#include "matr9d.h"

template< class T1, class T2>
class Opfois{
	public:
	inline Opfois(T1 op1, T2 op2):p1(op1),p2(op2){}
	inline Opfois(){}
	T1 p1;
	T2 p2;
	inline decltype(p1.eval()*p2.eval()) eval(){return p1.eval()*p2.eval();}
};
template< class T1, class T2>
class Opplus{
	public:
	inline Opplus(T1 op1, T2 op2):p1(op1),p2(op2){}
	inline Opplus(){}
	T1 p1;
	T2 p2;
	inline decltype(p1.eval()+p2.eval()) eval(){return p1.eval()+p2.eval();}
};
template< class T1, class T2>
class Opmoins{
	public:
	inline Opmoins(T1 op1, T2 op2):p1(op1),p2(op2){}
	inline Opmoins(){}
	T1 p1;
	T2 p2;
	inline decltype(p1.eval()-p2.eval()) eval(){return p1.eval()-p2.eval();}
};
template< class T1, class T2>
class Opvectorielle{
	public:
	inline Opvectorielle(){}
	inline Opvectorielle(T1 op1, T2 op2):p1(op1),p2(op2){}
	T1 p1;
	T2 p2;
	inline decltype(p1.eval()^p2.eval()) eval(){return p1.eval()^p2.eval();}
	
};

template<class T1,class T2>
inline decltype(derive(T1())-derive(T2())) derive(Opmoins<T1,T2> const&a){return derive(a.p1)-derive(a.p2);}
template<class T1,class T2>
inline decltype(derive(T1())+derive(T2())) derive(Opplus<T1,T2> const&a){return derive(a.p1)+derive(a.p2);}
template<class T1,class T2>
inline decltype(derive(T1())*T2()+T1()*derive(T2())) derive(Opfois<T1,T2> const&a){return derive(a.p1)*a.p2+a.p1*derive(a.p2);}
template< class T1, class T2>
inline decltype((derive(T1())^T2())+(T1()^derive(T2()))) derive(Opvectorielle<T1,T2> const&a){return (derive(a.p1)^a.p2)+(a.p1^derive(a.p2));}


template<class T1, class T2>
inline Opplus<T1,T2> operator+(T1 const&a,T2 const&b){return Opplus<T1,T2>(a,b);}

template<class T1, class T2>
inline Opmoins<T1,T2> operator-(T1 const&a,T2 const&b){return Opmoins<T1,T2>(a,b);}

template<class T1, class T2>
inline Opfois<T1,T2> operator*(T1 const&a,T2 const&b){return Opfois<T1,T2>(a,b);}

template<class T1, class T2>
inline Opvectorielle<T1,T2> operator^(T1 const&a,T2 const&b){return Opvectorielle<T1,T2>(a,b);}








class Solide;


class Dw2{
	public:
	Solide *a;
	inline Dw2(Solide &b){a=&b;}
	inline Dw2(){}
	inline Vect3d eval();
};
class Dw{
	public:
	Solide *a;
	inline Dw(){}
	inline Dw(Solide &b){a=&b;}
	inline Vect3d eval();	
};
class DMatr9d{
	public:
	Solide *a;
	inline DMatr9d(){}
	inline DMatr9d(Solide &b){a=&b;}
	inline Matr9d eval();
	
};


class Dacc{
	public:
	Solide *a;
	inline Dacc(){}
	inline Dacc(Solide &b){a=&b;}
	inline Vect3d eval();
	
};
class Dvit{
	public:
	Solide *a;
	inline Dvit(){}
	inline Dvit(Solide &b){a=&b;}
	inline Vect3d eval();
};
class Dpos{
	public:
	Solide *a;
	inline Dpos(){}
	inline Dpos(Solide &b){a=&b;}
	inline Vect3d eval();	
};
inline Dvit derive(Dpos const&s){return Dvit(*s.a);}
inline Dacc derive(Dvit const&s){return Dacc(*s.a);}
inline Opvectorielle<Dw,DMatr9d> derive(DMatr9d const&s){return Opvectorielle<Dw,DMatr9d>(Dw(*s.a),s);}
inline Dw2 derive(Dw const&s){return Dw2(*s.a);}



class Solide{
    public:
	Matr9d rot;
	Vect3d w;
	Vect3d w2;
	
	Vect3d pos;
	Vect3d vit;
	Vect3d acc;
};

inline Matr9d DMatr9d::eval(){return (*a).rot;}
inline Vect3d Dw::eval(){return (*a).w;}
inline Vect3d Dw2::eval(){return (*a).w2;}
inline Vect3d Dpos::eval(){return (*a).pos;}
inline Vect3d Dvit::eval(){return (*a).vit;}
inline Vect3d Dacc::eval(){return (*a).acc;}