[ViewVC] Diff of: group/trunk/OOPSE-2.0/test/brains/RigidBody.cpp

Comparing trunk/OOPSE-2.0/test/brains/RigidBody.cpp (file contents):
Revision 1682 by tim, Thu Oct 28 22:34:01 2004 UTC vs.
Revision 1684 by tim, Fri Oct 29 16:20:50 2004 UTC

+void RigidBody::setPrevA(const RotMat3x3d& a) {
+    (snapshotMan_->getPrevSnapshot())->storage_->aMat[localIndex_] = a;
+    (snapshotMan_->getPrevSnapshot())->storage_->unitVector[localIndex_] = a.inverse() * sU_.getColum(2);
-+
-+
+    std::vector<Atom*>::iterator i;
-+
+    for (i = atoms_.begin(); i != atoms_.end(); ++i) {
-+
+        if ((*i)->isDirectional()) {
-+
+            (*i)->setPrevA(a * (*i)->getPrevA());
-+
+        }
-+
+    }
-+
+void RigidBody::setA(const RotMat3x3d& a) {
+    (snapshotMan_->getCurrentSnapshot())->storage_->aMat[localIndex_] = a;
+    (snapshotMan_->getCurrentSnapshot())->storage_->unitVector[localIndex_] = a.inverse() * sU_.getColum(2);
-+
-+
+    std::vector<Atom*>::iterator i;
-+
+    for (i = atoms_.begin(); i != atoms_.end(); ++i) {
-+
+        if ((*i)->isDirectional()) {
-+
+            (*i)->setA(a * (*i)->getA());
-+
+        }
-+
+    }
+void RigidBody::setA(const RotMat3x3d& a, int snapshotNo) {
+    (snapshotMan_->getSnapshot(snapshotNo))->storage_->aMat[localIndex_] = a;
+    (snapshotMan_->getSnapshot(snapshotNo))->storage_->unitVector[localIndex_] = a.inverse() * sU_.getColum(2);
-+
-+
+    std::vector<Atom*>::iterator i;
-+
+    for (i = atoms_.begin(); i != atoms_.end(); ++i) {
-+
+        if ((*i)->isDirectional()) {
-+
+            (*i)->setA(a * (*i)->getA(snapshotNo), snapshotNo);
-+
+        }
-+
+    }
-+
-+
+void  DirectionalAtom::setUnitFrameFromEuler(double phi, double theta, double psi) {
-+
+    sU_.setupRotMat(phi,theta,psi);
-+
+}
-+
+Mat3x3d RigidBody::getI() {
+    return inertiaTensor_;
+void RigidBody::accept(BaseVisitor* v) {
+    v->visit(this);
-+
-+
+void  RigidBody::calcRefCoords() {
-+
+  /*
-+
+  double mtmp;
-+
+  vec3 apos;
-+
+  double refCOM[3];
-+
+  vec3 ptmp;
-+
+  double Itmp[3][3];
-+
+  double evals[3];
-+
+  double evects[3][3];
-+
+  double r, r2, len;
-+
-+
+  // First, find the center of mass:
-+
-+
+  mass = 0.0;
-+
+  for (j=0; j<3; j++)
-+
+    refCOM[j] = 0.0;
-+
-+
+  for (i = 0; i < atoms_.size(); i++) {
-+
+    mtmp = atoms_[i]->getMass();
-+
+    mass += mtmp;
-+
-+
+    apos = refCoords[i];
-+
-+
+    for(j = 0; j < 3; j++) {
-+
+      refCOM[j] += apos[j]*mtmp;
-+
+    }
-+
+  }
-+
-+
+  for(j = 0; j < 3; j++)
-+
+    refCOM[j] /= mass;
-+
-+
+// Next, move the origin of the reference coordinate system to the COM:
-+
-+
+  for (i = 0; i < atoms_.size(); i++) {
-+
+    apos = refCoords[i];
-+
+    for (j=0; j < 3; j++) {
-+
+      apos[j] = apos[j] - refCOM[j];
-+
+    }
-+
+    refCoords[i] = apos;
-+
+  }
-+
-+
+// Moment of Inertia calculation
-+
-+
+  for (i = 0; i < 3; i++)
-+
+    for (j = 0; j < 3; j++)
-+
+      Itmp[i][j] = 0.0;
-+
-+
+  for (it = 0; it < atoms_.size(); it++) {
-+
-+
+    mtmp = atoms_[it]->getMass();
-+
+    ptmp = refCoords[it];
-+
+    r= norm3(ptmp.vec);
-+
+    r2 = r*r;
-+
-+
+    for (i = 0; i < 3; i++) {
-+
+      for (j = 0; j < 3; j++) {
-+
-+
+        if (i==j) Itmp[i][j] += mtmp * r2;
-+
-+
+        Itmp[i][j] -= mtmp * ptmp.vec[i]*ptmp.vec[j];
-+
+      }
-+
+    }
-+
+  }
-+
-+
+  diagonalize3x3(Itmp, evals, sU);
-+
-+
+  // zero out I and then fill the diagonals with the moments of inertia:
-+
-+
+  n_linear_coords = 0;
-+
-+
+  for (i = 0; i < 3; i++) {
-+
+    for (j = 0; j < 3; j++) {
-+
+      I[i][j] = 0.0;
-+
+    }
-+
+    I[i][i] = evals[i];
-+
-+
+    if (fabs(evals[i]) < momIntTol) {
-+
+      is_linear = true;
-+
+      n_linear_coords++;
-+
+      linear_axis = i;
-+
+    }
-+
+  }
-+
-+
+  if (n_linear_coords > 1) {
-+
+          sprintf( painCave.errMsg,
-+
+               "RigidBody error.\n"
-+
+               "\tOOPSE found more than one axis in this rigid body with a vanishing \n"
-+
+               "\tmoment of inertia.  This can happen in one of three ways:\n"
-+
+               "\t 1) Only one atom was specified, or \n"
-+
+               "\t 2) All atoms were specified at the same location, or\n"
-+
+               "\t 3) The programmers did something stupid.\n"
-+
+               "\tIt is silly to use a rigid body to describe this situation.  Be smarter.\n"
-+
+               );
-+
+      painCave.isFatal = 1;
-+
+      simError();
-+
+  }
-+
-+
+  // renormalize column vectors:
-+
-+
+  for (i=0; i < 3; i++) {
-+
+    len = 0.0;
-+
+    for (j = 0; j < 3; j++) {
-+
+      len += sU[i][j]*sU[i][j];
-+
+    }
-+
+    len = sqrt(len);
-+
+    for (j = 0; j < 3; j++) {
-+
+      sU[i][j] /= len;
-+
+    }
-+
+  }
-+
+  */
-+
+}
-+
-+
+void  RigidBody::calcForcesAndTorques() {
-+
+    unsigned int i;
-+
+    unsigned int j;
-+
+    //Vector3d apos;
-+
+    Vector3d afrc;
-+
+    Vector3d atrq;
-+
+    Vector3d rpos;
-+
+    Vector3d frc;
-+
+    Vector3d trq;
-+
+    //Vector3d pos;
-+
-+
+    zeroForces();
-+
-+
+    //pos = getPos();
-+
+    frc = getFrc();
-+
+    trq = getTrq();
-+
-+
+    for (i = 0; i < atoms_.size(); i++) {
-+
-+
+        afrc = atoms_[i]->getFrc();
-+
+        //apos = atoms_[i]->getPos(apos);
-+
+        //rpos = apos - pos;
-+
+        rpos = refCoords_[i];
-+
-+
+        frc += afrc;
-+
-+
+        trq[0] += rpos[1]*afrc[2] - rpos[2]*afrc[1];
-+
+        trq[1] += rpos[2]*afrc[0] - rpos[0]*afrc[2];
-+
+        trq[2] += rpos[0]*afrc[1] - rpos[1]*afrc[0];
-+
-+
+        // If the atom has a torque associated with it, then we also need to
-+
+        // migrate the torques onto the center of mass:
-+
-+
+        if (atoms_[i]->isDirectional()) {
-+
+            atrq = atoms_[i]->getTrq();
-+
+            trq += atrq;
-+
+        }
-+
-+
+    }
-+
-+
+    setFrc(frc);
-+
+    setTrq(trq);
-+
-+
+void  RigidBody::updateAtoms() {
-+
+    unsigned int i;
-+
+    unsigned int j;
-+
+    Vector3d ref;
-+
+    Vector3d apos;
-+
+    DirectionalAtom* dAtom;
-+
+    Vector3d pos = getPos();
-+
+    RotMat3x3d A = getA();
-+
-+
+    for (i = 0; i < atoms_.size(); i++) {
-+
-+
+        ref = body2Lab(refCoords_[i]);
-+
-+
+        apos = pos + ref;
-+
-+
+        atoms_[i]->setPos(apos);
-+
-+
+        if (atoms_[i]->isDirectional()) {
-+
-+
+          dAtom = (DirectionalAtom *) atoms_[i];
-+
+          dAtom->rotateBy( A );
-+
+        }
-+
-+
+    }
-+
-+
+}
-+
-+
-+
+bool RigidBody::getAtomPos(Vector3d& pos, unsigned int index) {
-+
+    if (index < atoms_.size() {
-+
-+
+        Vector3d ref = body2Lab(refCoords_[index]);
-+
+        pos = getPos() + ref;
-+
+        return true
-+
+    } else {
-+
+        std::cerr << index << " is an invalid index, current rigid body contains "
-+
+                      << atoms_.size() << "atoms" << std::endl;
-+
+        return false;
-+
+    }
-+
+}
-+
-+
+bool RigidBody::getAtomPos(Vector3d& pos, Atom* atom) {
-+
+    std::vector<Atom*>::iterator i;
-+
+    i = find(atoms_.begin(), atoms_.end(), atom);
-+
+    if (i != atoms_.end()) {
-+
+        //RigidBody class makes sure refCoords_ and atoms_ match each other
-+
+        Vector3d ref = body2Lab(refCoords_[i - atoms_.begin()]);
-+
+        pos = getPos() + ref;
-+
+        return true;
-+
+    } else {
-+
+        std::cerr << "Atom " << atom->getGlobalIndex()
-+
+                      <<" does not belong to Rigid body "<< getGlobalIndex() << std::endl;
-+
+    }
-+
+}
-+
+bool RigidBody::getAtomVel(Vector3d& vel, unsigned int index) {
-+
-+
+    //velRot = $(A\cdot skew(I^{-1}j))^{T}refCoor$
-+
-+
+    if (index < atoms_.size() {
-+
-+
+        Vector3d ref;
-+
+        Vector3d velRot;
-+
+        Mat3x3d skewMat;;
-+
+        Vector3d ref = refCoords_[index];
-+
+        Vector3d ji = getJ();
-+
+        Mat3x3d I =  getI();
-+
-+
+        skewMat(0, 0) =0;
-+
+        skewMat(0, 1) = ji[2] /I(2, 2);
-+
+        skewMat(0, 2) = -ji[1] /I(1, 1);
-+
-+
+        skewMat(1, 0) = -ji[2] /I(2, 2);
-+
+        skewMat(1, 1) = 0;
-+
+        skewMat(1, 2) = ji[0]/I(0, 0);
-+
-+
+        skewMat(2, 0) =ji[1] /I(1, 1);
-+
+        skewMat(2, 1) = -ji[0]/I(0, 0);
-+
+        skewMat(2, 2) = 0;
-+
-+
+        velRot = (getA() * skewMat).transpose() * ref;
-+
-+
+        vel =getVel() + velRot;
-+
-+
+    } else {
-+
+        std::cerr << "Atom " << atom->getGlobalIndex()
-+
+                      <<" does not belong to Rigid body "<< getGlobalIndex() << std::endl;
-+
+        return false;
-+
+    }
-+
+}
-+
-+
+bool RigidBody::getAtomVel(Vector3d& vel, Atom* atom) {
-+
-+
+    std::vector<Atom*>::iterator i;
-+
+    i = find(atoms_.begin(), atoms_.end(), atom);
-+
+    if (i != atoms_.end()) {
-+
+        return getAtomVel(vel, i - atoms_.begin());
-+
+    } else {
-+
+        std::cerr << "Atom " << atom->getGlobalIndex()
-+
+                      <<" does not belong to Rigid body "<< getGlobalIndex() << std::endl;
-+
+        return false;
-+
+    }
-+
+}
-+
-+
+bool RigidBody::getAtomRefCoor(Vector3d& coor, unsigned int index) {
-+
+    if (index < atoms_.size() {
-+
-+
+        coor = refCoords_[index];
-+
+        return true
-+
+    } else {
-+
+        std::cerr << index << " is an invalid index, current rigid body contains "
-+
+                      << atoms_.size() << "atoms" << std::endl;
-+
+        return false;
-+
+    }
-+
-+
+}
-+
-+
+bool RigidBody::getAtomRefCoor(Vector3d& coor, Atom* atom) {
-+
+    std::vector<Atom*>::iterator i;
-+
+    i = find(atoms_.begin(), atoms_.end(), atom);
-+
+    if (i != atoms_.end()) {
-+
+        //RigidBody class makes sure refCoords_ and atoms_ match each other
-+
+        coor = refCoords_[i - atoms_.begin()];
-+
+        return true;
-+
+    } else {
-+
+        std::cerr << "Atom " << atom->getGlobalIndex()
-+
+                      <<" does not belong to Rigid body "<< getGlobalIndex() << std::endl;
-+
+        return false;
-+
+    }
-+
-+
+}
-+
-+
+}
-+

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Comparing trunk/OOPSE-2.0/test/brains/RigidBody.cpp (file contents): Revision 1682 by tim, Thu Oct 28 22:34:01 2004 UTC vs. Revision 1684 by tim, Fri Oct 29 16:20:50 2004 UTC

Diff Legend

Comparing trunk/OOPSE-2.0/test/brains/RigidBody.cpp (file contents):
Revision 1682 by tim, Thu Oct 28 22:34:01 2004 UTC vs.
Revision 1684 by tim, Fri Oct 29 16:20:50 2004 UTC