Defines basic math and gemoetric primitives. dReal is defined in ODE. Any functions not in here like conversions between quaterions and matrices are most likely defined in ODE. Originally from OpenRAVE (http://openrave.programmingvision.com) More...
Go to the source code of this file.
Classes | |
struct | AABB |
struct | OBB |
class | RaveTransform< T > |
affine transformation parameterized with quaterions More... | |
class | RaveTransformMatrix< T > |
affine transformation parameterized with rotation matrices More... | |
class | RaveVector< T > |
struct | RAY |
struct | TRIANGLE |
Defines | |
#define | _R(i, j) R[(i)*4+(j)] |
#define | dCos(x) (cosf(x)) |
#define | distinctRoots 0 |
#define | dRecip(x) ((1.0f/(x))) |
#define | dSin(x) (sinf(x)) |
#define | dSINGLE |
#define | dSqrt(x) (sqrtf(x)) |
#define | floatRoot01 2 |
#define | floatRoot12 4 |
#define | g_fEpsilon 1e-8 |
#define | MULT3(stride) |
#define | rswap(x, y) *(int*)&(x) ^= *(int*)&(y) ^= *(int*)&(x) ^= *(int*)&(y); |
#define | singleRoot 1 |
#define | tripleRoot 6 |
Typedefs | |
typedef dReal | dMatrix3 [4 *3] |
typedef dReal | dMatrix4 [4 *4] |
typedef dReal | dMatrix6 [8 *6] |
typedef dReal | dQuaternion [4] |
typedef float | dReal |
typedef dReal | dVector3 [4] |
typedef dReal | dVector4 [4] |
typedef RaveTransform< dReal > | Transform |
typedef RaveTransformMatrix < dReal > | TransformMatrix |
typedef RaveVector< dReal > | Vector |
Functions | |
template<class T > | |
T * | _cross3 (T *pfout, const T *pf1, const T *pf2) |
template<class T > | |
T | _dot2 (const T *pf1, const T *pf2) |
template<class T > | |
T | _dot3 (const T *pf1, const T *pf2) |
template<class T > | |
T | _dot4 (const T *pf1, const T *pf2) |
template<class T > | |
T * | _inv3 (const T *pf, T *pfres, T *pfdet, int stride) |
template<class T > | |
T * | _inv4 (const T *pf, T *pfres) |
template<class T > | |
T | _lengthsqr2 (const T *pf) |
template<class T > | |
T | _lengthsqr3 (const T *pf) |
template<class T > | |
T | _lengthsqr4 (const T *pf) |
template<class T > | |
T * | _mult3_s3 (T *pfres, const T *pf1, const T *pf2) |
mult3 with a 3x3 matrix whose row stride is 12 bytes | |
template<class T > | |
T * | _mult3_s4 (T *pfres, const T *pf1, const T *pf2) |
mult3 with a 3x3 matrix whose row stride is 16 bytes | |
template<class T > | |
T * | _mult4 (T *pfres, const T *p1, const T *p2) |
template<class T > | |
T * | _multtrans3 (T *pfres, const T *pf1, const T *pf2) |
template<class T > | |
T * | _multtrans4 (T *pfres, const T *pf1, const T *pf2) |
template<class T > | |
T * | _normalize2 (T *pfout, const T *pf) |
template<class T > | |
T * | _normalize3 (T *pfout, const T *pf) |
template<class T > | |
T * | _normalize4 (T *pfout, const T *pf) |
template<class T > | |
T * | _transnorm3 (T *pfout, const T *pfmat, const T *pf) |
template<class T > | |
T * | _transpose3 (const T *pf, T *pfres) |
template<class T > | |
T * | _transpose4 (const T *pf, T *pfres) |
template<class T > | |
void | add (T *pf1, T *pf2, int r) |
template<class T > | |
RaveVector< T > | AxisAngle2Quat (const RaveVector< T > &rotaxis, T angle) |
float * | cross3 (float *pfout, const float *pf1, const float *pf2) |
double * | cross3 (double *pfout, const double *pf1, const double *pf2) |
int | CubicRoots (double c0, double c1, double c2, double *r0, double *r1, double *r2) |
dReal | DistVertexOBBSq (const Vector &v, const OBB &o) |
template<class T > | |
T | dot (T *pf1, T *pf2, int length) |
float | dot2 (const float *pf1, const float *pf2) |
double | dot2 (const double *pf1, const double *pf2) |
float | dot3 (const float *pf1, const float *pf2) |
double | dot3 (const double *pf1, const double *pf2) |
float | dot4 (const float *pf1, const float *pf2) |
double | dot4 (const double *pf1, const double *pf2) |
void | dQfromR (dQuaternion q, const dMatrix3 R) |
void | dQMultiply0 (dQuaternion qa, const dQuaternion qb, const dQuaternion qc) |
template<class T > | |
RaveVector< T > | dQSlerp (const RaveVector< T > &qa, const RaveVector< T > &qb, T t) |
void | dRfromQ (dMatrix3 R, const dQuaternion q) |
bool | eig2 (const dReal *pfmat, dReal *peigs, dReal &fv1x, dReal &fv1y, dReal &fv2x, dReal &fv2y) |
void | EigenSymmetric3 (dReal *fCovariance, dReal *eval, dReal *fAxes) |
void | GetCovarBasisVectors (dReal fCovariance[3][3], Vector *vRight, Vector *vUp, Vector *vDir) |
Vector | GetRandomQuat (void) |
int | insideQuadrilateral (const Vector *p0, const Vector *p1, const Vector *p2, const Vector *p3) |
int | insideTriangle (const Vector *p0, const Vector *p1, const Vector *p2) |
template<class T > | |
bool | inv2 (T *pf, T *pfres) |
float * | inv3 (const float *pf, float *pfres, float *pfdet, int stride) |
double * | inv3 (const double *pf, double *pfres, double *pfdet, int stride) |
float * | inv4 (const float *pf, float *pfres) |
double * | inv4 (const double *pf, double *pfres) |
template<class T > | |
T | lengthsqr (const T *pf1, const T *pf2, int length) |
float | lengthsqr2 (const float *pf) |
double | lengthsqr2 (const double *pf) |
float | lengthsqr3 (const float *pf) |
double | lengthsqr3 (const double *pf) |
float | lengthsqr4 (const float *pf) |
double | lengthsqr4 (const double *pf) |
template<class T > | |
T | matrixdet3 (const T *pf, int stride) |
calculates the determinant of a 3x3 matrix whose row stride stride elements | |
template<class T > | |
int | Max (T *pts, int stride, int numPts) |
template<class T > | |
int | Min (T *pts, int stride, int numPts) |
template<class T > | |
void | mult (T *pf, T fa, int r) |
template<class T , class R , class S > | |
S * | mult (T *pf1, R *pf2, int r1, int c1, int c2, S *pfres, bool badd=false) |
float * | mult3_s3 (float *pfres, const float *pf1, const float *pf2) |
double * | mult3_s3 (double *pfres, const double *pf1, const double *pf2) |
float * | mult3_s4 (float *pfres, const float *pf1, const float *pf2) |
double * | mult3_s4 (double *pfres, const double *pf1, const double *pf2) |
float * | mult4 (float *pfres, const float *pf1, const float *pf2) |
double * | mult4 (double *pfres, const double *pf1, const double *pf2) |
template<class T > | |
T * | multto1 (T *pf1, T *pf2, int r1, int c1, T *pftemp=NULL) |
template<class T , class S > | |
T * | multto2 (T *pf1, S *pf2, int r2, int c2, S *pftemp=NULL) |
template<class T , class R , class S > | |
S * | multtrans (T *pf1, R *pf2, int r1, int c1, int c2, S *pfres, bool badd=false) |
float * | multtrans3 (float *pfres, const float *pf1, const float *pf2) |
double * | multtrans3 (double *pfres, const double *pf1, const double *pf2) |
float * | multtrans4 (float *pfres, const float *pf1, const float *pf2) |
double * | multtrans4 (double *pfres, const double *pf1, const double *pf2) |
template<class T , class R , class S > | |
S * | multtrans_to2 (T *pf1, R *pf2, int r1, int c1, int r2, S *pfres, bool badd=false) |
float * | normalize2 (float *pfout, const float *pf) |
double * | normalize2 (double *pfout, const double *pf) |
float * | normalize3 (float *pfout, const float *pf) |
double * | normalize3 (double *pfout, const double *pf) |
float * | normalize4 (float *pfout, const float *pf) |
double * | normalize4 (double *pfout, const double *pf) |
template<class T > | |
T | normsqr (const T *pf1, int r) |
template<class T > | |
RaveVector< T > | operator* (float f, const RaveVector< T > &left) |
template<class T > | |
RaveVector< T > | operator* (double f, const RaveVector< T > &left) |
template<class T , class U > | |
std::basic_ostream< T > & | operator<< (std::basic_ostream< T > &O, const RaveVector< U > &v) |
template<class T , class U > | |
std::basic_ostream< T > & | operator<< (std::basic_ostream< T > &O, const RaveTransform< U > &v) |
template<class T , class U > | |
std::basic_ostream< T > & | operator<< (std::basic_ostream< T > &O, const RaveTransformMatrix< U > &v) |
template<class T , class U > | |
std::basic_istream< T > & | operator>> (std::basic_istream< T > &I, RaveVector< U > &v) |
template<class T , class U > | |
std::basic_istream< T > & | operator>> (std::basic_istream< T > &I, RaveTransform< U > &v) |
template<class T , class U > | |
std::basic_istream< T > & | operator>> (std::basic_istream< T > &I, RaveTransformMatrix< U > &v) |
bool | QLAlgorithm3 (float *m_aafEntry, float *afDiag, float *afSubDiag) |
bool | QLAlgorithm3 (double *m_aafEntry, double *afDiag, double *afSubDiag) |
void | QuadraticSolver (dReal *pfQuadratic, dReal *pfRoots) |
template<class T > | |
T | RAD_2_DEG (T radians) |
float | RaveAcos (float f) |
double | RaveAcos (double f) |
float | RaveCos (float f) |
double | RaveCos (double f) |
float | RaveFabs (float f) |
double | RaveFabs (double f) |
float | RaveSin (float f) |
double | RaveSin (double f) |
float | RaveSqrt (float f) |
double | RaveSqrt (double f) |
bool | RayOBBTest (const RAY &r, const OBB &obb) |
template<class T > | |
int | solvequad (T a, T b, T c, T &r1, T &r2) |
template<class T > | |
void | sub (T *pf1, T *pf2, int r) |
template<class T > | |
T | sum (T *pf, int length) |
void | svd3 (const dReal *A, dReal *U, dReal *D, dReal *V) |
dReal * | transcoord3 (dReal *pfout, const TransformMatrix *pmat, const dReal *pf) |
computes (*pmat) * v | |
template<class T > | |
T * | transcoord3 (T *pfout, const RaveTransformMatrix< T > *pmat, const T *pf) |
float * | transnorm3 (float *pfout, const float *pfmat, const float *pf) |
double * | transnorm3 (double *pfout, const double *pfmat, const double *pf) |
dReal * | transnorm3 (dReal *pfout, const TransformMatrix *pmat, const dReal *pf) |
uses only 3x3 upper submatrix | |
template<class T > | |
T * | transnorm3 (T *pfout, const RaveTransformMatrix< T > *pmat, const T *pf) |
float * | transpose3 (const float *pf, float *pfres) |
double * | transpose3 (const double *pf, double *pfres) |
float * | transpose4 (const float *pf, float *pfres) |
double * | transpose4 (const double *pf, double *pfres) |
template<class T , class S > | |
void | Tridiagonal3 (S *mat, T *diag, T *subd) |
bool | TriTriCollision (const RaveVector< float > &u1, const RaveVector< float > &u2, const RaveVector< float > &u3, const RaveVector< float > &v1, const RaveVector< float > &v2, const RaveVector< float > &v3, RaveVector< float > &contactpos, RaveVector< float > &contactnorm) |
bool | TriTriCollision (const RaveVector< double > &u1, const RaveVector< double > &u2, const RaveVector< double > &u3, const RaveVector< double > &v1, const RaveVector< double > &v2, const RaveVector< double > &v3, RaveVector< double > &contactpos, RaveVector< double > &contactnorm) |
Defines basic math and gemoetric primitives. dReal is defined in ODE. Any functions not in here like conversions between quaterions and matrices are most likely defined in ODE. Originally from OpenRAVE (http://openrave.programmingvision.com)
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Definition in file math.h.
#define distinctRoots 0 |
#define floatRoot01 2 |
#define floatRoot12 4 |
#define g_fEpsilon 1e-8 |
#define MULT3 | ( | stride | ) |
{ \ pfres2[0*stride+0] = pf1[0*stride+0]*pf2[0*stride+0]+pf1[0*stride+1]*pf2[1*stride+0]+pf1[0*stride+2]*pf2[2*stride+0]; \ pfres2[0*stride+1] = pf1[0*stride+0]*pf2[0*stride+1]+pf1[0*stride+1]*pf2[1*stride+1]+pf1[0*stride+2]*pf2[2*stride+1]; \ pfres2[0*stride+2] = pf1[0*stride+0]*pf2[0*stride+2]+pf1[0*stride+1]*pf2[1*stride+2]+pf1[0*stride+2]*pf2[2*stride+2]; \ pfres2[1*stride+0] = pf1[1*stride+0]*pf2[0*stride+0]+pf1[1*stride+1]*pf2[1*stride+0]+pf1[1*stride+2]*pf2[2*stride+0]; \ pfres2[1*stride+1] = pf1[1*stride+0]*pf2[0*stride+1]+pf1[1*stride+1]*pf2[1*stride+1]+pf1[1*stride+2]*pf2[2*stride+1]; \ pfres2[1*stride+2] = pf1[1*stride+0]*pf2[0*stride+2]+pf1[1*stride+1]*pf2[1*stride+2]+pf1[1*stride+2]*pf2[2*stride+2]; \ pfres2[2*stride+0] = pf1[2*stride+0]*pf2[0*stride+0]+pf1[2*stride+1]*pf2[1*stride+0]+pf1[2*stride+2]*pf2[2*stride+0]; \ pfres2[2*stride+1] = pf1[2*stride+0]*pf2[0*stride+1]+pf1[2*stride+1]*pf2[1*stride+1]+pf1[2*stride+2]*pf2[2*stride+1]; \ pfres2[2*stride+2] = pf1[2*stride+0]*pf2[0*stride+2]+pf1[2*stride+1]*pf2[1*stride+2]+pf1[2*stride+2]*pf2[2*stride+2]; \ }
#define singleRoot 1 |
#define tripleRoot 6 |
typedef dReal dQuaternion[4] |
typedef RaveTransform<dReal> Transform |
typedef RaveTransformMatrix<dReal> TransformMatrix |
typedef RaveVector<dReal> Vector |
T _lengthsqr2 | ( | const T * | pf | ) | [inline] |
T _lengthsqr3 | ( | const T * | pf | ) | [inline] |
T _lengthsqr4 | ( | const T * | pf | ) | [inline] |
T* _multtrans3 | ( | T * | pfres, |
const T * | pf1, | ||
const T * | pf2 | ||
) | [inline] |
T* _multtrans4 | ( | T * | pfres, |
const T * | pf1, | ||
const T * | pf2 | ||
) | [inline] |
T* _normalize2 | ( | T * | pfout, |
const T * | pf | ||
) | [inline] |
T* _normalize3 | ( | T * | pfout, |
const T * | pf | ||
) | [inline] |
T* _normalize4 | ( | T * | pfout, |
const T * | pf | ||
) | [inline] |
T* _transnorm3 | ( | T * | pfout, |
const T * | pfmat, | ||
const T * | pf | ||
) | [inline] |
T* _transpose3 | ( | const T * | pf, |
T * | pfres | ||
) | [inline] |
T* _transpose4 | ( | const T * | pf, |
T * | pfres | ||
) | [inline] |
RaveVector<T> AxisAngle2Quat | ( | const RaveVector< T > & | rotaxis, |
T | angle | ||
) | [inline] |
float * cross3 | ( | float * | pfout, |
const float * | pf1, | ||
const float * | pf2 | ||
) | [inline] |
double * cross3 | ( | double * | pfout, |
const double * | pf1, | ||
const double * | pf2 | ||
) | [inline] |
int CubicRoots | ( | double | c0, |
double | c1, | ||
double | c2, | ||
double * | r0, | ||
double * | r1, | ||
double * | r2 | ||
) |
dReal DistVertexOBBSq | ( | const Vector & | v, |
const OBB & | o | ||
) |
float dot2 | ( | const float * | pf1, |
const float * | pf2 | ||
) | [inline] |
double dot2 | ( | const double * | pf1, |
const double * | pf2 | ||
) | [inline] |
float dot3 | ( | const float * | pf1, |
const float * | pf2 | ||
) | [inline] |
double dot3 | ( | const double * | pf1, |
const double * | pf2 | ||
) | [inline] |
float dot4 | ( | const float * | pf1, |
const float * | pf2 | ||
) | [inline] |
double dot4 | ( | const double * | pf1, |
const double * | pf2 | ||
) | [inline] |
void dQfromR | ( | dQuaternion | q, |
const dMatrix3 | R | ||
) | [inline] |
void dQMultiply0 | ( | dQuaternion | qa, |
const dQuaternion | qb, | ||
const dQuaternion | qc | ||
) | [inline] |
RaveVector<T> dQSlerp | ( | const RaveVector< T > & | qa, |
const RaveVector< T > & | qb, | ||
T | t | ||
) | [inline] |
void dRfromQ | ( | dMatrix3 | R, |
const dQuaternion | q | ||
) | [inline] |
void EigenSymmetric3 | ( | dReal * | fCovariance, |
dReal * | eval, | ||
dReal * | fAxes | ||
) |
void GetCovarBasisVectors | ( | dReal | fCovariance[3][3], |
Vector * | vRight, | ||
Vector * | vUp, | ||
Vector * | vDir | ||
) |
Vector GetRandomQuat | ( | void | ) | [inline] |
int insideQuadrilateral | ( | const Vector * | p0, |
const Vector * | p1, | ||
const Vector * | p2, | ||
const Vector * | p3 | ||
) |
int insideTriangle | ( | const Vector * | p0, |
const Vector * | p1, | ||
const Vector * | p2 | ||
) |
float * inv3 | ( | const float * | pf, |
float * | pfres, | ||
float * | pfdet, | ||
int | stride | ||
) | [inline] |
double * inv3 | ( | const double * | pf, |
double * | pfres, | ||
double * | pfdet, | ||
int | stride | ||
) | [inline] |
double * inv4 | ( | const double * | pf, |
double * | pfres | ||
) | [inline] |
float lengthsqr2 | ( | const float * | pf | ) | [inline] |
double lengthsqr2 | ( | const double * | pf | ) | [inline] |
float lengthsqr3 | ( | const float * | pf | ) | [inline] |
double lengthsqr3 | ( | const double * | pf | ) | [inline] |
float lengthsqr4 | ( | const float * | pf | ) | [inline] |
double lengthsqr4 | ( | const double * | pf | ) | [inline] |
T matrixdet3 | ( | const T * | pf, |
int | stride | ||
) | [inline] |
float * mult3_s3 | ( | float * | pfres, |
const float * | pf1, | ||
const float * | pf2 | ||
) | [inline] |
double * mult3_s3 | ( | double * | pfres, |
const double * | pf1, | ||
const double * | pf2 | ||
) | [inline] |
float * mult3_s4 | ( | float * | pfres, |
const float * | pf1, | ||
const float * | pf2 | ||
) | [inline] |
double * mult3_s4 | ( | double * | pfres, |
const double * | pf1, | ||
const double * | pf2 | ||
) | [inline] |
float * mult4 | ( | float * | pfres, |
const float * | pf1, | ||
const float * | pf2 | ||
) | [inline] |
double * mult4 | ( | double * | pfres, |
const double * | pf1, | ||
const double * | pf2 | ||
) | [inline] |
float * multtrans3 | ( | float * | pfres, |
const float * | pf1, | ||
const float * | pf2 | ||
) | [inline] |
double * multtrans3 | ( | double * | pfres, |
const double * | pf1, | ||
const double * | pf2 | ||
) | [inline] |
float * multtrans4 | ( | float * | pfres, |
const float * | pf1, | ||
const float * | pf2 | ||
) | [inline] |
double * multtrans4 | ( | double * | pfres, |
const double * | pf1, | ||
const double * | pf2 | ||
) | [inline] |
S * multtrans_to2 | ( | T * | pf1, |
R * | pf2, | ||
int | r1, | ||
int | c1, | ||
int | r2, | ||
S * | pfres, | ||
bool | badd = false |
||
) | [inline] |
float * normalize2 | ( | float * | pfout, |
const float * | pf | ||
) | [inline] |
double * normalize2 | ( | double * | pfout, |
const double * | pf | ||
) | [inline] |
float * normalize3 | ( | float * | pfout, |
const float * | pf | ||
) | [inline] |
double * normalize3 | ( | double * | pfout, |
const double * | pf | ||
) | [inline] |
float * normalize4 | ( | float * | pfout, |
const float * | pf | ||
) | [inline] |
double * normalize4 | ( | double * | pfout, |
const double * | pf | ||
) | [inline] |
RaveVector<T> operator* | ( | float | f, |
const RaveVector< T > & | left | ||
) | [inline] |
RaveVector<T> operator* | ( | double | f, |
const RaveVector< T > & | left | ||
) | [inline] |
std::basic_ostream<T>& operator<< | ( | std::basic_ostream< T > & | O, |
const RaveVector< U > & | v | ||
) |
std::basic_ostream<T>& operator<< | ( | std::basic_ostream< T > & | O, |
const RaveTransform< U > & | v | ||
) |
std::basic_ostream<T>& operator<< | ( | std::basic_ostream< T > & | O, |
const RaveTransformMatrix< U > & | v | ||
) |
std::basic_istream<T>& operator>> | ( | std::basic_istream< T > & | I, |
RaveVector< U > & | v | ||
) |
std::basic_istream<T>& operator>> | ( | std::basic_istream< T > & | I, |
RaveTransform< U > & | v | ||
) |
std::basic_istream<T>& operator>> | ( | std::basic_istream< T > & | I, |
RaveTransformMatrix< U > & | v | ||
) |
bool QLAlgorithm3 | ( | float * | m_aafEntry, |
float * | afDiag, | ||
float * | afSubDiag | ||
) |
bool QLAlgorithm3 | ( | double * | m_aafEntry, |
double * | afDiag, | ||
double * | afSubDiag | ||
) |
void QuadraticSolver | ( | dReal * | pfQuadratic, |
dReal * | pfRoots | ||
) |
bool RayOBBTest | ( | const RAY & | r, |
const OBB & | obb | ||
) |
SVD of a 3x3 matrix A such that A = U*diag(D)*V' where U is a 3x3 matrix, V is a 3x3 matrix, and D is a 3x1 vector The row stride for all matrices is 9 bytes
dReal* transcoord3 | ( | dReal * | pfout, |
const TransformMatrix * | pmat, | ||
const dReal * | pf | ||
) | [inline] |
computes (*pmat) * v
T* transcoord3 | ( | T * | pfout, |
const RaveTransformMatrix< T > * | pmat, | ||
const T * | pf | ||
) | [inline] |
float * transnorm3 | ( | float * | pfout, |
const float * | pfmat, | ||
const float * | pf | ||
) | [inline] |
double * transnorm3 | ( | double * | pfout, |
const double * | pfmat, | ||
const double * | pf | ||
) | [inline] |
dReal* transnorm3 | ( | dReal * | pfout, |
const TransformMatrix * | pmat, | ||
const dReal * | pf | ||
) | [inline] |
uses only 3x3 upper submatrix
T* transnorm3 | ( | T * | pfout, |
const RaveTransformMatrix< T > * | pmat, | ||
const T * | pf | ||
) | [inline] |
float * transpose3 | ( | const float * | pf, |
float * | pfres | ||
) | [inline] |
double * transpose3 | ( | const double * | pf, |
double * | pfres | ||
) | [inline] |
float * transpose4 | ( | const float * | pf, |
float * | pfres | ||
) | [inline] |
double * transpose4 | ( | const double * | pf, |
double * | pfres | ||
) | [inline] |
void Tridiagonal3 | ( | S * | mat, |
T * | diag, | ||
T * | subd | ||
) |
bool TriTriCollision | ( | const RaveVector< float > & | u1, |
const RaveVector< float > & | u2, | ||
const RaveVector< float > & | u3, | ||
const RaveVector< float > & | v1, | ||
const RaveVector< float > & | v2, | ||
const RaveVector< float > & | v3, | ||
RaveVector< float > & | contactpos, | ||
RaveVector< float > & | contactnorm | ||
) |
bool TriTriCollision | ( | const RaveVector< double > & | u1, |
const RaveVector< double > & | u2, | ||
const RaveVector< double > & | u3, | ||
const RaveVector< double > & | v1, | ||
const RaveVector< double > & | v2, | ||
const RaveVector< double > & | v3, | ||
RaveVector< double > & | contactpos, | ||
RaveVector< double > & | contactnorm | ||
) |