Replace setValue by operator<< and remove normalize(bool)

include/hpp/fcl/ccd/motion.h

@@ -268,7 +268,7 @@ public:
   ScrewMotion() : MotionBase()
   {
     // Default angular velocity is zero
-    axis.setValue(1, 0, 0);
+    axis << 1, 0, 0;
     angular_vel = 0;
 
     // Default reference point is local zero point

include/hpp/fcl/eigen/vec_3fx.h

@@ -236,7 +236,7 @@ public:
             T yx, T yy, T yz,
             T zx, T zy, T zz) : Base()
   {
-    setValue(xx, xy, xz, yx, yy, yz, zx, zy, zz);
+    *this << xx, xy, xz, yx, yy, yz, zx, zy, zz;
   }
 
   template <typename Vector>
@@ -303,42 +303,12 @@ public:
     return *this;
   }
 
-  inline FclMatrix& normalize(bool* signal)
-  {
-    T sqr_length = this->squaredNorm();
-    if(sqr_length > 0)
-    {
-      this->operator/= ((T)std::sqrt(sqr_length));
-      *signal = true;
-    }
-    else
-      *signal = false;
-    return *this;
-  }
-
   inline FclMatrix& abs() 
   {
     *this = this->cwiseAbs ();
     return *this;
   }
 
-  inline void setValue(T x, T y, T z) {
-    EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(FclMatrix, 3);
-    this->m_storage.data()[0] = x;
-    this->m_storage.data()[1] = y;
-    this->m_storage.data()[2] = z;
-  }
-  inline void setValue(T xx, T xy, T xz,
-                       T yx, T yy, T yz,
-                       T zx, T zy, T zz)
-  {
-    EIGEN_STATIC_ASSERT_MATRIX_SPECIFIC_SIZE(FclMatrix, 3, 3);
-    this->operator()(0,0) = xx; this->operator()(0,1) = xy; this->operator()(0,2) = xz;
-    this->operator()(1,0) = yx; this->operator()(1,1) = yy; this->operator()(1,2) = yz;
-    this->operator()(2,0) = zx; this->operator()(2,1) = zy; this->operator()(2,2) = zz;
-  }
-  inline void setValue(T x) { this->setConstant (x); }
-  // inline void setZero () {data.setValue (0); }
   inline bool equal(const FclMatrix& other, T epsilon = std::numeric_limits<T>::epsilon() * 100) const
   {
     return ((*this - other).cwiseAbs().array () < epsilon).all();
@@ -440,9 +410,9 @@ public:
     Scalar sc = si * ch;
     Scalar ss = si * sh;
 
-    setValue(cj * ch, sj * sc - cs, sj * cc + ss,
+    *this << cj * ch, sj * sc - cs, sj * cc + ss,
              cj * sh, sj * ss + cc, sj * cs - sc, 
-             -sj,     cj * si,      cj * ci);
+             -sj,     cj * si,      cj * ci;
 
   }
 
@@ -672,7 +642,7 @@ void generateCoordinateSystem(
 template<typename Matrix, typename Vector>
 void hat(Matrix& mat, const Vector& vec)
 {
-  mat.setValue(0, -vec[2], vec[1], vec[2], 0, -vec[0], -vec[1], vec[0], 0);
+  mat << 0, -vec[2], vec[1], vec[2], 0, -vec[0], -vec[1], vec[0], 0;
 }
 
 template<typename Matrix, typename Vector>
@@ -715,9 +685,9 @@ void eigen(const FclType<Matrix>& m, typename Matrix::Scalar dout[3], Vector* vo
         sm += std::abs(R(ip, iq));
     if(sm == 0.0)
     {
-      vout[0].setValue(v[0][0], v[0][1], v[0][2]);
-      vout[1].setValue(v[1][0], v[1][1], v[1][2]);
-      vout[2].setValue(v[2][0], v[2][1], v[2][2]);
+      vout[0] << v[0][0], v[0][1], v[0][2];
+      vout[1] << v[1][0], v[1][1], v[1][2];
+      vout[2] << v[2][0], v[2][1], v[2][2];
       dout[0] = d[0]; dout[1] = d[1]; dout[2] = d[2];
       return;
     }

include/hpp/fcl/math/transform.h

@@ -362,7 +362,7 @@ public:
   inline void setIdentity()
   {
     R.setIdentity();
-    T.setValue(0);
+    T.setZero();
     q = Quaternion3f();
     matrix_set = true;
   }

include/hpp/fcl/shape/geometric_shape_to_BVH_model.h

@@ -55,14 +55,14 @@ void generateBVHModel(BVHModel<BV>& model, const Box& shape, const Transform3f&
   double c = shape.side[2];
   std::vector<Vec3f> points(8);
   std::vector<Triangle> tri_indices(12);
-  points[0].setValue(0.5 * a, -0.5 * b, 0.5 * c);
-  points[1].setValue(0.5 * a, 0.5 * b, 0.5 * c);
-  points[2].setValue(-0.5 * a, 0.5 * b, 0.5 * c);
-  points[3].setValue(-0.5 * a, -0.5 * b, 0.5 * c);
-  points[4].setValue(0.5 * a, -0.5 * b, -0.5 * c);
-  points[5].setValue(0.5 * a, 0.5 * b, -0.5 * c);
-  points[6].setValue(-0.5 * a, 0.5 * b, -0.5 * c);
-  points[7].setValue(-0.5 * a, -0.5 * b, -0.5 * c);
+  points[0] << 0.5 * a, -0.5 * b, 0.5 * c;
+  points[1] << 0.5 * a, 0.5 * b, 0.5 * c;
+  points[2] << -0.5 * a, 0.5 * b, 0.5 * c;
+  points[3] << -0.5 * a, -0.5 * b, 0.5 * c;
+  points[4] << 0.5 * a, -0.5 * b, -0.5 * c;
+  points[5] << 0.5 * a, 0.5 * b, -0.5 * c;
+  points[6] << -0.5 * a, 0.5 * b, -0.5 * c;
+  points[7] << -0.5 * a, -0.5 * b, -0.5 * c;
 
   tri_indices[0].set(0, 4, 1);
   tri_indices[1].set(1, 4, 5);

src/BV/OBB.cpp

@@ -100,8 +100,8 @@ inline OBB merge_largedist(const OBB& b1, const OBB& b2)
   else { mid = 2; }
 
 
-  R1.setValue(E[0][max], E[1][max], E[2][max]);
-  R2.setValue(E[0][mid], E[1][mid], E[2][mid]);
+  R1 << E[0][max], E[1][max], E[2][max];
+  R2 << E[0][mid], E[1][mid], E[2][mid];
 
   // set obb centers and extensions
   Vec3f center, extent;
@@ -588,7 +588,7 @@ OBB& OBB::operator += (const Vec3f& p)
   bvp.axis[0] = axis[0];
   bvp.axis[1] = axis[1];
   bvp.axis[2] = axis[2];
-  bvp.extent.setValue(0);
+  bvp.extent.setZero();
 
   *this += bvp;
   return *this;

src/BV/RSS.cpp

@@ -208,7 +208,7 @@ FCL_REAL rectDistance(const Matrix3f& Rab, Vec3f const& Tab, const FCL_REAL a[2]
 
       if(P && Q)
       {
-        P->setValue(a[0], t, 0);
+        *P << a[0], t, 0;
         *Q = S + (*P);
       }
 
@@ -237,7 +237,7 @@ FCL_REAL rectDistance(const Matrix3f& Rab, Vec3f const& Tab, const FCL_REAL a[2]
 
       if(P && Q)
       {
-        P->setValue(a[0], t, 0);
+        *P << a[0], t, 0;
         *Q = S + (*P);
       }
 
@@ -265,7 +265,7 @@ FCL_REAL rectDistance(const Matrix3f& Rab, Vec3f const& Tab, const FCL_REAL a[2]
 
       if(P && Q)
       {
-        P->setValue(0, t, 0);
+        *P << 0, t, 0;
         *Q = S + (*P);
       }
 
@@ -293,7 +293,7 @@ FCL_REAL rectDistance(const Matrix3f& Rab, Vec3f const& Tab, const FCL_REAL a[2]
 
       if(P && Q)
       {
-        P->setValue(0, t, 0);
+        *P << 0, t, 0;
         *Q = S + (*P);
       }
 
@@ -361,7 +361,7 @@ FCL_REAL rectDistance(const Matrix3f& Rab, Vec3f const& Tab, const FCL_REAL a[2]
 
       if(P && Q)
       {
-        P->setValue(a[0], t, 0);
+        *P << a[0], t, 0;
         *Q = S + (*P);
       }
 
@@ -389,7 +389,7 @@ FCL_REAL rectDistance(const Matrix3f& Rab, Vec3f const& Tab, const FCL_REAL a[2]
 
       if(P && Q)
       {
-        P->setValue(a[0], t, 0);
+        *P << a[0], t, 0;
         *Q = S + (*P);
       }
 
@@ -418,7 +418,7 @@ FCL_REAL rectDistance(const Matrix3f& Rab, Vec3f const& Tab, const FCL_REAL a[2]
 
       if(P && Q)
       {
-        P->setValue(0, t, 0);
+        *P << 0, t, 0;
         *Q = S + (*P);
       }
 
@@ -447,7 +447,7 @@ FCL_REAL rectDistance(const Matrix3f& Rab, Vec3f const& Tab, const FCL_REAL a[2]
 
       if(P&& Q)
       {
-        P->setValue(0, t, 0);
+        *P << 0, t, 0;
         *Q = S + (*P);
       }
 
@@ -515,7 +515,7 @@ FCL_REAL rectDistance(const Matrix3f& Rab, Vec3f const& Tab, const FCL_REAL a[2]
 
       if(P && Q)
       {
-        P->setValue(t, a[1], 0);
+        *P << t, a[1], 0;
         *Q = S + (*P);
       }
 
@@ -543,7 +543,7 @@ FCL_REAL rectDistance(const Matrix3f& Rab, Vec3f const& Tab, const FCL_REAL a[2]
 
       if(P && Q)
       {
-        P->setValue(t, a[1], 0);
+        *P << t, a[1], 0;
         *Q = S + (*P);
       }
 
@@ -571,7 +571,7 @@ FCL_REAL rectDistance(const Matrix3f& Rab, Vec3f const& Tab, const FCL_REAL a[2]
 
       if(P && Q)
       {
-        P->setValue(t, 0, 0);
+        *P << t, 0, 0;
         *Q = S + (*P);
       }
 
@@ -599,7 +599,7 @@ FCL_REAL rectDistance(const Matrix3f& Rab, Vec3f const& Tab, const FCL_REAL a[2]
 
       if(P && Q)
       {
-        P->setValue(t, 0, 0);
+        *P << t, 0, 0;
         *Q = S + (*P);
       }
 
@@ -660,7 +660,7 @@ FCL_REAL rectDistance(const Matrix3f& Rab, Vec3f const& Tab, const FCL_REAL a[2]
 
       if(P && Q)
       {
-        P->setValue(t, a[1], 0);
+        *P << t, a[1], 0;
         *Q = S + (*P);
       }
 
@@ -688,7 +688,7 @@ FCL_REAL rectDistance(const Matrix3f& Rab, Vec3f const& Tab, const FCL_REAL a[2]
 
       if(P && Q)
       {
-        P->setValue(t, a[1], 0);
+        *P << t, a[1], 0;
         *Q = S + (*P);
       }
 
@@ -717,7 +717,7 @@ FCL_REAL rectDistance(const Matrix3f& Rab, Vec3f const& Tab, const FCL_REAL a[2]
 
       if(P && Q)
       {
-        P->setValue(t, 0, 0);
+        *P << t, 0, 0;
         *Q = S + (*P);
       }
 
@@ -745,7 +745,7 @@ FCL_REAL rectDistance(const Matrix3f& Rab, Vec3f const& Tab, const FCL_REAL a[2]
 
       if(P && Q)
       {
-        P->setValue(t, 0, 0);
+        *P << t, 0, 0;
         *Q = S + (*P);
       }
 
@@ -786,14 +786,14 @@ FCL_REAL rectDistance(const Matrix3f& Rab, Vec3f const& Tab, const FCL_REAL a[2]
   if(sep1 >= sep2 && sep1 >= 0)
   {
     if(Tab[2] > 0)
-      S.setValue(0, 0, sep1);
+      S << 0, 0, sep1;
     else
-      S.setValue(0, 0, -sep1);
+      S << 0, 0, -sep1;
 
     if(P && Q)
     {
       *Q = S;
-      P->setValue(0);
+      P->setZero();
     }
   }
 
@@ -1094,11 +1094,11 @@ RSS RSS::operator + (const RSS& other) const
   else { mid = 2; }
 
   // column first matrix, as the axis in RSS
-  bv.axis[0].setValue(E[0][max], E[1][max], E[2][max]);
-  bv.axis[1].setValue(E[0][mid], E[1][mid], E[2][mid]);
-  bv.axis[2].setValue(E[1][max]*E[2][mid] - E[1][mid]*E[2][max],
-                      E[0][mid]*E[2][max] - E[0][max]*E[2][mid],
-                      E[0][max]*E[1][mid] - E[0][mid]*E[1][max]);
+  bv.axis[0] << E[0][max], E[1][max], E[2][max];
+  bv.axis[1] << E[0][mid], E[1][mid], E[2][mid];
+  bv.axis[2] << E[1][max]*E[2][mid] - E[1][mid]*E[2][max],
+                E[0][mid]*E[2][max] - E[0][max]*E[2][mid],
+                E[0][max]*E[1][mid] - E[0][mid]*E[1][max];
 
   // set rss origin, rectangle size and radius
   getRadiusAndOriginAndRectangleSize(v, NULL, NULL, NULL, 16, bv.axis, bv.Tr, bv.l, bv.r);

src/BVH/BVH_model.cpp

@@ -712,7 +712,7 @@ int BVHModel<BV>::recursiveBuildTree(int bv_id, int first_primitive, int num_pri
         FCL_REAL x = (p1[0] + p2[0] + p3[0]) / 3.0;
         FCL_REAL y = (p1[1] + p2[1] + p3[1]) / 3.0;
         FCL_REAL z = (p1[2] + p2[2] + p3[2]) / 3.0;
-        p.setValue(x, y, z);
+        p << x, y, z;
       }
       else
       {

src/BVH/BVH_utility.cpp

@@ -520,9 +520,9 @@ static inline void getExtentAndCenter_pointcloud(Vec3f* ps, Vec3f* ps2, unsigned
 
   center = axis[0] * o[0] + axis[1] * o[1] + axis[2] * o[2];
 
-  extent.setValue((max_coord[0] - min_coord[0]) / 2,
-                  (max_coord[1] - min_coord[1]) / 2,
-                  (max_coord[2] - min_coord[2]) / 2);
+  extent << (max_coord[0] - min_coord[0]) / 2,
+            (max_coord[1] - min_coord[1]) / 2,
+            (max_coord[2] - min_coord[2]) / 2;
 
 }
 
@@ -589,9 +589,9 @@ static inline void getExtentAndCenter_mesh(Vec3f* ps, Vec3f* ps2, Triangle* ts,
 
   center = axis[0] * o[0] + axis[1] * o[1] + axis[2] * o[2];
 
-  extent.setValue((max_coord[0] - min_coord[0]) / 2,
-                  (max_coord[1] - min_coord[1]) / 2,
-                  (max_coord[2] - min_coord[2]) / 2);
+  extent << (max_coord[0] - min_coord[0]) / 2,
+            (max_coord[1] - min_coord[1]) / 2,
+            (max_coord[2] - min_coord[2]) / 2;
 
 }
 

src/BVH/BV_fitter.cpp

@@ -58,11 +58,11 @@ static inline void axisFromEigen(Vec3f eigenV[3], Matrix3f::U eigenS[3], Vec3f a
   else if(eigenS[2] > eigenS[max]) { mid = max; max = 2; }
   else { mid = 2; }
 
-  axis[0].setValue(eigenV[0][max], eigenV[1][max], eigenV[2][max]);
-  axis[1].setValue(eigenV[0][mid], eigenV[1][mid], eigenV[2][mid]);
-  axis[2].setValue(eigenV[1][max]*eigenV[2][mid] - eigenV[1][mid]*eigenV[2][max],
-                   eigenV[0][mid]*eigenV[2][max] - eigenV[0][max]*eigenV[2][mid],
-                   eigenV[0][max]*eigenV[1][mid] - eigenV[0][mid]*eigenV[1][max]);
+  axis[0] << eigenV[0][max], eigenV[1][max], eigenV[2][max];
+  axis[1] << eigenV[0][mid], eigenV[1][mid], eigenV[2][mid];
+  axis[2] << eigenV[1][max]*eigenV[2][mid] - eigenV[1][mid]*eigenV[2][max],
+             eigenV[0][mid]*eigenV[2][max] - eigenV[0][max]*eigenV[2][mid],
+             eigenV[0][max]*eigenV[1][mid] - eigenV[0][mid]*eigenV[1][max];
 }
 
 namespace OBB_fit_functions
@@ -71,10 +71,10 @@ namespace OBB_fit_functions
 void fit1(Vec3f* ps, OBB& bv)
 {
   bv.To = ps[0];
-  bv.axis[0].setValue(1, 0, 0);
-  bv.axis[1].setValue(0, 1, 0);
-  bv.axis[2].setValue(0, 0, 1);
-  bv.extent.setValue(0);
+  bv.axis[0] << 1, 0, 0;
+  bv.axis[1] << 0, 1, 0;
+  bv.axis[2] << 0, 0, 1;
+  bv.extent.setZero();
 }
 
 void fit2(Vec3f* ps, OBB& bv)
@@ -88,10 +88,10 @@ void fit2(Vec3f* ps, OBB& bv)
   bv.axis[0] = p1p2;
   generateCoordinateSystem(bv.axis[0], bv.axis[1], bv.axis[2]);
 
-  bv.extent.setValue(len_p1p2 * 0.5, 0, 0);
-  bv.To.setValue(0.5 * (p1[0] + p2[0]),
-                 0.5 * (p1[1] + p2[1]),
-                 0.5 * (p1[2] + p2[2]));
+  bv.extent << len_p1p2 * 0.5, 0, 0;
+  bv.To << 0.5 * (p1[0] + p2[0]),
+           0.5 * (p1[1] + p2[1]),
+           0.5 * (p1[2] + p2[2]);
 }
 
 void fit3(Vec3f* ps, OBB& bv)
@@ -156,9 +156,9 @@ namespace RSS_fit_functions
 void fit1(Vec3f* ps, RSS& bv)
 {
   bv.Tr = ps[0];
-  bv.axis[0].setValue(1, 0, 0);
-  bv.axis[1].setValue(0, 1, 0);
-  bv.axis[2].setValue(0, 0, 1);
+  bv.axis[0] << 1, 0, 0;
+  bv.axis[1] << 0, 1, 0;
+  bv.axis[2] << 0, 0, 1;
   bv.l[0] = 0;
   bv.l[1] = 0;
   bv.r = 0;
@@ -245,10 +245,10 @@ void fit1(Vec3f* ps, kIOS& bv)
   bv.spheres[0].o = ps[0];
   bv.spheres[0].r = 0;
 
-  bv.obb.axis[0].setValue(1, 0, 0);
-  bv.obb.axis[1].setValue(0, 1, 0);
-  bv.obb.axis[2].setValue(0, 0, 1);
-  bv.obb.extent.setValue(0);
+  bv.obb.axis[0] << 1, 0, 0;
+  bv.obb.axis[1] << 0, 1, 0;
+  bv.obb.axis[2] << 0, 0, 1;
+  bv.obb.extent.setZero();
   bv.obb.To = ps[0];
 }
 
@@ -267,7 +267,7 @@ void fit2(Vec3f* ps, kIOS& bv)
   generateCoordinateSystem(axis[0], axis[1], axis[2]);
     
   FCL_REAL r0 = len_p1p2 * 0.5;
-  bv.obb.extent.setValue(r0, 0, 0);
+  bv.obb.extent << r0, 0, 0;
   bv.obb.To = (p1 + p2) * 0.5;
 
   bv.spheres[0].o = bv.obb.To;

src/ccd/motion.cpp

@@ -441,7 +441,7 @@ FCL_REAL TriangleMotionBoundVisitor::visit(const InterpMotion& motion) const
 InterpMotion::InterpMotion() : MotionBase()
 {
   // Default angular velocity is zero
-  angular_axis.setValue(1, 0, 0);
+  angular_axis << 1, 0, 0;
   angular_vel = 0;
 
   // Default reference point is local zero point

src/intersect.cpp

@@ -1111,11 +1111,10 @@ FCL_REAL Intersect::distanceToPlane(const Vec3f& n, FCL_REAL t, const Vec3f& v)
 bool Intersect::buildTrianglePlane(const Vec3f& v1, const Vec3f& v2, const Vec3f& v3, Vec3f* n, FCL_REAL* t)
 {
   Vec3f n_ = (v2 - v1).cross(v3 - v1);
-  bool can_normalize = false;
-  n_.normalize(&can_normalize);
-  if(can_normalize)
+  FCL_REAL norm2 = n_.squaredNorm();
+  if (n > 0)
   {
-    *n = n_;
+    *n = n_ / sqrt(norm2);
     *t = n_.dot(v1);
     return true;
   }
@@ -1126,11 +1125,10 @@ bool Intersect::buildTrianglePlane(const Vec3f& v1, const Vec3f& v2, const Vec3f
 bool Intersect::buildEdgePlane(const Vec3f& v1, const Vec3f& v2, const Vec3f& tn, Vec3f* n, FCL_REAL* t)
 {
   Vec3f n_ = (v2 - v1).cross(tn);
-  bool can_normalize = false;
-  n_.normalize(&can_normalize);
-  if(can_normalize)
+  FCL_REAL norm2 = n_.squaredNorm();
+  if (n > 0)
   {
-    *n = n_;
+    *n = n_ / sqrt(norm2);
     *t = n_.dot(v1);
     return true;
   }

src/math/transform.cpp

@@ -103,9 +103,9 @@ void Quaternion3f::toRotation(Matrix3f& R) const
   FCL_REAL twoYZ = twoZ*data[2];
   FCL_REAL twoZZ = twoZ*data[3];
 
-  R.setValue(1.0 - (twoYY + twoZZ), twoXY - twoWZ, twoXZ + twoWY,
-             twoXY + twoWZ, 1.0 - (twoXX + twoZZ), twoYZ - twoWX,
-             twoXZ - twoWY, twoYZ + twoWX, 1.0 - (twoXX + twoYY));
+  R << 1.0 - (twoYY + twoZZ), twoXY - twoWZ, twoXZ + twoWY,
+       twoXY + twoWZ, 1.0 - (twoXX + twoZZ), twoYZ - twoWX,
+       twoXZ - twoWY, twoYZ + twoWX, 1.0 - (twoXX + twoYY);
 }
 
 
@@ -169,9 +169,9 @@ void Quaternion3f::toAxes(Vec3f axis[3]) const
   FCL_REAL twoYZ = twoZ*data[2];
   FCL_REAL twoZZ = twoZ*data[3];
 
-  axis[0].setValue(1.0 - (twoYY + twoZZ), twoXY + twoWZ, twoXZ - twoWY);
-  axis[1].setValue(twoXY - twoWZ, 1.0 - (twoXX + twoZZ), twoYZ + twoWX);
-  axis[2].setValue(twoXZ + twoWY, twoYZ - twoWX, 1.0 - (twoXX + twoYY));
+  axis[0] << 1.0 - (twoYY + twoZZ), twoXY + twoWZ, twoXZ - twoWY;
+  axis[1] << twoXY - twoWZ, 1.0 - (twoXX + twoZZ), twoYZ + twoWX;
+  axis[2] << twoXZ + twoWY, twoYZ - twoWX, 1.0 - (twoXX + twoYY);
 }
 
 

src/narrowphase/gjk_libccd.cpp

@@ -780,9 +780,9 @@ bool GJKCollide(void* obj1, ccd_support_fn supp1, ccd_center_fn cen1,
   res = ccdMPRPenetration(obj1, obj2, &ccd, &depth, &dir, &pos);
   if(res == 0)
   {
-    contact_points->setValue(ccdVec3X(&pos), ccdVec3Y(&pos), ccdVec3Z(&pos));
+    *contact_points << ccdVec3X(&pos), ccdVec3Y(&pos), ccdVec3Z(&pos);
     *penetration_depth = depth;
-    normal->setValue(ccdVec3X(&dir), ccdVec3Y(&dir), ccdVec3Z(&dir));
+    *normal << ccdVec3X(&dir), ccdVec3Y(&dir), ccdVec3Z(&dir);
 
     return true;
   }
@@ -808,8 +808,8 @@ bool GJKDistance(void* obj1, ccd_support_fn supp1,
 
   ccd_vec3_t p1_, p2_;
   dist = libccd_extension::ccdGJKDist2(obj1, obj2, &ccd, &p1_, &p2_);
-  if(p1) p1->setValue(ccdVec3X(&p1_), ccdVec3Y(&p1_), ccdVec3Z(&p1_));
-  if(p2) p2->setValue(ccdVec3X(&p2_), ccdVec3Y(&p2_), ccdVec3Z(&p2_));
+  if(p1) *p1 << ccdVec3X(&p1_), ccdVec3Y(&p1_), ccdVec3Z(&p1_);
+  if(p2) *p2 << ccdVec3X(&p2_), ccdVec3Y(&p2_), ccdVec3Z(&p2_);
   if(res) *res = dist;
   if(dist < 0) return false;
   else return true;

src/shape/geometric_shapes.cpp

@@ -109,7 +109,7 @@ void Halfspace::unitNormalTest()
   }
   else
   {
-    n.setValue(1, 0, 0);
+    n << 1, 0, 0;
     d = 0;
   }  
 }
@@ -125,7 +125,7 @@ void Plane::unitNormalTest()
   }
   else
   {
-    n.setValue(1, 0, 0);
+    n << 1, 0, 0;
     d = 0;
   }
 }

src/shape/geometric_shapes_utility.cpp

@@ -424,10 +424,10 @@ void computeBV<OBB, Sphere>(const Sphere& s, const Transform3f& tf, OBB& bv)
   const Vec3f& T = tf.getTranslation();
 
   bv.To = T;
-  bv.axis[0].setValue(1, 0, 0);
-  bv.axis[1].setValue(0, 1, 0);
-  bv.axis[2].setValue(0, 0, 1);
-  bv.extent.setValue(s.radius);
+  bv.axis[0] << 1, 0, 0;
+  bv.axis[1] << 0, 1, 0;
+  bv.axis[2] << 0, 0, 1;
+  bv.extent.setConstant(s.radius);
 }
 
 template<>
@@ -440,7 +440,7 @@ void computeBV<OBB, Capsule>(const Capsule& s, const Transform3f& tf, OBB& bv)
   bv.axis[0] = R.col(0);
   bv.axis[1] = R.col(1);
   bv.axis[2] = R.col(2);
-  bv.extent.setValue(s.radius, s.radius, s.lz / 2 + s.radius);
+  bv.extent << s.radius, s.radius, s.lz / 2 + s.radius;
 }
 
 template<>
@@ -453,7 +453,7 @@ void computeBV<OBB, Cone>(const Cone& s, const Transform3f& tf, OBB& bv)
   bv.axis[0] = R.col(0);
   bv.axis[1] = R.col(1);
   bv.axis[2] = R.col(2);
-  bv.extent.setValue(s.radius, s.radius, s.lz / 2);