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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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gezelter |
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|
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tim |
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/** |
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* @file StuntDouble.hpp |
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* @author tlin |
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* @date 10/22/2004 |
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* @version 1.0 |
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*/ |
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#ifndef PRIMITIVES_STUNTDOUBLE_HPP |
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#define PRIMITIVES_STUNTDOUBLE_HPP |
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gezelter |
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|
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tim |
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#include <vector> |
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gezelter |
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|
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tim |
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#include "visitors/BaseVisitor.hpp" |
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#include "math/Quaternion.hpp" |
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#include "math/SquareMatrix3.hpp" |
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#include "math/Vector3.hpp" |
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#include "utils/PropertyMap.hpp" |
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#include "brains/Snapshot.hpp" |
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#include "brains/SnapshotManager.hpp" |
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namespace oopse{ |
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gezelter |
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tim |
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|
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/** |
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* @class StuntDouble StuntDouble.hpp "Primitives/StuntDouble.hpp" |
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* @brief |
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* StuntDouble is a very strange idea. A StuntDouble stands in for |
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* some object that can be manipulated by the Integrators or |
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* Minimizers. Some of the manipulable objects are Atoms, some are |
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* DirectionalAtoms, and some are RigidBodies. StuntDouble |
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* provides an interface for the Integrators and Minimizers to use, |
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* and does some preliminary sanity checking so that the program |
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* doesn't try to do something stupid like torque an Atom |
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* @note the dynamic data of stuntdouble will be stored outside of the class |
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*/ |
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class StuntDouble{ |
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public: |
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gezelter |
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|
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enum ObjectType{ |
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otAtom, |
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otDAtom, |
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otRigidBody |
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}; |
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gezelter |
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virtual ~StuntDouble(); |
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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 globalIndex_; |
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} |
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gezelter |
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|
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tim |
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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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int setGlobalIndex(int index) { |
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return globalIndex_; |
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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 localIndex_; |
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} |
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gezelter |
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tim |
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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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localIndex_ = index; |
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} |
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gezelter |
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|
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tim |
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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 objType_ == otAtom || objType_ == otDAtom; |
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} |
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gezelter |
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tim |
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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 objType_ == otDAtom; |
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} |
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gezelter |
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tim |
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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 objType_ == otRigidBody; |
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} |
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gezelter |
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tim |
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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 isDirectionalAtom() || isRigidBody(); |
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} |
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gezelter |
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tim |
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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 ((snapshotMan_->getPrevSnapshot())->*storage_).position[localIndex_]; |
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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 ((snapshotMan_->getCurrentSnapshot())->*storage_).position[localIndex_]; |
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} |
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gezelter |
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tim |
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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 ((snapshotMan_->getSnapshot(snapshotNo))->*storage_).position[localIndex_]; |
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} |
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gezelter |
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tim |
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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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((snapshotMan_->getPrevSnapshot())->*storage_).position[localIndex_] = 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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((snapshotMan_->getCurrentSnapshot())->*storage_).position[localIndex_] = pos; |
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} |
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gezelter |
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tim |
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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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((snapshotMan_->getSnapshot(snapshotNo))->*storage_).position[localIndex_] = pos; |
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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 ((snapshotMan_->getPrevSnapshot())->*storage_).velocity[localIndex_]; |
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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 ((snapshotMan_->getCurrentSnapshot())->*storage_).velocity[localIndex_]; |
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} |
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gezelter |
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tim |
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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 ((snapshotMan_->getSnapshot(snapshotNo))->*storage_).velocity[localIndex_]; |
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} |
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gezelter |
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tim |
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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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((snapshotMan_->getPrevSnapshot())->*storage_).velocity[localIndex_] = 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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((snapshotMan_->getCurrentSnapshot())->*storage_).velocity[localIndex_] = vel; |
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} |
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gezelter |
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tim |
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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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((snapshotMan_->getSnapshot(snapshotNo))->*storage_).velocity[localIndex_] = vel; |
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} |
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gezelter |
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tim |
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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 ((snapshotMan_->getPrevSnapshot())->*storage_).aMat[localIndex_]; |
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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 ((snapshotMan_->getCurrentSnapshot())->*storage_).aMat[localIndex_]; |
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} |
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gezelter |
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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 ((snapshotMan_->getSnapshot(snapshotNo))->*storage_).aMat[localIndex_]; |
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} |
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gezelter |
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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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virtual void setPrevA(const RotMat3x3d& a) { |
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((snapshotMan_->getPrevSnapshot())->*storage_).aMat[localIndex_] = 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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virtual void setA(const RotMat3x3d& a) { |
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((snapshotMan_->getCurrentSnapshot())->*storage_).aMat[localIndex_] = 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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virtual void setA(const RotMat3x3d& a, int snapshotNo) { |
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((snapshotMan_->getSnapshot(snapshotNo))->*storage_).aMat[localIndex_] = a; |
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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 ((snapshotMan_->getPrevSnapshot())->*storage_).angularMomentum[localIndex_]; |
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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 ((snapshotMan_->getCurrentSnapshot())->*storage_).angularMomentum[localIndex_]; |
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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 ((snapshotMan_->getSnapshot(snapshotNo))->*storage_).angularMomentum[localIndex_]; |
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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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((snapshotMan_->getPrevSnapshot())->*storage_).angularMomentum[localIndex_] = 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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((snapshotMan_->getCurrentSnapshot())->*storage_).angularMomentum[localIndex_] = 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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((snapshotMan_->getSnapshot(snapshotNo))->*storage_).angularMomentum[localIndex_] = angMom; |
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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 ((snapshotMan_->getPrevSnapshot())->*storage_).aMat[localIndex_].toQuaternion(); |
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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 ((snapshotMan_->getCurrentSnapshot())->*storage_).aMat[localIndex_].toQuaternion(); |
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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 ((snapshotMan_->getSnapshot(snapshotNo))->*storage_).aMat[localIndex_].toQuaternion(); |
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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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((snapshotMan_->getPrevSnapshot())->*storage_).aMat[localIndex_] = 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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((snapshotMan_->getCurrentSnapshot())->*storage_).aMat[localIndex_] = 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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((snapshotMan_->getSnapshot(snapshotNo))->*storage_).aMat[localIndex_] = q; |
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} |
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|
|
399 |
|
|
/** |
400 |
|
|
* Returns the previous euler angles of this stuntdouble |
401 |
|
|
* @return the euler angles of this stuntdouble |
402 |
|
|
*/ |
403 |
|
|
Vector3d getPrevEuler() { |
404 |
|
|
return ((snapshotMan_->getPrevSnapshot())->*storage_).aMat[localIndex_].toEulerAngles(); |
405 |
|
|
} |
406 |
|
|
|
407 |
|
|
/** |
408 |
|
|
* Returns the current euler angles of this stuntdouble |
409 |
|
|
* @return the euler angles of this stuntdouble |
410 |
|
|
*/ |
411 |
|
|
Vector3d getEuler() { |
412 |
|
|
return ((snapshotMan_->getCurrentSnapshot())->*storage_).aMat[localIndex_].toEulerAngles(); |
413 |
|
|
} |
414 |
|
|
|
415 |
|
|
/** |
416 |
|
|
* Returns the euler angles of this stuntdouble in specified snapshot. |
417 |
|
|
* @return the euler angles of this stuntdouble |
418 |
|
|
* @param snapshotNo |
419 |
|
|
*/ |
420 |
|
|
Vector3d getEuler(int snapshotNo) { |
421 |
|
|
return ((snapshotMan_->getSnapshot(snapshotNo))->*storage_).aMat[localIndex_].toEulerAngles(); |
422 |
|
|
} |
423 |
|
|
|
424 |
|
|
/** |
425 |
|
|
* Sets the previous euler angles of this stuntdouble. |
426 |
|
|
* @param euler new euler angles |
427 |
|
|
* @see #getEuler |
428 |
|
|
* @note actual storage data is rotation matrix |
429 |
|
|
*/ |
430 |
|
|
void setPrevEuler(const Vector3d& euler) { |
431 |
|
|
((snapshotMan_->getPrevSnapshot())->*storage_).aMat[localIndex_] = euler; |
432 |
|
|
} |
433 |
|
|
|
434 |
|
|
/** |
435 |
|
|
* Sets the current euler angles of this stuntdouble |
436 |
|
|
* @param euler new euler angles |
437 |
|
|
*/ |
438 |
|
|
void setEuler(const Vector3d& euler) { |
439 |
|
|
((snapshotMan_->getCurrentSnapshot())->*storage_).aMat[localIndex_] = euler; |
440 |
|
|
} |
441 |
|
|
|
442 |
|
|
/** |
443 |
|
|
* Sets the euler angles of this stuntdouble in specified snapshot |
444 |
|
|
* |
445 |
|
|
* @param euler euler angles to be set |
446 |
|
|
* @param snapshotNo |
447 |
|
|
* @note actual storage data is rotation matrix |
448 |
|
|
*/ |
449 |
|
|
void setEuler(const Vector3d& euler, int snapshotNo) { |
450 |
|
|
((snapshotMan_->getSnapshot(snapshotNo))->*storage_).aMat[localIndex_] = euler; |
451 |
|
|
} |
452 |
|
|
|
453 |
|
|
/** |
454 |
|
|
* Returns the previous unit vectors of this stuntdouble |
455 |
|
|
* @return the unit vectors of this stuntdouble |
456 |
|
|
*/ |
457 |
tim |
1782 |
RotMat3x3d getPrevUnitFrame() { |
458 |
|
|
return ((snapshotMan_->getPrevSnapshot())->*storage_).unitFrame[localIndex_]; |
459 |
tim |
1692 |
} |
460 |
|
|
|
461 |
|
|
/** |
462 |
|
|
* Returns the current unit vectors of this stuntdouble |
463 |
|
|
* @return the unit vectors of this stuntdouble |
464 |
|
|
*/ |
465 |
tim |
1782 |
RotMat3x3d getUnitFrame() { |
466 |
|
|
return ((snapshotMan_->getCurrentSnapshot())->*storage_).unitFrame[localIndex_]; |
467 |
tim |
1692 |
} |
468 |
|
|
|
469 |
|
|
/** |
470 |
|
|
* Returns the unit vectors of this stuntdouble in specified snapshot |
471 |
|
|
* |
472 |
|
|
* @return the unit vectors of this stuntdouble |
473 |
|
|
* @param snapshotNo |
474 |
|
|
*/ |
475 |
tim |
1782 |
RotMat3x3d getUnitFrame(int snapshotNo) { |
476 |
|
|
return ((snapshotMan_->getSnapshot(snapshotNo))->*storage_).unitFrame[localIndex_]; |
477 |
tim |
1692 |
} |
478 |
|
|
|
479 |
|
|
/** |
480 |
|
|
* Returns the previous force of this stuntdouble |
481 |
|
|
* @return the force of this stuntdouble |
482 |
|
|
*/ |
483 |
|
|
Vector3d getPrevFrc() { |
484 |
|
|
return ((snapshotMan_->getPrevSnapshot())->*storage_).force[localIndex_]; |
485 |
|
|
} |
486 |
|
|
|
487 |
|
|
/** |
488 |
|
|
* Returns the current force of this stuntdouble |
489 |
|
|
* @return the force of this stuntdouble |
490 |
|
|
*/ |
491 |
|
|
Vector3d getFrc() { |
492 |
|
|
return ((snapshotMan_->getCurrentSnapshot())->*storage_).force[localIndex_]; |
493 |
|
|
} |
494 |
|
|
|
495 |
|
|
/** |
496 |
|
|
* Returns the force of this stuntdouble in specified snapshot |
497 |
|
|
* |
498 |
|
|
* @return the force of this stuntdouble |
499 |
|
|
* @param snapshotNo |
500 |
|
|
*/ |
501 |
|
|
Vector3d getFrc(int snapshotNo) { |
502 |
|
|
return ((snapshotMan_->getSnapshot(snapshotNo))->*storage_).force[localIndex_]; |
503 |
|
|
} |
504 |
|
|
|
505 |
|
|
/** |
506 |
|
|
* Sets the previous force of this stuntdouble |
507 |
|
|
* |
508 |
|
|
* @param frc new force |
509 |
|
|
* @see #getFrc |
510 |
|
|
*/ |
511 |
|
|
void setPrevFrc(const Vector3d& frc) { |
512 |
|
|
((snapshotMan_->getPrevSnapshot())->*storage_).force[localIndex_] = frc; |
513 |
|
|
} |
514 |
|
|
|
515 |
|
|
/** |
516 |
|
|
* Sets the current force of this stuntdouble |
517 |
|
|
* @param frc new force |
518 |
|
|
*/ |
519 |
|
|
void setFrc(const Vector3d& frc) { |
520 |
|
|
((snapshotMan_->getCurrentSnapshot())->*storage_).force[localIndex_] = frc; |
521 |
|
|
} |
522 |
|
|
|
523 |
|
|
/** |
524 |
|
|
* Sets the force of this stuntdouble in specified snapshot |
525 |
|
|
* |
526 |
|
|
* @param frc force to be set |
527 |
|
|
* @param snapshotNo |
528 |
|
|
* @see #getFrc |
529 |
|
|
*/ |
530 |
|
|
void setFrc(const Vector3d& frc, int snapshotNo) { |
531 |
|
|
((snapshotMan_->getSnapshot(snapshotNo))->*storage_).force[localIndex_] = frc; |
532 |
|
|
} |
533 |
|
|
|
534 |
|
|
/** |
535 |
|
|
* Adds force into the previous force of this stuntdouble |
536 |
|
|
* |
537 |
|
|
* @param frc new force |
538 |
|
|
* @see #getFrc |
539 |
|
|
*/ |
540 |
|
|
void addPrevFrc(const Vector3d& frc) { |
541 |
|
|
((snapshotMan_->getPrevSnapshot())->*storage_).force[localIndex_] += frc; |
542 |
|
|
} |
543 |
|
|
|
544 |
|
|
/** |
545 |
|
|
* Adds force into the current force of this stuntdouble |
546 |
|
|
* @param frc new force |
547 |
|
|
*/ |
548 |
|
|
void addFrc(const Vector3d& frc) { |
549 |
|
|
((snapshotMan_->getCurrentSnapshot())->*storage_).force[localIndex_] += frc; |
550 |
|
|
} |
551 |
|
|
|
552 |
|
|
/** |
553 |
|
|
* Adds force into the force of this stuntdouble in specified snapshot |
554 |
|
|
* |
555 |
|
|
* @param frc force to be set |
556 |
|
|
* @param snapshotNo |
557 |
|
|
* @see #getFrc |
558 |
|
|
*/ |
559 |
|
|
void addFrc(const Vector3d& frc, int snapshotNo) { |
560 |
|
|
((snapshotMan_->getSnapshot(snapshotNo))->*storage_).force[localIndex_] += frc; |
561 |
|
|
} |
562 |
|
|
|
563 |
|
|
/** |
564 |
|
|
* Returns the previous torque of this stuntdouble |
565 |
|
|
* @return the torque of this stuntdouble |
566 |
|
|
*/ |
567 |
|
|
Vector3d getPrevTrq() { |
568 |
|
|
return ((snapshotMan_->getPrevSnapshot())->*storage_).torque[localIndex_]; |
569 |
|
|
} |
570 |
|
|
|
571 |
|
|
/** |
572 |
|
|
* Returns the current torque of this stuntdouble |
573 |
|
|
* @return the torque of this stuntdouble |
574 |
|
|
*/ |
575 |
|
|
Vector3d getTrq() { |
576 |
|
|
return ((snapshotMan_->getCurrentSnapshot())->*storage_).torque[localIndex_]; |
577 |
|
|
} |
578 |
|
|
|
579 |
|
|
/** |
580 |
|
|
* Returns the torque of this stuntdouble in specified snapshot |
581 |
|
|
* |
582 |
|
|
* @return the torque of this stuntdouble |
583 |
|
|
* @param snapshotNo |
584 |
|
|
*/ |
585 |
|
|
Vector3d getTrq(int snapshotNo) { |
586 |
|
|
return ((snapshotMan_->getSnapshot(snapshotNo))->*storage_).torque[localIndex_]; |
587 |
|
|
} |
588 |
|
|
|
589 |
|
|
/** |
590 |
|
|
* Sets the previous torque of this stuntdouble |
591 |
|
|
* |
592 |
|
|
* @param trq new torque |
593 |
|
|
* @see #getTrq |
594 |
|
|
*/ |
595 |
|
|
void setPrevTrq(const Vector3d& trq) { |
596 |
|
|
((snapshotMan_->getPrevSnapshot())->*storage_).torque[localIndex_] = trq; |
597 |
|
|
} |
598 |
|
|
|
599 |
|
|
/** |
600 |
|
|
* Sets the current torque of this stuntdouble |
601 |
|
|
* @param trq new torque |
602 |
|
|
*/ |
603 |
|
|
void setTrq(const Vector3d& trq) { |
604 |
|
|
((snapshotMan_->getCurrentSnapshot())->*storage_).torque[localIndex_] = trq; |
605 |
|
|
} |
606 |
|
|
|
607 |
|
|
/** |
608 |
|
|
* Sets the torque of this stuntdouble in specified snapshot |
609 |
|
|
* |
610 |
|
|
* @param trq torque to be set |
611 |
|
|
* @param snapshotNo |
612 |
|
|
* @see #getTrq |
613 |
|
|
*/ |
614 |
|
|
void setTrq(const Vector3d& trq, int snapshotNo) { |
615 |
|
|
((snapshotMan_->getSnapshot(snapshotNo))->*storage_).torque[localIndex_] = trq; |
616 |
|
|
} |
617 |
|
|
|
618 |
|
|
/** |
619 |
|
|
* Adds torque into the previous torque of this stuntdouble |
620 |
|
|
* |
621 |
|
|
* @param trq new torque |
622 |
|
|
* @see #getTrq |
623 |
|
|
*/ |
624 |
|
|
void addPrevTrq(const Vector3d& trq) { |
625 |
|
|
((snapshotMan_->getPrevSnapshot())->*storage_).torque[localIndex_] += trq; |
626 |
|
|
} |
627 |
|
|
|
628 |
|
|
/** |
629 |
|
|
* Adds torque into the current torque of this stuntdouble |
630 |
|
|
* @param trq new torque |
631 |
|
|
*/ |
632 |
|
|
void addTrq(const Vector3d& trq) { |
633 |
|
|
((snapshotMan_->getCurrentSnapshot())->*storage_).torque[localIndex_] += trq; |
634 |
|
|
} |
635 |
|
|
|
636 |
|
|
/** |
637 |
|
|
* Adds torque into the torque of this stuntdouble in specified snapshot |
638 |
|
|
* |
639 |
|
|
* @param trq torque to be add |
640 |
|
|
* @param snapshotNo |
641 |
|
|
* @see #getTrq |
642 |
|
|
*/ |
643 |
|
|
void addTrq(const Vector3d& trq, int snapshotNo) { |
644 |
|
|
((snapshotMan_->getSnapshot(snapshotNo))->*storage_).torque[localIndex_] += trq; |
645 |
|
|
} |
646 |
|
|
|
647 |
|
|
|
648 |
|
|
/** |
649 |
|
|
* Returns the previous z-angle of this stuntdouble |
650 |
|
|
* @return the z-angle of this stuntdouble |
651 |
|
|
*/ |
652 |
|
|
double getPrevZangle() { |
653 |
|
|
return ((snapshotMan_->getPrevSnapshot())->*storage_).zAngle[localIndex_]; |
654 |
|
|
} |
655 |
|
|
|
656 |
|
|
/** |
657 |
|
|
* Returns the current z-angle of this stuntdouble |
658 |
|
|
* @return the z-angle of this stuntdouble |
659 |
|
|
*/ |
660 |
|
|
double getZangle() { |
661 |
|
|
return ((snapshotMan_->getCurrentSnapshot())->*storage_).zAngle[localIndex_]; |
662 |
|
|
} |
663 |
|
|
|
664 |
|
|
/** |
665 |
|
|
* Returns the z-angle of this stuntdouble in specified snapshot |
666 |
|
|
* @return the z-angle of this stuntdouble |
667 |
|
|
* @param snapshotNo |
668 |
|
|
*/ |
669 |
|
|
double getZangle(int snapshotNo) { |
670 |
|
|
return ((snapshotMan_->getSnapshot(snapshotNo))->*storage_).zAngle[localIndex_]; |
671 |
|
|
} |
672 |
|
|
|
673 |
|
|
/** |
674 |
|
|
* Sets the previous z-angle of this stuntdouble |
675 |
|
|
* @param angle new z-angle |
676 |
|
|
* @see #getZangle |
677 |
|
|
*/ |
678 |
|
|
void setPrevZangle(double angle) { |
679 |
|
|
((snapshotMan_->getPrevSnapshot())->*storage_).zAngle[localIndex_] = angle; |
680 |
|
|
} |
681 |
|
|
|
682 |
|
|
/** |
683 |
|
|
* Sets the current z-angle of this stuntdouble |
684 |
|
|
* @param angle new z-angle |
685 |
|
|
*/ |
686 |
|
|
void setZangle(double angle) { |
687 |
|
|
((snapshotMan_->getCurrentSnapshot())->*storage_).zAngle[localIndex_] = angle; |
688 |
|
|
} |
689 |
|
|
|
690 |
|
|
/** |
691 |
|
|
* Sets the z-angle of this stuntdouble in specified snapshot |
692 |
|
|
* @param angle z-angle to be set |
693 |
|
|
* @param snapshotNo |
694 |
|
|
* @see #getZangle |
695 |
|
|
*/ |
696 |
|
|
void setZangle(double angle, int snapshotNo) { |
697 |
|
|
((snapshotMan_->getSnapshot(snapshotNo))->*storage_).zAngle[localIndex_] = angle; |
698 |
|
|
} |
699 |
|
|
|
700 |
|
|
/** |
701 |
|
|
* Adds z-angle into the previous z-angle of this stuntdouble |
702 |
|
|
* @param angle new z-angle |
703 |
|
|
* @see #getZangle |
704 |
|
|
*/ |
705 |
|
|
void addPrevZangle(double angle) { |
706 |
|
|
((snapshotMan_->getPrevSnapshot())->*storage_).zAngle[localIndex_] += angle; |
707 |
|
|
} |
708 |
|
|
|
709 |
|
|
/** |
710 |
|
|
* Adds z-angle into the current z-angle of this stuntdouble |
711 |
|
|
* @param angle new z-angle |
712 |
|
|
*/ |
713 |
|
|
void addZangle(double angle) { |
714 |
|
|
((snapshotMan_->getCurrentSnapshot())->*storage_).zAngle[localIndex_] += angle; |
715 |
|
|
} |
716 |
|
|
|
717 |
|
|
/** |
718 |
|
|
* Adds z-angle into the z-angle of this stuntdouble in specified snapshot |
719 |
|
|
* @param angle z-angle to be add |
720 |
|
|
* @param snapshotNo |
721 |
|
|
* @see #getZangle |
722 |
|
|
*/ |
723 |
|
|
void addZangle(double angle, int snapshotNo) { |
724 |
|
|
((snapshotMan_->getSnapshot(snapshotNo))->*storage_).zAngle[localIndex_] += angle; |
725 |
|
|
} |
726 |
|
|
|
727 |
|
|
/** Set the force of this stuntdouble to zero */ |
728 |
|
|
virtual void zeroForces(); |
729 |
|
|
/** |
730 |
|
|
* Returns the inertia tensor of this stuntdouble |
731 |
|
|
* @return the inertia tensor of this stuntdouble |
732 |
|
|
*/ |
733 |
|
|
virtual Mat3x3d getI() = 0; |
734 |
|
|
|
735 |
|
|
/** |
736 |
|
|
* Returns the gradient of this stuntdouble |
737 |
|
|
* @return the gradient of this stuntdouble |
738 |
|
|
*/ |
739 |
|
|
virtual std::vector<double> getGrad() = 0; |
740 |
|
|
|
741 |
|
|
/** |
742 |
|
|
* Tests the if this stuntdouble is a linear rigidbody |
743 |
|
|
* |
744 |
|
|
* @return true if this stuntdouble is a linear rigidbody, otherwise return false |
745 |
|
|
* @note atom and directional atom will always return false |
746 |
|
|
* |
747 |
|
|
* @see #linearAxis |
748 |
|
|
*/ |
749 |
|
|
bool isLinear() { |
750 |
|
|
return linear_; |
751 |
|
|
} |
752 |
|
|
|
753 |
|
|
/** |
754 |
|
|
* Returns the linear axis of the rigidbody, atom and directional atom will always return -1 |
755 |
|
|
* |
756 |
|
|
* @return the linear axis of the rigidbody |
757 |
|
|
* |
758 |
|
|
* @see #isLinear |
759 |
|
|
*/ |
760 |
|
|
int linearAxis() { |
761 |
|
|
return linearAxis_; |
762 |
|
|
} |
763 |
|
|
|
764 |
|
|
/** Returns the mass of this stuntdouble */ |
765 |
|
|
double getMass() { |
766 |
|
|
return mass_; |
767 |
|
|
} |
768 |
|
|
|
769 |
|
|
/** |
770 |
|
|
* Sets the mass of this stuntdoulbe |
771 |
|
|
* @param mass the mass to be set |
772 |
|
|
*/ |
773 |
|
|
void setMass(double mass) { |
774 |
|
|
mass_ = mass; |
775 |
|
|
} |
776 |
|
|
|
777 |
|
|
/** Returns the name of this stuntdouble */ |
778 |
|
|
std::string getType(); |
779 |
|
|
|
780 |
|
|
/** Sets the name of this stuntdouble*/ |
781 |
|
|
void setType(const std::string& name); |
782 |
|
|
|
783 |
|
|
/** |
784 |
|
|
* Converts a lab fixed vector to a body fixed vector. |
785 |
|
|
* @return body fixed vector |
786 |
|
|
* @param v lab fixed vector |
787 |
|
|
*/ |
788 |
|
|
Vector3d lab2Body(const Vector3d& v); |
789 |
|
|
|
790 |
|
|
/** |
791 |
|
|
* Converts a body fixed vector to a lab fixed vector. |
792 |
|
|
* @return corresponding lab fixed vector |
793 |
|
|
* @param v body fixed vector |
794 |
|
|
*/ |
795 |
|
|
Vector3d body2Lab(const Vector3d& v); |
796 |
|
|
/** |
797 |
|
|
* <p> |
798 |
|
|
* The purpose of the Visitor Pattern is to encapsulate an operation that you want to perform on |
799 |
|
|
* the elements of a data structure. In this way, you can change the operation being performed |
800 |
|
|
* on a structure without the need of changing the classes of the elements that you are operating |
801 |
|
|
* on. Using a Visitor pattern allows you to decouple the classes for the data structure and the |
802 |
|
|
* algorithms used upon them |
803 |
|
|
* </p> |
804 |
|
|
* @param v visitor |
805 |
|
|
*/ |
806 |
|
|
virtual void accept(BaseVisitor* v) = 0; |
807 |
|
|
|
808 |
|
|
//below functions are just forward functions |
809 |
|
|
/** |
810 |
|
|
* Adds property into property map |
811 |
|
|
* @param genData GenericData to be added into PropertyMap |
812 |
|
|
*/ |
813 |
|
|
void addProperty(GenericData* genData); |
814 |
|
|
|
815 |
|
|
/** |
816 |
|
|
* Removes property from PropertyMap by name |
817 |
|
|
* @param propName the name of property to be removed |
818 |
|
|
*/ |
819 |
tim |
1701 |
void removeProperty(const std::string& propName); |
820 |
tim |
1692 |
|
821 |
|
|
/** |
822 |
|
|
* clear all of the properties |
823 |
|
|
*/ |
824 |
|
|
void clearProperties(); |
825 |
|
|
|
826 |
|
|
/** |
827 |
|
|
* Returns all names of properties |
828 |
|
|
* @return all names of properties |
829 |
|
|
*/ |
830 |
|
|
std::vector<std::string> getPropertyNames(); |
831 |
|
|
|
832 |
|
|
/** |
833 |
|
|
* Returns all of the properties in PropertyMap |
834 |
|
|
* @return all of the properties in PropertyMap |
835 |
|
|
*/ |
836 |
|
|
std::vector<GenericData*> getProperties(); |
837 |
|
|
|
838 |
|
|
/** |
839 |
|
|
* Returns property |
840 |
|
|
* @param propName name of property |
841 |
|
|
* @return a pointer point to property with propName. If no property named propName |
842 |
|
|
* exists, return NULL |
843 |
|
|
*/ |
844 |
tim |
1701 |
GenericData* getPropertyByName(const std::string& propName); |
845 |
tim |
1692 |
|
846 |
|
|
protected: |
847 |
|
|
|
848 |
|
|
StuntDouble(ObjectType objType, DataStoragePointer storage); |
849 |
|
|
|
850 |
|
|
StuntDouble(const StuntDouble& sd); |
851 |
|
|
StuntDouble& operator=(const StuntDouble& sd); |
852 |
|
|
|
853 |
|
|
ObjectType objType_; |
854 |
|
|
|
855 |
|
|
bool linear_; |
856 |
|
|
int linearAxis_; |
857 |
|
|
|
858 |
|
|
DataStoragePointer storage_; |
859 |
|
|
SnapshotManager* snapshotMan_; |
860 |
|
|
|
861 |
|
|
int globalIndex_; |
862 |
|
|
int localIndex_; |
863 |
|
|
|
864 |
|
|
private: |
865 |
|
|
|
866 |
|
|
std::string name_; |
867 |
|
|
|
868 |
|
|
double mass_; |
869 |
|
|
|
870 |
|
|
PropertyMap properties_; |
871 |
|
|
}; |
872 |
|
|
|
873 |
|
|
}//end namespace oopse |
874 |
tim |
1765 |
#endif //PRIMITIVES_STUNTDOUBLE_HPP |