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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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|
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using namespace std; |
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class BaseVisitor; |
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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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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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/** |
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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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bool isRigidBody(){ |
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return objType == OT_RIGIDBODY; |
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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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|
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bool isDirectional(){ |
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return isDirectionalAtom() || isRigidBody(); |
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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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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 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 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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* 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 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 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 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 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 setType(char* type) = 0; |
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virtual char* getType() = 0; |
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|
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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 getTrq(double trq[3]); |
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virtual void addTrq(double trq[3]); |
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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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|
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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 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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|
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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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* 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 bool isLinear() {return false;} |
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virtual int linearAxis() {return -1;} |
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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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|
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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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* 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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|
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virtual void accept(BaseVisitor* v) = 0; |
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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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|
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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 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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|
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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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* 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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map<string, GenericData*> properties; |
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}; |
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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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#endif |
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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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/** |
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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). |
295 |
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* @return the angular momentum of this stuntdouble |
296 |
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*/ |
297 |
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Vector3d getPrevJ() { |
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return ((snapshotMan_->getPrevSnapshot())->*storage_).angularMomentum[localIndex_]; |
299 |
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} |
300 |
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|
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/** |
302 |
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* Returns the current angular momentum of this stuntdouble (body -fixed). |
303 |
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* @return the angular momentum of this stuntdouble |
304 |
> |
*/ |
305 |
> |
Vector3d getJ() { |
306 |
> |
return ((snapshotMan_->getCurrentSnapshot())->*storage_).angularMomentum[localIndex_]; |
307 |
> |
} |
308 |
> |
|
309 |
> |
/** |
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 |
> |
*/ |
314 |
> |
Vector3d getJ(int snapshotNo) { |
315 |
> |
return ((snapshotMan_->getSnapshot(snapshotNo))->*storage_).angularMomentum[localIndex_]; |
316 |
> |
} |
317 |
> |
|
318 |
> |
/** |
319 |
> |
* Sets the previous angular momentum of this stuntdouble (body-fixed). |
320 |
> |
* @param angMom new angular momentum |
321 |
> |
* @see #getJ |
322 |
> |
*/ |
323 |
> |
void setPrevJ(const Vector3d& angMom) { |
324 |
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((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 |
> |
*/ |
331 |
> |
void setJ(const Vector3d& angMom) { |
332 |
> |
((snapshotMan_->getCurrentSnapshot())->*storage_).angularMomentum[localIndex_] = angMom; |
333 |
> |
} |
334 |
> |
|
335 |
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/** |
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 |