MotionVector.hxx

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//
// Copyright (c) 2009, Markus Rickert
// All rights reserved.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//
// * Redistributions of source code must retain the above copyright notice,
//   this list of conditions and the following disclaimer.
// * Redistributions in binary form must reproduce the above copyright notice,
//   this list of conditions and the following disclaimer in the documentation
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#ifndef RL_MATH_MOTIONVECTOR_HXX
#define RL_MATH_MOTIONVECTOR_HXX
 
namespace rl
{
    namespace math
    {
        namespace spatial
        {
            template<typename Scalar>
            template<typename OtherScalar>
            inline
            ForceVector<OtherScalar>
            MotionVector<Scalar>::cross(const ForceVector<OtherScalar>& other) const
            {
                ForceVector<OtherScalar> res;
                res.moment() = angular().cross(other.moment()) + linear().cross(other.force());
                res.force() = angular().cross(other.force());
                return res;
            }
            
            template<typename Scalar>
            template<typename OtherScalar>
            inline
            Scalar
            MotionVector<Scalar>::dot(const ForceVector<OtherScalar>& other) const
            {
                return angular().dot(other.moment()) + linear().dot(other.force());
            }
        }
    }
}
 
#endif // RL_MATH_MOTIONVECTOR_HXX