BulletTypes.hpp

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#ifndef DART_COLLISION_BULLET_BULLETTYPES_HPP_
#define DART_COLLISION_BULLET_BULLETTYPES_HPP_
 
#include <Eigen/Dense>
#include <btBulletCollisionCommon.h>
 
namespace dart {
namespace collision {
 
Eigen::Vector3d convertVector3(const btVector3& _vec);
 
btVector3 convertVector3(const Eigen::Vector3d& _vec);
 
btMatrix3x3 convertMatrix3x3(const Eigen::Matrix3d& _R);
 
btTransform convertTransform(const Eigen::Isometry3d& _T);
 
} // namespace collision
} // namespace dart
 
#endif // DART_COLLISION_BULLET_BULLETTYPES_HPP_