X-Git-Url: https://git.dogcows.com/gitweb?a=blobdiff_plain;f=src%2FMoof%2FState.hh;fp=src%2FMoof%2FState.hh;h=8280edf9b84f34452f6e013588323784007ba3c4;hb=bfa6212d09d8735d8fd5e2638188e4a99f21ada4;hp=0000000000000000000000000000000000000000;hpb=eebb993ca929c3f4c235cad9e01dc4797fcd2945;p=chaz%2Fyoink

diff --git a/src/Moof/State.hh b/src/Moof/State.hh
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+
+/*******************************************************************************
+
+ 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.
+
+*******************************************************************************/
+
+#ifndef _MOOF_STATE_HH_
+#define _MOOF_STATE_HH_
+
+#include <Moof/Math.hh>
+
+
+namespace Mf {
+
+
+template <typename T>
+struct Derivative
+{
+	inline virtual ~Derivative() {}
+
+	virtual T operator*(Scalar dt) const = 0;
+	virtual T operator+(const T& other) const = 0;
+};
+
+
+/**
+ * Structure containing any information needed to place and orient an animate
+ * object in 3-space as well as predict future locations and orientations.
+ */
+
+template <typename T, typename D>
+struct State
+{
+	inline virtual ~State() {}
+
+	inline D evaluate(Scalar t)
+	{
+		D derivative;
+		calculateDerivatives(derivative, t);
+		return derivative;
+	}
+
+	inline D evaluate(Scalar t, Scalar dt, const D& derivative)
+	{
+		T state = *this;
+		state += derivative * dt;
+		state.recalculate();
+
+		D newDerivative;
+		calculateDerivatives(newDerivative, t);
+		return newDerivative;
+	}
+
+	inline void integrate(Scalar t, Scalar dt)
+	{
+		D a = evaluate(t);
+		D b = evaluate(t, dt * 0.5, a);
+		D c = evaluate(t, dt * 0.5, b);
+		D d = evaluate(t, dt, c);
+
+		*this += (a + (b + c) * 2.0 + d) * (1.0/6.0) * dt;
+	}
+
+	virtual void recalculate() {}
+
+	virtual void calculateDerivatives(D& derivative, Scalar t) = 0;
+	virtual T interpolate(Scalar alpha, const T& prevState) const = 0;
+
+	virtual T& operator+=(const D& derivative) = 0;
+};
+
+
+} // namespace Mf
+
+#endif // _MOOF_STATE_HH_
+
+/** vim: set ts=4 sw=4 tw=80: *************************************************/
+