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#ifndef __STUNTDOUBLE_HPP__ |
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#define __STUNTDOUBLE_HPP__ |
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|
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#include <map> |
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#include "utils/GenericData.hpp" |
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|
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#define OT_ATOM 0 |
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#define OT_DATOM 1 |
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#define OT_RIGIDBODY 2 |
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using namespace std; |
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using namespace oopse; |
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|
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class BaseVisitor; |
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|
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class StuntDouble { |
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public: |
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virtual ~StuntDouble(); |
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|
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int getObjType(); |
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|
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bool isAtom(){ |
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return objType == OT_ATOM || objType == OT_DATOM; |
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} |
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|
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bool isDirectionalAtom(){ |
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return objType == OT_DATOM; |
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} |
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|
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bool isRigidBody(){ |
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return objType == OT_RIGIDBODY; |
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} |
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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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|
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virtual double getMass(void); |
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|
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virtual void getPos(double pos[3]); |
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virtual void setPos(double pos[3]); |
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|
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virtual void getVel(double vel[3]); |
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virtual void setVel(double vel[3]); |
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|
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virtual void getFrc(double frc[3]); |
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virtual void addFrc(double frc[3]); |
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|
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virtual void getA(double A[3][3]); |
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virtual void setA(double A[3][3]); |
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|
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virtual void getJ(double j[3]); |
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virtual void setJ(double j[3]); |
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|
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virtual void getQ( double q[4] ); // get the quanternions |
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virtual void setQ( double q[4] ); |
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virtual void setType(char* type) = 0; |
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virtual char* getType() = 0; |
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virtual void getTrq(double trq[3]); |
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virtual void addTrq(double trq[3]); |
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virtual void getI(double I[3][3]); |
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virtual void lab2Body(double vec[3]); |
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|
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virtual void getGrad(double grad[6]); |
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virtual void setEuler(double phi, double theta, double psi); |
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virtual void getEulerAngles(double eulers[3]); |
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|
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virtual bool isLinear() {return false;} |
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virtual int linearAxis() {return -1;} |
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|
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virtual double getZangle(); |
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virtual void setZangle(double zAngle); |
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virtual void addZangle(double zAngle); |
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|
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virtual void accept(BaseVisitor* v) = 0; |
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|
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void addProperty(GenericData* data); |
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void removeProperty(const string& propName); |
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GenericData* getProperty(const string& propName); |
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|
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protected: |
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StuntDouble(){} |
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|
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//prevent default copy constructor copy information from properties which will cause problem |
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StuntDouble(const StuntDouble& sd){ |
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objType = sd.objType; |
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} |
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|
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int objType; |
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|
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map<string, GenericData*> properties; |
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}; |
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#endif |