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#ifndef __STUNTDOUBLE_HPP__ |
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#define __STUNTDOUBLE_HPP__ |
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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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|
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#include <map> |
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#include "utils/GenericData.hpp" |
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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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|
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#ifndef PRIMITIVES_STUNTDOUBLE_HPP |
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#define PRIMITIVES_STUNTDOUBLE_HPP |
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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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#include <vector> |
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using namespace std; |
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using namespace oopse; |
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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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class BaseVisitor; |
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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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/** |
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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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bool isDirectionalAtom(){ |
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return objType == OT_DATOM; |
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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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bool isRigidBody(){ |
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return objType == OT_RIGIDBODY; |
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} |
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virtual ~StuntDouble(); |
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|
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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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bool isDirectional(){ |
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return isDirectionalAtom() || isRigidBody(); |
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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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int setGlobalIndex(int index) { |
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return globalIndex_; |
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} |
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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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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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* 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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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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* 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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virtual void getJ(double j[3]); |
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virtual void setJ(double j[3]); |
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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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virtual void getQ( double q[4] ); // get the quanternions |
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virtual void setQ( double q[4] ); |
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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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virtual void setType(char* type) = 0; |
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virtual char* getType() = 0; |
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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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virtual void getTrq(double trq[3]); |
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virtual void addTrq(double trq[3]); |
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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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/** |
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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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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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* 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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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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* 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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/** |
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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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virtual bool isLinear() {return false;} |
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virtual int linearAxis() {return -1;} |
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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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/** |
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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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/** |
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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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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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* 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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virtual void accept(BaseVisitor* v) = 0; |
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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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/** |
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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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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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* 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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|
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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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* 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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/** |
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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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map<string, GenericData*> properties; |
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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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#endif |
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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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/** |
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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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/** |
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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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/** |
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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() { |
| 298 |
> |
return ((snapshotMan_->getPrevSnapshot())->*storage_).angularMomentum[localIndex_]; |
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> |
} |
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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_]; |
| 307 |
> |
} |
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> |
|
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/** |
| 310 |
> |
* Returns the angular momentum of this stuntdouble in specified snapshot (body-fixed). |
| 311 |
> |
* @return the angular momentum of this stuntdouble |
| 312 |
> |
* @param snapshotNo |
| 313 |
> |
*/ |
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> |
Vector3d getJ(int snapshotNo) { |
| 315 |
> |
return ((snapshotMan_->getSnapshot(snapshotNo))->*storage_).angularMomentum[localIndex_]; |
| 316 |
> |
} |
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> |
|
| 318 |
> |
/** |
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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 |
| 322 |
> |
*/ |
| 323 |
> |
void setPrevJ(const Vector3d& angMom) { |
| 324 |
> |
((snapshotMan_->getPrevSnapshot())->*storage_).angularMomentum[localIndex_] = angMom; |
| 325 |
> |
} |
| 326 |
> |
|
| 327 |
> |
/** |
| 328 |
> |
* Sets the current angular momentum of this stuntdouble (body-fixed). |
| 329 |
> |
* @param angMom new angular momentum |
| 330 |
> |
*/ |
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> |
void setJ(const Vector3d& angMom) { |
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> |
((snapshotMan_->getCurrentSnapshot())->*storage_).angularMomentum[localIndex_] = angMom; |
| 333 |
> |
} |
| 334 |
> |
|
| 335 |
> |
/** |
| 336 |
> |
* Sets the angular momentum of this stuntdouble in specified snapshot(body-fixed). |
| 337 |
> |
* @param angMom angular momentum to be set |
| 338 |
> |
* @param snapshotNo |
| 339 |
> |
* @see #getJ |
| 340 |
> |
*/ |
| 341 |
> |
void setJ(const Vector3d& angMom, int snapshotNo) { |
| 342 |
> |
((snapshotMan_->getSnapshot(snapshotNo))->*storage_).angularMomentum[localIndex_] = angMom; |
| 343 |
> |
} |
| 344 |
> |
|
| 345 |
> |
/** |
| 346 |
> |
* Returns the previous quaternion of this stuntdouble |
| 347 |
> |
* @return the quaternion of this stuntdouble |
| 348 |
> |
*/ |
| 349 |
> |
Quat4d getPrevQ() { |
| 350 |
> |
return ((snapshotMan_->getPrevSnapshot())->*storage_).aMat[localIndex_].toQuaternion(); |
| 351 |
> |
} |
| 352 |
> |
|
| 353 |
> |
/** |
| 354 |
> |
* Returns the current quaternion of this stuntdouble |
| 355 |
> |
* @return the quaternion of this stuntdouble |
| 356 |
> |
*/ |
| 357 |
> |
Quat4d getQ() { |
| 358 |
> |
return ((snapshotMan_->getCurrentSnapshot())->*storage_).aMat[localIndex_].toQuaternion(); |
| 359 |
> |
} |
| 360 |
> |
|
| 361 |
> |
/** |
| 362 |
> |
* Returns the quaternion of this stuntdouble in specified snapshot |
| 363 |
> |
* @return the quaternion of this stuntdouble |
| 364 |
> |
* @param snapshotNo |
| 365 |
> |
*/ |
| 366 |
> |
Quat4d getQ(int snapshotNo) { |
| 367 |
> |
return ((snapshotMan_->getSnapshot(snapshotNo))->*storage_).aMat[localIndex_].toQuaternion(); |
| 368 |
> |
} |
| 369 |
> |
|
| 370 |
> |
/** |
| 371 |
> |
* Sets the previous quaternion of this stuntdouble |
| 372 |
> |
* @param q new quaternion |
| 373 |
> |
* @note actual storage data is rotation matrix |
| 374 |
> |
*/ |
| 375 |
> |
void setPrevQ(const Quat4d& q) { |
| 376 |
> |
((snapshotMan_->getPrevSnapshot())->*storage_).aMat[localIndex_] = q; |
| 377 |
> |
} |
| 378 |
> |
|
| 379 |
> |
/** |
| 380 |
> |
* Sets the current quaternion of this stuntdouble |
| 381 |
> |
* @param q new quaternion |
| 382 |
> |
* @note actual storage data is rotation matrix |
| 383 |
> |
*/ |
| 384 |
> |
void setQ(const Quat4d& q) { |
| 385 |
> |
((snapshotMan_->getCurrentSnapshot())->*storage_).aMat[localIndex_] = q; |
| 386 |
> |
} |
| 387 |
> |
|
| 388 |
> |
/** |
| 389 |
> |
* Sets the quaternion of this stuntdouble in specified snapshot |
| 390 |
> |
* |
| 391 |
> |
* @param q quaternion to be set |
| 392 |
> |
* @param snapshotNo |
| 393 |
> |
* @note actual storage data is rotation matrix |
| 394 |
> |
*/ |
| 395 |
> |
void setQ(const Quat4d& q, int snapshotNo) { |
| 396 |
> |
((snapshotMan_->getSnapshot(snapshotNo))->*storage_).aMat[localIndex_] = q; |
| 397 |
> |
} |
| 398 |
> |
|
| 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 |
> |
RotMat3x3d getPrevUnitFrame() { |
| 458 |
> |
return ((snapshotMan_->getPrevSnapshot())->*storage_).unitFrame[localIndex_]; |
| 459 |
> |
} |
| 460 |
> |
|
| 461 |
> |
/** |
| 462 |
> |
* Returns the current unit vectors of this stuntdouble |
| 463 |
> |
* @return the unit vectors of this stuntdouble |
| 464 |
> |
*/ |
| 465 |
> |
RotMat3x3d getUnitFrame() { |
| 466 |
> |
return ((snapshotMan_->getCurrentSnapshot())->*storage_).unitFrame[localIndex_]; |
| 467 |
> |
} |
| 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 |
> |
RotMat3x3d getUnitFrame(int snapshotNo) { |
| 476 |
> |
return ((snapshotMan_->getSnapshot(snapshotNo))->*storage_).unitFrame[localIndex_]; |
| 477 |
> |
} |
| 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 |
> |
void removeProperty(const std::string& propName); |
| 820 |
> |
|
| 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 |
> |
GenericData* getPropertyByName(const std::string& propName); |
| 845 |
> |
|
| 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 |
> |
#endif //PRIMITIVES_STUNTDOUBLE_HPP |
