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#include <stdlib.h> |
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#include <math.h> |
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#ifdef IS_MPI |
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< |
#include "mpiSimulation.hpp" |
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> |
#include "brains/mpiSimulation.hpp" |
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#include <unistd.h> |
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#endif //is_mpi |
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#ifdef PROFILE |
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< |
#include "mdProfile.hpp" |
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> |
#include "profiling/mdProfile.hpp" |
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#endif // profile |
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< |
#include "Integrator.hpp" |
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< |
#include "simError.h" |
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> |
#include "integrators/Integrator.hpp" |
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> |
#include "utils/simError.h" |
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template<typename T> Integrator<T>::Integrator(SimInfo* theInfo, |
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integrableObjects[i]->getVel(vel); |
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integrableObjects[i]->getPos(pos); |
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integrableObjects[i]->getFrc(frc); |
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// std::cerr << "f = " << frc[0] << "\t" << frc[1] << "\t" << frc[2] << "\n"; |
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mass = integrableObjects[i]->getMass(); |
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integrableObjects[i]->setVel(vel); |
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integrableObjects[i]->setPos(pos); |
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+ |
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if (integrableObjects[i]->isDirectional()){ |
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// get and convert the torque to body frame |
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integrableObjects[i]->getTrq(Tb); |
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// std::cerr << "t = " << Tb[0] << "\t" << Tb[1] << "\t" << Tb[2] << "\n"; |
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integrableObjects[i]->lab2Body(Tb); |
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// get the angular momentum, and propagate a half step |
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sd->getI(I); |
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if (sd->isLinear()) { |
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+ |
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i = sd->linearAxis(); |
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j = (i+1)%3; |
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k = (i+2)%3; |
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< |
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> |
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angle = dt2 * ji[j] / I[j][j]; |
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this->rotate( k, i, angle, ji, A ); |
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