void collisionTester::initAlgo(){ btCollisionObjectWrapper sA(0,sphereA.getCollisionShape(), &sphereA, sphereA.getWorldTransform()); btCollisionObjectWrapper sB(0,sphereB.getCollisionShape(), &sphereB, sphereB.getWorldTransform()); btCollisionObjectWrapper cA(0,cylinderA.getCollisionShape(), &cylinderA, sphereA.getWorldTransform()); btCollisionObjectWrapper cB(0,cylinderB.getCollisionShape(), &cylinderB, sphereB.getWorldTransform()); algoSS = collisionWorld->getDispatcher()->findAlgorithm(&sA, &sB); algoSC = collisionWorld->getDispatcher()->findAlgorithm(&sA, &cA); algoCC = collisionWorld->getDispatcher()->findAlgorithm(&cA, &cB); }
NOX::Abstract::Group::ReturnType LOCA::BorderedSolver::LowerTriangularBlockElimination:: solveTranspose(Teuchos::ParameterList& params, const LOCA::BorderedSolver::AbstractOperator& op, const NOX::Abstract::MultiVector& B, const NOX::Abstract::MultiVector::DenseMatrix& C, const NOX::Abstract::MultiVector* F, const NOX::Abstract::MultiVector::DenseMatrix* G, NOX::Abstract::MultiVector& X, NOX::Abstract::MultiVector::DenseMatrix& Y) const { // Create a constraint out of B LOCA::MultiContinuation::MultiVecConstraint cB(Teuchos::rcp(&B,false)); // Call other version return solveTranspose(params, op, cB, C, F, G, X, Y); }