int main(int argc, char* argv[]) {
convMatrix("mat_1_b", 1, 1000);
convMatrix("mat_1_w", 784, 1000);
convMatrix("mat_2_b", 1, 500);
convMatrix("mat_2_w", 1000, 500);
convMatrix("mat_3_b", 1, 300);
convMatrix("mat_3_w", 500, 300);
convMatrix("mat_4_b", 1, 50);
convMatrix("mat_4_w", 300, 50);
convMatrix("SemPtr", 10, 50);
convMatrix("samplesPtr", 100, 784);
return 0;
}
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);
}
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);
}
