primitive.cpp File Reference

#include <assert.h>
#include <osg/MatrixTransform>
#include <osg/Vec4>
#include "primitive.h"
#include "pos.h"
#include "boundingshape.h"
#include "osgprimitive.h"
#include "odehandle.h"
#include "globaldata.h"
#include <selforg/quickmp.h>

Include dependency graph for primitive.cpp:

Namespaces
	lpzrobots
	forward declarations

Functions
Pose	osgPose (dGeomID geom)
	returns the osg (4x4) pose matrix of the ode geom More...
Pose	osgPose (dBodyID body)
	returns the osg (4x4) pose matrix of the ode body More...
Pose	osgPose (const double *position, const double *rotation)
	converts a position vector and a rotation matrix from ode to osg 4x4 matrix More...
void	odeRotation (const Pose &pose, dMatrix3 &odematrix)
	converts the rotation component of pose into an ode rotation matrix More...

Variables
int	globalNumVelocityViolations = 0
	counts number of max velocity violations at joints (Attention, this is a global variable, initialized to 0 at start) More...