bullet_migration: electric and fuerte compatibility
Hello, I'm trying to upgrade a project from Electric to Fuerte while still maintaining Electric compatibility (some systems will be on Electric for a while). I ran into an issue with tf and bullet. In the following code section, I need R defined as a btMatrix3x3 in Electric, but a tf::Matrix3x3 in Fuerte. Is there any way to have one set of code that will satisfy both? I would like to stay with the recommended Fuerte form, but I need it to work in both versions.
//world_to_camera is a tf::StampedTransform
//Electric version
btMatrix3x3 R;
R.setRotation(world_to_camera.inverse().getRotation());
Edit: In Electric, the error comes at tf::Matrix3x3 (Matrix3x3 is not a member of tf). In Fuerte, the error is at R.setRotation (no matching function call btMatrix3x3::setRotation(tf::Quaternion, can't convert tf::Quaternion to btQuaternion.) I tried putting .toBt() after .getRotation() in the migration guide, but I got the error Class tf::Quaternion has no member toBt.
I tried to follow the bullet_migration guide. The sed script doesn't work because it breaks in Electric. I'm sorry if this answer is obvious somewhere. Thanks for the help.