Merge branch 'master' into tm_colldetection_upgr

This commit is contained in:
tamasmeszaros 2019-02-25 13:24:43 +01:00
commit 03079381e1
119 changed files with 11942 additions and 8619 deletions

View file

@ -551,10 +551,16 @@ enum { // For indexing Eigen vectors as v(X), v(Y), v(Z) instead of numbers
X, Y, Z
};
PointSet to_point_set(const std::vector<Vec3d> &v)
PointSet to_point_set(const std::vector<SupportPoint> &v)
{
PointSet ret(v.size(), 3);
{ long i = 0; for(const Vec3d& p : v) ret.row(i++) = p; }
long i = 0;
for(const SupportPoint& support_point : v) {
ret.row(i)(0) = support_point.pos(0);
ret.row(i)(1) = support_point.pos(1);
ret.row(i)(2) = support_point.pos(2);
++i;
}
return ret;
}
@ -679,6 +685,7 @@ double pinhead_mesh_intersect(const Vec3d& s,
return *mit;
}
// Checking bridge (pillar and stick as well) intersection with the model. If
// the function is used for headless sticks, the ins_check parameter have to be
// true as the beginning of the stick might be inside the model geometry.