DART  6.6.2
BulletTypes.hpp
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32 
33 #ifndef DART_COLLISION_BULLET_BULLETTYPES_HPP_
34 #define DART_COLLISION_BULLET_BULLETTYPES_HPP_
35 
36 // Must be included before any Bullet headers.
37 #include "dart/config.hpp"
38 
39 #include <Eigen/Dense>
40 #include <btBulletCollisionCommon.h>
41 
42 namespace dart {
43 namespace collision {
44 
46 Eigen::Vector3d convertVector3(const btVector3& _vec);
47 
49 btVector3 convertVector3(const Eigen::Vector3d& _vec);
50 
52 btMatrix3x3 convertMatrix3x3(const Eigen::Matrix3d& _R);
53 
55 btTransform convertTransform(const Eigen::Isometry3d& _T);
56 
57 } // namespace collision
58 } // namespace dart
59 
60 #endif // DART_COLLISION_BULLET_BULLETTYPES_HPP_
btMatrix3x3 convertMatrix3x3(const Eigen::Matrix3d &_R)
Convert Bullet matrix3x3 type to Eigen matrix3x3 type.
Definition: BulletTypes.cpp:54
btTransform convertTransform(const Eigen::Isometry3d &_T)
Convert Bullet transformation type to Eigen transformation type.
Definition: BulletTypes.cpp:62
Eigen::Vector3d convertVector3(const btVector3 &_vec)
Convert Bullet vector3 type to Eigen vector3 type.
Definition: BulletTypes.cpp:42
Definition: BulletCollisionDetector.cpp:63