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/* |
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/* |
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* Copyright (c) 2005 The University of Notre Dame. All Rights Reserved. |
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* |
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* The University of Notre Dame grants you ("Licensee") a |
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* @version 1.0 |
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*/ |
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#ifndef PRIMITIVES_STUNTDOUBLE_HPP |
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#define PRIMITIVES_STUNTDOUBLE_HPP |
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#ifndef PRIMITIVES_STUNTDOUBLE_HPP |
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#define PRIMITIVES_STUNTDOUBLE_HPP |
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#include <vector> |
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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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class StuntDouble{ |
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public: |
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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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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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virtual ~StuntDouble(); |
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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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/** |
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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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|
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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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void setGlobalIndex(int index) { |
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globalIndex_ = index; |
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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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void setGlobalIndex(int index) { |
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globalIndex_ = index; |
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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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/** |
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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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|
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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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/** |
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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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|
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/** |
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* Sets the Snapshot Manager of this stuntdouble |
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*/ |
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void setSnapshotManager(SnapshotManager* sman) { |
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snapshotMan_ = sman; |
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} |
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/** |
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* Sets the Snapshot Manager of this stuntdouble |
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*/ |
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void setSnapshotManager(SnapshotManager* sman) { |
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snapshotMan_ = sman; |
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} |
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|
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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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/** |
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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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/** |
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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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/** |
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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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/** |
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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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/** |
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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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|
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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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* 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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* 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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* 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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* 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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/** |
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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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/** |
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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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/** |
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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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* 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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DataStorage& data = snapshotMan_->getCurrentSnapshot()->*storage_; |
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data.position[localIndex_] = pos; |
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//((snapshotMan_->getCurrentSnapshot())->*storage_).position[localIndex_] = pos; |
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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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DataStorage& data = snapshotMan_->getCurrentSnapshot()->*storage_; |
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data.position[localIndex_] = pos; |
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//((snapshotMan_->getCurrentSnapshot())->*storage_).position[localIndex_] = pos; |
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} |
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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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/** |
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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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((snapshotMan_->getSnapshot(snapshotNo))->*storage_).position[localIndex_] = pos; |
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|
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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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* 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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* 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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/** |
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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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* 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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/** |
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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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* 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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* Sets the current velocity of this stuntdouble |
251 |
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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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/** |
258 |
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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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/** |
258 |
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* Sets the velocity of this stuntdouble in specified snapshot |
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* @param vel velocity to be set |
260 |
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* @param snapshotNo |
261 |
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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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/** |
268 |
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* Returns the previous rotation matrix of this stuntdouble |
269 |
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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_]; |
273 |
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} |
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/** |
268 |
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* Returns the previous rotation matrix of this stuntdouble |
269 |
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* @return the rotation matrix of this stuntdouble |
270 |
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*/ |
271 |
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RotMat3x3d getPrevA() { |
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return ((snapshotMan_->getPrevSnapshot())->*storage_).aMat[localIndex_]; |
273 |
> |
} |
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|
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/** |
276 |
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* Returns the current rotation matrix of this stuntdouble |
277 |
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* @return the rotation matrix of this stuntdouble |
278 |
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*/ |
279 |
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RotMat3x3d getA() { |
280 |
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return ((snapshotMan_->getCurrentSnapshot())->*storage_).aMat[localIndex_]; |
281 |
< |
} |
275 |
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/** |
276 |
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* Returns the current rotation matrix of this stuntdouble |
277 |
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* @return the rotation matrix of this stuntdouble |
278 |
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*/ |
279 |
> |
RotMat3x3d getA() { |
280 |
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return ((snapshotMan_->getCurrentSnapshot())->*storage_).aMat[localIndex_]; |
281 |
> |
} |
282 |
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|
283 |
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/** |
284 |
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* Returns the rotation matrix of this stuntdouble in specified snapshot |
285 |
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* |
286 |
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* @return the rotation matrix of this stuntdouble |
287 |
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* @param snapshotNo |
288 |
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*/ |
289 |
< |
RotMat3x3d getA(int snapshotNo) { |
290 |
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return ((snapshotMan_->getSnapshot(snapshotNo))->*storage_).aMat[localIndex_]; |
291 |
< |
} |
283 |
> |
/** |
284 |
> |
* Returns the rotation matrix of this stuntdouble in specified snapshot |
285 |
> |
* |
286 |
> |
* @return the rotation matrix of this stuntdouble |
287 |
> |
* @param snapshotNo |
288 |
> |
*/ |
289 |
> |
RotMat3x3d getA(int snapshotNo) { |
290 |
> |
return ((snapshotMan_->getSnapshot(snapshotNo))->*storage_).aMat[localIndex_]; |
291 |
> |
} |
292 |
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|
293 |
< |
/** |
294 |
< |
* Sets the previous rotation matrix of this stuntdouble |
295 |
< |
* @param a new rotation matrix |
296 |
< |
* @see #getA |
297 |
< |
*/ |
298 |
< |
virtual void setPrevA(const RotMat3x3d& a) { |
299 |
< |
((snapshotMan_->getPrevSnapshot())->*storage_).aMat[localIndex_] = a; |
300 |
< |
} |
293 |
> |
/** |
294 |
> |
* Sets the previous rotation matrix of this stuntdouble |
295 |
> |
* @param a new rotation matrix |
296 |
> |
* @see #getA |
297 |
> |
*/ |
298 |
> |
virtual void setPrevA(const RotMat3x3d& a) { |
299 |
> |
((snapshotMan_->getPrevSnapshot())->*storage_).aMat[localIndex_] = a; |
300 |
> |
} |
301 |
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|
302 |
< |
/** |
303 |
< |
* Sets the current rotation matrix of this stuntdouble |
304 |
< |
* @param a new rotation matrix |
305 |
< |
*/ |
306 |
< |
virtual void setA(const RotMat3x3d& a) { |
307 |
< |
((snapshotMan_->getCurrentSnapshot())->*storage_).aMat[localIndex_] = a; |
308 |
< |
} |
302 |
> |
/** |
303 |
> |
* Sets the current rotation matrix of this stuntdouble |
304 |
> |
* @param a new rotation matrix |
305 |
> |
*/ |
306 |
> |
virtual void setA(const RotMat3x3d& a) { |
307 |
> |
((snapshotMan_->getCurrentSnapshot())->*storage_).aMat[localIndex_] = a; |
308 |
> |
} |
309 |
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|
310 |
< |
/** |
311 |
< |
* Sets the rotation matrix of this stuntdouble in specified snapshot |
312 |
< |
* @param a rotation matrix to be set |
313 |
< |
* @param snapshotNo |
314 |
< |
* @see #getA |
315 |
< |
*/ |
316 |
< |
virtual void setA(const RotMat3x3d& a, int snapshotNo) { |
317 |
< |
((snapshotMan_->getSnapshot(snapshotNo))->*storage_).aMat[localIndex_] = a; |
318 |
< |
} |
310 |
> |
/** |
311 |
> |
* Sets the rotation matrix of this stuntdouble in specified snapshot |
312 |
> |
* @param a rotation matrix to be set |
313 |
> |
* @param snapshotNo |
314 |
> |
* @see #getA |
315 |
> |
*/ |
316 |
> |
virtual void setA(const RotMat3x3d& a, int snapshotNo) { |
317 |
> |
((snapshotMan_->getSnapshot(snapshotNo))->*storage_).aMat[localIndex_] = a; |
318 |
> |
} |
319 |
|
|
320 |
< |
/** |
321 |
< |
* Returns the previous angular momentum of this stuntdouble (body-fixed). |
322 |
< |
* @return the angular momentum of this stuntdouble |
323 |
< |
*/ |
324 |
< |
Vector3d getPrevJ() { |
325 |
< |
return ((snapshotMan_->getPrevSnapshot())->*storage_).angularMomentum[localIndex_]; |
326 |
< |
} |
320 |
> |
/** |
321 |
> |
* Returns the previous angular momentum of this stuntdouble (body-fixed). |
322 |
> |
* @return the angular momentum of this stuntdouble |
323 |
> |
*/ |
324 |
> |
Vector3d getPrevJ() { |
325 |
> |
return ((snapshotMan_->getPrevSnapshot())->*storage_).angularMomentum[localIndex_]; |
326 |
> |
} |
327 |
|
|
328 |
< |
/** |
329 |
< |
* Returns the current angular momentum of this stuntdouble (body -fixed). |
330 |
< |
* @return the angular momentum of this stuntdouble |
331 |
< |
*/ |
332 |
< |
Vector3d getJ() { |
333 |
< |
return ((snapshotMan_->getCurrentSnapshot())->*storage_).angularMomentum[localIndex_]; |
334 |
< |
} |
328 |
> |
/** |
329 |
> |
* Returns the current angular momentum of this stuntdouble (body -fixed). |
330 |
> |
* @return the angular momentum of this stuntdouble |
331 |
> |
*/ |
332 |
> |
Vector3d getJ() { |
333 |
> |
return ((snapshotMan_->getCurrentSnapshot())->*storage_).angularMomentum[localIndex_]; |
334 |
> |
} |
335 |
|
|
336 |
< |
/** |
337 |
< |
* Returns the angular momentum of this stuntdouble in specified snapshot (body-fixed). |
338 |
< |
* @return the angular momentum of this stuntdouble |
339 |
< |
* @param snapshotNo |
340 |
< |
*/ |
341 |
< |
Vector3d getJ(int snapshotNo) { |
342 |
< |
return ((snapshotMan_->getSnapshot(snapshotNo))->*storage_).angularMomentum[localIndex_]; |
343 |
< |
} |
336 |
> |
/** |
337 |
> |
* Returns the angular momentum of this stuntdouble in specified snapshot (body-fixed). |
338 |
> |
* @return the angular momentum of this stuntdouble |
339 |
> |
* @param snapshotNo |
340 |
> |
*/ |
341 |
> |
Vector3d getJ(int snapshotNo) { |
342 |
> |
return ((snapshotMan_->getSnapshot(snapshotNo))->*storage_).angularMomentum[localIndex_]; |
343 |
> |
} |
344 |
|
|
345 |
< |
/** |
346 |
< |
* Sets the previous angular momentum of this stuntdouble (body-fixed). |
347 |
< |
* @param angMom new angular momentum |
348 |
< |
* @see #getJ |
349 |
< |
*/ |
350 |
< |
void setPrevJ(const Vector3d& angMom) { |
351 |
< |
((snapshotMan_->getPrevSnapshot())->*storage_).angularMomentum[localIndex_] = angMom; |
352 |
< |
} |
345 |
> |
/** |
346 |
> |
* Sets the previous angular momentum of this stuntdouble (body-fixed). |
347 |
> |
* @param angMom new angular momentum |
348 |
> |
* @see #getJ |
349 |
> |
*/ |
350 |
> |
void setPrevJ(const Vector3d& angMom) { |
351 |
> |
((snapshotMan_->getPrevSnapshot())->*storage_).angularMomentum[localIndex_] = angMom; |
352 |
> |
} |
353 |
|
|
354 |
< |
/** |
355 |
< |
* Sets the current angular momentum of this stuntdouble (body-fixed). |
356 |
< |
* @param angMom new angular momentum |
357 |
< |
*/ |
358 |
< |
void setJ(const Vector3d& angMom) { |
359 |
< |
((snapshotMan_->getCurrentSnapshot())->*storage_).angularMomentum[localIndex_] = angMom; |
360 |
< |
} |
354 |
> |
/** |
355 |
> |
* Sets the current angular momentum of this stuntdouble (body-fixed). |
356 |
> |
* @param angMom new angular momentum |
357 |
> |
*/ |
358 |
> |
void setJ(const Vector3d& angMom) { |
359 |
> |
((snapshotMan_->getCurrentSnapshot())->*storage_).angularMomentum[localIndex_] = angMom; |
360 |
> |
} |
361 |
|
|
362 |
< |
/** |
363 |
< |
* Sets the angular momentum of this stuntdouble in specified snapshot(body-fixed). |
364 |
< |
* @param angMom angular momentum to be set |
365 |
< |
* @param snapshotNo |
366 |
< |
* @see #getJ |
367 |
< |
*/ |
368 |
< |
void setJ(const Vector3d& angMom, int snapshotNo) { |
369 |
< |
((snapshotMan_->getSnapshot(snapshotNo))->*storage_).angularMomentum[localIndex_] = angMom; |
370 |
< |
} |
362 |
> |
/** |
363 |
> |
* Sets the angular momentum of this stuntdouble in specified snapshot(body-fixed). |
364 |
> |
* @param angMom angular momentum to be set |
365 |
> |
* @param snapshotNo |
366 |
> |
* @see #getJ |
367 |
> |
*/ |
368 |
> |
void setJ(const Vector3d& angMom, int snapshotNo) { |
369 |
> |
((snapshotMan_->getSnapshot(snapshotNo))->*storage_).angularMomentum[localIndex_] = angMom; |
370 |
> |
} |
371 |
|
|
372 |
< |
/** |
373 |
< |
* Returns the previous quaternion of this stuntdouble |
374 |
< |
* @return the quaternion of this stuntdouble |
375 |
< |
*/ |
376 |
< |
Quat4d getPrevQ() { |
377 |
< |
return ((snapshotMan_->getPrevSnapshot())->*storage_).aMat[localIndex_].toQuaternion(); |
378 |
< |
} |
372 |
> |
/** |
373 |
> |
* Returns the previous quaternion of this stuntdouble |
374 |
> |
* @return the quaternion of this stuntdouble |
375 |
> |
*/ |
376 |
> |
Quat4d getPrevQ() { |
377 |
> |
return ((snapshotMan_->getPrevSnapshot())->*storage_).aMat[localIndex_].toQuaternion(); |
378 |
> |
} |
379 |
|
|
380 |
< |
/** |
381 |
< |
* Returns the current quaternion of this stuntdouble |
382 |
< |
* @return the quaternion of this stuntdouble |
383 |
< |
*/ |
384 |
< |
Quat4d getQ() { |
385 |
< |
return ((snapshotMan_->getCurrentSnapshot())->*storage_).aMat[localIndex_].toQuaternion(); |
386 |
< |
} |
380 |
> |
/** |
381 |
> |
* Returns the current quaternion of this stuntdouble |
382 |
> |
* @return the quaternion of this stuntdouble |
383 |
> |
*/ |
384 |
> |
Quat4d getQ() { |
385 |
> |
return ((snapshotMan_->getCurrentSnapshot())->*storage_).aMat[localIndex_].toQuaternion(); |
386 |
> |
} |
387 |
|
|
388 |
< |
/** |
389 |
< |
* Returns the quaternion of this stuntdouble in specified snapshot |
390 |
< |
* @return the quaternion of this stuntdouble |
391 |
< |
* @param snapshotNo |
392 |
< |
*/ |
393 |
< |
Quat4d getQ(int snapshotNo) { |
394 |
< |
return ((snapshotMan_->getSnapshot(snapshotNo))->*storage_).aMat[localIndex_].toQuaternion(); |
395 |
< |
} |
388 |
> |
/** |
389 |
> |
* Returns the quaternion of this stuntdouble in specified snapshot |
390 |
> |
* @return the quaternion of this stuntdouble |
391 |
> |
* @param snapshotNo |
392 |
> |
*/ |
393 |
> |
Quat4d getQ(int snapshotNo) { |
394 |
> |
return ((snapshotMan_->getSnapshot(snapshotNo))->*storage_).aMat[localIndex_].toQuaternion(); |
395 |
> |
} |
396 |
|
|
397 |
< |
/** |
398 |
< |
* Sets the previous quaternion of this stuntdouble |
399 |
< |
* @param q new quaternion |
400 |
< |
* @note actual storage data is rotation matrix |
401 |
< |
*/ |
402 |
< |
void setPrevQ(const Quat4d& q) { |
403 |
< |
setPrevA(q); |
404 |
< |
} |
397 |
> |
/** |
398 |
> |
* Sets the previous quaternion of this stuntdouble |
399 |
> |
* @param q new quaternion |
400 |
> |
* @note actual storage data is rotation matrix |
401 |
> |
*/ |
402 |
> |
void setPrevQ(const Quat4d& q) { |
403 |
> |
setPrevA(q); |
404 |
> |
} |
405 |
|
|
406 |
< |
/** |
407 |
< |
* Sets the current quaternion of this stuntdouble |
408 |
< |
* @param q new quaternion |
409 |
< |
* @note actual storage data is rotation matrix |
410 |
< |
*/ |
411 |
< |
void setQ(const Quat4d& q) { |
412 |
< |
setA(q); |
413 |
< |
} |
406 |
> |
/** |
407 |
> |
* Sets the current quaternion of this stuntdouble |
408 |
> |
* @param q new quaternion |
409 |
> |
* @note actual storage data is rotation matrix |
410 |
> |
*/ |
411 |
> |
void setQ(const Quat4d& q) { |
412 |
> |
setA(q); |
413 |
> |
} |
414 |
|
|
415 |
< |
/** |
416 |
< |
* Sets the quaternion of this stuntdouble in specified snapshot |
417 |
< |
* |
418 |
< |
* @param q quaternion to be set |
419 |
< |
* @param snapshotNo |
420 |
< |
* @note actual storage data is rotation matrix |
421 |
< |
*/ |
422 |
< |
void setQ(const Quat4d& q, int snapshotNo) { |
423 |
< |
setA(q, snapshotNo); |
424 |
< |
} |
415 |
> |
/** |
416 |
> |
* Sets the quaternion of this stuntdouble in specified snapshot |
417 |
> |
* |
418 |
> |
* @param q quaternion to be set |
419 |
> |
* @param snapshotNo |
420 |
> |
* @note actual storage data is rotation matrix |
421 |
> |
*/ |
422 |
> |
void setQ(const Quat4d& q, int snapshotNo) { |
423 |
> |
setA(q, snapshotNo); |
424 |
> |
} |
425 |
|
|
426 |
< |
/** |
427 |
< |
* Returns the previous euler angles of this stuntdouble |
428 |
< |
* @return the euler angles of this stuntdouble |
429 |
< |
*/ |
430 |
< |
Vector3d getPrevEuler() { |
431 |
< |
return ((snapshotMan_->getPrevSnapshot())->*storage_).aMat[localIndex_].toEulerAngles(); |
432 |
< |
} |
426 |
> |
/** |
427 |
> |
* Returns the previous euler angles of this stuntdouble |
428 |
> |
* @return the euler angles of this stuntdouble |
429 |
> |
*/ |
430 |
> |
Vector3d getPrevEuler() { |
431 |
> |
return ((snapshotMan_->getPrevSnapshot())->*storage_).aMat[localIndex_].toEulerAngles(); |
432 |
> |
} |
433 |
|
|
434 |
< |
/** |
435 |
< |
* Returns the current euler angles of this stuntdouble |
436 |
< |
* @return the euler angles of this stuntdouble |
437 |
< |
*/ |
438 |
< |
Vector3d getEuler() { |
439 |
< |
return ((snapshotMan_->getCurrentSnapshot())->*storage_).aMat[localIndex_].toEulerAngles(); |
440 |
< |
} |
434 |
> |
/** |
435 |
> |
* Returns the current euler angles of this stuntdouble |
436 |
> |
* @return the euler angles of this stuntdouble |
437 |
> |
*/ |
438 |
> |
Vector3d getEuler() { |
439 |
> |
return ((snapshotMan_->getCurrentSnapshot())->*storage_).aMat[localIndex_].toEulerAngles(); |
440 |
> |
} |
441 |
|
|
442 |
< |
/** |
443 |
< |
* Returns the euler angles of this stuntdouble in specified snapshot. |
444 |
< |
* @return the euler angles of this stuntdouble |
445 |
< |
* @param snapshotNo |
446 |
< |
*/ |
447 |
< |
Vector3d getEuler(int snapshotNo) { |
448 |
< |
return ((snapshotMan_->getSnapshot(snapshotNo))->*storage_).aMat[localIndex_].toEulerAngles(); |
449 |
< |
} |
442 |
> |
/** |
443 |
> |
* Returns the euler angles of this stuntdouble in specified snapshot. |
444 |
> |
* @return the euler angles of this stuntdouble |
445 |
> |
* @param snapshotNo |
446 |
> |
*/ |
447 |
> |
Vector3d getEuler(int snapshotNo) { |
448 |
> |
return ((snapshotMan_->getSnapshot(snapshotNo))->*storage_).aMat[localIndex_].toEulerAngles(); |
449 |
> |
} |
450 |
|
|
451 |
< |
/** |
452 |
< |
* Sets the previous euler angles of this stuntdouble. |
453 |
< |
* @param euler new euler angles |
454 |
< |
* @see #getEuler |
455 |
< |
* @note actual storage data is rotation matrix |
456 |
< |
*/ |
457 |
< |
void setPrevEuler(const Vector3d& euler) { |
458 |
< |
((snapshotMan_->getPrevSnapshot())->*storage_).aMat[localIndex_] = euler; |
459 |
< |
} |
451 |
> |
/** |
452 |
> |
* Sets the previous euler angles of this stuntdouble. |
453 |
> |
* @param euler new euler angles |
454 |
> |
* @see #getEuler |
455 |
> |
* @note actual storage data is rotation matrix |
456 |
> |
*/ |
457 |
> |
void setPrevEuler(const Vector3d& euler) { |
458 |
> |
((snapshotMan_->getPrevSnapshot())->*storage_).aMat[localIndex_] = euler; |
459 |
> |
} |
460 |
|
|
461 |
< |
/** |
462 |
< |
* Sets the current euler angles of this stuntdouble |
463 |
< |
* @param euler new euler angles |
464 |
< |
*/ |
465 |
< |
void setEuler(const Vector3d& euler) { |
466 |
< |
((snapshotMan_->getCurrentSnapshot())->*storage_).aMat[localIndex_] = euler; |
467 |
< |
} |
461 |
> |
/** |
462 |
> |
* Sets the current euler angles of this stuntdouble |
463 |
> |
* @param euler new euler angles |
464 |
> |
*/ |
465 |
> |
void setEuler(const Vector3d& euler) { |
466 |
> |
((snapshotMan_->getCurrentSnapshot())->*storage_).aMat[localIndex_] = euler; |
467 |
> |
} |
468 |
|
|
469 |
< |
/** |
470 |
< |
* Sets the euler angles of this stuntdouble in specified snapshot |
471 |
< |
* |
472 |
< |
* @param euler euler angles to be set |
473 |
< |
* @param snapshotNo |
474 |
< |
* @note actual storage data is rotation matrix |
475 |
< |
*/ |
476 |
< |
void setEuler(const Vector3d& euler, int snapshotNo) { |
477 |
< |
((snapshotMan_->getSnapshot(snapshotNo))->*storage_).aMat[localIndex_] = euler; |
478 |
< |
} |
469 |
> |
/** |
470 |
> |
* Sets the euler angles of this stuntdouble in specified snapshot |
471 |
> |
* |
472 |
> |
* @param euler euler angles to be set |
473 |
> |
* @param snapshotNo |
474 |
> |
* @note actual storage data is rotation matrix |
475 |
> |
*/ |
476 |
> |
void setEuler(const Vector3d& euler, int snapshotNo) { |
477 |
> |
((snapshotMan_->getSnapshot(snapshotNo))->*storage_).aMat[localIndex_] = euler; |
478 |
> |
} |
479 |
|
|
480 |
< |
/** |
481 |
< |
* Returns the previous unit vectors of this stuntdouble |
482 |
< |
* @return the unit vectors of this stuntdouble |
483 |
< |
*/ |
484 |
< |
RotMat3x3d getPrevElectroFrame() { |
485 |
< |
return ((snapshotMan_->getPrevSnapshot())->*storage_).electroFrame[localIndex_]; |
486 |
< |
} |
480 |
> |
/** |
481 |
> |
* Returns the previous unit vectors of this stuntdouble |
482 |
> |
* @return the unit vectors of this stuntdouble |
483 |
> |
*/ |
484 |
> |
RotMat3x3d getPrevElectroFrame() { |
485 |
> |
return ((snapshotMan_->getPrevSnapshot())->*storage_).electroFrame[localIndex_]; |
486 |
> |
} |
487 |
|
|
488 |
< |
/** |
489 |
< |
* Returns the current unit vectors of this stuntdouble |
490 |
< |
* @return the unit vectors of this stuntdouble |
491 |
< |
*/ |
492 |
< |
RotMat3x3d getElectroFrame() { |
493 |
< |
return ((snapshotMan_->getCurrentSnapshot())->*storage_).electroFrame[localIndex_]; |
494 |
< |
} |
488 |
> |
/** |
489 |
> |
* Returns the current unit vectors of this stuntdouble |
490 |
> |
* @return the unit vectors of this stuntdouble |
491 |
> |
*/ |
492 |
> |
RotMat3x3d getElectroFrame() { |
493 |
> |
return ((snapshotMan_->getCurrentSnapshot())->*storage_).electroFrame[localIndex_]; |
494 |
> |
} |
495 |
|
|
496 |
< |
/** |
497 |
< |
* Returns the unit vectors of this stuntdouble in specified snapshot |
498 |
< |
* |
499 |
< |
* @return the unit vectors of this stuntdouble |
500 |
< |
* @param snapshotNo |
501 |
< |
*/ |
502 |
< |
RotMat3x3d getElectroFrame(int snapshotNo) { |
503 |
< |
return ((snapshotMan_->getSnapshot(snapshotNo))->*storage_).electroFrame[localIndex_]; |
504 |
< |
} |
496 |
> |
/** |
497 |
> |
* Returns the unit vectors of this stuntdouble in specified snapshot |
498 |
> |
* |
499 |
> |
* @return the unit vectors of this stuntdouble |
500 |
> |
* @param snapshotNo |
501 |
> |
*/ |
502 |
> |
RotMat3x3d getElectroFrame(int snapshotNo) { |
503 |
> |
return ((snapshotMan_->getSnapshot(snapshotNo))->*storage_).electroFrame[localIndex_]; |
504 |
> |
} |
505 |
|
|
506 |
< |
/** |
507 |
< |
* Returns the previous force of this stuntdouble |
508 |
< |
* @return the force of this stuntdouble |
509 |
< |
*/ |
510 |
< |
Vector3d getPrevFrc() { |
511 |
< |
return ((snapshotMan_->getPrevSnapshot())->*storage_).force[localIndex_]; |
512 |
< |
} |
513 |
< |
|
514 |
< |
/** |
515 |
< |
* Returns the current force of this stuntdouble |
516 |
< |
* @return the force of this stuntdouble |
517 |
< |
*/ |
518 |
< |
Vector3d getFrc() { |
519 |
< |
return ((snapshotMan_->getCurrentSnapshot())->*storage_).force[localIndex_]; |
520 |
< |
} |
506 |
> |
/** |
507 |
> |
* Returns the previous force of this stuntdouble |
508 |
> |
* @return the force of this stuntdouble |
509 |
> |
*/ |
510 |
> |
Vector3d getPrevFrc() { |
511 |
> |
return ((snapshotMan_->getPrevSnapshot())->*storage_).force[localIndex_]; |
512 |
> |
} |
513 |
> |
|
514 |
> |
/** |
515 |
> |
* Returns the current force of this stuntdouble |
516 |
> |
* @return the force of this stuntdouble |
517 |
> |
*/ |
518 |
> |
Vector3d getFrc() { |
519 |
> |
return ((snapshotMan_->getCurrentSnapshot())->*storage_).force[localIndex_]; |
520 |
> |
} |
521 |
|
|
522 |
< |
/** |
523 |
< |
* Returns the force of this stuntdouble in specified snapshot |
524 |
< |
* |
525 |
< |
* @return the force of this stuntdouble |
526 |
< |
* @param snapshotNo |
527 |
< |
*/ |
528 |
< |
Vector3d getFrc(int snapshotNo) { |
529 |
< |
return ((snapshotMan_->getSnapshot(snapshotNo))->*storage_).force[localIndex_]; |
530 |
< |
} |
522 |
> |
/** |
523 |
> |
* Returns the force of this stuntdouble in specified snapshot |
524 |
> |
* |
525 |
> |
* @return the force of this stuntdouble |
526 |
> |
* @param snapshotNo |
527 |
> |
*/ |
528 |
> |
Vector3d getFrc(int snapshotNo) { |
529 |
> |
return ((snapshotMan_->getSnapshot(snapshotNo))->*storage_).force[localIndex_]; |
530 |
> |
} |
531 |
|
|
532 |
< |
/** |
533 |
< |
* Sets the previous force of this stuntdouble |
534 |
< |
* |
535 |
< |
* @param frc new force |
536 |
< |
* @see #getFrc |
537 |
< |
*/ |
538 |
< |
void setPrevFrc(const Vector3d& frc) { |
539 |
< |
((snapshotMan_->getPrevSnapshot())->*storage_).force[localIndex_] = frc; |
540 |
< |
} |
532 |
> |
/** |
533 |
> |
* Sets the previous force of this stuntdouble |
534 |
> |
* |
535 |
> |
* @param frc new force |
536 |
> |
* @see #getFrc |
537 |
> |
*/ |
538 |
> |
void setPrevFrc(const Vector3d& frc) { |
539 |
> |
((snapshotMan_->getPrevSnapshot())->*storage_).force[localIndex_] = frc; |
540 |
> |
} |
541 |
|
|
542 |
< |
/** |
543 |
< |
* Sets the current force of this stuntdouble |
544 |
< |
* @param frc new force |
545 |
< |
*/ |
546 |
< |
void setFrc(const Vector3d& frc) { |
547 |
< |
((snapshotMan_->getCurrentSnapshot())->*storage_).force[localIndex_] = frc; |
548 |
< |
} |
542 |
> |
/** |
543 |
> |
* Sets the current force of this stuntdouble |
544 |
> |
* @param frc new force |
545 |
> |
*/ |
546 |
> |
void setFrc(const Vector3d& frc) { |
547 |
> |
((snapshotMan_->getCurrentSnapshot())->*storage_).force[localIndex_] = frc; |
548 |
> |
} |
549 |
|
|
550 |
< |
/** |
551 |
< |
* Sets the force of this stuntdouble in specified snapshot |
552 |
< |
* |
553 |
< |
* @param frc force to be set |
554 |
< |
* @param snapshotNo |
555 |
< |
* @see #getFrc |
556 |
< |
*/ |
557 |
< |
void setFrc(const Vector3d& frc, int snapshotNo) { |
558 |
< |
((snapshotMan_->getSnapshot(snapshotNo))->*storage_).force[localIndex_] = frc; |
559 |
< |
} |
550 |
> |
/** |
551 |
> |
* Sets the force of this stuntdouble in specified snapshot |
552 |
> |
* |
553 |
> |
* @param frc force to be set |
554 |
> |
* @param snapshotNo |
555 |
> |
* @see #getFrc |
556 |
> |
*/ |
557 |
> |
void setFrc(const Vector3d& frc, int snapshotNo) { |
558 |
> |
((snapshotMan_->getSnapshot(snapshotNo))->*storage_).force[localIndex_] = frc; |
559 |
> |
} |
560 |
|
|
561 |
< |
/** |
562 |
< |
* Adds force into the previous force of this stuntdouble |
563 |
< |
* |
564 |
< |
* @param frc new force |
565 |
< |
* @see #getFrc |
566 |
< |
*/ |
567 |
< |
void addPrevFrc(const Vector3d& frc) { |
568 |
< |
((snapshotMan_->getPrevSnapshot())->*storage_).force[localIndex_] += frc; |
569 |
< |
} |
561 |
> |
/** |
562 |
> |
* Adds force into the previous force of this stuntdouble |
563 |
> |
* |
564 |
> |
* @param frc new force |
565 |
> |
* @see #getFrc |
566 |
> |
*/ |
567 |
> |
void addPrevFrc(const Vector3d& frc) { |
568 |
> |
((snapshotMan_->getPrevSnapshot())->*storage_).force[localIndex_] += frc; |
569 |
> |
} |
570 |
|
|
571 |
< |
/** |
572 |
< |
* Adds force into the current force of this stuntdouble |
573 |
< |
* @param frc new force |
574 |
< |
*/ |
575 |
< |
void addFrc(const Vector3d& frc) { |
576 |
< |
((snapshotMan_->getCurrentSnapshot())->*storage_).force[localIndex_] += frc; |
577 |
< |
} |
571 |
> |
/** |
572 |
> |
* Adds force into the current force of this stuntdouble |
573 |
> |
* @param frc new force |
574 |
> |
*/ |
575 |
> |
void addFrc(const Vector3d& frc) { |
576 |
> |
((snapshotMan_->getCurrentSnapshot())->*storage_).force[localIndex_] += frc; |
577 |
> |
} |
578 |
|
|
579 |
< |
/** |
580 |
< |
* Adds force into the force of this stuntdouble in specified snapshot |
581 |
< |
* |
582 |
< |
* @param frc force to be set |
583 |
< |
* @param snapshotNo |
584 |
< |
* @see #getFrc |
585 |
< |
*/ |
586 |
< |
void addFrc(const Vector3d& frc, int snapshotNo) { |
587 |
< |
((snapshotMan_->getSnapshot(snapshotNo))->*storage_).force[localIndex_] += frc; |
588 |
< |
} |
579 |
> |
/** |
580 |
> |
* Adds force into the force of this stuntdouble in specified snapshot |
581 |
> |
* |
582 |
> |
* @param frc force to be set |
583 |
> |
* @param snapshotNo |
584 |
> |
* @see #getFrc |
585 |
> |
*/ |
586 |
> |
void addFrc(const Vector3d& frc, int snapshotNo) { |
587 |
> |
((snapshotMan_->getSnapshot(snapshotNo))->*storage_).force[localIndex_] += frc; |
588 |
> |
} |
589 |
|
|
590 |
< |
/** |
591 |
< |
* Returns the previous torque of this stuntdouble |
592 |
< |
* @return the torque of this stuntdouble |
593 |
< |
*/ |
594 |
< |
Vector3d getPrevTrq() { |
595 |
< |
return ((snapshotMan_->getPrevSnapshot())->*storage_).torque[localIndex_]; |
596 |
< |
} |
590 |
> |
/** |
591 |
> |
* Returns the previous torque of this stuntdouble |
592 |
> |
* @return the torque of this stuntdouble |
593 |
> |
*/ |
594 |
> |
Vector3d getPrevTrq() { |
595 |
> |
return ((snapshotMan_->getPrevSnapshot())->*storage_).torque[localIndex_]; |
596 |
> |
} |
597 |
|
|
598 |
< |
/** |
599 |
< |
* Returns the current torque of this stuntdouble |
600 |
< |
* @return the torque of this stuntdouble |
601 |
< |
*/ |
602 |
< |
Vector3d getTrq() { |
603 |
< |
return ((snapshotMan_->getCurrentSnapshot())->*storage_).torque[localIndex_]; |
604 |
< |
} |
598 |
> |
/** |
599 |
> |
* Returns the current torque of this stuntdouble |
600 |
> |
* @return the torque of this stuntdouble |
601 |
> |
*/ |
602 |
> |
Vector3d getTrq() { |
603 |
> |
return ((snapshotMan_->getCurrentSnapshot())->*storage_).torque[localIndex_]; |
604 |
> |
} |
605 |
|
|
606 |
< |
/** |
607 |
< |
* Returns the torque of this stuntdouble in specified snapshot |
608 |
< |
* |
609 |
< |
* @return the torque of this stuntdouble |
610 |
< |
* @param snapshotNo |
611 |
< |
*/ |
612 |
< |
Vector3d getTrq(int snapshotNo) { |
613 |
< |
return ((snapshotMan_->getSnapshot(snapshotNo))->*storage_).torque[localIndex_]; |
614 |
< |
} |
606 |
> |
/** |
607 |
> |
* Returns the torque of this stuntdouble in specified snapshot |
608 |
> |
* |
609 |
> |
* @return the torque of this stuntdouble |
610 |
> |
* @param snapshotNo |
611 |
> |
*/ |
612 |
> |
Vector3d getTrq(int snapshotNo) { |
613 |
> |
return ((snapshotMan_->getSnapshot(snapshotNo))->*storage_).torque[localIndex_]; |
614 |
> |
} |
615 |
|
|
616 |
< |
/** |
617 |
< |
* Sets the previous torque of this stuntdouble |
618 |
< |
* |
619 |
< |
* @param trq new torque |
620 |
< |
* @see #getTrq |
621 |
< |
*/ |
622 |
< |
void setPrevTrq(const Vector3d& trq) { |
623 |
< |
((snapshotMan_->getPrevSnapshot())->*storage_).torque[localIndex_] = trq; |
624 |
< |
} |
616 |
> |
/** |
617 |
> |
* Sets the previous torque of this stuntdouble |
618 |
> |
* |
619 |
> |
* @param trq new torque |
620 |
> |
* @see #getTrq |
621 |
> |
*/ |
622 |
> |
void setPrevTrq(const Vector3d& trq) { |
623 |
> |
((snapshotMan_->getPrevSnapshot())->*storage_).torque[localIndex_] = trq; |
624 |
> |
} |
625 |
|
|
626 |
< |
/** |
627 |
< |
* Sets the current torque of this stuntdouble |
628 |
< |
* @param trq new torque |
629 |
< |
*/ |
630 |
< |
void setTrq(const Vector3d& trq) { |
631 |
< |
((snapshotMan_->getCurrentSnapshot())->*storage_).torque[localIndex_] = trq; |
632 |
< |
} |
626 |
> |
/** |
627 |
> |
* Sets the current torque of this stuntdouble |
628 |
> |
* @param trq new torque |
629 |
> |
*/ |
630 |
> |
void setTrq(const Vector3d& trq) { |
631 |
> |
((snapshotMan_->getCurrentSnapshot())->*storage_).torque[localIndex_] = trq; |
632 |
> |
} |
633 |
|
|
634 |
< |
/** |
635 |
< |
* Sets the torque of this stuntdouble in specified snapshot |
636 |
< |
* |
637 |
< |
* @param trq torque to be set |
638 |
< |
* @param snapshotNo |
639 |
< |
* @see #getTrq |
640 |
< |
*/ |
641 |
< |
void setTrq(const Vector3d& trq, int snapshotNo) { |
642 |
< |
((snapshotMan_->getSnapshot(snapshotNo))->*storage_).torque[localIndex_] = trq; |
643 |
< |
} |
634 |
> |
/** |
635 |
> |
* Sets the torque of this stuntdouble in specified snapshot |
636 |
> |
* |
637 |
> |
* @param trq torque to be set |
638 |
> |
* @param snapshotNo |
639 |
> |
* @see #getTrq |
640 |
> |
*/ |
641 |
> |
void setTrq(const Vector3d& trq, int snapshotNo) { |
642 |
> |
((snapshotMan_->getSnapshot(snapshotNo))->*storage_).torque[localIndex_] = trq; |
643 |
> |
} |
644 |
|
|
645 |
< |
/** |
646 |
< |
* Adds torque into the previous torque of this stuntdouble |
647 |
< |
* |
648 |
< |
* @param trq new torque |
649 |
< |
* @see #getTrq |
650 |
< |
*/ |
651 |
< |
void addPrevTrq(const Vector3d& trq) { |
652 |
< |
((snapshotMan_->getPrevSnapshot())->*storage_).torque[localIndex_] += trq; |
653 |
< |
} |
645 |
> |
/** |
646 |
> |
* Adds torque into the previous torque of this stuntdouble |
647 |
> |
* |
648 |
> |
* @param trq new torque |
649 |
> |
* @see #getTrq |
650 |
> |
*/ |
651 |
> |
void addPrevTrq(const Vector3d& trq) { |
652 |
> |
((snapshotMan_->getPrevSnapshot())->*storage_).torque[localIndex_] += trq; |
653 |
> |
} |
654 |
|
|
655 |
< |
/** |
656 |
< |
* Adds torque into the current torque of this stuntdouble |
657 |
< |
* @param trq new torque |
658 |
< |
*/ |
659 |
< |
void addTrq(const Vector3d& trq) { |
660 |
< |
((snapshotMan_->getCurrentSnapshot())->*storage_).torque[localIndex_] += trq; |
661 |
< |
} |
655 |
> |
/** |
656 |
> |
* Adds torque into the current torque of this stuntdouble |
657 |
> |
* @param trq new torque |
658 |
> |
*/ |
659 |
> |
void addTrq(const Vector3d& trq) { |
660 |
> |
((snapshotMan_->getCurrentSnapshot())->*storage_).torque[localIndex_] += trq; |
661 |
> |
} |
662 |
|
|
663 |
< |
/** |
664 |
< |
* Adds torque into the torque of this stuntdouble in specified snapshot |
665 |
< |
* |
666 |
< |
* @param trq torque to be add |
667 |
< |
* @param snapshotNo |
668 |
< |
* @see #getTrq |
669 |
< |
*/ |
670 |
< |
void addTrq(const Vector3d& trq, int snapshotNo) { |
671 |
< |
((snapshotMan_->getSnapshot(snapshotNo))->*storage_).torque[localIndex_] += trq; |
672 |
< |
} |
663 |
> |
/** |
664 |
> |
* Adds torque into the torque of this stuntdouble in specified snapshot |
665 |
> |
* |
666 |
> |
* @param trq torque to be add |
667 |
> |
* @param snapshotNo |
668 |
> |
* @see #getTrq |
669 |
> |
*/ |
670 |
> |
void addTrq(const Vector3d& trq, int snapshotNo) { |
671 |
> |
((snapshotMan_->getSnapshot(snapshotNo))->*storage_).torque[localIndex_] += trq; |
672 |
> |
} |
673 |
|
|
674 |
|
|
675 |
< |
/** |
676 |
< |
* Returns the previous z-angle of this stuntdouble |
677 |
< |
* @return the z-angle of this stuntdouble |
678 |
< |
*/ |
679 |
< |
double getPrevZangle() { |
680 |
< |
return ((snapshotMan_->getPrevSnapshot())->*storage_).zAngle[localIndex_]; |
681 |
< |
} |
675 |
> |
/** |
676 |
> |
* Returns the previous z-angle of this stuntdouble |
677 |
> |
* @return the z-angle of this stuntdouble |
678 |
> |
*/ |
679 |
> |
double getPrevZangle() { |
680 |
> |
return ((snapshotMan_->getPrevSnapshot())->*storage_).zAngle[localIndex_]; |
681 |
> |
} |
682 |
|
|
683 |
< |
/** |
684 |
< |
* Returns the current z-angle of this stuntdouble |
685 |
< |
* @return the z-angle of this stuntdouble |
686 |
< |
*/ |
687 |
< |
double getZangle() { |
688 |
< |
return ((snapshotMan_->getCurrentSnapshot())->*storage_).zAngle[localIndex_]; |
689 |
< |
} |
683 |
> |
/** |
684 |
> |
* Returns the current z-angle of this stuntdouble |
685 |
> |
* @return the z-angle of this stuntdouble |
686 |
> |
*/ |
687 |
> |
double getZangle() { |
688 |
> |
return ((snapshotMan_->getCurrentSnapshot())->*storage_).zAngle[localIndex_]; |
689 |
> |
} |
690 |
|
|
691 |
< |
/** |
692 |
< |
* Returns the z-angle of this stuntdouble in specified snapshot |
693 |
< |
* @return the z-angle of this stuntdouble |
694 |
< |
* @param snapshotNo |
695 |
< |
*/ |
696 |
< |
double getZangle(int snapshotNo) { |
697 |
< |
return ((snapshotMan_->getSnapshot(snapshotNo))->*storage_).zAngle[localIndex_]; |
698 |
< |
} |
691 |
> |
/** |
692 |
> |
* Returns the z-angle of this stuntdouble in specified snapshot |
693 |
> |
* @return the z-angle of this stuntdouble |
694 |
> |
* @param snapshotNo |
695 |
> |
*/ |
696 |
> |
double getZangle(int snapshotNo) { |
697 |
> |
return ((snapshotMan_->getSnapshot(snapshotNo))->*storage_).zAngle[localIndex_]; |
698 |
> |
} |
699 |
|
|
700 |
< |
/** |
701 |
< |
* Sets the previous z-angle of this stuntdouble |
702 |
< |
* @param angle new z-angle |
703 |
< |
* @see #getZangle |
704 |
< |
*/ |
705 |
< |
void setPrevZangle(double angle) { |
706 |
< |
((snapshotMan_->getPrevSnapshot())->*storage_).zAngle[localIndex_] = angle; |
707 |
< |
} |
700 |
> |
/** |
701 |
> |
* Sets the previous z-angle of this stuntdouble |
702 |
> |
* @param angle new z-angle |
703 |
> |
* @see #getZangle |
704 |
> |
*/ |
705 |
> |
void setPrevZangle(double angle) { |
706 |
> |
((snapshotMan_->getPrevSnapshot())->*storage_).zAngle[localIndex_] = angle; |
707 |
> |
} |
708 |
|
|
709 |
< |
/** |
710 |
< |
* Sets the current z-angle of this stuntdouble |
711 |
< |
* @param angle new z-angle |
712 |
< |
*/ |
713 |
< |
void setZangle(double angle) { |
714 |
< |
((snapshotMan_->getCurrentSnapshot())->*storage_).zAngle[localIndex_] = angle; |
715 |
< |
} |
716 |
< |
|
717 |
< |
/** |
718 |
< |
* Sets the z-angle of this stuntdouble in specified snapshot |
719 |
< |
* @param angle z-angle to be set |
720 |
< |
* @param snapshotNo |
721 |
< |
* @see #getZangle |
722 |
< |
*/ |
723 |
< |
void setZangle(double angle, int snapshotNo) { |
724 |
< |
((snapshotMan_->getSnapshot(snapshotNo))->*storage_).zAngle[localIndex_] = angle; |
725 |
< |
} |
709 |
> |
/** |
710 |
> |
* Sets the current z-angle of this stuntdouble |
711 |
> |
* @param angle new z-angle |
712 |
> |
*/ |
713 |
> |
void setZangle(double angle) { |
714 |
> |
((snapshotMan_->getCurrentSnapshot())->*storage_).zAngle[localIndex_] = angle; |
715 |
> |
} |
716 |
|
|
717 |
< |
/** |
718 |
< |
* Adds z-angle into the previous z-angle of this stuntdouble |
719 |
< |
* @param angle new z-angle |
720 |
< |
* @see #getZangle |
721 |
< |
*/ |
722 |
< |
void addPrevZangle(double angle) { |
723 |
< |
((snapshotMan_->getPrevSnapshot())->*storage_).zAngle[localIndex_] += angle; |
724 |
< |
} |
717 |
> |
/** |
718 |
> |
* Sets the z-angle of this stuntdouble in specified snapshot |
719 |
> |
* @param angle z-angle to be set |
720 |
> |
* @param snapshotNo |
721 |
> |
* @see #getZangle |
722 |
> |
*/ |
723 |
> |
void setZangle(double angle, int snapshotNo) { |
724 |
> |
((snapshotMan_->getSnapshot(snapshotNo))->*storage_).zAngle[localIndex_] = angle; |
725 |
> |
} |
726 |
> |
|
727 |
> |
/** |
728 |
> |
* Adds z-angle into the previous z-angle of this stuntdouble |
729 |
> |
* @param angle new z-angle |
730 |
> |
* @see #getZangle |
731 |
> |
*/ |
732 |
> |
void addPrevZangle(double angle) { |
733 |
> |
((snapshotMan_->getPrevSnapshot())->*storage_).zAngle[localIndex_] += angle; |
734 |
> |
} |
735 |
|
|
736 |
< |
/** |
737 |
< |
* Adds z-angle into the current z-angle of this stuntdouble |
738 |
< |
* @param angle new z-angle |
739 |
< |
*/ |
740 |
< |
void addZangle(double angle) { |
741 |
< |
((snapshotMan_->getCurrentSnapshot())->*storage_).zAngle[localIndex_] += angle; |
742 |
< |
} |
736 |
> |
/** |
737 |
> |
* Adds z-angle into the current z-angle of this stuntdouble |
738 |
> |
* @param angle new z-angle |
739 |
> |
*/ |
740 |
> |
void addZangle(double angle) { |
741 |
> |
((snapshotMan_->getCurrentSnapshot())->*storage_).zAngle[localIndex_] += angle; |
742 |
> |
} |
743 |
|
|
744 |
< |
/** |
745 |
< |
* Adds z-angle into the z-angle of this stuntdouble in specified snapshot |
746 |
< |
* @param angle z-angle to be add |
747 |
< |
* @param snapshotNo |
748 |
< |
* @see #getZangle |
749 |
< |
*/ |
750 |
< |
void addZangle(double angle, int snapshotNo) { |
751 |
< |
((snapshotMan_->getSnapshot(snapshotNo))->*storage_).zAngle[localIndex_] += angle; |
752 |
< |
} |
744 |
> |
/** |
745 |
> |
* Adds z-angle into the z-angle of this stuntdouble in specified snapshot |
746 |
> |
* @param angle z-angle to be add |
747 |
> |
* @param snapshotNo |
748 |
> |
* @see #getZangle |
749 |
> |
*/ |
750 |
> |
void addZangle(double angle, int snapshotNo) { |
751 |
> |
((snapshotMan_->getSnapshot(snapshotNo))->*storage_).zAngle[localIndex_] += angle; |
752 |
> |
} |
753 |
|
|
754 |
< |
/** Set the force of this stuntdouble to zero */ |
755 |
< |
void zeroForcesAndTorques(); |
756 |
< |
/** |
757 |
< |
* Returns the inertia tensor of this stuntdouble |
758 |
< |
* @return the inertia tensor of this stuntdouble |
759 |
< |
*/ |
760 |
< |
virtual Mat3x3d getI() = 0; |
754 |
> |
/** Set the force of this stuntdouble to zero */ |
755 |
> |
void zeroForcesAndTorques(); |
756 |
> |
/** |
757 |
> |
* Returns the inertia tensor of this stuntdouble |
758 |
> |
* @return the inertia tensor of this stuntdouble |
759 |
> |
*/ |
760 |
> |
virtual Mat3x3d getI() = 0; |
761 |
|
|
762 |
< |
/** |
763 |
< |
* Returns the gradient of this stuntdouble |
764 |
< |
* @return the gradient of this stuntdouble |
765 |
< |
*/ |
766 |
< |
virtual std::vector<double> getGrad() = 0; |
762 |
> |
/** |
763 |
> |
* Returns the gradient of this stuntdouble |
764 |
> |
* @return the gradient of this stuntdouble |
765 |
> |
*/ |
766 |
> |
virtual std::vector<double> getGrad() = 0; |
767 |
|
|
768 |
< |
/** |
769 |
< |
* Tests the if this stuntdouble is a linear rigidbody |
770 |
< |
* |
771 |
< |
* @return true if this stuntdouble is a linear rigidbody, otherwise return false |
772 |
< |
* @note atom and directional atom will always return false |
773 |
< |
* |
774 |
< |
* @see #linearAxis |
775 |
< |
*/ |
776 |
< |
bool isLinear() { |
777 |
< |
return linear_; |
778 |
< |
} |
768 |
> |
/** |
769 |
> |
* Tests the if this stuntdouble is a linear rigidbody |
770 |
> |
* |
771 |
> |
* @return true if this stuntdouble is a linear rigidbody, otherwise return false |
772 |
> |
* @note atom and directional atom will always return false |
773 |
> |
* |
774 |
> |
* @see #linearAxis |
775 |
> |
*/ |
776 |
> |
bool isLinear() { |
777 |
> |
return linear_; |
778 |
> |
} |
779 |
|
|
780 |
< |
/** |
781 |
< |
* Returns the linear axis of the rigidbody, atom and directional atom will always return -1 |
782 |
< |
* |
783 |
< |
* @return the linear axis of the rigidbody |
784 |
< |
* |
785 |
< |
* @see #isLinear |
786 |
< |
*/ |
787 |
< |
int linearAxis() { |
788 |
< |
return linearAxis_; |
789 |
< |
} |
780 |
> |
/** |
781 |
> |
* Returns the linear axis of the rigidbody, atom and directional atom will always return -1 |
782 |
> |
* |
783 |
> |
* @return the linear axis of the rigidbody |
784 |
> |
* |
785 |
> |
* @see #isLinear |
786 |
> |
*/ |
787 |
> |
int linearAxis() { |
788 |
> |
return linearAxis_; |
789 |
> |
} |
790 |
|
|
791 |
< |
/** Returns the mass of this stuntdouble */ |
792 |
< |
double getMass() { |
793 |
< |
return mass_; |
794 |
< |
} |
791 |
> |
/** Returns the mass of this stuntdouble */ |
792 |
> |
double getMass() { |
793 |
> |
return mass_; |
794 |
> |
} |
795 |
|
|
796 |
< |
/** |
797 |
< |
* Sets the mass of this stuntdoulbe |
798 |
< |
* @param mass the mass to be set |
799 |
< |
*/ |
800 |
< |
void setMass(double mass) { |
801 |
< |
mass_ = mass; |
802 |
< |
} |
796 |
> |
/** |
797 |
> |
* Sets the mass of this stuntdoulbe |
798 |
> |
* @param mass the mass to be set |
799 |
> |
*/ |
800 |
> |
void setMass(double mass) { |
801 |
> |
mass_ = mass; |
802 |
> |
} |
803 |
|
|
804 |
< |
/** Returns the name of this stuntdouble */ |
805 |
< |
virtual std::string getType() = 0; |
804 |
> |
/** Returns the name of this stuntdouble */ |
805 |
> |
virtual std::string getType() = 0; |
806 |
|
|
807 |
< |
/** Sets the name of this stuntdouble*/ |
808 |
< |
virtual void setType(const std::string& name) {} |
807 |
> |
/** Sets the name of this stuntdouble*/ |
808 |
> |
virtual void setType(const std::string& name) {} |
809 |
|
|
810 |
< |
/** |
811 |
< |
* Converts a lab fixed vector to a body fixed vector. |
812 |
< |
* @return body fixed vector |
813 |
< |
* @param v lab fixed vector |
814 |
< |
*/ |
815 |
< |
Vector3d lab2Body(const Vector3d& v) { |
816 |
< |
return getA() * v; |
817 |
< |
} |
810 |
> |
/** |
811 |
> |
* Converts a lab fixed vector to a body fixed vector. |
812 |
> |
* @return body fixed vector |
813 |
> |
* @param v lab fixed vector |
814 |
> |
*/ |
815 |
> |
Vector3d lab2Body(const Vector3d& v) { |
816 |
> |
return getA() * v; |
817 |
> |
} |
818 |
|
|
819 |
< |
/** |
820 |
< |
* Converts a body fixed vector to a lab fixed vector. |
821 |
< |
* @return corresponding lab fixed vector |
822 |
< |
* @param v body fixed vector |
823 |
< |
*/ |
824 |
< |
Vector3d body2Lab(const Vector3d& v){ |
825 |
< |
return getA().transpose() * v; |
826 |
< |
} |
827 |
< |
/** |
828 |
< |
* <p> |
829 |
< |
* The purpose of the Visitor Pattern is to encapsulate an operation that you want to perform on |
830 |
< |
* the elements of a data structure. In this way, you can change the operation being performed |
831 |
< |
* on a structure without the need of changing the classes of the elements that you are operating |
832 |
< |
* on. Using a Visitor pattern allows you to decouple the classes for the data structure and the |
833 |
< |
* algorithms used upon them |
834 |
< |
* </p> |
835 |
< |
* @param v visitor |
836 |
< |
*/ |
837 |
< |
virtual void accept(BaseVisitor* v) = 0; |
819 |
> |
Vector3d lab2Body(const Vector3d& v, int frame) { |
820 |
> |
return getA(frame) * v; |
821 |
> |
} |
822 |
|
|
823 |
< |
//below functions are just forward functions |
824 |
< |
/** |
825 |
< |
* Adds property into property map |
826 |
< |
* @param genData GenericData to be added into PropertyMap |
827 |
< |
*/ |
828 |
< |
void addProperty(GenericData* genData); |
823 |
> |
/** |
824 |
> |
* Converts a body fixed vector to a lab fixed vector. |
825 |
> |
* @return corresponding lab fixed vector |
826 |
> |
* @param v body fixed vector |
827 |
> |
*/ |
828 |
> |
Vector3d body2Lab(const Vector3d& v){ |
829 |
> |
return getA().transpose() * v; |
830 |
> |
} |
831 |
|
|
832 |
< |
/** |
833 |
< |
* Removes property from PropertyMap by name |
834 |
< |
* @param propName the name of property to be removed |
835 |
< |
*/ |
836 |
< |
void removeProperty(const std::string& propName); |
832 |
> |
Vector3d body2Lab(const Vector3d& v, int frame){ |
833 |
> |
return getA(frame).transpose() * v; |
834 |
> |
} |
835 |
> |
/** |
836 |
> |
* <p> |
837 |
> |
* The purpose of the Visitor Pattern is to encapsulate an operation that you want to perform on |
838 |
> |
* the elements of a data structure. In this way, you can change the operation being performed |
839 |
> |
* on a structure without the need of changing the classes of the elements that you are operating |
840 |
> |
* on. Using a Visitor pattern allows you to decouple the classes for the data structure and the |
841 |
> |
* algorithms used upon them |
842 |
> |
* </p> |
843 |
> |
* @param v visitor |
844 |
> |
*/ |
845 |
> |
virtual void accept(BaseVisitor* v) = 0; |
846 |
|
|
847 |
< |
/** |
848 |
< |
* clear all of the properties |
849 |
< |
*/ |
850 |
< |
void clearProperties(); |
847 |
> |
//below functions are just forward functions |
848 |
> |
/** |
849 |
> |
* Adds property into property map |
850 |
> |
* @param genData GenericData to be added into PropertyMap |
851 |
> |
*/ |
852 |
> |
void addProperty(GenericData* genData); |
853 |
|
|
854 |
< |
/** |
855 |
< |
* Returns all names of properties |
856 |
< |
* @return all names of properties |
857 |
< |
*/ |
858 |
< |
std::vector<std::string> getPropertyNames(); |
854 |
> |
/** |
855 |
> |
* Removes property from PropertyMap by name |
856 |
> |
* @param propName the name of property to be removed |
857 |
> |
*/ |
858 |
> |
void removeProperty(const std::string& propName); |
859 |
|
|
860 |
< |
/** |
861 |
< |
* Returns all of the properties in PropertyMap |
862 |
< |
* @return all of the properties in PropertyMap |
863 |
< |
*/ |
867 |
< |
std::vector<GenericData*> getProperties(); |
860 |
> |
/** |
861 |
> |
* clear all of the properties |
862 |
> |
*/ |
863 |
> |
void clearProperties(); |
864 |
|
|
865 |
< |
/** |
866 |
< |
* Returns property |
867 |
< |
* @param propName name of property |
868 |
< |
* @return a pointer point to property with propName. If no property named propName |
869 |
< |
* exists, return NULL |
874 |
< |
*/ |
875 |
< |
GenericData* getPropertyByName(const std::string& propName); |
865 |
> |
/** |
866 |
> |
* Returns all names of properties |
867 |
> |
* @return all names of properties |
868 |
> |
*/ |
869 |
> |
std::vector<std::string> getPropertyNames(); |
870 |
|
|
871 |
< |
protected: |
871 |
> |
/** |
872 |
> |
* Returns all of the properties in PropertyMap |
873 |
> |
* @return all of the properties in PropertyMap |
874 |
> |
*/ |
875 |
> |
std::vector<GenericData*> getProperties(); |
876 |
> |
|
877 |
> |
/** |
878 |
> |
* Returns property |
879 |
> |
* @param propName name of property |
880 |
> |
* @return a pointer point to property with propName. If no property named propName |
881 |
> |
* exists, return NULL |
882 |
> |
*/ |
883 |
> |
GenericData* getPropertyByName(const std::string& propName); |
884 |
> |
|
885 |
> |
protected: |
886 |
|
|
887 |
< |
StuntDouble(ObjectType objType, DataStoragePointer storage); |
887 |
> |
StuntDouble(ObjectType objType, DataStoragePointer storage); |
888 |
|
|
889 |
< |
StuntDouble(const StuntDouble& sd); |
890 |
< |
StuntDouble& operator=(const StuntDouble& sd); |
889 |
> |
StuntDouble(const StuntDouble& sd); |
890 |
> |
StuntDouble& operator=(const StuntDouble& sd); |
891 |
|
|
892 |
< |
ObjectType objType_; |
893 |
< |
DataStoragePointer storage_; |
894 |
< |
SnapshotManager* snapshotMan_; |
892 |
> |
ObjectType objType_; |
893 |
> |
DataStoragePointer storage_; |
894 |
> |
SnapshotManager* snapshotMan_; |
895 |
|
|
896 |
< |
bool linear_; |
897 |
< |
int linearAxis_; |
896 |
> |
bool linear_; |
897 |
> |
int linearAxis_; |
898 |
|
|
899 |
|
|
900 |
< |
int globalIndex_; |
901 |
< |
int localIndex_; |
900 |
> |
int globalIndex_; |
901 |
> |
int localIndex_; |
902 |
|
|
903 |
|
|
904 |
< |
double mass_; |
904 |
> |
double mass_; |
905 |
|
|
906 |
< |
private: |
906 |
> |
private: |
907 |
|
|
908 |
< |
PropertyMap properties_; |
909 |
< |
}; |
908 |
> |
PropertyMap properties_; |
909 |
> |
}; |
910 |
|
|
911 |
|
}//end namespace oopse |
912 |
|
#endif //PRIMITIVES_STUNTDOUBLE_HPP |