X-Git-Url: https://git.dogcows.com/gitweb?p=chaz%2Fyoink;a=blobdiff_plain;f=src%2Fmoof%2Frigid_body.hh;h=67e12ddce4d4b87e1a48e7b17816cf3806c63bb5;hp=65e502c8483ae1530c594882b1adb4e1258254f1;hb=574af38ed616d1adfa5e6ce35f67cda1f707f89d;hpb=6c9943707d4f33035830eba0587a61a34eaecbc2

diff --git a/src/moof/rigid_body.hh b/src/moof/rigid_body.hh
index 65e502c..67e12dd 100644
--- a/src/moof/rigid_body.hh
+++ b/src/moof/rigid_body.hh
@@ -1,13 +1,11 @@
 
-/*]  Copyright (c) 2009-2010, Charles McGarvey  [**************************
+/*]  Copyright (c) 2009-2011, 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_RIGID_BODY_HH_
 #define _MOOF_RIGID_BODY_HH_
@@ -34,34 +32,28 @@ struct linear_state
 {
 	typedef moof::vector< scalar, fixed<D> > vector;
 	typedef boost::function<const vector& (const linear_state&)>
-													force_function;
+		force_function;
 
 	// primary
-	
 	vector		position;
 	vector		momentum;
 
 	// secondary
-
 	vector		velocity;
 
 	// user
-
 	vector		force;
 	std::vector<force_function> forces;
 
 	// constant
-	
 	scalar		mass;
 	scalar		inverse_mass;
 
-
 	void recalculate()
 	{
 		velocity = momentum * inverse_mass;
 	}
 
-
 	struct gravity_force
 	{
 		explicit gravity_force(scalar a = -9.8)
@@ -76,14 +68,12 @@ struct linear_state
 			return force;
 		}
 
-
 	private:
 
 		vector force;
 		scalar acceleration;
 	};
 
-
 	void init()
 	{
 		position.zero();
@@ -98,7 +88,6 @@ struct linear_state
 		inverse_mass = 1.0 / mass;
 	}
 
-
 	struct derivative
 	{
 		vector	velocity;
@@ -121,7 +110,6 @@ struct linear_state
 		}
 	};
 
-
 	vector total_force() const
 	{
 		vector f(force);
@@ -148,30 +136,24 @@ struct linear_state
 	}
 };
 
-
 struct rotational_state2
 {
 	// primary
-
 	scalar		orientation;
 	scalar		angular_momentum;
 
 	// secondary
-
 	scalar		angularVelocity;
 
 	// constant
-
 	scalar		inertia;
 	scalar		inverse_inertia;
 
-
 	void recalculate()
 	{
 		angularVelocity = angular_momentum * inertia;
 	}
 
-
 	struct derivative
 	{
 		scalar	angularVelocity;
@@ -189,21 +171,17 @@ struct rotational_state2
 struct rotational_state3
 {
 	// primary
-
 	quaternion	orientation;
 	vector3		angular_momentum;
 
 	// secondary
-
 	quaternion	spin;
 	vector3		angularVelocity;
 
 	// constant
-
 	scalar		inertia;
 	scalar		inverse_inertia;
 
-
 	void recalculate()
 	{
 		angularVelocity = angular_momentum * inertia;
@@ -239,7 +217,6 @@ struct state3 : public linear_state<3>, public rotational_state3
 	}
 };
 
-
 template <class T>
 inline T interpolate(const T& a, const T& b, scalar alpha)
 {
@@ -247,37 +224,34 @@ inline T interpolate(const T& a, const T& b, scalar alpha)
 }
 
 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.angular_momentum = interpolate(a.angular_momentum,
-										b.angular_momentum, alpha);
+			b.angular_momentum, 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 = slerp(a.orientation, b.orientation, alpha);
 	state.angular_momentum = interpolate(a.angular_momentum,
-										b.angular_momentum, alpha);
+			b.angular_momentum, alpha);
 	return state;
 }
 
-
-
 /**
  * Interface for anything that can move.
  */
-
 template <class T>
 class rigid_body : public entity
 {