dvector | 3D vector/quaternion/matrix math library

I want to make sure that various objects moving at high speed cannot pass through walls or other objects. My thought process was to check via Raycast if a collision has occurred between two moments of movement.

So the script should remember the previous position and check via Raycast for collisions between previous and current position.

If a collision has occurred, the object should be positioned at the meeting point and moved slightly in the direction of the previous position.

My problem is that works outside the map not inside. If I go from inside to outside, I can go through the walls. From outside to inside not.

Obviously I have misunderstood something regarding the application with raycasts.

I've been trying to get this to work for a while and I've hit a block and can't get these balls to bounce off of each other and the walls. I'm trying to make essentially a virus simulator, with different balls having different properties determining infection chances whenever they contact each other. Here's the code I'm working with:

Molecule.js:

I'm tying to resolve the follow problem: a theano function has as outputs the value that a class method return after has made a while loop, within which a parameter is updated:

Im trying to solve a simple chemical network A->B(reaction rate k1) and A1->B(reaction rate k2) with Bayesian inference. My hopes are to get sensitivity analysis of k1 and k2. If A, A1 and B are my constant variables only logical thing would be that if for example k1 decreases k2 should increase for some proportional amount and vice versa. But I am having some troubles with ODE's in pymc3. So here is my attempt:

I failed to fit a method belonging to an instance of a class, as a Deterministic function, with PyMc3. Can you show me how to do that ?

For simplicity, my case is summarised below with a simple example. In reality, my constraint is that everything is made through a GUI and actions like ‘find_MAP’ should be inside methods linked to pyqt buttons.

I want to fit the function ‘FunctionIWantToFit’ over the data points. Problem, the following code:

I am trying to define a custom theano Op with a gradient to use it with pymc3 but I don't understand how to define the grad method.

The code below is where I'm stuck. The function phi() is a mock function (in practice, it is an external program); for a scalar input x it returns a vector (phi_0(x), phi_1(x), ...). The function phi_diff() (also a mock function) returns the vector (dphi_0/dx, dphi_1/dx, ...).

I wrapped phi() and phi_diff() in a theano.Op object but my implementation of the grad function does not work. The documentation of theano contains simpler examples, I don't understand how to adapt them in this case. Any help would be greatly appreciated.

I want to transform a P vector of n elements into a Z vector of n+1 elements using the following formula:

I was able to do that in python with:

Im rather new to c++ so forgive my ignorance on this. Im trying to convert a double vector to a float vector for uses in certain cases( im aware there is a precision loss). The structure of the vectors is simply,

I am trying to evaluate the coefficients and time of two fifth-order polynomials (one each for x and y position) that minimizes effort and time (the objective function) when connecting an initial position, velocity, and orientation to a desired final position and orientation with 0 velocity (equality constraints). Here is the code: