/home/hauberg/Dokumenter/Capture/humim-tracker-0.1/src/OpenTissue/OpenTissue/collision/continuous/continuous_motion_interpolation.h

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#ifndef OPENTISSUE_COLLISION_CONTINUOUS_CONTINUOUS_MOTION_INTERPOLATION_H
#define OPENTISSUE_COLLISION_CONTINUOUS_CONTINUOUS_MOTION_INTERPOLATION_H
//
// OpenTissue Template Library
// - A generic toolbox for physics-based modeling and simulation.
// Copyright (C) 2008 Department of Computer Science, University of Copenhagen.
//
// OTTL is licensed under zlib: http://opensource.org/licenses/zlib-license.php
//
#include <OpenTissue/configuration.h>

#include <OpenTissue/collision/continuous/continuous_conservative_advancement.h>

namespace OpenTissue
{
  namespace collision
  {
    namespace continuous
    {

      template<typename transform_type, typename object_type1, typename object_type2, typename motion_policy>
      inline bool motion_interpolation(
        transform_type const & A_from
        , transform_type const & A_to
        , object_type1 & A
        , typename transform_type::value_type const & r_max_a
        , transform_type const & B_from
        , transform_type const & B_to
        , object_type2 & B
        , typename transform_type::value_type const & r_max_b
        , typename transform_type::vector3_type & p_a
        , typename transform_type::vector3_type & p_b
        , typename transform_type::value_type & time_of_impact
        , size_t & iterations
        , typename transform_type::value_type const & epsilon
        , size_t const & max_iterations 
        , motion_policy const & policy
        )
      {            
        typedef typename transform_type::value_traits    value_traits;
        typedef typename transform_type::vector3_type    V;
      
        V v_a;
        V omega_a;
        V v_b;
        V omega_b;

        motion_policy::compute_velocities( A_from, A_to, value_traits::one(), v_a, omega_a );
        motion_policy::compute_velocities( B_from, B_to, value_traits::one(), v_b, omega_b );

        return conservative_advancement(
          A_from      , v_a      , omega_a      , A      , r_max_a
          , B_from      , v_b      , omega_b      , B      , r_max_b
          , p_a
          , p_b
          , time_of_impact
          , iterations , epsilon, value_traits::one(), max_iterations, policy 
          );
      }

    } // namespace continuous
  } // namespace collision
} // namespace OpenTissue

// OPENTISSUE_COLLISION_CONTINUOUS_CONTINUOUS_MOTION_INTERPOLATION_H
#endif