+++ /dev/null
-
-/*******************************************************************************
-
- 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: *************************************************/
-