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deps/g3dlite/include/G3D/PhysicsFrame.h

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+/**
+ \file PhysicsFrame.h
+
+ \maintainer Morgan McGuire, http://graphics.cs.williams.edu
+ 
+ \created 2002-07-08
+ \edited  2011-05-10
+*/
+
+#ifndef G3D_PhysicsFrame_h
+#define G3D_PhysicsFrame_h
+
+#include "G3D/platform.h"
+#include "G3D/Vector3.h"
+#include "G3D/Matrix3.h"
+#include "G3D/Quat.h"
+#include "G3D/CoordinateFrame.h"
+#include <math.h>
+#include <string>
+
+
+namespace G3D {
+
+/**
+  An RT transformation using a quaternion; suitable for
+  physics integration.
+
+  This interface is in "Beta" and will change in the next release.
+ */
+class PhysicsFrame {
+public:
+
+    Quat    rotation;
+
+    /**
+     Origin of this reference frame in its parent's frame.
+     */
+    Point3 translation;
+
+    /**
+     Initializes to the identity frame.
+     */
+    PhysicsFrame();
+
+    /**
+     Purely translational.
+     */
+    PhysicsFrame(const Vector3& translation) : translation(translation) {}
+    PhysicsFrame(const Quat& rot, const Vector3& translation) : rotation(rot), translation(translation) {}
+    PhysicsFrame(const Matrix3& rot, const Vector3& translation) : rotation(rot), translation(translation) {}
+    PhysicsFrame(const Matrix3& rot) : rotation(rot), translation(Vector3::zero()) {}
+    PhysicsFrame(const CoordinateFrame& coordinateFrame);
+
+    PhysicsFrame& operator=(const PhysicsFrame& p) {
+        rotation = p.rotation;
+        translation = p.translation;
+
+        return *this;
+    }
+
+    /**
+      - PhysicsFrame( [quat], [vec3] )
+      - Vector3( ... )
+      - CFrame( ... )
+      - CFrame::from...( ... )
+     */
+    PhysicsFrame(const class Any& any);
+
+    Any toAny() const;
+
+    /** Compose: create the transformation that is <I>other</I> followed by <I>this</I>.*/
+    PhysicsFrame operator*(const PhysicsFrame& other) const;
+
+    virtual ~PhysicsFrame() {}
+
+    /**
+     Linear interpolation (spherical linear for the rotations).
+     */
+    PhysicsFrame lerp(
+        const PhysicsFrame&     other,
+        float                   alpha) const;
+
+    void deserialize(class BinaryInput& b);
+
+    void serialize(class BinaryOutput& b) const;
+
+    operator CFrame() const;
+
+    /** Multiplies both pieces by \a f; note that this will result in a non-unit 
+    quaternion that needs to be normalized */
+    PhysicsFrame& operator*=(float f) {
+        rotation *= f;
+        translation *= f;
+        return *this;
+    }
+
+    /** Multiplies both pieces by \a f; note that this will result in a non-unit 
+    quaternion that needs to be normalized */
+    PhysicsFrame operator*(float f) const {
+        return PhysicsFrame(rotation * f, translation * f);
+    }
+
+    PhysicsFrame operator+(const PhysicsFrame& f) const {
+        return PhysicsFrame(rotation + f.rotation, translation + f.translation);
+    }
+
+    PhysicsFrame& operator+=(const PhysicsFrame& f) {
+        rotation += f.rotation;
+        translation += f.translation;
+        return *this;
+    }
+
+    bool operator==(const PhysicsFrame& other) const {
+        return (translation == other.translation) && 
+            ((rotation == other.rotation) || (rotation == -other.rotation));
+    }
+
+    bool operator!=(const PhysicsFrame& other) const {
+        return ! ((*this) == other);
+    }
+
+};
+
+typedef PhysicsFrame PFrame;
+
+} // namespace
+
+#endif