-/*******************************************************************************
-
- Copyright (c) 2009, Charles McGarvey
- All rights reserved.
-
- 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.
-
-*******************************************************************************/
+/*] Copyright (c) 2009-2010, Charles McGarvey [**************************
+**] All rights reserved.
+*
+* vi:ts=4 sw=4 tw=75
+*
+* Distributable under the terms and conditions of the 2-clause BSD license;
+* see the file COPYING for a complete text of the license.
+*
+**************************************************************************/
#ifndef _MOOF_RIGIDBODY_HH_
#define _MOOF_RIGIDBODY_HH_
template <int D = 3>
struct LinearState
{
- typedef cml::vector< Scalar, cml::fixed<D> > Vector;
- typedef boost::function<const Vector& (const LinearState&)> ForceFunction;
+ typedef cml::vector< Scalar, cml::fixed<D> > Vector;
+ typedef boost::function<const Vector& (const LinearState&)>
+ ForceFunction;
// primary
}
template <>
-inline State2 interpolate<State2>(const State2& a, const State2& b, Scalar alpha)
+inline State2 interpolate<State2>(const State2& a, const State2& b,
+ Scalar alpha)
{
State2 state(b);
state.position = interpolate(a.position, b.position, alpha);
state.momentum = interpolate(a.momentum, b.momentum, alpha);
state.orientation = interpolate(a.orientation, b.orientation, alpha);
- state.angularMomentum = interpolate(a.angularMomentum, b.angularMomentum,
- alpha);
+ state.angularMomentum = interpolate(a.angularMomentum,
+ b.angularMomentum, alpha);
return state;
}
template <>
-inline State3 interpolate<State3>(const State3& a, const State3& b, Scalar alpha)
+inline State3 interpolate<State3>(const State3& a, const State3& b,
+ Scalar alpha)
{
State3 state(b);
state.position = interpolate(a.position, b.position, alpha);
state.momentum = interpolate(a.momentum, b.momentum, alpha);
state.orientation = cml::slerp(a.orientation, b.orientation, alpha);
- state.angularMomentum = interpolate(a.angularMomentum, b.angularMomentum,
- alpha);
+ state.angularMomentum = interpolate(a.angularMomentum,
+ b.angularMomentum, alpha);
return state;
}
#endif // _MOOF_RIGIDBODY_HH_
-/** vim: set ts=4 sw=4 tw=80: *************************************************/
-