text: /*
   * Copyright (c) 2011-2021, The DART development contributors
   * All rights reserved.
   *
   * The list of contributors can be found at:
   *   https://github.com/dartsim/dart/blob/main/LICENSE
   *
   * This file is provided under the following "BSD-style" License:
   *   Redistribution and use in source and binary forms, with or
   *   without modification, are permitted provided that the following
   *   conditions are met:
   *   * Redistributions of source code must retain the above copyright
   *     notice, this list of conditions and the following disclaimer.
   *   * Redistributions in binary form must reproduce the above
   *     copyright notice, this list of conditions and the following
   *     disclaimer in the documentation and/or other materials provided
   *     with the distribution.
   *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
   *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
   *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
   *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
   *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
   *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
   *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
   *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
   *   USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
   *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
   *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
   *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
   *   POSSIBILITY OF SUCH DAMAGE.
   */
  
  #include "dart/dynamics/fcl/FCLTypes.hpp"
  
  namespace dart {
  namespace collision {
  
  #if !FCL_VERSION_AT_LEAST(0, 6, 0)
  //==============================================================================
  dart::collision::fcl::Vector3 FCLTypes::convertVector3(
      const Eigen::Vector3d& _vec)
  {
    return dart::collision::fcl::Vector3(_vec[0], _vec[1], _vec[2]);
  }
  #endif
  
  //==============================================================================
  Eigen::Vector3d FCLTypes::convertVector3(
      const dart::collision::fcl::Vector3& _vec)
  {
  #if FCL_VERSION_AT_LEAST(0, 6, 0)
    return _vec;
  #else
    return Eigen::Vector3d(_vec[0], _vec[1], _vec[2]);
  #endif
  }
  
  //==============================================================================
  dart::collision::fcl::Matrix3 FCLTypes::convertMatrix3x3(
      const Eigen::Matrix3d& _R)
  {
  #if FCL_VERSION_AT_LEAST(0, 6, 0)
    return _R;
  #else
    return dart::collision::fcl::Matrix3(
        _R(0, 0),
        _R(0, 1),
        _R(0, 2),
        _R(1, 0),
        _R(1, 1),
        _R(1, 2),
        _R(2, 0),
        _R(2, 1),
        _R(2, 2));
  #endif
  }
  
  //==============================================================================
  dart::collision::fcl::Transform3 FCLTypes::convertTransform(
      const Eigen::Isometry3d& _T)
  {
  #if FCL_VERSION_AT_LEAST(0, 6, 0)
    return _T;
  #else
    dart::collision::fcl::Transform3 trans;
  
    trans.setTranslation(convertVector3(_T.translation()));
    trans.setRotation(convertMatrix3x3(_T.linear()));
  
    return trans;
  #endif
  }
  
  } // namespace collision
  } // namespace dart
  