primitive.cpp File Reference

#include <assert.h>
#include <osg/MatrixTransform>
#include "primitive.h"
#include "pos.h"
#include "boundingshape.h"
#include "osgprimitive.h"
#include "odehandle.h"
#include "globaldata.h"

Include dependency graph for primitive.cpp:

Namespaces
namespace	lpzrobots
Functions
osg::Matrix	osgPose (dGeomID geom)
	returns the osg (4x4) pose matrix of the ode geom
osg::Matrix	osgPose (dBodyID body)
	returns the osg (4x4) pose matrix of the ode body
osg::Matrix	osgPose (const double *V, const double *R)
	converts a position vector and a rotation matrix from ode to osg 4x4 matrix
void	odeRotation (const osg::Matrix &pose, dMatrix3 &odematrix)
	converts the rotation component of pose into an ode rotation matrix

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Function Documentation

void odeRotation (  const osg::Matrix &  pose, dMatrix3 &  odematrix )

converts the rotation component of pose into an ode rotation matrix

osg::Matrix osgPose (  const double *  position, const double *  rotation )

converts a position vector and a rotation matrix from ode to osg 4x4 matrix

osg::Matrix osgPose (  dBodyID  body  )

returns the osg (4x4) pose matrix of the ode body

osg::Matrix osgPose (  dGeomID  geom  )

returns the osg (4x4) pose matrix of the ode geom

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