taoVar.h

/* Copyright (c) 2005 Arachi, Inc. and Stanford University. All rights reserved.
 *
 * Permission is hereby granted, free of charge, to any person obtaining
 * a copy of this software and associated documentation files (the
 * "Software"), to deal in the Software without restriction, including
 * without limitation the rights to use, copy, modify, merge, publish,
 * distribute, sublicense, and/or sell copies of the Software, and to
 * permit persons to whom the Software is furnished to do so, subject
 * to the following conditions:
 *
 * The above copyright notice and this permission notice shall be included
 * in all copies or substantial portions of the Software.
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS
 * OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
 * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
 * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
 * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
 * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
 * SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
 */

#ifndef _taoVar_h
#define _taoVar_h

#ifdef OSX
// that's why variables should never start with an underscore...
# undef _Q
#endif // OSX

#include <tao/matrix/TaoDeMath.h>


class taoDVar
{
public:
};

class taoVarDOF1 : public taoDVar
{
public:
  deFloat q_;   
  deFloat dq_;  
  deFloat ddq_; 
  deFloat tau_; 
};

class taoVarSpherical : public taoDVar
{
public:
  deQuaternion q_quat_; 
  deVector3 dq_;        
  deVector3 ddq_;       
  deVector3 force_gc_;  
  deVector3 dq_rotated_;  
};

#endif // _taoVar_h