Velocity.hpp

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/*
 * Copyright (c) 2017 Louis Langholtz https://github.com/louis-langholtz/PlayRho
 *
 * This software is provided 'as-is', without any express or implied
 * warranty. In no event will the authors be held liable for any damages
 * arising from the use of this software.
 *
 * Permission is granted to anyone to use this software for any purpose,
 * including commercial applications, and to alter it and redistribute it
 * freely, subject to the following restrictions:
 *
 * 1. The origin of this software must not be misrepresented; you must not
 *    claim that you wrote the original software. If you use this software
 *    in a product, an acknowledgment in the product documentation would be
 *    appreciated but is not required.
 * 2. Altered source versions must be plainly marked as such, and must not be
 *    misrepresented as being the original software.
 * 3. This notice may not be removed or altered from any source distribution.
 */
 
#ifndef PLAYRHO_COMMON_VELOCITY_HPP
#define PLAYRHO_COMMON_VELOCITY_HPP
 
#include <PlayRho/Common/Settings.hpp>
#include <PlayRho/Common/Vector2.hpp>
#include <utility>
 
namespace playrho {
namespace d2 {
 
class VelocityConstraint;
 
struct Velocity
{
    LinearVelocity2 linear; 
    AngularVelocity angular; 
};
 
PLAYRHO_CONSTEXPR inline bool operator==(const Velocity& lhs, const Velocity& rhs)
{
    return (lhs.linear == rhs.linear) && (lhs.angular == rhs.angular);
}
 
PLAYRHO_CONSTEXPR inline bool operator!=(const Velocity& lhs, const Velocity& rhs)
{
    return (lhs.linear != rhs.linear) || (lhs.angular != rhs.angular);
}
 
PLAYRHO_CONSTEXPR inline Velocity& operator*= (Velocity& lhs, const Real rhs)
{
    lhs.linear *= rhs;
    lhs.angular *= rhs;
    return lhs;
}
 
PLAYRHO_CONSTEXPR inline Velocity& operator/= (Velocity& lhs, const Real rhs)
{
    lhs.linear /= rhs;
    lhs.angular /= rhs;
    return lhs;
}
 
PLAYRHO_CONSTEXPR inline Velocity& operator+= (Velocity& lhs, const Velocity& rhs)
{
    lhs.linear += rhs.linear;
    lhs.angular += rhs.angular;
    return lhs;
}
 
PLAYRHO_CONSTEXPR inline Velocity operator+ (const Velocity& lhs, const Velocity& rhs)
{
    return Velocity{lhs.linear + rhs.linear, lhs.angular + rhs.angular};
}
 
PLAYRHO_CONSTEXPR inline Velocity& operator-= (Velocity& lhs, const Velocity& rhs)
{
    lhs.linear -= rhs.linear;
    lhs.angular -= rhs.angular;
    return lhs;
}
 
PLAYRHO_CONSTEXPR inline Velocity operator- (const Velocity& lhs, const Velocity& rhs)
{
    return Velocity{lhs.linear - rhs.linear, lhs.angular - rhs.angular};
}
 
PLAYRHO_CONSTEXPR inline Velocity operator- (const Velocity& value)
{
    return Velocity{-value.linear, -value.angular};
}
 
PLAYRHO_CONSTEXPR inline Velocity operator+ (const Velocity& value)
{
    return value;
}
 
PLAYRHO_CONSTEXPR inline Velocity operator* (const Velocity& lhs, const Real rhs)
{
    return Velocity{lhs.linear * rhs, lhs.angular * rhs};
}
 
PLAYRHO_CONSTEXPR inline Velocity operator* (const Real lhs, const Velocity& rhs)
{
    return Velocity{rhs.linear * lhs, rhs.angular * lhs};
}
 
PLAYRHO_CONSTEXPR inline Velocity operator/ (const Velocity& lhs, const Real rhs)
{
    const auto inverseRhs = Real{1} / rhs;
    return Velocity{lhs.linear * inverseRhs, lhs.angular * inverseRhs};
}
 
using VelocityPair = std::pair<Velocity, Velocity>;
    
VelocityPair CalcWarmStartVelocityDeltas(const VelocityConstraint& vc);
 
} // namespace d2
 
template <>
PLAYRHO_CONSTEXPR inline bool IsValid(const d2::Velocity& value) noexcept
{
    return IsValid(value.linear) && IsValid(value.angular);
}
 
} // namespace playrho
 
#endif // PLAYRHO_COMMON_VELOCITY_HPP