rigid_3d.h

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#pragma once
#include <iostream>
#include "rigid_base.h"
#include "../Vector.h"
#include "../Matrix.h"
#include "Quat.h"
 
namespace dyno {
    template <typename T>
    class Rigid<T, 3>
    {
    public:
        typedef Vector<T, 3> TranslationDOF;
        typedef Vector<T, 3> RotationDOF;
 
        DYN_FUNC Rigid()
            : m_p(0)
            , m_quat(Quat<T>::identity())
        {};
 
        DYN_FUNC Rigid(Vector<T, 3> p, Quat<T> quat)
            : m_p(p)
            , m_quat(quat)
        {};
 
        DYN_FUNC ~Rigid() {};
 
        DYN_FUNC Vector<T, 3> getCenter() const { return m_p; }
 
        DYN_FUNC SquareMatrix<T, 3> getRotationMatrix() const
        {
            return m_quat.toMatrix3x3();
        }
 
        DYN_FUNC Quat<T> getOrientation() const { return m_quat; }
 
    private:
        Vector<T, 3> m_p;
        Quat<T> m_quat;
    };
 
    template class Rigid<float, 3>;
    template class Rigid<double, 3>;
 
    typedef Rigid<float, 3> Rigid3f;
    typedef Rigid<double, 3> Rigid3d;
}  //end of namespace dyno