| //##################################################################### |
| // Copyright 2003, Eran Guendelman. |
| // This file is part of PhysBAM whose distribution is governed by the license contained in the accompanying file PHYSBAM_COPYRIGHT.txt. |
| //##################################################################### |
| // Class RIGID_BODY_STATE_3D |
| //##################################################################### |
| #ifndef __RIGID_BODY_STATE_3D__ |
| #define __RIGID_BODY_STATE_3D__ |
| |
| #include "../Matrices_And_Vectors/VECTOR_3D.h" |
| #include "../Read_Write/READ_WRITE_FUNCTIONS.h" |
| namespace PhysBAM |
| { |
| |
| template<class T> |
| class RIGID_BODY_STATE_3D |
| { |
| public: |
| T time; |
| VECTOR_3D<T> position; |
| QUATERNION<T> orientation; |
| VECTOR_3D<T> velocity; |
| VECTOR_3D<T> angular_momentum; |
| VECTOR_3D<T> angular_velocity; |
| |
| RIGID_BODY_STATE_3D() |
| {} |
| |
| template<class RW> void Read (std::istream& input_stream) |
| { |
| char version; |
| Read_Binary<RW> (input_stream, version, time, position, orientation, velocity, angular_momentum, angular_velocity); |
| assert (version == 1); |
| } |
| |
| template<class RW> void Write (std::ostream& output_stream) const |
| { |
| char version = 1; |
| Write_Binary<RW> (output_stream, version, time, position, orientation, velocity, angular_momentum, angular_velocity); |
| } |
| |
| //##################################################################### |
| }; |
| } |
| #endif |
