1 |
#include "primitives/StuntDouble.hpp" |
2 |
#include "primitives/Atom.hpp" |
3 |
#include "primitives/DirectionalAtom.hpp" |
4 |
#include "primitives/RigidBody.hpp" |
5 |
#include "utils/simError.h" |
6 |
|
7 |
/* |
8 |
"Don't move, or you're dead! Stand up! Captain, we've got them!" |
9 |
|
10 |
"Spectacular stunt, my friends, but all for naught. Turn around |
11 |
please. Ha. What a pity. What a pity. So, Princess, you thought |
12 |
you could outwit the imperious forces of...." |
13 |
|
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"You idiots! These are not them. You've captured their stunt |
15 |
doubles! Search the area. Find them! Find them!" |
16 |
|
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StuntDouble is a very strange idea. A StuntDouble stands in for |
18 |
some object that can be manipulated by the Integrators or |
19 |
Minimizers. Some of the manipulable objects are Atoms, some are |
20 |
DirectionalAtoms, and some are RigidBodies. StuntDouble |
21 |
provides an interface for the Integrators and Minimizers to use, |
22 |
and does some preliminary sanity checking so that the program |
23 |
doesn't try to do something stupid like torque an Atom. (The |
24 |
quotes above are from Spaceballs...) |
25 |
|
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*/ |
27 |
|
28 |
StuntDouble::~StuntDouble(){ |
29 |
map<string, GenericData*>::iterator iter; |
30 |
|
31 |
for(iter = properties.begin(); iter != properties.end(); ++iter ){ |
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delete iter->second; |
33 |
properties.erase(iter); |
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} |
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|
36 |
} |
37 |
|
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int StuntDouble::getObjType(){ |
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return objType; |
40 |
} |
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|
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double StuntDouble::getMass(){ |
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switch (objType) |
44 |
{ |
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case OT_ATOM : |
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case OT_DATOM: |
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return ((Atom*)this)->getMass(); |
48 |
break; |
49 |
case OT_RIGIDBODY: |
50 |
return ((RigidBody*)this)->getMass(); |
51 |
break; |
52 |
default: |
53 |
sprintf( painCave.errMsg, |
54 |
"Unrecognized ObjType (%d) in StuntDouble::getMass.\n", |
55 |
objType ); |
56 |
painCave.isFatal = 1; |
57 |
simError(); |
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return 0.0; |
59 |
} |
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} |
61 |
|
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|
63 |
void StuntDouble::getPos(double pos[3]){ |
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switch (objType) |
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{ |
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case OT_ATOM : |
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case OT_DATOM: |
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((Atom*)this)->getPos(pos); |
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break; |
70 |
case OT_RIGIDBODY: |
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((RigidBody*)this)->getPos(pos); |
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break; |
73 |
default: |
74 |
sprintf( painCave.errMsg, |
75 |
"Unrecognized ObjType (%d) in StuntDouble::getPos.\n", |
76 |
objType ); |
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painCave.isFatal = 1; |
78 |
simError(); |
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} |
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} |
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|
82 |
void StuntDouble::getVel(double vel[3]){ |
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switch (objType) |
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{ |
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case OT_ATOM : |
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case OT_DATOM: |
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((Atom*)this)->getVel(vel); |
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break; |
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case OT_RIGIDBODY: |
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((RigidBody*)this)->getVel(vel); |
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break; |
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default: |
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sprintf( painCave.errMsg, |
94 |
"Unrecognized ObjType (%d) in StuntDouble::getVel.\n", |
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objType ); |
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painCave.isFatal = 1; |
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simError(); |
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} |
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} |
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|
101 |
void StuntDouble::getFrc(double frc[3]){ |
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switch (objType) |
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{ |
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case OT_ATOM : |
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case OT_DATOM: |
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((Atom*)this)->getFrc(frc); |
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break; |
108 |
case OT_RIGIDBODY: |
109 |
((RigidBody*)this)->getFrc(frc); |
110 |
break; |
111 |
default: |
112 |
sprintf( painCave.errMsg, |
113 |
"Unrecognized ObjType (%d) in StuntDouble::getFrc.\n", |
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objType ); |
115 |
painCave.isFatal = 1; |
116 |
simError(); |
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} |
118 |
} |
119 |
|
120 |
|
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void StuntDouble::setPos(double pos[3]){ |
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switch (objType) |
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{ |
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case OT_ATOM : |
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case OT_DATOM: |
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((Atom*)this)->setPos(pos); |
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break; |
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case OT_RIGIDBODY: |
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((RigidBody*)this)->setPos(pos); |
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break; |
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default: |
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sprintf( painCave.errMsg, |
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"Unrecognized ObjType (%d) in StuntDouble::setPos.\n", |
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objType ); |
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painCave.isFatal = 1; |
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simError(); |
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} |
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} |
139 |
|
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void StuntDouble::setVel(double vel[3]){ |
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|
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switch (objType) |
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{ |
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case OT_ATOM : |
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case OT_DATOM: |
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((Atom*)this)->setVel(vel); |
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break; |
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case OT_RIGIDBODY: |
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((RigidBody*)this)->setVel(vel); |
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break; |
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default: |
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sprintf( painCave.errMsg, |
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"Unrecognized ObjType (%d) in StuntDouble::setVel.\n", |
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objType ); |
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painCave.isFatal = 1; |
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simError(); |
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} |
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} |
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|
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void StuntDouble::addFrc(double frc[3]){ |
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switch (objType) |
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{ |
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case OT_ATOM : |
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case OT_DATOM: |
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((Atom*)this)->addFrc(frc); |
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break; |
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case OT_RIGIDBODY: |
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((RigidBody*)this)->addFrc(frc); |
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break; |
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default: |
171 |
sprintf( painCave.errMsg, |
172 |
"Unrecognized ObjType (%d) in StuntDouble::addFrc.\n", |
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objType ); |
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painCave.isFatal = 1; |
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simError(); |
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} |
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} |
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|
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void StuntDouble::getA(double A[3][3]){ |
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switch (objType) |
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{ |
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case OT_ATOM: |
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sprintf( painCave.errMsg, |
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"StuntDouble::getA was called for a regular atom.\n" |
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"\tRegular Atoms don't have rotation matrices. Be smarter.\n"); |
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painCave.isFatal = 0; |
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simError(); |
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// Return unit matrix |
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A[0][0] = 1; A[0][1] = 0; A[0][2] = 0; |
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A[1][0] = 0; A[1][1] = 1; A[1][2] = 0; |
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A[2][0] = 0; A[2][1] = 0; A[2][2] = 1; |
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break; |
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case OT_DATOM: |
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((DirectionalAtom*)this)->getA(A); |
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break; |
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case OT_RIGIDBODY: |
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((RigidBody*)this)->getA(A); |
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break; |
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default: |
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sprintf( painCave.errMsg, |
201 |
"Unrecognized ObjType (%d) in StuntDouble::getA.\n", |
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objType ); |
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painCave.isFatal = 1; |
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simError(); |
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} |
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} |
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|
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void StuntDouble::setA(double A[3][3]){ |
209 |
switch (objType) |
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{ |
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case OT_ATOM: |
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sprintf( painCave.errMsg, |
213 |
"StuntDouble::setA was called for a regular atom.\n" |
214 |
"\tRegular Atoms don't have rotation matrices. Be smarter.\n"); |
215 |
painCave.isFatal = 1; |
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simError(); |
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break; |
218 |
case OT_DATOM: |
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((DirectionalAtom*)this)->setA(A); |
220 |
break; |
221 |
case OT_RIGIDBODY: |
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((RigidBody*)this)->setA(A); |
223 |
break; |
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default: |
225 |
sprintf( painCave.errMsg, |
226 |
"Unrecognized ObjType (%d) in StuntDouble::setA.\n", |
227 |
objType ); |
228 |
painCave.isFatal = 1; |
229 |
simError(); |
230 |
} |
231 |
} |
232 |
|
233 |
void StuntDouble::getJ(double j[3]){ |
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switch (objType) |
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{ |
236 |
case OT_ATOM: |
237 |
sprintf( painCave.errMsg, |
238 |
"StuntDouble::getJ was called for a regular atom.\n" |
239 |
"\tRegular Atoms don't have angular momentum. Be smarter.\n"); |
240 |
painCave.isFatal = 0; |
241 |
simError(); |
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// Return zeros. |
243 |
j[0] = 0; |
244 |
j[1] = 0; |
245 |
j[2] = 0; |
246 |
break; |
247 |
case OT_DATOM: |
248 |
((DirectionalAtom*)this)->getJ(j); |
249 |
break; |
250 |
case OT_RIGIDBODY: |
251 |
((RigidBody*)this)->getJ(j); |
252 |
break; |
253 |
default: |
254 |
sprintf( painCave.errMsg, |
255 |
"Unrecognized ObjType (%d) in StuntDouble::getJ.\n", |
256 |
objType ); |
257 |
painCave.isFatal = 1; |
258 |
simError(); |
259 |
} |
260 |
} |
261 |
|
262 |
void StuntDouble::setJ(double j[3]){ |
263 |
switch (objType) |
264 |
{ |
265 |
case OT_ATOM: |
266 |
sprintf( painCave.errMsg, |
267 |
"StuntDouble::setJ was called for a regular atom.\n" |
268 |
"\tRegular Atoms don't have angular momentum. Be smarter.\n"); |
269 |
painCave.isFatal = 1; |
270 |
simError(); |
271 |
break; |
272 |
case OT_DATOM: |
273 |
((DirectionalAtom*)this)->setJ(j); |
274 |
break; |
275 |
case OT_RIGIDBODY: |
276 |
((RigidBody*)this)->setJ(j); |
277 |
break; |
278 |
default: |
279 |
sprintf( painCave.errMsg, |
280 |
"Unrecognized ObjType (%d) in StuntDouble::setJ.\n", |
281 |
objType ); |
282 |
painCave.isFatal = 1; |
283 |
simError(); |
284 |
} |
285 |
} |
286 |
|
287 |
void StuntDouble::getQ(double q[4] ){ |
288 |
switch (objType) |
289 |
{ |
290 |
case OT_ATOM: |
291 |
sprintf( painCave.errMsg, |
292 |
"StuntDouble::getJ was called for a regular atom.\n" |
293 |
"\tRegular Atoms don't have angular momentum. Be smarter.\n"); |
294 |
painCave.isFatal = 0; |
295 |
simError(); |
296 |
// Return zeros. |
297 |
q[0] = 0; |
298 |
q[1] = 0; |
299 |
q[2] = 0; |
300 |
q[3] = 0; |
301 |
break; |
302 |
case OT_DATOM: |
303 |
((DirectionalAtom*)this)->getQ(q); |
304 |
break; |
305 |
case OT_RIGIDBODY: |
306 |
((RigidBody*)this)->getQ(q); |
307 |
break; |
308 |
default: |
309 |
sprintf( painCave.errMsg, |
310 |
"Unrecognized ObjType (%d) in StuntDouble::getJ.\n", |
311 |
objType ); |
312 |
painCave.isFatal = 1; |
313 |
simError(); |
314 |
} |
315 |
} |
316 |
|
317 |
void StuntDouble::setQ(double q[4] ){ |
318 |
switch (objType) |
319 |
{ |
320 |
case OT_ATOM: |
321 |
sprintf( painCave.errMsg, |
322 |
"StuntDouble::setJ was called for a regular atom.\n" |
323 |
"\tRegular Atoms don't have angular momentum. Be smarter.\n"); |
324 |
painCave.isFatal = 1; |
325 |
simError(); |
326 |
break; |
327 |
case OT_DATOM: |
328 |
((DirectionalAtom*)this)->setJ(q); |
329 |
break; |
330 |
case OT_RIGIDBODY: |
331 |
((RigidBody*)this)->setJ(q); |
332 |
break; |
333 |
default: |
334 |
sprintf( painCave.errMsg, |
335 |
"Unrecognized ObjType (%d) in StuntDouble::setJ.\n", |
336 |
objType ); |
337 |
painCave.isFatal = 1; |
338 |
simError(); |
339 |
} |
340 |
} |
341 |
void StuntDouble::getTrq(double trq[3]){ |
342 |
switch (objType) |
343 |
{ |
344 |
case OT_ATOM: |
345 |
sprintf( painCave.errMsg, |
346 |
"StuntDouble::getTrq was called for a regular atom.\n" |
347 |
"\tRegular Atoms don't have torques. Be smarter.\n"); |
348 |
painCave.isFatal = 0; |
349 |
simError(); |
350 |
// Return zeros. |
351 |
trq[0] = 0; |
352 |
trq[1] = 0; |
353 |
trq[2] = 0; |
354 |
break; |
355 |
case OT_DATOM: |
356 |
((DirectionalAtom*)this)->getTrq(trq); |
357 |
break; |
358 |
case OT_RIGIDBODY: |
359 |
((RigidBody*)this)->getTrq(trq); |
360 |
break; |
361 |
default: |
362 |
sprintf( painCave.errMsg, |
363 |
"Unrecognized ObjType (%d) in StuntDouble::getTrq.\n", |
364 |
objType ); |
365 |
painCave.isFatal = 1; |
366 |
simError(); |
367 |
} |
368 |
} |
369 |
|
370 |
void StuntDouble::addTrq(double trq[3]){ |
371 |
switch (objType) |
372 |
{ |
373 |
case OT_ATOM: |
374 |
sprintf( painCave.errMsg, |
375 |
"StuntDouble::addTrq was called for a regular atom.\n" |
376 |
"\tRegular Atoms don't have torques. Be smarter.\n"); |
377 |
painCave.isFatal = 1; |
378 |
simError(); |
379 |
break; |
380 |
case OT_DATOM: |
381 |
((DirectionalAtom*)this)->addTrq(trq); |
382 |
break; |
383 |
case OT_RIGIDBODY: |
384 |
((RigidBody*)this)->addTrq(trq); |
385 |
break; |
386 |
default: |
387 |
sprintf( painCave.errMsg, |
388 |
"Unrecognized ObjType (%d) in StuntDouble::addTrq.\n", |
389 |
objType ); |
390 |
painCave.isFatal = 1; |
391 |
simError(); |
392 |
} |
393 |
} |
394 |
|
395 |
void StuntDouble::getI(double I[3][3]){ |
396 |
switch (objType) |
397 |
{ |
398 |
case OT_ATOM: |
399 |
sprintf( painCave.errMsg, |
400 |
"StuntDouble::getI was called for a regular atom.\n" |
401 |
"\tRegular Atoms don't have moments of inertia. Be smarter.\n"); |
402 |
painCave.isFatal = 0; |
403 |
simError(); |
404 |
// Return zero matrix |
405 |
I[0][0] = 0; I[0][1] = 0; I[0][2] = 0; |
406 |
I[1][0] = 0; I[1][1] = 0; I[1][2] = 0; |
407 |
I[2][0] = 0; I[2][1] = 0; I[2][2] = 0; |
408 |
break; |
409 |
case OT_DATOM: |
410 |
((DirectionalAtom*)this)->getI(I); |
411 |
break; |
412 |
case OT_RIGIDBODY: |
413 |
((RigidBody*)this)->getI(I); |
414 |
break; |
415 |
default: |
416 |
sprintf( painCave.errMsg, |
417 |
"Unrecognized ObjType (%d) in StuntDouble::getI.\n", |
418 |
objType ); |
419 |
painCave.isFatal = 1; |
420 |
simError(); |
421 |
} |
422 |
} |
423 |
|
424 |
void StuntDouble::lab2Body(double vec[3]){ |
425 |
switch (objType) |
426 |
{ |
427 |
case OT_ATOM: |
428 |
sprintf( painCave.errMsg, |
429 |
"StuntDouble::lab2Body was called for a regular atom.\n" |
430 |
"\tRegular Atoms don't have reference frames. Be smarter.\n"); |
431 |
painCave.isFatal = 0; |
432 |
simError(); |
433 |
break; |
434 |
case OT_DATOM: |
435 |
((DirectionalAtom*)this)->lab2Body(vec); |
436 |
break; |
437 |
case OT_RIGIDBODY: |
438 |
((RigidBody*)this)->lab2Body(vec); |
439 |
break; |
440 |
default: |
441 |
sprintf( painCave.errMsg, |
442 |
"Unrecognized ObjType (%d) in StuntDouble::lab2Body.\n", |
443 |
objType ); |
444 |
painCave.isFatal = 1; |
445 |
simError(); |
446 |
} |
447 |
} |
448 |
|
449 |
void StuntDouble::getGrad(double grad[6]){ |
450 |
double frc[3]; |
451 |
|
452 |
switch (objType) |
453 |
{ |
454 |
case OT_ATOM: |
455 |
sprintf( painCave.errMsg, |
456 |
"StuntDouble::getGrad was called for a regular atom.\n" |
457 |
"\tRegular Atoms don't have 6 coordinates. Be smarter.\n"); |
458 |
painCave.isFatal = 0; |
459 |
simError(); |
460 |
((Atom*)this)->getFrc(frc); |
461 |
grad[0] = -frc[0]; |
462 |
grad[1] = -frc[1]; |
463 |
grad[2] = -frc[2]; |
464 |
grad[3] = 0.0; |
465 |
grad[4] = 0.0; |
466 |
grad[5] = 0.0; |
467 |
break; |
468 |
case OT_DATOM: |
469 |
((DirectionalAtom*)this)->getGrad(grad); |
470 |
break; |
471 |
case OT_RIGIDBODY: |
472 |
((RigidBody*)this)->getGrad(grad); |
473 |
break; |
474 |
default: |
475 |
sprintf( painCave.errMsg, |
476 |
"Unrecognized ObjType (%d) in StuntDouble::getGrad.\n", |
477 |
objType ); |
478 |
painCave.isFatal = 1; |
479 |
simError(); |
480 |
} |
481 |
} |
482 |
|
483 |
void StuntDouble::setEuler(double phi, double theta, double psi){ |
484 |
switch (objType) |
485 |
{ |
486 |
case OT_ATOM: |
487 |
sprintf( painCave.errMsg, |
488 |
"StuntDouble::setEuler was called for a regular atom.\n" |
489 |
"\tRegular Atoms don't have Euler Angles. Be smarter.\n"); |
490 |
painCave.isFatal = 1; |
491 |
simError(); |
492 |
break; |
493 |
case OT_DATOM: |
494 |
((DirectionalAtom*)this)->setEuler(phi, theta, psi); |
495 |
break; |
496 |
case OT_RIGIDBODY: |
497 |
((RigidBody*)this)->setEuler(phi, theta, psi); |
498 |
break; |
499 |
default: |
500 |
sprintf( painCave.errMsg, |
501 |
"Unrecognized ObjType (%d) in StuntDouble::setA.\n", |
502 |
objType ); |
503 |
painCave.isFatal = 1; |
504 |
simError(); |
505 |
} |
506 |
} |
507 |
|
508 |
void StuntDouble::getEulerAngles(double eulers[3]){ |
509 |
switch (objType) |
510 |
{ |
511 |
case OT_ATOM: |
512 |
sprintf( painCave.errMsg, |
513 |
"StuntDouble::getEulerAngles was called for a regular atom.\n" |
514 |
"\tRegular Atoms don't have Euler angles. Be smarter.\n"); |
515 |
painCave.isFatal = 0; |
516 |
simError(); |
517 |
// Return zeros. |
518 |
eulers[0] = 0; |
519 |
eulers[1] = 0; |
520 |
eulers[2] = 0; |
521 |
break; |
522 |
case OT_DATOM: |
523 |
((DirectionalAtom*)this)->getEulerAngles(eulers); |
524 |
break; |
525 |
case OT_RIGIDBODY: |
526 |
((RigidBody*)this)->getEulerAngles(eulers); |
527 |
break; |
528 |
default: |
529 |
sprintf( painCave.errMsg, |
530 |
"Unrecognized ObjType (%d) in StuntDouble::getEulerAngles.\n", |
531 |
objType ); |
532 |
painCave.isFatal = 1; |
533 |
simError(); |
534 |
} |
535 |
} |
536 |
|
537 |
double StuntDouble::getZangle(){ |
538 |
switch (objType) |
539 |
{ |
540 |
case OT_ATOM: |
541 |
sprintf( painCave.errMsg, |
542 |
"StuntDouble::getZangle was called for a regular atom.\n" |
543 |
"\tRegular Atoms don't have zAngles. Be smarter.\n"); |
544 |
painCave.isFatal = 0; |
545 |
simError(); |
546 |
// Return zeros. |
547 |
return 0; |
548 |
break; |
549 |
case OT_DATOM: |
550 |
return ((DirectionalAtom*)this)->getZangle(); |
551 |
break; |
552 |
case OT_RIGIDBODY: |
553 |
return ((RigidBody*)this)->getZangle(); |
554 |
break; |
555 |
default: |
556 |
sprintf( painCave.errMsg, |
557 |
"Unrecognized ObjType (%d) in StuntDouble::getZangle.\n", |
558 |
objType ); |
559 |
painCave.isFatal = 1; |
560 |
simError(); |
561 |
return 0; |
562 |
} |
563 |
} |
564 |
|
565 |
void StuntDouble::setZangle(double zAngle){ |
566 |
switch (objType) |
567 |
{ |
568 |
case OT_ATOM: |
569 |
sprintf( painCave.errMsg, |
570 |
"StuntDouble::setZangle was called for a regular atom.\n" |
571 |
"\tRegular Atoms don't have zAngles. Be smarter.\n"); |
572 |
painCave.isFatal = 1; |
573 |
simError(); |
574 |
break; |
575 |
case OT_DATOM: |
576 |
((DirectionalAtom*)this)->setZangle(zAngle); |
577 |
break; |
578 |
case OT_RIGIDBODY: |
579 |
((RigidBody*)this)->setZangle(zAngle); |
580 |
break; |
581 |
default: |
582 |
sprintf( painCave.errMsg, |
583 |
"Unrecognized ObjType (%d) in StuntDouble::setZangle.\n", |
584 |
objType ); |
585 |
painCave.isFatal = 1; |
586 |
simError(); |
587 |
} |
588 |
} |
589 |
|
590 |
void StuntDouble::addZangle(double zAngle){ |
591 |
switch (objType) |
592 |
{ |
593 |
case OT_ATOM: |
594 |
sprintf( painCave.errMsg, |
595 |
"StuntDouble::addZangle was called for a regular atom.\n" |
596 |
"\tRegular Atoms don't have zAngles. Be smarter.\n"); |
597 |
painCave.isFatal = 1; |
598 |
simError(); |
599 |
break; |
600 |
case OT_DATOM: |
601 |
((DirectionalAtom*)this)->addZangle(zAngle); |
602 |
break; |
603 |
case OT_RIGIDBODY: |
604 |
((RigidBody*)this)->addZangle(zAngle); |
605 |
break; |
606 |
default: |
607 |
sprintf( painCave.errMsg, |
608 |
"Unrecognized ObjType (%d) in StuntDouble::addZangle.\n", |
609 |
objType ); |
610 |
painCave.isFatal = 1; |
611 |
simError(); |
612 |
} |
613 |
} |
614 |
|
615 |
void StuntDouble::addProperty(GenericData* data){ |
616 |
map<string, GenericData*>::iterator result; |
617 |
result = properties.find(data->getID()); |
618 |
|
619 |
//we can't simply use properties[prop->getID()] = prop, |
620 |
//it will cause memory leak if we already contain a propery which has the same name of prop |
621 |
|
622 |
if(result != properties.end()){ |
623 |
delete (*result).second; |
624 |
(*result).second = data; |
625 |
} |
626 |
else |
627 |
properties[data->getID()] = data; |
628 |
|
629 |
|
630 |
} |
631 |
void StuntDouble::removeProperty(const string& propName){ |
632 |
map<string, GenericData*>::iterator result; |
633 |
|
634 |
result = properties.find(propName); |
635 |
|
636 |
if(result != properties.end()){ |
637 |
delete result->second; |
638 |
properties.erase(result); |
639 |
|
640 |
} |
641 |
|
642 |
} |
643 |
GenericData* StuntDouble::getProperty(const string& propName){ |
644 |
map<string, GenericData*>::iterator result; |
645 |
|
646 |
|
647 |
result = properties.find(propName); |
648 |
|
649 |
if(result != properties.end()) |
650 |
return (*result).second; |
651 |
else |
652 |
return NULL; |
653 |
} |