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SpatialVector.inl
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SpatialVector.inl
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/******************************************************************************
* SOFA, Simulation Open-Framework Architecture *
* (c) 2006 INRIA, USTL, UJF, CNRS, MGH *
* *
* This program is free software; you can redistribute it and/or modify it *
* under the terms of the GNU Lesser General Public License as published by *
* the Free Software Foundation; either version 2.1 of the License, or (at *
* your option) any later version. *
* *
* This program is distributed in the hope that it will be useful, but WITHOUT *
* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or *
* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License *
* for more details. *
* *
* You should have received a copy of the GNU Lesser General Public License *
* along with this program. If not, see <http://www.gnu.org/licenses/>. *
*******************************************************************************
* Authors: The SOFA Team and external contributors (see Authors.txt) *
* *
* Contact information: contact@sofa-framework.org *
******************************************************************************/
#pragma once
#include <sofa/type/SpatialVector.h>
namespace sofa::type
{
template<class TReal>
SpatialVector<TReal>::SpatialVector( const Vec& l, const Vec& f )
: lineVec(l)
, freeVec(f)
{}
template<class TReal>
void SpatialVector<TReal>::clear()
{
lineVec = freeVec = Vec(0, 0, 0);
}
template<class TReal>
SpatialVector<TReal>& SpatialVector<TReal>::operator+= (const SpatialVector<TReal>& v)
{
lineVec += v.lineVec;
freeVec += v.freeVec;
return *this;
}
template<class TReal>
SpatialVector<TReal> SpatialVector<TReal>::operator+( const SpatialVector<TReal>& v ) const
{
return SpatialVector(lineVec + v.lineVec, freeVec + v.freeVec);
}
template<class TReal>
SpatialVector<TReal> SpatialVector<TReal>::operator-( const SpatialVector<TReal>& v ) const
{
return SpatialVector<TReal>(lineVec - v.lineVec, freeVec - v.freeVec);
}
template<class TReal>
SpatialVector<TReal> SpatialVector<TReal>::operator- ( ) const
{
return SpatialVector<TReal>(-lineVec, -freeVec);
}
/// Spatial dot product (cross terms)
template<class TReal>
TReal SpatialVector<TReal>::operator* ( const SpatialVector<TReal>& v ) const
{
return lineVec * v.freeVec + freeVec * v.lineVec;
}
/// Spatial cross product
template<class TReal>
SpatialVector<TReal> SpatialVector<TReal>::cross( const SpatialVector<TReal>& v ) const
{
return SpatialVector<TReal>(
type::cross(lineVec,v.lineVec),
type::cross(freeVec,v.lineVec) + type::cross(lineVec,v.freeVec)
);
}
template<class TReal>
SpatialVector<TReal> SpatialVector<TReal>::operator* (const Mat66& m) const
{
SpatialVector<TReal> result;
for (int i = 0; i < 3; i++)
{
result.lineVec[i] = 0;
result.freeVec[i] = 0;
for (int j = 0; j < 3; j++)
{
result.lineVec[i] += lineVec[j] * m[i][j] + freeVec[j] * m[i][j + 3];
result.freeVec[i] += lineVec[j] * m[i + 3][j] + freeVec[j] * m[i + 3][j + 3];
}
}
return result;
}
}