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
namespace	lpzrobots
	forward declarations
Functions
Pose	osgPose (dGeomID geom)
	returns the osg (4x4) pose matrix of the ode geom
Pose	osgPose (dBodyID body)
	returns the osg (4x4) pose matrix of the ode body
Pose	osgPose (const double *position, const double *rotation)
	converts a position vector and a rotation matrix from ode to osg 4x4 matrix
void	odeRotation (const Pose &pose, dMatrix3 &odematrix)
	converts the rotation component of pose into an ode rotation matrix
Variables
int	globalNumVelocityViolations = 0
	counts number of max velocity violations at joints (Attention, this is a global variable, initialized to 0 at start)