Esempi in C++ (Cpp) per convVector

Esempio n. 1

File: DARTCollide.cpp Progetto: dtbinh/dart

int collideBoxBox(const Eigen::Vector3d& size0, const Eigen::Isometry3d& T0,
                  const Eigen::Vector3d& size1, const Eigen::Isometry3d& T1,
                  std::vector<Contact>* result)
{
  dVector3 halfSize0;
  dVector3 halfSize1;

  convVector(0.5 * size0, halfSize0);
  convVector(0.5 * size1, halfSize1);

  dMatrix3 R0, R1;

  convMatrix(T0, R0);
  convMatrix(T1, R1);

  dVector3 p0;
  dVector3 p1;

  convVector(T0.translation(), p0);
  convVector(T1.translation(), p1);

  return dBoxBox(p1, R1, halfSize1, p0, R0, halfSize0, *result);
}

Esempio n. 2

File: DARTCollide.cpp Progetto: dartsim/dart

int collideBoxBox(CollisionObject* o1, CollisionObject* o2,
                  const Eigen::Vector3d& size0, const Eigen::Isometry3d& T0,
                  const Eigen::Vector3d& size1, const Eigen::Isometry3d& T1,
                  CollisionResult& result)
{
  dVector3 halfSize0;
  dVector3 halfSize1;

  convVector(0.5 * size0, halfSize0);
  convVector(0.5 * size1, halfSize1);

  dMatrix3 R0, R1;

  convMatrix(T0, R0);
  convMatrix(T1, R1);

  dVector3 p0;
  dVector3 p1;

  convVector(T0.translation(), p0);
  convVector(T1.translation(), p1);

  return dBoxBox(o1, o2, p1, R1, halfSize1, p0, R0, halfSize0, result);
}