PhysicsFrame.h

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#ifndef G3D_PhysicsFrame_h
#define G3D_PhysicsFrame_h

#include "G3D/platform.h"
#include "G3D/Vector3.h"
#include "G3D/Matrix3.h"
#include "G3D/Quat.h"
#include "G3D/CoordinateFrame.h"
#include <math.h>
#include <string>


namespace G3D {

class PhysicsFrame {
public:

 Quat rotation;

 Point3 translation;

 PhysicsFrame();

 PhysicsFrame(const Vector3& translation) : translation(translation) {}
 PhysicsFrame(const Quat& rot, const Vector3& translation) : rotation(rot), translation(translation) {}
 PhysicsFrame(const Matrix3& rot, const Vector3& translation) : rotation(rot), translation(translation) {}
 PhysicsFrame(const Matrix3& rot) : rotation(rot), translation(Vector3::zero()) {}
 PhysicsFrame(const CoordinateFrame& coordinateFrame);

 PhysicsFrame& operator=(const PhysicsFrame& p) {
 rotation = p.rotation;
 translation = p.translation;

 return *this;
 }

 PhysicsFrame(const class Any& any);

 Any toAny() const;

 PhysicsFrame operator*(const PhysicsFrame& other) const;

 virtual ~PhysicsFrame() {}

 PhysicsFrame lerp(
 const PhysicsFrame& other,
 float alpha) const;

 void deserialize(class BinaryInput& b);

 void serialize(class BinaryOutput& b) const;

 operator CFrame() const;

 PhysicsFrame& operator*=(float f) {
 rotation *= f;
 translation *= f;
 return *this;
 }

 PhysicsFrame operator*(float f) const {
 return PhysicsFrame(rotation * f, translation * f);
 }

 PhysicsFrame operator+(const PhysicsFrame& f) const {
 return PhysicsFrame(rotation + f.rotation, translation + f.translation);
 }

 PhysicsFrame& operator+=(const PhysicsFrame& f) {
 rotation += f.rotation;
 translation += f.translation;
 return *this;
 }

 bool operator==(const PhysicsFrame& other) const {
 return (translation == other.translation) && 
 ((rotation == other.rotation) || (rotation == -other.rotation));
 }

 bool operator!=(const PhysicsFrame& other) const {
 return ! ((*this) == other);
 }

};

typedef PhysicsFrame PFrame;

} // namespace

#endif