rigid_2d.h

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#pragma once
#include <iostream>
#include "rigid_base.h"
#include "../Vector.h"
#include "../Matrix.h"
 
namespace dyno {
    template <typename T>
    class Rigid<T, 2>
    {
    public:
        typedef Vector<T, 2> TranslationDOF;
        typedef T RotationDOF;
 
        DYN_FUNC Rigid()
            : m_p(0)
            , m_angle(0)
        {};
 
        DYN_FUNC Rigid(Vector<T, 2> p, T angle)
            : m_p(p)
            , m_angle(angle)
        {};
 
        DYN_FUNC ~Rigid() {};
 
        DYN_FUNC T getOrientation() const { return m_angle; }
        DYN_FUNC Vector<T, 2> getCenter() const { return m_p; }
        DYN_FUNC SquareMatrix<T, 2> getRotationMatrix() const {
            return SquareMatrix<T, 2>(glm::cos(m_angle), -glm::sin(m_angle),
                glm::sin(m_angle), glm::cos(m_angle));
        }
    private:
        Vector<T, 2> m_p;
        T m_angle;
    };
 
    template class Rigid<float, 2>;
    template class Rigid<double, 2>;
    //convenient typedefs 
    typedef Rigid<float, 2> Rigid2f;
    typedef Rigid<double, 2> Rigid2d;
 
}  //end of namespace dyno