C++ (Cpp) Obstacle::predictedTransform示例

示例#1

文件： planningproblem.cpp 项目： amiryanj/cyrus_ssl

bool PlanningProblem::hasCollision(const Station &st, const Obstacle &ob)
{
    b2Transform st_Transform;
    st_Transform.Set(st.getPosition().to2D().toB2vec2(), st.getPosition().Teta());

    return b2TestOverlap(ob.shape, 0, agent->shape, 1, ob.predictedTransform(0), st_Transform);
}