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tim |
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/* |
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* Copyright (C) 2000-2004 Object Oriented Parallel Simulation Engine (OOPSE) project |
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* |
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* Contact: oopse@oopse.org |
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* |
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* This program is free software; you can redistribute it and/or |
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* modify it under the terms of the GNU Lesser General Public License |
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* as published by the Free Software Foundation; either version 2.1 |
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* of the License, or (at your option) any later version. |
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* All we ask is that proper credit is given for our work, which includes |
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* - but is not limited to - adding the above copyright notice to the beginning |
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* of your source code files, and to any copyright notice that you may distribute |
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* with programs based on this work. |
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* |
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* This program is distributed in the hope that it will be useful, |
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* but WITHOUT ANY WARRANTY; without even the implied warranty of |
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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* GNU Lesser General Public License for more details. |
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* |
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* You should have received a copy of the GNU Lesser General Public License |
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* along with this program; if not, write to the Free Software |
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* Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. |
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* |
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*/ |
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#ifndef CONSTRAINTS_CONTRAINTELEM_HPP |
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#define CONSTRAINTS_CONTRAINTELEM_HPP |
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#include "primitives/StuntDouble.hpp" |
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#include "utils/GenericData.hpp" |
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#include "utils/simError.h" |
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namespace oopse { |
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/** |
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* @class ConstraintElem ConstraintElem.hpp "constraints/ConstraintElem.hpp" |
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* An adapter class of StuntDouble which is used at constraint algorithm |
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*/ |
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class ConstraintElem{ |
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public: |
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ConstraintElem(StuntDouble* sd) : sd_(sd) { |
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GenericData* movedData = sd_->getPropertyByName("Moved"); |
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if (movedData !=NULL) { //if generic data with keyword "moved" exists, assign it to moved_ |
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moved_ = dynamic_cast<BoolGenericData*>(movedData); |
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if (moved_ == NULL) { |
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sprintf(painCave.errMsg, |
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"Generic Data with keyword Moved exists, however, it can not be casted to a BoolGenericData.\n"); |
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painCave.isFatal = 1;; |
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simError(); |
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} |
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}else { //if generic data with keyword "moved" does not exist, create it |
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moved_ = new BoolGenericData("Moved"); |
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sd_->addProperty(moved_); |
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} |
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GenericData* movingData = sd_->getPropertyByName("Moving"); |
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if (movingData !=NULL) { |
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moving_ = dynamic_cast<BoolGenericData*>(movingData); |
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if (moving_ == NULL) { |
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sprintf(painCave.errMsg, |
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"Generic Data with keyword Moving exists, however, it can not be casted to a BoolGenericData.\n"); |
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painCave.isFatal = 1;; |
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simError(); |
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} |
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}else { |
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moving_ = new BoolGenericData("Moving"); |
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sd_->addProperty(moving_); |
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} |
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} |
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bool getMoved() { return moved_->getData(); } |
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void setMoved(bool moved) { moved_->setData(moved);} |
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bool getMoving() { return moving_->getData(); } |
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void setMoving(bool moving) { moving_->setData(moving); } |
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StuntDouble* getStuntDouble() { return sd_; } |
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/** |
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* Returns the global index of this stuntdouble. |
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* @return the global index of this stuntdouble |
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*/ |
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int getGlobalIndex() { |
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return sd_->getGlobalIndex(); |
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} |
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/** |
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* Sets the global index of this stuntdouble. |
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* @param new global index to be set |
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*/ |
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void setGlobalIndex(int index) { |
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sd_->setGlobalIndex(index); |
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} |
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/** |
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* Returns the local index of this stuntdouble |
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* @return the local index of this stuntdouble |
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*/ |
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int getLocalIndex() { |
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return sd_->getLocalIndex(); |
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} |
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/** |
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* Sets the local index of this stuntdouble |
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* @param index new index to be set |
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*/ |
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void setLocalIndex(int index) { |
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sd_->setLocalIndex(index); |
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} |
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/** |
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* Sets the Snapshot Manager of this stuntdouble |
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*/ |
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void setSnapshotManager(SnapshotManager* sman) { |
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sd_->setSnapshotManager(sman); |
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} |
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/** |
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* Tests if this stuntdouble is an atom |
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* @return true is this stuntdouble is an atom(or a directional atom), return false otherwise |
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*/ |
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bool isAtom(){ |
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return sd_->isAtom(); |
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} |
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/** |
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* Tests if this stuntdouble is an directional atom |
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* @return true if this stuntdouble is an directional atom, return false otherwise |
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*/ |
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bool isDirectionalAtom(){ |
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return sd_->isDirectional(); |
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} |
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/** |
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* Tests if this stuntdouble is a rigid body. |
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* @return true if this stuntdouble is a rigid body, otherwise return false |
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*/ |
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bool isRigidBody(){ |
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return sd_->isRigidBody(); |
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} |
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/** |
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* Tests if this stuntdouble is a directional one. |
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* @return true is this stuntdouble is a directional atom or a rigid body, return false otherwise |
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*/ |
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bool isDirectional(){ |
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return sd_->isDirectional(); |
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} |
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/** |
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* Returns the previous position of this stuntdouble |
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* @return the position of this stuntdouble |
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*/ |
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Vector3d getPrevPos() { |
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return sd_->getPrevPos(); |
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} |
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/** |
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* Returns the current position of this stuntdouble |
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* @return the position of this stuntdouble |
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*/ |
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Vector3d getPos() { |
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return sd_->getPos(); |
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} |
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/** |
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* Returns the position of this stuntdouble in specified snapshot |
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* @return the position of this stuntdouble |
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* @param snapshotNo |
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*/ |
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Vector3d getPos(int snapshotNo) { |
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return sd_->getPos(snapshotNo); |
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} |
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/** |
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* Sets the previous position of this stuntdouble |
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* @param pos new position |
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* @see #getPos |
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*/ |
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void setPrevPos(const Vector3d& pos) { |
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sd_->setPrevPos(pos); |
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} |
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/** |
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* Sets the current position of this stuntdouble |
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* @param pos new position |
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*/ |
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void setPos(const Vector3d& pos) { |
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sd_->setPos(pos); |
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} |
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/** |
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* Sets the position of this stuntdouble in specified snapshot |
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* @param pos position to be set |
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* @param snapshotNo |
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* @see #getPos |
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*/ |
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void setPos(const Vector3d& pos, int snapshotNo) { |
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sd_->setPos(pos, snapshotNo); |
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} |
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/** |
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* Returns the previous velocity of this stuntdouble |
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* @return the velocity of this stuntdouble |
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*/ |
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Vector3d getPrevVel() { |
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return sd_->getPrevVel(); |
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} |
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/** |
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* Returns the current velocity of this stuntdouble |
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* @return the velocity of this stuntdouble |
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*/ |
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Vector3d getVel() { |
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return sd_->getVel(); |
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} |
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/** |
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* Returns the velocity of this stuntdouble in specified snapshot |
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* @return the velocity of this stuntdouble |
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* @param snapshotNo |
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*/ |
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Vector3d getVel(int snapshotNo) { |
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return sd_->getVel(snapshotNo); |
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} |
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/** |
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* Sets the previous velocity of this stuntdouble |
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* @param vel new velocity |
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* @see #getVel |
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*/ |
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void setPrevVel(const Vector3d& vel) { |
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sd_->setPrevVel(vel); |
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} |
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/** |
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* Sets the current velocity of this stuntdouble |
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* @param vel new velocity |
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*/ |
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void setVel(const Vector3d& vel) { |
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sd_->setVel(vel); |
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} |
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/** |
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* Sets the velocity of this stuntdouble in specified snapshot |
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* @param vel velocity to be set |
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* @param snapshotNo |
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* @see #getVel |
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*/ |
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void setVel(const Vector3d& vel, int snapshotNo) { |
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sd_->setVel(vel, snapshotNo); |
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} |
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/** |
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* Returns the previous rotation matrix of this stuntdouble |
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* @return the rotation matrix of this stuntdouble |
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*/ |
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RotMat3x3d getPrevA() { |
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return sd_->getPrevA(); |
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} |
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/** |
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* Returns the current rotation matrix of this stuntdouble |
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* @return the rotation matrix of this stuntdouble |
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*/ |
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RotMat3x3d getA() { |
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return sd_->getA(); |
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} |
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/** |
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* Returns the rotation matrix of this stuntdouble in specified snapshot |
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* |
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* @return the rotation matrix of this stuntdouble |
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* @param snapshotNo |
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*/ |
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RotMat3x3d getA(int snapshotNo) { |
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return sd_->getA(snapshotNo); |
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} |
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/** |
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* Sets the previous rotation matrix of this stuntdouble |
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* @param a new rotation matrix |
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* @see #getA |
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*/ |
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void setPrevA(const RotMat3x3d& a) { |
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sd_->setPrevA(a); |
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} |
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/** |
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* Sets the current rotation matrix of this stuntdouble |
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* @param a new rotation matrix |
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*/ |
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void setA(const RotMat3x3d& a) { |
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sd_->setA(a); |
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} |
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/** |
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* Sets the rotation matrix of this stuntdouble in specified snapshot |
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* @param a rotation matrix to be set |
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* @param snapshotNo |
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* @see #getA |
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*/ |
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void setA(const RotMat3x3d& a, int snapshotNo) { |
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sd_->setA(a, snapshotNo); |
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} |
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/** |
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* Returns the previous angular momentum of this stuntdouble (body-fixed). |
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* @return the angular momentum of this stuntdouble |
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*/ |
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Vector3d getPrevJ() { |
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return sd_->getPrevJ(); |
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} |
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/** |
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* Returns the current angular momentum of this stuntdouble (body -fixed). |
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* @return the angular momentum of this stuntdouble |
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*/ |
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Vector3d getJ() { |
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return sd_->getJ(); |
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} |
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/** |
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* Returns the angular momentum of this stuntdouble in specified snapshot (body-fixed). |
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* @return the angular momentum of this stuntdouble |
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* @param snapshotNo |
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*/ |
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Vector3d getJ(int snapshotNo) { |
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return sd_->getJ(snapshotNo); |
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} |
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/** |
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* Sets the previous angular momentum of this stuntdouble (body-fixed). |
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* @param angMom new angular momentum |
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* @see #getJ |
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*/ |
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void setPrevJ(const Vector3d& angMom) { |
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sd_->setPrevJ(angMom); |
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} |
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/** |
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* Sets the current angular momentum of this stuntdouble (body-fixed). |
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* @param angMom new angular momentum |
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*/ |
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void setJ(const Vector3d& angMom) { |
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sd_->setJ(angMom); |
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} |
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/** |
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* Sets the angular momentum of this stuntdouble in specified snapshot(body-fixed). |
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* @param angMom angular momentum to be set |
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* @param snapshotNo |
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* @see #getJ |
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*/ |
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void setJ(const Vector3d& angMom, int snapshotNo) { |
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sd_->setJ(angMom, snapshotNo); |
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} |
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/** |
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* Returns the previous quaternion of this stuntdouble |
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* @return the quaternion of this stuntdouble |
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*/ |
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Quat4d getPrevQ() { |
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return sd_->getPrevQ(); |
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} |
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/** |
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* Returns the current quaternion of this stuntdouble |
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* @return the quaternion of this stuntdouble |
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*/ |
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Quat4d getQ() { |
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return sd_->getQ(); |
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} |
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/** |
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* Returns the quaternion of this stuntdouble in specified snapshot |
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* @return the quaternion of this stuntdouble |
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* @param snapshotNo |
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*/ |
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Quat4d getQ(int snapshotNo) { |
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return sd_->getQ(snapshotNo); |
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} |
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/** |
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* Sets the previous quaternion of this stuntdouble |
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* @param q new quaternion |
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* @note actual storage data is rotation matrix |
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*/ |
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void setPrevQ(const Quat4d& q) { |
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sd_->setPrevQ(q); |
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} |
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/** |
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* Sets the current quaternion of this stuntdouble |
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* @param q new quaternion |
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* @note actual storage data is rotation matrix |
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*/ |
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void setQ(const Quat4d& q) { |
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sd_->setQ(q); |
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} |
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/** |
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* Sets the quaternion of this stuntdouble in specified snapshot |
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* |
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* @param q quaternion to be set |
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* @param snapshotNo |
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* @note actual storage data is rotation matrix |
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*/ |
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void setQ(const Quat4d& q, int snapshotNo) { |
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sd_->setQ(q, snapshotNo); |
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} |
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/** |
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* Returns the previous euler angles of this stuntdouble |
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* @return the euler angles of this stuntdouble |
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*/ |
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Vector3d getPrevEuler() { |
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return sd_->getPrevEuler(); |
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} |
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/** |
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* Returns the current euler angles of this stuntdouble |
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* @return the euler angles of this stuntdouble |
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*/ |
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Vector3d getEuler() { |
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return sd_->getEuler(); |
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} |
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/** |
432 |
|
|
* Returns the euler angles of this stuntdouble in specified snapshot. |
433 |
|
|
* @return the euler angles of this stuntdouble |
434 |
|
|
* @param snapshotNo |
435 |
|
|
*/ |
436 |
|
|
Vector3d getEuler(int snapshotNo) { |
437 |
|
|
return sd_->getEuler(snapshotNo); |
438 |
|
|
} |
439 |
|
|
|
440 |
|
|
/** |
441 |
|
|
* Sets the previous euler angles of this stuntdouble. |
442 |
|
|
* @param euler new euler angles |
443 |
|
|
* @see #getEuler |
444 |
|
|
* @note actual storage data is rotation matrix |
445 |
|
|
*/ |
446 |
|
|
void setPrevEuler(const Vector3d& euler) { |
447 |
|
|
sd_->setPrevEuler(euler); |
448 |
|
|
} |
449 |
|
|
|
450 |
|
|
/** |
451 |
|
|
* Sets the current euler angles of this stuntdouble |
452 |
|
|
* @param euler new euler angles |
453 |
|
|
*/ |
454 |
|
|
void setEuler(const Vector3d& euler) { |
455 |
|
|
sd_->setEuler(euler); |
456 |
|
|
} |
457 |
|
|
|
458 |
|
|
/** |
459 |
|
|
* Sets the euler angles of this stuntdouble in specified snapshot |
460 |
|
|
* |
461 |
|
|
* @param euler euler angles to be set |
462 |
|
|
* @param snapshotNo |
463 |
|
|
* @note actual storage data is rotation matrix |
464 |
|
|
*/ |
465 |
|
|
void setEuler(const Vector3d& euler, int snapshotNo) { |
466 |
|
|
sd_->setEuler(euler, snapshotNo); |
467 |
|
|
} |
468 |
|
|
|
469 |
|
|
/** |
470 |
|
|
* Returns the previous unit vectors of this stuntdouble |
471 |
|
|
* @return the unit vectors of this stuntdouble |
472 |
|
|
*/ |
473 |
|
|
RotMat3x3d getPrevElectroFrame() { |
474 |
|
|
return sd_->getPrevElectroFrame(); |
475 |
|
|
} |
476 |
|
|
|
477 |
|
|
/** |
478 |
|
|
* Returns the current unit vectors of this stuntdouble |
479 |
|
|
* @return the unit vectors of this stuntdouble |
480 |
|
|
*/ |
481 |
|
|
RotMat3x3d getElectroFrame() { |
482 |
|
|
return sd_->getElectroFrame(); |
483 |
|
|
} |
484 |
|
|
|
485 |
|
|
/** |
486 |
|
|
* Returns the unit vectors of this stuntdouble in specified snapshot |
487 |
|
|
* |
488 |
|
|
* @return the unit vectors of this stuntdouble |
489 |
|
|
* @param snapshotNo |
490 |
|
|
*/ |
491 |
|
|
RotMat3x3d getElectroFrame(int snapshotNo) { |
492 |
|
|
return sd_->getElectroFrame(snapshotNo); |
493 |
|
|
} |
494 |
|
|
|
495 |
|
|
/** |
496 |
|
|
* Returns the previous force of this stuntdouble |
497 |
|
|
* @return the force of this stuntdouble |
498 |
|
|
*/ |
499 |
|
|
Vector3d getPrevFrc() { |
500 |
|
|
return sd_->getPrevFrc(); |
501 |
|
|
} |
502 |
|
|
|
503 |
|
|
/** |
504 |
|
|
* Returns the current force of this stuntdouble |
505 |
|
|
* @return the force of this stuntdouble |
506 |
|
|
*/ |
507 |
|
|
Vector3d getFrc() { |
508 |
|
|
return sd_->getFrc(); |
509 |
|
|
} |
510 |
|
|
|
511 |
|
|
/** |
512 |
|
|
* Returns the force of this stuntdouble in specified snapshot |
513 |
|
|
* |
514 |
|
|
* @return the force of this stuntdouble |
515 |
|
|
* @param snapshotNo |
516 |
|
|
*/ |
517 |
|
|
Vector3d getFrc(int snapshotNo) { |
518 |
|
|
return sd_->getFrc(snapshotNo); |
519 |
|
|
} |
520 |
|
|
|
521 |
|
|
/** |
522 |
|
|
* Sets the previous force of this stuntdouble |
523 |
|
|
* |
524 |
|
|
* @param frc new force |
525 |
|
|
* @see #getFrc |
526 |
|
|
*/ |
527 |
|
|
void setPrevFrc(const Vector3d& frc) { |
528 |
|
|
sd_->setPrevFrc(frc); |
529 |
|
|
} |
530 |
|
|
|
531 |
|
|
/** |
532 |
|
|
* Sets the current force of this stuntdouble |
533 |
|
|
* @param frc new force |
534 |
|
|
*/ |
535 |
|
|
void setFrc(const Vector3d& frc) { |
536 |
|
|
sd_->setFrc(frc); |
537 |
|
|
} |
538 |
|
|
|
539 |
|
|
/** |
540 |
|
|
* Sets the force of this stuntdouble in specified snapshot |
541 |
|
|
* |
542 |
|
|
* @param frc force to be set |
543 |
|
|
* @param snapshotNo |
544 |
|
|
* @see #getFrc |
545 |
|
|
*/ |
546 |
|
|
void setFrc(const Vector3d& frc, int snapshotNo) { |
547 |
|
|
sd_->setFrc(frc, snapshotNo); |
548 |
|
|
} |
549 |
|
|
|
550 |
|
|
/** |
551 |
|
|
* Adds force into the previous force of this stuntdouble |
552 |
|
|
* |
553 |
|
|
* @param frc new force |
554 |
|
|
* @see #getFrc |
555 |
|
|
*/ |
556 |
|
|
void addPrevFrc(const Vector3d& frc) { |
557 |
|
|
sd_->addPrevFrc(frc); |
558 |
|
|
} |
559 |
|
|
|
560 |
|
|
/** |
561 |
|
|
* Adds force into the current force of this stuntdouble |
562 |
|
|
* @param frc new force |
563 |
|
|
*/ |
564 |
|
|
void addFrc(const Vector3d& frc) { |
565 |
|
|
sd_->addFrc(frc); |
566 |
|
|
} |
567 |
|
|
|
568 |
|
|
/** |
569 |
|
|
* Adds force into the force of this stuntdouble in specified snapshot |
570 |
|
|
* |
571 |
|
|
* @param frc force to be set |
572 |
|
|
* @param snapshotNo |
573 |
|
|
* @see #getFrc |
574 |
|
|
*/ |
575 |
|
|
void addFrc(const Vector3d& frc, int snapshotNo) { |
576 |
|
|
sd_->addFrc(frc, snapshotNo); |
577 |
|
|
} |
578 |
|
|
|
579 |
|
|
/** |
580 |
|
|
* Returns the previous torque of this stuntdouble |
581 |
|
|
* @return the torque of this stuntdouble |
582 |
|
|
*/ |
583 |
|
|
Vector3d getPrevTrq() { |
584 |
|
|
return sd_->getPrevTrq(); |
585 |
|
|
} |
586 |
|
|
|
587 |
|
|
/** |
588 |
|
|
* Returns the current torque of this stuntdouble |
589 |
|
|
* @return the torque of this stuntdouble |
590 |
|
|
*/ |
591 |
|
|
Vector3d getTrq() { |
592 |
|
|
return sd_->getTrq(); |
593 |
|
|
} |
594 |
|
|
|
595 |
|
|
/** |
596 |
|
|
* Returns the torque of this stuntdouble in specified snapshot |
597 |
|
|
* |
598 |
|
|
* @return the torque of this stuntdouble |
599 |
|
|
* @param snapshotNo |
600 |
|
|
*/ |
601 |
|
|
Vector3d getTrq(int snapshotNo) { |
602 |
|
|
return sd_->getTrq(snapshotNo); |
603 |
|
|
} |
604 |
|
|
|
605 |
|
|
/** |
606 |
|
|
* Sets the previous torque of this stuntdouble |
607 |
|
|
* |
608 |
|
|
* @param trq new torque |
609 |
|
|
* @see #getTrq |
610 |
|
|
*/ |
611 |
|
|
void setPrevTrq(const Vector3d& trq) { |
612 |
|
|
sd_->setPrevTrq(trq); |
613 |
|
|
} |
614 |
|
|
|
615 |
|
|
/** |
616 |
|
|
* Sets the current torque of this stuntdouble |
617 |
|
|
* @param trq new torque |
618 |
|
|
*/ |
619 |
|
|
void setTrq(const Vector3d& trq) { |
620 |
|
|
sd_->setTrq(trq); |
621 |
|
|
} |
622 |
|
|
|
623 |
|
|
/** |
624 |
|
|
* Sets the torque of this stuntdouble in specified snapshot |
625 |
|
|
* |
626 |
|
|
* @param trq torque to be set |
627 |
|
|
* @param snapshotNo |
628 |
|
|
* @see #getTrq |
629 |
|
|
*/ |
630 |
|
|
void setTrq(const Vector3d& trq, int snapshotNo) { |
631 |
|
|
sd_->setTrq(trq, snapshotNo); |
632 |
|
|
} |
633 |
|
|
|
634 |
|
|
/** |
635 |
|
|
* Adds torque into the previous torque of this stuntdouble |
636 |
|
|
* |
637 |
|
|
* @param trq new torque |
638 |
|
|
* @see #getTrq |
639 |
|
|
*/ |
640 |
|
|
void addPrevTrq(const Vector3d& trq) { |
641 |
|
|
sd_->addPrevTrq(trq); |
642 |
|
|
} |
643 |
|
|
|
644 |
|
|
/** |
645 |
|
|
* Adds torque into the current torque of this stuntdouble |
646 |
|
|
* @param trq new torque |
647 |
|
|
*/ |
648 |
|
|
void addTrq(const Vector3d& trq) { |
649 |
|
|
sd_->addTrq(trq); |
650 |
|
|
} |
651 |
|
|
|
652 |
|
|
/** |
653 |
|
|
* Adds torque into the torque of this stuntdouble in specified snapshot |
654 |
|
|
* |
655 |
|
|
* @param trq torque to be add |
656 |
|
|
* @param snapshotNo |
657 |
|
|
* @see #getTrq |
658 |
|
|
*/ |
659 |
|
|
void addTrq(const Vector3d& trq, int snapshotNo) { |
660 |
|
|
sd_->addTrq(trq, snapshotNo); |
661 |
|
|
} |
662 |
|
|
|
663 |
|
|
/** Set the force of this stuntdouble to zero */ |
664 |
|
|
void zeroForcesAndTorques() { |
665 |
|
|
sd_->zeroForcesAndTorques(); |
666 |
|
|
} |
667 |
|
|
/** |
668 |
|
|
* Returns the inertia tensor of this stuntdouble |
669 |
|
|
* @return the inertia tensor of this stuntdouble |
670 |
|
|
*/ |
671 |
|
|
Mat3x3d getI() { |
672 |
|
|
return sd_->getI(); |
673 |
|
|
} |
674 |
|
|
|
675 |
|
|
/** |
676 |
|
|
* Returns the gradient of this stuntdouble |
677 |
|
|
* @return the gradient of this stuntdouble |
678 |
|
|
*/ |
679 |
|
|
std::vector<double> getGrad() { |
680 |
|
|
return sd_->getGrad(); |
681 |
|
|
} |
682 |
|
|
|
683 |
|
|
/** |
684 |
|
|
* Tests the if this stuntdouble is a linear rigidbody |
685 |
|
|
* |
686 |
|
|
* @return true if this stuntdouble is a linear rigidbody, otherwise return false |
687 |
|
|
* @note atom and directional atom will always return false |
688 |
|
|
* |
689 |
|
|
* @see #linearAxis |
690 |
|
|
*/ |
691 |
|
|
bool isLinear() { |
692 |
|
|
return sd_->isLinear(); |
693 |
|
|
} |
694 |
|
|
|
695 |
|
|
/** |
696 |
|
|
* Returns the linear axis of the rigidbody, atom and directional atom will always return -1 |
697 |
|
|
* |
698 |
|
|
* @return the linear axis of the rigidbody |
699 |
|
|
* |
700 |
|
|
* @see #isLinear |
701 |
|
|
*/ |
702 |
|
|
int linearAxis() { |
703 |
|
|
return sd_->linearAxis(); |
704 |
|
|
} |
705 |
|
|
|
706 |
|
|
/** Returns the mass of this stuntdouble */ |
707 |
|
|
double getMass() { |
708 |
|
|
return sd_->getMass(); |
709 |
|
|
} |
710 |
|
|
|
711 |
|
|
/** |
712 |
|
|
* Sets the mass of this stuntdoulbe |
713 |
|
|
* @param mass the mass to be set |
714 |
|
|
*/ |
715 |
|
|
void setMass(double mass) { |
716 |
|
|
sd_->setMass(mass); |
717 |
|
|
} |
718 |
|
|
|
719 |
|
|
/** Returns the name of this stuntdouble */ |
720 |
|
|
std::string getType() { |
721 |
|
|
return sd_->getType(); |
722 |
|
|
} |
723 |
|
|
|
724 |
|
|
/** Sets the name of this stuntdouble*/ |
725 |
|
|
void setType(const std::string& name) { |
726 |
|
|
sd_->setType(name); |
727 |
|
|
} |
728 |
|
|
|
729 |
|
|
/** |
730 |
|
|
* Converts a lab fixed vector to a body fixed vector. |
731 |
|
|
* @return body fixed vector |
732 |
|
|
* @param v lab fixed vector |
733 |
|
|
*/ |
734 |
|
|
Vector3d lab2Body(const Vector3d& v) { |
735 |
|
|
return sd_->lab2Body(v); |
736 |
|
|
} |
737 |
|
|
|
738 |
|
|
/** |
739 |
|
|
* Converts a body fixed vector to a lab fixed vector. |
740 |
|
|
* @return corresponding lab fixed vector |
741 |
|
|
* @param v body fixed vector |
742 |
|
|
*/ |
743 |
|
|
Vector3d body2Lab(const Vector3d& v){ |
744 |
|
|
return sd_->body2Lab(v); |
745 |
|
|
} |
746 |
|
|
/** |
747 |
|
|
* <p> |
748 |
|
|
* The purpose of the Visitor Pattern is to encapsulate an operation that you want to perform on |
749 |
|
|
* the elements of a data structure. In this way, you can change the operation being performed |
750 |
|
|
* on a structure without the need of changing the classes of the elements that you are operating |
751 |
|
|
* on. Using a Visitor pattern allows you to decouple the classes for the data structure and the |
752 |
|
|
* algorithms used upon them |
753 |
|
|
* </p> |
754 |
|
|
* @param v visitor |
755 |
|
|
*/ |
756 |
|
|
void accept(BaseVisitor* v) { |
757 |
|
|
sd_->accept(v); |
758 |
|
|
} |
759 |
|
|
|
760 |
|
|
//below functions are just forward functions |
761 |
|
|
/** |
762 |
|
|
* Adds property into property map |
763 |
|
|
* @param genData GenericData to be added into PropertyMap |
764 |
|
|
*/ |
765 |
|
|
void addProperty(GenericData* genData){ |
766 |
|
|
sd_->addProperty(genData); |
767 |
|
|
} |
768 |
|
|
|
769 |
|
|
/** |
770 |
|
|
* Removes property from PropertyMap by name |
771 |
|
|
* @param propName the name of property to be removed |
772 |
|
|
*/ |
773 |
|
|
void removeProperty(const std::string& propName) { |
774 |
|
|
sd_->removeProperty(propName); |
775 |
|
|
} |
776 |
|
|
|
777 |
|
|
/** |
778 |
|
|
* clear all of the properties |
779 |
|
|
*/ |
780 |
|
|
void clearProperties() { |
781 |
|
|
sd_->clearProperties(); |
782 |
|
|
} |
783 |
|
|
|
784 |
|
|
/** |
785 |
|
|
* Returns all names of properties |
786 |
|
|
* @return all names of properties |
787 |
|
|
*/ |
788 |
|
|
std::vector<std::string> getPropertyNames() { |
789 |
|
|
return sd_->getPropertyNames(); |
790 |
|
|
} |
791 |
|
|
|
792 |
|
|
/** |
793 |
|
|
* Returns all of the properties in PropertyMap |
794 |
|
|
* @return all of the properties in PropertyMap |
795 |
|
|
*/ |
796 |
|
|
std::vector<GenericData*> getProperties() { |
797 |
|
|
return sd_->getProperties(); |
798 |
|
|
} |
799 |
|
|
|
800 |
|
|
/** |
801 |
|
|
* Returns property |
802 |
|
|
* @param propName name of property |
803 |
|
|
* @return a pointer point to property with propName. If no property named propName |
804 |
|
|
* exists, return NULL |
805 |
|
|
*/ |
806 |
|
|
GenericData* getPropertyByName(const std::string& propName) { |
807 |
|
|
return sd_->getPropertyByName(propName); |
808 |
|
|
} |
809 |
|
|
|
810 |
|
|
private: |
811 |
|
|
StuntDouble* sd_; |
812 |
|
|
BoolGenericData* moved_; |
813 |
|
|
BoolGenericData* moving_; |
814 |
|
|
}; |
815 |
|
|
|
816 |
|
|
} |
817 |
|
|
|
818 |
|
|
#endif |