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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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#include <vector> |
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gezelter |
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|
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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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|
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gezelter |
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|
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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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|
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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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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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/** |
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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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globalIndex_ = 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 localIndex_; |
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} |
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gezelter |
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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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/** |
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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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snapshotMan_ = 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 objType_ == otAtom || objType_ == otDAtom; |
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} |
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gezelter |
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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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/** |
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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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/** |
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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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/** |
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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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/** |
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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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DataStorage& data = snapshotMan_->getCurrentSnapshot()->*storage_; |
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data.position[localIndex_] = pos; |
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//((snapshotMan_->getCurrentSnapshot())->*storage_).position[localIndex_] = pos; |
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} |
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gezelter |
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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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/** |
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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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/** |
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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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/** |
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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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/** |
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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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/** |
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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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/** |
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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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setPrevA(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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setA(q); |
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} |
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|
/** |
400 |
|
|
* Sets the quaternion of this stuntdouble in specified snapshot |
401 |
|
|
* |
402 |
|
|
* @param q quaternion to be set |
403 |
|
|
* @param snapshotNo |
404 |
|
|
* @note actual storage data is rotation matrix |
405 |
|
|
*/ |
406 |
|
|
void setQ(const Quat4d& q, int snapshotNo) { |
407 |
tim |
1880 |
setA(q, snapshotNo); |
408 |
tim |
1692 |
} |
409 |
|
|
|
410 |
|
|
/** |
411 |
|
|
* Returns the previous euler angles of this stuntdouble |
412 |
|
|
* @return the euler angles of this stuntdouble |
413 |
|
|
*/ |
414 |
|
|
Vector3d getPrevEuler() { |
415 |
|
|
return ((snapshotMan_->getPrevSnapshot())->*storage_).aMat[localIndex_].toEulerAngles(); |
416 |
|
|
} |
417 |
|
|
|
418 |
|
|
/** |
419 |
|
|
* Returns the current euler angles of this stuntdouble |
420 |
|
|
* @return the euler angles of this stuntdouble |
421 |
|
|
*/ |
422 |
|
|
Vector3d getEuler() { |
423 |
|
|
return ((snapshotMan_->getCurrentSnapshot())->*storage_).aMat[localIndex_].toEulerAngles(); |
424 |
|
|
} |
425 |
|
|
|
426 |
|
|
/** |
427 |
|
|
* Returns the euler angles of this stuntdouble in specified snapshot. |
428 |
|
|
* @return the euler angles of this stuntdouble |
429 |
|
|
* @param snapshotNo |
430 |
|
|
*/ |
431 |
|
|
Vector3d getEuler(int snapshotNo) { |
432 |
|
|
return ((snapshotMan_->getSnapshot(snapshotNo))->*storage_).aMat[localIndex_].toEulerAngles(); |
433 |
|
|
} |
434 |
|
|
|
435 |
|
|
/** |
436 |
|
|
* Sets the previous euler angles of this stuntdouble. |
437 |
|
|
* @param euler new euler angles |
438 |
|
|
* @see #getEuler |
439 |
|
|
* @note actual storage data is rotation matrix |
440 |
|
|
*/ |
441 |
|
|
void setPrevEuler(const Vector3d& euler) { |
442 |
|
|
((snapshotMan_->getPrevSnapshot())->*storage_).aMat[localIndex_] = euler; |
443 |
|
|
} |
444 |
|
|
|
445 |
|
|
/** |
446 |
|
|
* Sets the current euler angles of this stuntdouble |
447 |
|
|
* @param euler new euler angles |
448 |
|
|
*/ |
449 |
|
|
void setEuler(const Vector3d& euler) { |
450 |
|
|
((snapshotMan_->getCurrentSnapshot())->*storage_).aMat[localIndex_] = euler; |
451 |
|
|
} |
452 |
|
|
|
453 |
|
|
/** |
454 |
|
|
* Sets the euler angles of this stuntdouble in specified snapshot |
455 |
|
|
* |
456 |
|
|
* @param euler euler angles to be set |
457 |
|
|
* @param snapshotNo |
458 |
|
|
* @note actual storage data is rotation matrix |
459 |
|
|
*/ |
460 |
|
|
void setEuler(const Vector3d& euler, int snapshotNo) { |
461 |
|
|
((snapshotMan_->getSnapshot(snapshotNo))->*storage_).aMat[localIndex_] = euler; |
462 |
|
|
} |
463 |
|
|
|
464 |
|
|
/** |
465 |
|
|
* Returns the previous unit vectors of this stuntdouble |
466 |
|
|
* @return the unit vectors of this stuntdouble |
467 |
|
|
*/ |
468 |
tim |
1813 |
RotMat3x3d getPrevElectroFrame() { |
469 |
|
|
return ((snapshotMan_->getPrevSnapshot())->*storage_).electroFrame[localIndex_]; |
470 |
tim |
1692 |
} |
471 |
|
|
|
472 |
|
|
/** |
473 |
|
|
* Returns the current unit vectors of this stuntdouble |
474 |
|
|
* @return the unit vectors of this stuntdouble |
475 |
|
|
*/ |
476 |
tim |
1813 |
RotMat3x3d getElectroFrame() { |
477 |
|
|
return ((snapshotMan_->getCurrentSnapshot())->*storage_).electroFrame[localIndex_]; |
478 |
tim |
1692 |
} |
479 |
|
|
|
480 |
|
|
/** |
481 |
|
|
* Returns the unit vectors of this stuntdouble in specified snapshot |
482 |
|
|
* |
483 |
|
|
* @return the unit vectors of this stuntdouble |
484 |
|
|
* @param snapshotNo |
485 |
|
|
*/ |
486 |
tim |
1813 |
RotMat3x3d getElectroFrame(int snapshotNo) { |
487 |
|
|
return ((snapshotMan_->getSnapshot(snapshotNo))->*storage_).electroFrame[localIndex_]; |
488 |
tim |
1692 |
} |
489 |
|
|
|
490 |
|
|
/** |
491 |
|
|
* Returns the previous force of this stuntdouble |
492 |
|
|
* @return the force of this stuntdouble |
493 |
|
|
*/ |
494 |
|
|
Vector3d getPrevFrc() { |
495 |
|
|
return ((snapshotMan_->getPrevSnapshot())->*storage_).force[localIndex_]; |
496 |
|
|
} |
497 |
|
|
|
498 |
|
|
/** |
499 |
|
|
* Returns the current force of this stuntdouble |
500 |
|
|
* @return the force of this stuntdouble |
501 |
|
|
*/ |
502 |
|
|
Vector3d getFrc() { |
503 |
|
|
return ((snapshotMan_->getCurrentSnapshot())->*storage_).force[localIndex_]; |
504 |
|
|
} |
505 |
|
|
|
506 |
|
|
/** |
507 |
|
|
* Returns the force of this stuntdouble in specified snapshot |
508 |
|
|
* |
509 |
|
|
* @return the force of this stuntdouble |
510 |
|
|
* @param snapshotNo |
511 |
|
|
*/ |
512 |
|
|
Vector3d getFrc(int snapshotNo) { |
513 |
|
|
return ((snapshotMan_->getSnapshot(snapshotNo))->*storage_).force[localIndex_]; |
514 |
|
|
} |
515 |
|
|
|
516 |
|
|
/** |
517 |
|
|
* Sets the previous force of this stuntdouble |
518 |
|
|
* |
519 |
|
|
* @param frc new force |
520 |
|
|
* @see #getFrc |
521 |
|
|
*/ |
522 |
|
|
void setPrevFrc(const Vector3d& frc) { |
523 |
|
|
((snapshotMan_->getPrevSnapshot())->*storage_).force[localIndex_] = frc; |
524 |
|
|
} |
525 |
|
|
|
526 |
|
|
/** |
527 |
|
|
* Sets the current force of this stuntdouble |
528 |
|
|
* @param frc new force |
529 |
|
|
*/ |
530 |
|
|
void setFrc(const Vector3d& frc) { |
531 |
|
|
((snapshotMan_->getCurrentSnapshot())->*storage_).force[localIndex_] = frc; |
532 |
|
|
} |
533 |
|
|
|
534 |
|
|
/** |
535 |
|
|
* Sets the force of this stuntdouble in specified snapshot |
536 |
|
|
* |
537 |
|
|
* @param frc force to be set |
538 |
|
|
* @param snapshotNo |
539 |
|
|
* @see #getFrc |
540 |
|
|
*/ |
541 |
|
|
void setFrc(const Vector3d& frc, int snapshotNo) { |
542 |
|
|
((snapshotMan_->getSnapshot(snapshotNo))->*storage_).force[localIndex_] = frc; |
543 |
|
|
} |
544 |
|
|
|
545 |
|
|
/** |
546 |
|
|
* Adds force into the previous force of this stuntdouble |
547 |
|
|
* |
548 |
|
|
* @param frc new force |
549 |
|
|
* @see #getFrc |
550 |
|
|
*/ |
551 |
|
|
void addPrevFrc(const Vector3d& frc) { |
552 |
|
|
((snapshotMan_->getPrevSnapshot())->*storage_).force[localIndex_] += frc; |
553 |
|
|
} |
554 |
|
|
|
555 |
|
|
/** |
556 |
|
|
* Adds force into the current force of this stuntdouble |
557 |
|
|
* @param frc new force |
558 |
|
|
*/ |
559 |
|
|
void addFrc(const Vector3d& frc) { |
560 |
|
|
((snapshotMan_->getCurrentSnapshot())->*storage_).force[localIndex_] += frc; |
561 |
|
|
} |
562 |
|
|
|
563 |
|
|
/** |
564 |
|
|
* Adds force into the force of this stuntdouble in specified snapshot |
565 |
|
|
* |
566 |
|
|
* @param frc force to be set |
567 |
|
|
* @param snapshotNo |
568 |
|
|
* @see #getFrc |
569 |
|
|
*/ |
570 |
|
|
void addFrc(const Vector3d& frc, int snapshotNo) { |
571 |
|
|
((snapshotMan_->getSnapshot(snapshotNo))->*storage_).force[localIndex_] += frc; |
572 |
|
|
} |
573 |
|
|
|
574 |
|
|
/** |
575 |
|
|
* Returns the previous torque of this stuntdouble |
576 |
|
|
* @return the torque of this stuntdouble |
577 |
|
|
*/ |
578 |
|
|
Vector3d getPrevTrq() { |
579 |
|
|
return ((snapshotMan_->getPrevSnapshot())->*storage_).torque[localIndex_]; |
580 |
|
|
} |
581 |
|
|
|
582 |
|
|
/** |
583 |
|
|
* Returns the current torque of this stuntdouble |
584 |
|
|
* @return the torque of this stuntdouble |
585 |
|
|
*/ |
586 |
|
|
Vector3d getTrq() { |
587 |
|
|
return ((snapshotMan_->getCurrentSnapshot())->*storage_).torque[localIndex_]; |
588 |
|
|
} |
589 |
|
|
|
590 |
|
|
/** |
591 |
|
|
* Returns the torque of this stuntdouble in specified snapshot |
592 |
|
|
* |
593 |
|
|
* @return the torque of this stuntdouble |
594 |
|
|
* @param snapshotNo |
595 |
|
|
*/ |
596 |
|
|
Vector3d getTrq(int snapshotNo) { |
597 |
|
|
return ((snapshotMan_->getSnapshot(snapshotNo))->*storage_).torque[localIndex_]; |
598 |
|
|
} |
599 |
|
|
|
600 |
|
|
/** |
601 |
|
|
* Sets the previous torque of this stuntdouble |
602 |
|
|
* |
603 |
|
|
* @param trq new torque |
604 |
|
|
* @see #getTrq |
605 |
|
|
*/ |
606 |
|
|
void setPrevTrq(const Vector3d& trq) { |
607 |
|
|
((snapshotMan_->getPrevSnapshot())->*storage_).torque[localIndex_] = trq; |
608 |
|
|
} |
609 |
|
|
|
610 |
|
|
/** |
611 |
|
|
* Sets the current torque of this stuntdouble |
612 |
|
|
* @param trq new torque |
613 |
|
|
*/ |
614 |
|
|
void setTrq(const Vector3d& trq) { |
615 |
|
|
((snapshotMan_->getCurrentSnapshot())->*storage_).torque[localIndex_] = trq; |
616 |
|
|
} |
617 |
|
|
|
618 |
|
|
/** |
619 |
|
|
* Sets the torque of this stuntdouble in specified snapshot |
620 |
|
|
* |
621 |
|
|
* @param trq torque to be set |
622 |
|
|
* @param snapshotNo |
623 |
|
|
* @see #getTrq |
624 |
|
|
*/ |
625 |
|
|
void setTrq(const Vector3d& trq, int snapshotNo) { |
626 |
|
|
((snapshotMan_->getSnapshot(snapshotNo))->*storage_).torque[localIndex_] = trq; |
627 |
|
|
} |
628 |
|
|
|
629 |
|
|
/** |
630 |
|
|
* Adds torque into the previous torque of this stuntdouble |
631 |
|
|
* |
632 |
|
|
* @param trq new torque |
633 |
|
|
* @see #getTrq |
634 |
|
|
*/ |
635 |
|
|
void addPrevTrq(const Vector3d& trq) { |
636 |
|
|
((snapshotMan_->getPrevSnapshot())->*storage_).torque[localIndex_] += trq; |
637 |
|
|
} |
638 |
|
|
|
639 |
|
|
/** |
640 |
|
|
* Adds torque into the current torque of this stuntdouble |
641 |
|
|
* @param trq new torque |
642 |
|
|
*/ |
643 |
|
|
void addTrq(const Vector3d& trq) { |
644 |
|
|
((snapshotMan_->getCurrentSnapshot())->*storage_).torque[localIndex_] += trq; |
645 |
|
|
} |
646 |
|
|
|
647 |
|
|
/** |
648 |
|
|
* Adds torque into the torque of this stuntdouble in specified snapshot |
649 |
|
|
* |
650 |
|
|
* @param trq torque to be add |
651 |
|
|
* @param snapshotNo |
652 |
|
|
* @see #getTrq |
653 |
|
|
*/ |
654 |
|
|
void addTrq(const Vector3d& trq, int snapshotNo) { |
655 |
|
|
((snapshotMan_->getSnapshot(snapshotNo))->*storage_).torque[localIndex_] += trq; |
656 |
|
|
} |
657 |
|
|
|
658 |
|
|
|
659 |
|
|
/** |
660 |
|
|
* Returns the previous z-angle of this stuntdouble |
661 |
|
|
* @return the z-angle of this stuntdouble |
662 |
|
|
*/ |
663 |
|
|
double getPrevZangle() { |
664 |
|
|
return ((snapshotMan_->getPrevSnapshot())->*storage_).zAngle[localIndex_]; |
665 |
|
|
} |
666 |
|
|
|
667 |
|
|
/** |
668 |
|
|
* Returns the current z-angle of this stuntdouble |
669 |
|
|
* @return the z-angle of this stuntdouble |
670 |
|
|
*/ |
671 |
|
|
double getZangle() { |
672 |
|
|
return ((snapshotMan_->getCurrentSnapshot())->*storage_).zAngle[localIndex_]; |
673 |
|
|
} |
674 |
|
|
|
675 |
|
|
/** |
676 |
|
|
* Returns the z-angle of this stuntdouble in specified snapshot |
677 |
|
|
* @return the z-angle of this stuntdouble |
678 |
|
|
* @param snapshotNo |
679 |
|
|
*/ |
680 |
|
|
double getZangle(int snapshotNo) { |
681 |
|
|
return ((snapshotMan_->getSnapshot(snapshotNo))->*storage_).zAngle[localIndex_]; |
682 |
|
|
} |
683 |
|
|
|
684 |
|
|
/** |
685 |
|
|
* Sets the previous z-angle of this stuntdouble |
686 |
|
|
* @param angle new z-angle |
687 |
|
|
* @see #getZangle |
688 |
|
|
*/ |
689 |
|
|
void setPrevZangle(double angle) { |
690 |
|
|
((snapshotMan_->getPrevSnapshot())->*storage_).zAngle[localIndex_] = angle; |
691 |
|
|
} |
692 |
|
|
|
693 |
|
|
/** |
694 |
|
|
* Sets the current z-angle of this stuntdouble |
695 |
|
|
* @param angle new z-angle |
696 |
|
|
*/ |
697 |
|
|
void setZangle(double angle) { |
698 |
|
|
((snapshotMan_->getCurrentSnapshot())->*storage_).zAngle[localIndex_] = angle; |
699 |
|
|
} |
700 |
|
|
|
701 |
|
|
/** |
702 |
|
|
* Sets the z-angle of this stuntdouble in specified snapshot |
703 |
|
|
* @param angle z-angle to be set |
704 |
|
|
* @param snapshotNo |
705 |
|
|
* @see #getZangle |
706 |
|
|
*/ |
707 |
|
|
void setZangle(double angle, int snapshotNo) { |
708 |
|
|
((snapshotMan_->getSnapshot(snapshotNo))->*storage_).zAngle[localIndex_] = angle; |
709 |
|
|
} |
710 |
|
|
|
711 |
|
|
/** |
712 |
|
|
* Adds z-angle into the previous z-angle of this stuntdouble |
713 |
|
|
* @param angle new z-angle |
714 |
|
|
* @see #getZangle |
715 |
|
|
*/ |
716 |
|
|
void addPrevZangle(double angle) { |
717 |
|
|
((snapshotMan_->getPrevSnapshot())->*storage_).zAngle[localIndex_] += angle; |
718 |
|
|
} |
719 |
|
|
|
720 |
|
|
/** |
721 |
|
|
* Adds z-angle into the current z-angle of this stuntdouble |
722 |
|
|
* @param angle new z-angle |
723 |
|
|
*/ |
724 |
|
|
void addZangle(double angle) { |
725 |
|
|
((snapshotMan_->getCurrentSnapshot())->*storage_).zAngle[localIndex_] += angle; |
726 |
|
|
} |
727 |
|
|
|
728 |
|
|
/** |
729 |
|
|
* Adds z-angle into the z-angle of this stuntdouble in specified snapshot |
730 |
|
|
* @param angle z-angle to be add |
731 |
|
|
* @param snapshotNo |
732 |
|
|
* @see #getZangle |
733 |
|
|
*/ |
734 |
|
|
void addZangle(double angle, int snapshotNo) { |
735 |
|
|
((snapshotMan_->getSnapshot(snapshotNo))->*storage_).zAngle[localIndex_] += angle; |
736 |
|
|
} |
737 |
|
|
|
738 |
|
|
/** Set the force of this stuntdouble to zero */ |
739 |
tim |
1881 |
void zeroForcesAndTorques(); |
740 |
tim |
1692 |
/** |
741 |
|
|
* Returns the inertia tensor of this stuntdouble |
742 |
|
|
* @return the inertia tensor of this stuntdouble |
743 |
|
|
*/ |
744 |
|
|
virtual Mat3x3d getI() = 0; |
745 |
|
|
|
746 |
|
|
/** |
747 |
|
|
* Returns the gradient of this stuntdouble |
748 |
|
|
* @return the gradient of this stuntdouble |
749 |
|
|
*/ |
750 |
|
|
virtual std::vector<double> getGrad() = 0; |
751 |
|
|
|
752 |
|
|
/** |
753 |
|
|
* Tests the if this stuntdouble is a linear rigidbody |
754 |
|
|
* |
755 |
|
|
* @return true if this stuntdouble is a linear rigidbody, otherwise return false |
756 |
|
|
* @note atom and directional atom will always return false |
757 |
|
|
* |
758 |
|
|
* @see #linearAxis |
759 |
|
|
*/ |
760 |
|
|
bool isLinear() { |
761 |
|
|
return linear_; |
762 |
|
|
} |
763 |
|
|
|
764 |
|
|
/** |
765 |
|
|
* Returns the linear axis of the rigidbody, atom and directional atom will always return -1 |
766 |
|
|
* |
767 |
|
|
* @return the linear axis of the rigidbody |
768 |
|
|
* |
769 |
|
|
* @see #isLinear |
770 |
|
|
*/ |
771 |
|
|
int linearAxis() { |
772 |
|
|
return linearAxis_; |
773 |
|
|
} |
774 |
|
|
|
775 |
|
|
/** Returns the mass of this stuntdouble */ |
776 |
|
|
double getMass() { |
777 |
|
|
return mass_; |
778 |
|
|
} |
779 |
|
|
|
780 |
|
|
/** |
781 |
|
|
* Sets the mass of this stuntdoulbe |
782 |
|
|
* @param mass the mass to be set |
783 |
|
|
*/ |
784 |
|
|
void setMass(double mass) { |
785 |
|
|
mass_ = mass; |
786 |
|
|
} |
787 |
|
|
|
788 |
|
|
/** Returns the name of this stuntdouble */ |
789 |
tim |
1823 |
virtual std::string getType() = 0; |
790 |
tim |
1692 |
|
791 |
|
|
/** Sets the name of this stuntdouble*/ |
792 |
tim |
1822 |
virtual void setType(const std::string& name) {} |
793 |
tim |
1692 |
|
794 |
|
|
/** |
795 |
|
|
* Converts a lab fixed vector to a body fixed vector. |
796 |
|
|
* @return body fixed vector |
797 |
|
|
* @param v lab fixed vector |
798 |
|
|
*/ |
799 |
tim |
1843 |
Vector3d lab2Body(const Vector3d& v) { |
800 |
|
|
return getA() * v; |
801 |
|
|
} |
802 |
tim |
1692 |
|
803 |
|
|
/** |
804 |
|
|
* Converts a body fixed vector to a lab fixed vector. |
805 |
|
|
* @return corresponding lab fixed vector |
806 |
|
|
* @param v body fixed vector |
807 |
|
|
*/ |
808 |
tim |
1824 |
Vector3d body2Lab(const Vector3d& v){ |
809 |
|
|
return getA().transpose() * v; |
810 |
|
|
} |
811 |
tim |
1692 |
/** |
812 |
|
|
* <p> |
813 |
|
|
* The purpose of the Visitor Pattern is to encapsulate an operation that you want to perform on |
814 |
|
|
* the elements of a data structure. In this way, you can change the operation being performed |
815 |
|
|
* on a structure without the need of changing the classes of the elements that you are operating |
816 |
|
|
* on. Using a Visitor pattern allows you to decouple the classes for the data structure and the |
817 |
|
|
* algorithms used upon them |
818 |
|
|
* </p> |
819 |
|
|
* @param v visitor |
820 |
|
|
*/ |
821 |
|
|
virtual void accept(BaseVisitor* v) = 0; |
822 |
|
|
|
823 |
|
|
//below functions are just forward functions |
824 |
|
|
/** |
825 |
|
|
* Adds property into property map |
826 |
|
|
* @param genData GenericData to be added into PropertyMap |
827 |
|
|
*/ |
828 |
|
|
void addProperty(GenericData* genData); |
829 |
|
|
|
830 |
|
|
/** |
831 |
|
|
* Removes property from PropertyMap by name |
832 |
|
|
* @param propName the name of property to be removed |
833 |
|
|
*/ |
834 |
tim |
1701 |
void removeProperty(const std::string& propName); |
835 |
tim |
1692 |
|
836 |
|
|
/** |
837 |
|
|
* clear all of the properties |
838 |
|
|
*/ |
839 |
|
|
void clearProperties(); |
840 |
|
|
|
841 |
|
|
/** |
842 |
|
|
* Returns all names of properties |
843 |
|
|
* @return all names of properties |
844 |
|
|
*/ |
845 |
|
|
std::vector<std::string> getPropertyNames(); |
846 |
|
|
|
847 |
|
|
/** |
848 |
|
|
* Returns all of the properties in PropertyMap |
849 |
|
|
* @return all of the properties in PropertyMap |
850 |
|
|
*/ |
851 |
|
|
std::vector<GenericData*> getProperties(); |
852 |
|
|
|
853 |
|
|
/** |
854 |
|
|
* Returns property |
855 |
|
|
* @param propName name of property |
856 |
|
|
* @return a pointer point to property with propName. If no property named propName |
857 |
|
|
* exists, return NULL |
858 |
|
|
*/ |
859 |
tim |
1701 |
GenericData* getPropertyByName(const std::string& propName); |
860 |
tim |
1692 |
|
861 |
|
|
protected: |
862 |
|
|
|
863 |
|
|
StuntDouble(ObjectType objType, DataStoragePointer storage); |
864 |
|
|
|
865 |
|
|
StuntDouble(const StuntDouble& sd); |
866 |
|
|
StuntDouble& operator=(const StuntDouble& sd); |
867 |
|
|
|
868 |
|
|
ObjectType objType_; |
869 |
tim |
1883 |
DataStoragePointer storage_; |
870 |
|
|
SnapshotManager* snapshotMan_; |
871 |
|
|
|
872 |
tim |
1692 |
bool linear_; |
873 |
|
|
int linearAxis_; |
874 |
|
|
|
875 |
|
|
|
876 |
|
|
int globalIndex_; |
877 |
|
|
int localIndex_; |
878 |
tim |
1815 |
|
879 |
|
|
|
880 |
|
|
double mass_; |
881 |
tim |
1692 |
|
882 |
|
|
private: |
883 |
|
|
|
884 |
|
|
PropertyMap properties_; |
885 |
tim |
1822 |
}; |
886 |
tim |
1692 |
|
887 |
|
|
}//end namespace oopse |
888 |
tim |
1843 |
#endif //PRIMITIVES_STUNTDOUBLE_HPP |