orientable.h

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#ifndef ORIENTABLE_H
#define ORIENTABLE_H
#include "mecacell/utilities/utils.hpp"
namespace MecaCell {
class Orientable {
 protected:
    Vec angularVelocity = Vec::zero();
    Vec torque = Vec::zero();
    Basis<Vec> orientation;
    Rotation<Vec> orientationRotation;
 
 public:
    /**********************************************
     *               CONSTRUCTOR
     **********************************************/
    Orientable(){};
 
    /**********************************************
     *                GET & SET
     **********************************************/
    Vec getAngularVelocity() const { return angularVelocity; }
    Vec getTorque() const { return torque; }
    Basis<Vec> getOrientation() const { return orientation; }
    Rotation<Vec> getOrientationRotation() const { return orientationRotation; }
    void setAngularVelocity(const Vec& v) { angularVelocity = v; }
    void setTorque(const Vec& t) { torque = t; }
    void setOrientationRotation(const Rotation<Vec>& r) { orientationRotation = r; }
 
    /**********************************************
     *                  UPDATES
     **********************************************/
    void receiveTorque(const Vec& t) { torque += t; }
    void updateCurrentOrientation() { orientation.updateWithRotation(orientationRotation); }
    void resetTorque() { torque = Vec::zero(); }
    void resetAngularVelocity() { angularVelocity = Vec::zero(); }
};
}
#endif