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);
}
