| 97 |
|
virtual ~StuntDouble(); |
| 98 |
|
|
| 99 |
|
/** |
| 100 |
< |
* Returns the global index of this stuntdouble. |
| 100 |
> |
* Returns the global index of this stuntRealType. |
| 101 |
|
* @return the global index of this stuntdouble |
| 102 |
|
*/ |
| 103 |
|
int getGlobalIndex() { |
| 105 |
|
} |
| 106 |
|
|
| 107 |
|
/** |
| 108 |
< |
* Sets the global index of this stuntdouble. |
| 108 |
> |
* Sets the global index of this stuntRealType. |
| 109 |
|
* @param new global index to be set |
| 110 |
|
*/ |
| 111 |
|
void setGlobalIndex(int index) { |
| 483 |
|
} |
| 484 |
|
|
| 485 |
|
/** |
| 486 |
< |
* Sets the previous euler angles of this stuntdouble. |
| 486 |
> |
* Sets the previous euler angles of this stuntRealType. |
| 487 |
|
* @param euler new euler angles |
| 488 |
|
* @see #getEuler |
| 489 |
|
* @note actual storage data is rotation matrix |
| 710 |
|
* Returns the previous z-angle of this stuntdouble |
| 711 |
|
* @return the z-angle of this stuntdouble |
| 712 |
|
*/ |
| 713 |
< |
double getPrevZangle() { |
| 713 |
> |
RealType getPrevZangle() { |
| 714 |
|
return ((snapshotMan_->getPrevSnapshot())->*storage_).zAngle[localIndex_]; |
| 715 |
|
} |
| 716 |
|
|
| 718 |
|
* Returns the current z-angle of this stuntdouble |
| 719 |
|
* @return the z-angle of this stuntdouble |
| 720 |
|
*/ |
| 721 |
< |
double getZangle() { |
| 721 |
> |
RealType getZangle() { |
| 722 |
|
return ((snapshotMan_->getCurrentSnapshot())->*storage_).zAngle[localIndex_]; |
| 723 |
|
} |
| 724 |
|
|
| 727 |
|
* @return the z-angle of this stuntdouble |
| 728 |
|
* @param snapshotNo |
| 729 |
|
*/ |
| 730 |
< |
double getZangle(int snapshotNo) { |
| 730 |
> |
RealType getZangle(int snapshotNo) { |
| 731 |
|
return ((snapshotMan_->getSnapshot(snapshotNo))->*storage_).zAngle[localIndex_]; |
| 732 |
|
} |
| 733 |
|
|
| 736 |
|
* @param angle new z-angle |
| 737 |
|
* @see #getZangle |
| 738 |
|
*/ |
| 739 |
< |
void setPrevZangle(double angle) { |
| 739 |
> |
void setPrevZangle(RealType angle) { |
| 740 |
|
((snapshotMan_->getPrevSnapshot())->*storage_).zAngle[localIndex_] = angle; |
| 741 |
|
} |
| 742 |
|
|
| 744 |
|
* Sets the current z-angle of this stuntdouble |
| 745 |
|
* @param angle new z-angle |
| 746 |
|
*/ |
| 747 |
< |
void setZangle(double angle) { |
| 747 |
> |
void setZangle(RealType angle) { |
| 748 |
|
((snapshotMan_->getCurrentSnapshot())->*storage_).zAngle[localIndex_] = angle; |
| 749 |
|
} |
| 750 |
|
|
| 754 |
|
* @param snapshotNo |
| 755 |
|
* @see #getZangle |
| 756 |
|
*/ |
| 757 |
< |
void setZangle(double angle, int snapshotNo) { |
| 757 |
> |
void setZangle(RealType angle, int snapshotNo) { |
| 758 |
|
((snapshotMan_->getSnapshot(snapshotNo))->*storage_).zAngle[localIndex_] = angle; |
| 759 |
|
} |
| 760 |
|
|
| 763 |
|
* @param angle new z-angle |
| 764 |
|
* @see #getZangle |
| 765 |
|
*/ |
| 766 |
< |
void addPrevZangle(double angle) { |
| 766 |
> |
void addPrevZangle(RealType angle) { |
| 767 |
|
((snapshotMan_->getPrevSnapshot())->*storage_).zAngle[localIndex_] += angle; |
| 768 |
|
} |
| 769 |
|
|
| 771 |
|
* Adds z-angle into the current z-angle of this stuntdouble |
| 772 |
|
* @param angle new z-angle |
| 773 |
|
*/ |
| 774 |
< |
void addZangle(double angle) { |
| 774 |
> |
void addZangle(RealType angle) { |
| 775 |
|
((snapshotMan_->getCurrentSnapshot())->*storage_).zAngle[localIndex_] += angle; |
| 776 |
|
} |
| 777 |
|
|
| 781 |
|
* @param snapshotNo |
| 782 |
|
* @see #getZangle |
| 783 |
|
*/ |
| 784 |
< |
void addZangle(double angle, int snapshotNo) { |
| 784 |
> |
void addZangle(RealType angle, int snapshotNo) { |
| 785 |
|
((snapshotMan_->getSnapshot(snapshotNo))->*storage_).zAngle[localIndex_] += angle; |
| 786 |
|
} |
| 787 |
|
|
| 797 |
|
* Returns the gradient of this stuntdouble |
| 798 |
|
* @return the gradient of this stuntdouble |
| 799 |
|
*/ |
| 800 |
< |
virtual std::vector<double> getGrad() = 0; |
| 800 |
> |
virtual std::vector<RealType> getGrad() = 0; |
| 801 |
|
|
| 802 |
|
/** |
| 803 |
|
* Tests the if this stuntdouble is a linear rigidbody |
| 823 |
|
} |
| 824 |
|
|
| 825 |
|
/** Returns the mass of this stuntdouble */ |
| 826 |
< |
double getMass() { |
| 826 |
> |
RealType getMass() { |
| 827 |
|
return mass_; |
| 828 |
|
} |
| 829 |
|
|
| 831 |
|
* Sets the mass of this stuntdoulbe |
| 832 |
|
* @param mass the mass to be set |
| 833 |
|
*/ |
| 834 |
< |
void setMass(double mass) { |
| 834 |
> |
void setMass(RealType mass) { |
| 835 |
|
mass_ = mass; |
| 836 |
|
} |
| 837 |
|
|
| 838 |
|
/** Returns the name of this stuntdouble */ |
| 839 |
|
virtual std::string getType() = 0; |
| 840 |
|
|
| 841 |
< |
/** Sets the name of this stuntdouble*/ |
| 841 |
> |
/** Sets the name of this stuntRealType*/ |
| 842 |
|
virtual void setType(const std::string& name) {} |
| 843 |
|
|
| 844 |
|
/** |
| 935 |
|
int localIndex_; |
| 936 |
|
|
| 937 |
|
|
| 938 |
< |
double mass_; |
| 938 |
> |
RealType mass_; |
| 939 |
|
|
| 940 |
|
private: |
| 941 |
|
|