returns true if the support polygon is being displayed
+  bool isDisplayed() const;
+
+  /// Sets the color of major lines
+  void setMajorLineColor(const Eigen::Vector4d& color);
+
+  /// Returns the color of major lines
+  Eigen::Vector4d getMajorLineColor() const;
+
+  /// Sets the color of minor lines
+  void setMinorLineColor(const Eigen::Vector4d& color);
+
+  /// Returns the color of minor lines
+  Eigen::Vector4d getMinorLineColor() const;
+
+  /// Sets line width for axis lines
+  void setAxisLineWidth(float width);
+
+  /// Returns line width for axis lines
+  float getAxisLineWidth() const;
+
+  /// Sets line width for major lines
+  void setMajorLineWidth(float width);
+
+  /// Returns line width for major lines
+  float getMajorLineWidth() const;
+
+  /// Sets line width for minor lines
+  void setMinorLineWidth(float width);
+
+  /// Returns line width for minor lines
+  float getMinorLineWidth() const;
+
+  /// Updates the support polygon visual
+  void refresh() override final;
+
+protected:
+  /// Initializes the memory used by this visual
+  void initialize();
+
+  /// Plane type among XY, YZ, ZX planes
+  PlaneType mPlaneType;
+
+  /// Number of cells along each axis
+  std::size_t mNumCells;
+
+  /// Step size of minor lines in meters
+  double mMinorLineStepSize;
+
+  /// Number of minor lines per major line
+  std::size_t mNumMinorLinesPerMajorLine;
+
+  /// Elevation that this visual should use
+  Eigen::Vector3d mOffset;
+
+  /// Whether to display the grid
+  bool mDisplayGrid;
+
+  /// Color for axis lines
+  ::osg::ref_ptr<::osg::Vec4Array> mAxisLineColor;
+
+  /// Color for major lines
+  ::osg::ref_ptr<::osg::Vec4Array> mMajorLineColor;
+
+  /// Color for minor lines
+  ::osg::ref_ptr<::osg::Vec4Array> mMinorLineColor;
+
+  /// Geode to hold the grid
+  ::osg::ref_ptr<::osg::Geode> mGeode;
+
+  /// Geometry to describe axis lines
+  ::osg::ref_ptr<::osg::Geometry> mAxisLineGeom;
+
+  /// Geometry to describe minor lines
+  ::osg::ref_ptr<::osg::Geometry> mMajorLineGeom;
+
+  /// Geometry to describe major lines
+  ::osg::ref_ptr<::osg::Geometry> mMinorLineGeom;
+
+  /// Vertices of axis lines
+  ::osg::ref_ptr<::osg::Vec3Array> mMinorLineVertices;
+
+  /// Vertices of major lines
+  ::osg::ref_ptr<::osg::Vec3Array> mMajorLineVertices;
+
+  /// Vertices of minor lines
+  ::osg::ref_ptr<::osg::Vec3Array> mAxisLineVertices;
+
+  /// Faces of the first axis positive line
+  ::osg::ref_ptr<::osg::DrawElementsUInt> mAxis1PositiveFaces;
+
+  /// Faces of the first axis negative line
+  ::osg::ref_ptr<::osg::DrawElementsUInt> mAxis1NegativeFaces;
+
+  /// Faces of the second axis positive line
+  ::osg::ref_ptr<::osg::DrawElementsUInt> mAxis2PositiveFaces;
+
+  /// Faces of the second axis negative line
+  ::osg::ref_ptr<::osg::DrawElementsUInt> mAxis2NegativeFaces;
+
+  /// Faces of major lines
+  ::osg::ref_ptr<::osg::DrawElementsUInt> mMajorLineFaces;
+
+  /// Faces of minor lines
+  ::osg::ref_ptr<::osg::DrawElementsUInt> mMinorLineFaces;
+
+  /// Line width for axis line
+  ::osg::ref_ptr<::osg::LineWidth> mAxisLineWidth;
+
+  /// Line width for major line
+  ::osg::ref_ptr<::osg::LineWidth> mMajorLineWidth;
+
+  /// Line width for minor line
+  ::osg::ref_ptr<::osg::LineWidth> mMinorLineWidth;
+
+  /// Dirty flag to notify this grid needs to be updated
+  bool mNeedUpdate;
+};
+
+} // namespace osg
+} // namespace gui
+} // namespace dart
+
+#endif // DART_GUI_OSG_GRIDVISUAL_HPP_

include/dart/gui/osg/ImGuiHandler.hpp

@@ -0,0 +1,113 @@
+/*
+ * Copyright (c) 2011-2025, The DART development contributors
+ * All rights reserved.
+ *
+ * The list of contributors can be found at:
+ *   https://github.com/dartsim/dart/blob/main/LICENSE
+ *
+ * This file is provided under the following "BSD-style" License:
+ *   Redistribution and use in source and binary forms, with or
+ *   without modification, are permitted provided that the following
+ *   conditions are met:
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * This code incorporates portions of Open Dynamics Engine
+ *     (Copyright (c) 2001-2004, Russell L. Smith. All rights
+ *     reserved.) and portions of FCL (Copyright (c) 2011, Willow
+ *     Garage, Inc. All rights reserved.), which were released under
+ *     the same BSD license as below
+ *
+ *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
+ *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
+ *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+ *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
+ *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
+ *   USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *   POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef DART_GUI_OSG_IMGUIHANDLER_HPP_
+#define DART_GUI_OSG_IMGUIHANDLER_HPP_
+
+#include <osg/GraphicsContext>
+#include <osgGA/GUIActionAdapter>
+#include <osgGA/GUIEventAdapter>
+#include <osgGA/GUIEventHandler>
+
+#include <array>
+#include <memory>
+#include <vector>
+
+namespace dart {
+namespace gui {
+namespace osg {
+
+class ImGuiWidget;
+
+class ImGuiHandler : public osgGA::GUIEventHandler
+{
+public:
+  /// Constructor
+  ImGuiHandler();
+
+  /// Destructor
+  ~ImGuiHandler() override;
+
+  void newFrame(::osg::RenderInfo& renderInfo);
+
+  void render(::osg::RenderInfo& renderInfo);
+
+  void setCameraCallbacks(::osg::Camera* camera);
+
+  //----------------------------------------------------------------------------
+  /// \{ \name Widget management
+  //----------------------------------------------------------------------------
+
+  /// Returns true if this Viewer contains given widget.
+  bool hasWidget(const std::shared_ptr<ImGuiWidget>& widget) const;
+
+  /// Adds given Widget to this Viewer.
+  void addWidget(
+      const std::shared_ptr<ImGuiWidget>& widget, bool visible = true);
+
+  /// Removes given Widget from this Viewer.
+  void removeWidget(const std::shared_ptr<ImGuiWidget>& widget);
+
+  /// Removes all the widgets in this Viewer.
+  void removeAllWidget();
+
+  /// \}
+
+  // Documentation inherited.
+  bool handle(
+      const osgGA::GUIEventAdapter& eventAdapter,
+      osgGA::GUIActionAdapter& actionAdapter,
+      ::osg::Object* object,
+      ::osg::NodeVisitor* nodeVisitor) override;
+
+protected:
+  double mTime;
+
+  /// Mouse buttons: left, right, middle.
+  std::array<bool, 3> mMousePressed;
+
+  float mMouseWheel;
+
+  std::vector<std::shared_ptr<ImGuiWidget>> mWidgets;
+};
+
+} // namespace osg
+} // namespace gui
+} // namespace dart
+
+#endif // DART_GUI_OSG_IMGUIHANDLER_HPP_

include/dart/gui/osg/ImGuiViewer.hpp

@@ -0,0 +1,83 @@
+/*
+ * Copyright (c) 2011-2025, The DART development contributors
+ * All rights reserved.
+ *
+ * The list of contributors can be found at:
+ *   https://github.com/dartsim/dart/blob/main/LICENSE
+ *
+ * This file is provided under the following "BSD-style" License:
+ *   Redistribution and use in source and binary forms, with or
+ *   without modification, are permitted provided that the following
+ *   conditions are met:
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
+ *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
+ *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+ *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
+ *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
+ *   USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *   POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef DART_GUI_OSG_IMGUIVIEWER_HPP_
+#define DART_GUI_OSG_IMGUIVIEWER_HPP_
+
+#include <dart/gui/osg/Viewer.hpp>
+
+#include <memory>
+
+namespace dart {
+namespace gui {
+namespace osg {
+
+class ImGuiHandler;
+class MainMenuWidget;
+class AboutWidget;
+
+class ImGuiViewer : public Viewer
+{
+public:
+  /// Constructor for dart::gui::osg::Viewer. This will automatically create the
+  /// default event handler.
+  ImGuiViewer(
+      const ::osg::Vec4& clearColor = ::osg::Vec4(0.9f, 0.9f, 0.9f, 1.0f));
+
+  /// Destructor.
+  virtual ~ImGuiViewer();
+
+  /// Get ImGui handler.
+  ImGuiHandler* getImGuiHandler();
+
+  /// Get cosnt ImGui handler.
+  const ImGuiHandler* getImGuiHandler() const;
+
+  /// Show About widget.
+  void showAbout();
+
+  /// Hide About widget.
+  void hideAbout();
+
+protected:
+  /// ImGui handler.
+  ::osg::ref_ptr<ImGuiHandler> mImGuiHandler;
+
+  /// About widget.
+  std::shared_ptr<AboutWidget> mAboutWidget;
+};
+
+} // namespace osg
+} // namespace gui
+} // namespace dart
+
+#endif // DART_GUI_OSG_IMGUIVIEWER_HPP_

include/dart/gui/osg/ImGuiWidget.hpp

@@ -0,0 +1,91 @@
+/*
+ * Copyright (c) 2011-2025, The DART development contributors
+ * All rights reserved.
+ *
+ * The list of contributors can be found at:
+ *   https://github.com/dartsim/dart/blob/main/LICENSE
+ *
+ * This file is provided under the following "BSD-style" License:
+ *   Redistribution and use in source and binary forms, with or
+ *   without modification, are permitted provided that the following
+ *   conditions are met:
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * This code incorporates portions of Open Dynamics Engine
+ *     (Copyright (c) 2001-2004, Russell L. Smith. All rights
+ *     reserved.) and portions of FCL (Copyright (c) 2011, Willow
+ *     Garage, Inc. All rights reserved.), which were released under
+ *     the same BSD license as below
+ *
+ *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
+ *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
+ *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+ *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
+ *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
+ *   USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *   POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef DART_GUI_OSG_IMGUIWIDGET_HPP_
+#define DART_GUI_OSG_IMGUIWIDGET_HPP_
+
+#include <dart/gui/osg/ImGuiViewer.hpp>
+
+namespace dart {
+namespace gui {
+namespace osg {
+
+class ImGuiWidget
+{
+public:
+  /// Constructor
+  ImGuiWidget();
+
+  /// Destructor.
+  virtual ~ImGuiWidget();
+
+  /// The main render function for ImGui widget.
+  virtual void render() = 0;
+
+  /// Set the visibility of this widget.
+  void setVisible(bool visible);
+
+  /// Toggle the visibility of this widget.
+  void toggleVisible();
+
+  /// Show this widget.
+  void show();
+
+  /// Hide this widget.
+  void hide();
+
+  /// Whether this widget is visible.
+  bool isVisible() const;
+
+protected:
+  /// Whether this widget is visible.
+  bool mIsVisible;
+};
+
+class AboutWidget : public ImGuiWidget
+{
+public:
+  // Documentation inherited
+  void render() override;
+};
+
+} // namespace osg
+} // namespace gui
+} // namespace dart
+
+#endif // DART_GUI_OSG_IMGUIWIDGET_HPP_

include/dart/gui/osg/IncludeImGui.hpp

@@ -0,0 +1,75 @@
+/*
+ * Copyright (c) 2011-2025, The DART development contributors
+ * All rights reserved.
+ *
+ * The list of contributors can be found at:
+ *   https://github.com/dartsim/dart/blob/main/LICENSE
+ *
+ * This file is provided under the following "BSD-style" License:
+ *   Redistribution and use in source and binary forms, with or
+ *   without modification, are permitted provided that the following
+ *   conditions are met:
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
+ *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
+ *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+ *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
+ *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
+ *   USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *   POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef DART_GUI_OSG_INCLUDEIMGUI_HPP_
+#define DART_GUI_OSG_INCLUDEIMGUI_HPP_
+
+#include <dart/config.hpp>
+
+// ImGui header inclusion handling for different configurations
+//
+// When DART_USE_SYSTEM_IMGUI=OFF:
+//   - Build tree: ImGui fetched via FetchContent, headers in
+//   build/_deps/imgui-src
+//   - Install tree: Headers installed to include/ and include/backends/
+//   - Include directories configured in cmake/DARTFindDependencies.cmake
+//
+// When DART_USE_SYSTEM_IMGUI=ON:
+//   - Package managers install ImGui in different locations:
+//     * conda-forge: include/imgui.h, include/imgui_impl_opengl2.h
+//     * vcpkg: include/imgui.h, include/imgui/backends/imgui_impl_opengl2.h
+//     * apt (varies): include/imgui/imgui.h,
+//     include/imgui/backends/imgui_impl_opengl2.h
+//   - cmake/Findimgui.cmake handles these variations and adds proper include
+//   paths
+//
+// Both configurations end up with compatible include paths, so we try standard
+// patterns in order of preference:
+#if __has_include(<imgui.h>)
+  #include <imgui.h>
+#elif __has_include(<imgui/imgui.h>)
+  #include <imgui/imgui.h>
+#else
+  #error "Could not find imgui.h - check your ImGui installation"
+#endif
+
+#if __has_include(<imgui_impl_opengl2.h>)
+  #include <imgui_impl_opengl2.h>
+#elif __has_include(<backends/imgui_impl_opengl2.h>)
+  #include <backends/imgui_impl_opengl2.h>
+#elif __has_include(<imgui/backends/imgui_impl_opengl2.h>)
+  #include <imgui/backends/imgui_impl_opengl2.h>
+#else
+  #error "Could not find imgui_impl_opengl2.h - check your ImGui installation"
+#endif
+
+#endif // DART_GUI_OSG_INCLUDEIMGUI_HPP_