1 |
< |
#ifndef _DIRECTIONALATOM_H_ |
2 |
< |
#define _DIRECTIONALATOM_H_ |
1 |
> |
/* |
2 |
> |
* Copyright (C) 2000-2004 Object Oriented Parallel Simulation Engine (OOPSE) project |
3 |
> |
* |
4 |
> |
* Contact: oopse@oopse.org |
5 |
> |
* |
6 |
> |
* This program is free software; you can redistribute it and/or |
7 |
> |
* modify it under the terms of the GNU Lesser General Public License |
8 |
> |
* as published by the Free Software Foundation; either version 2.1 |
9 |
> |
* of the License, or (at your option) any later version. |
10 |
> |
* All we ask is that proper credit is given for our work, which includes |
11 |
> |
* - but is not limited to - adding the above copyright notice to the beginning |
12 |
> |
* of your source code files, and to any copyright notice that you may distribute |
13 |
> |
* with programs based on this work. |
14 |
> |
* |
15 |
> |
* This program is distributed in the hope that it will be useful, |
16 |
> |
* but WITHOUT ANY WARRANTY; without even the implied warranty of |
17 |
> |
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
18 |
> |
* GNU Lesser General Public License for more details. |
19 |
> |
* |
20 |
> |
* You should have received a copy of the GNU Lesser General Public License |
21 |
> |
* along with this program; if not, write to the Free Software |
22 |
> |
* Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. |
23 |
> |
* |
24 |
> |
*/ |
25 |
|
|
26 |
< |
#include <string.h> |
27 |
< |
#include <stdlib.h> |
28 |
< |
#include <iostream> |
26 |
> |
/** |
27 |
> |
* @file DirectionalAtom.hpp |
28 |
> |
* @author tlin |
29 |
> |
* @date 10/23/2004 |
30 |
> |
* @version 1.0 |
31 |
> |
*/ |
32 |
|
|
33 |
< |
#include "primitives/StuntDouble.hpp" |
33 |
> |
#ifndef PRIMITIVES_DIRECTIONALATOM_HPP |
34 |
> |
#define PRIMITIVES_DIRECTIONALATOM_HPP |
35 |
> |
|
36 |
|
#include "primitives/Atom.hpp" |
37 |
+ |
#include "types/DirectionalAtomType.hpp" |
38 |
+ |
namespace oopse{ |
39 |
+ |
class DirectionalAtom : public Atom { |
40 |
+ |
public: |
41 |
+ |
DirectionalAtom(DirectionalAtomType* dAtomType); |
42 |
+ |
/** |
43 |
+ |
* Returns the inertia tensor of this stuntdouble |
44 |
+ |
* @return the inertia tensor of this stuntdouble |
45 |
+ |
*/ |
46 |
+ |
virtual Mat3x3d getI(); |
47 |
|
|
11 |
– |
class DirectionalAtom : public Atom { |
12 |
– |
|
13 |
– |
public: |
14 |
– |
DirectionalAtom(int theIndex, SimState* theConfig) : Atom(theIndex, |
15 |
– |
theConfig) |
16 |
– |
{ |
17 |
– |
objType = OT_DATOM; |
48 |
|
|
49 |
< |
for (int i=0; i < 3; i++) |
50 |
< |
for (int j=0; j < 3; j++) |
51 |
< |
sU[i][j] = 0.0; |
49 |
> |
/** |
50 |
> |
* Sets the previous rotation matrix of this stuntdouble |
51 |
> |
* @param a new rotation matrix |
52 |
> |
*/ |
53 |
> |
virtual void setPrevA(const RotMat3x3d& a); |
54 |
> |
|
55 |
> |
/** |
56 |
> |
* Sets the current rotation matrix of this stuntdouble |
57 |
> |
* @param a new rotation matrix |
58 |
> |
*/ |
59 |
> |
virtual void setA(const RotMat3x3d& a); |
60 |
|
|
61 |
< |
} |
62 |
< |
virtual ~DirectionalAtom() {} |
61 |
> |
/** |
62 |
> |
* Sets the rotation matrix of this stuntdouble in specified snapshot |
63 |
> |
* @param a rotation matrix to be set |
64 |
> |
* @param snapshotNo |
65 |
> |
* @see #getA |
66 |
> |
*/ |
67 |
> |
virtual void setA(const RotMat3x3d& a, int snapshotNo); |
68 |
|
|
69 |
< |
virtual void setCoords(void); |
69 |
> |
/** |
70 |
> |
* Left multiple rotation matrix by another rotation matrix |
71 |
> |
* @param m a rotation matrix |
72 |
> |
*/ |
73 |
> |
void rotateBy(const RotMat3x3d& m); |
74 |
> |
|
75 |
|
|
76 |
< |
void printAmatIndex( void ); |
77 |
< |
|
78 |
< |
void setUnitFrameFromEuler(double phi, double theta, double psi); |
79 |
< |
void setEuler( double phi, double theta, double psi ); |
76 |
> |
/** |
77 |
> |
* Returns the gradient of this stuntdouble |
78 |
> |
* @return the gradient of this stuntdouble |
79 |
> |
*/ |
80 |
> |
virtual std::vector<double> getGrad(); |
81 |
|
|
82 |
< |
void zeroForces(); |
82 |
> |
virtual void accept(BaseVisitor* v); |
83 |
> |
|
84 |
> |
protected: |
85 |
> |
Mat3x3d inertiaTensor_; /**< inertial tensor */ |
86 |
> |
RotMat3x3d electroBodyFrame_; /**< body fixed standard eletrostatic frame */ |
87 |
> |
}; |
88 |
|
|
89 |
< |
void getA( double the_A[3][3] ); // get the full rotation matrix |
36 |
< |
void setA( double the_A[3][3] ); |
37 |
< |
void rotateBy( double by_A[3][3] ); // rotate your frame using this matrix |
89 |
> |
}//namepace oopse |
90 |
|
|
91 |
< |
void getU( double the_u[3] ); // get the unit vetor |
40 |
< |
void updateU( void ); |
41 |
< |
|
42 |
< |
void getQ( double the_q[4] ); // get the quanternions |
43 |
< |
void setQ( double the_q[4] ); |
44 |
< |
|
45 |
< |
void getJ( double theJ[3] ); |
46 |
< |
void setJ( double theJ[3] ); |
47 |
< |
|
48 |
< |
void getTrq( double theT[3] ); |
49 |
< |
void addTrq( double theT[3] ); |
50 |
< |
|
51 |
< |
void setI( double the_I[3][3] ); |
52 |
< |
void getI( double the_I[3][3] ); |
53 |
< |
|
54 |
< |
void lab2Body( double r[3] ); |
55 |
< |
void body2Lab( double r[3] ); |
56 |
< |
|
57 |
< |
double getZangle( ); |
58 |
< |
void setZangle( double zAng ); |
59 |
< |
void addZangle( double zAng ); |
60 |
< |
|
61 |
< |
// Four functions added for derivatives with respect to Euler Angles: |
62 |
< |
// (Needed for minimization routines): |
63 |
< |
|
64 |
< |
void getGrad(double gradient[6] ); |
65 |
< |
void getEulerAngles( double myEuler[3] ); |
66 |
< |
|
67 |
< |
double max(double x, double y); |
68 |
< |
double min(double x, double y); |
69 |
< |
|
70 |
< |
virtual void accept(BaseVisitor* v) {v->visit(this);} |
71 |
< |
|
72 |
< |
private: |
73 |
< |
int dIndex; |
74 |
< |
|
75 |
< |
double sU[3][3]; // the standard unit vectors ( body fixed ) |
76 |
< |
|
77 |
< |
double jx, jy, jz; // the angular momentum vector ( body fixed ) |
78 |
< |
|
79 |
< |
double Ixx, Ixy, Ixz; // the inertial tensor matrix ( body fixed ) |
80 |
< |
double Iyx, Iyy, Iyz; |
81 |
< |
double Izx, Izy, Izz; |
82 |
< |
|
83 |
< |
}; |
84 |
< |
|
85 |
< |
#endif |
91 |
> |
#endif //PRIMITIVES_DIRECTIONALATOM_HPP |