test/brains/RigidBody.hpp

/*
 * Copyright (C) 2000-2004  Object Oriented Parallel Simulation Engine (OOPSE) project
 * 
 * Contact: oopse@oopse.org
 * 
 * This program is free software; you can redistribute it and/or
 * modify it under the terms of the GNU Lesser General Public License
 * as published by the Free Software Foundation; either version 2.1
 * of the License, or (at your option) any later version.
 * All we ask is that proper credit is given for our work, which includes
 * - but is not limited to - adding the above copyright notice to the beginning
 * of your source code files, and to any copyright notice that you may distribute
 * with programs based on this work.
 * 
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU Lesser General Public License for more details.
 * 
 * You should have received a copy of the GNU Lesser General Public License
 * along with this program; if not, write to the Free Software
 * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.
 *
 */

/**
 * @file RigidBody.hpp
 * @author    tlin
 * @date  10/23/2004
 * @version 1.0
 */ 

#ifndef PRIMITIVES_RIGIDBODY_HPP
#define PRIMITIVES_RIGIDBODY_HPP

#include "primitives/Atom.hpp"

namespace oopse{
    class RigidBody : public Atom {
        public:
            RigidBody();
            /**
             * Returns the inertia tensor of this stuntdouble
             * @return the inertia tensor of this stuntdouble
             * @see #setI
             */ 
            virtual Mat3x3d getI();

            /**
             * Sets the inertia tensor of this stuntdouble
             * @param trq new inertia tensor
             * @see #getI
             */      
            virtual void setI(Mat3x3d& I);

            /**
             * Returns the gradient of this stuntdouble
             * @return the inertia tensor of this stuntdouble
             * @see #setI
             */ 
            virtual std::vector<double> getGrad();

            virtual void accept(BaseVisitor* v);

            void addAtom(Atom* atom);

            /** calculate the reference coordinates */
            void calcRefCoords();

            /** Convert Atomic forces and torques to total forces and torques */
            void calcForcesAndTorques();

            /** update the positions of atoms belong to this rigidbody */
            void updateAtoms();

            /** 
             * Returns the atoms of this rigid body
             * @return the atoms of this rigid body in a vector
             */           
            vector<Atom*> getAtoms() { return atoms_;}

            /** 
             * Returns the number of atoms in this rigid body
             * @return the number of atoms in this rigid body
             */
            int getNumAtoms() {return atomLists_.size();}

            
            bool getAtomPos(Vector3d& pos, int index);
            bool getAtomPos(Vector3d& pos, Atom* atom);

            bool getAtomVel(Vector3d& vel, int index);
            bool getAtomVel(Vector3d& vel, Atom*);

            bool getAtomRefCoor(Vector3d& coor, int index);
            bool getAtomRefCoor(Vector3d& coor, Atom* atom);

        private:
            
            Mat3x3d inertiaTensor_;       
            vector<Atom*> atoms_;
            vector<Vector3d> refCoords;
    };

}//namepace oopse

#endif //PRIMITIVES_RIGIDBODY_HPP

Revision:	1645
Committed:	Tue Oct 26 17:28:53 2004 UTC (19 years, 8 months ago) by tim
File size:	3494 byte(s)
Log Message:	Snaphot and SnapshotTestCase in progress
#	User	Rev	Content
1	tim	1640	/*
2			* Copyright (C) 2000-2004 Object Oriented Parallel Simulation Engine (OOPSE) project
3			*
4			* Contact: oopse@oopse.org
5			*
6			* This program is free software; you can redistribute it and/or
7			* modify it under the terms of the GNU Lesser General Public License
8			* as published by the Free Software Foundation; either version 2.1
9			* of the License, or (at your option) any later version.
10			* All we ask is that proper credit is given for our work, which includes
11			* - but is not limited to - adding the above copyright notice to the beginning
12			* of your source code files, and to any copyright notice that you may distribute
13			* with programs based on this work.
14			*
15			* This program is distributed in the hope that it will be useful,
16			* but WITHOUT ANY WARRANTY; without even the implied warranty of
17			* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
18			* GNU Lesser General Public License for more details.
19			*
20			* You should have received a copy of the GNU Lesser General Public License
21			* along with this program; if not, write to the Free Software
22			* Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
23			*
24			*/
25
26			/**
27			* @file RigidBody.hpp
28			* @author tlin
29			* @date 10/23/2004
30			* @version 1.0
31			*/
32
33			#ifndef PRIMITIVES_RIGIDBODY_HPP
34			#define PRIMITIVES_RIGIDBODY_HPP
35
36			#include "primitives/Atom.hpp"
37
38			namespace oopse{
39			class RigidBody : public Atom {
40			public:
41			RigidBody();
42			/**
43			* Returns the inertia tensor of this stuntdouble
44			* @return the inertia tensor of this stuntdouble
45			* @see #setI
46			*/
47			virtual Mat3x3d getI();
48
49			/**
50			* Sets the inertia tensor of this stuntdouble
51			* @param trq new inertia tensor
52			* @see #getI
53			*/
54			virtual void setI(Mat3x3d& I);
55
56			/**
57			* Returns the gradient of this stuntdouble
58			* @return the inertia tensor of this stuntdouble
59			* @see #setI
60			*/
61			virtual std::vector<double> getGrad();
62
63			virtual void accept(BaseVisitor* v);
64
65	tim	1645	void addAtom(Atom* atom);
66
67			/** calculate the reference coordinates */
68	tim	1640	void calcRefCoords();
69
70			/** Convert Atomic forces and torques to total forces and torques */
71			void calcForcesAndTorques();
72
73			/** update the positions of atoms belong to this rigidbody */
74			void updateAtoms();
75
76			/**
77			* Returns the atoms of this rigid body
78			* @return the atoms of this rigid body in a vector
79			*/
80	tim	1645	vector<Atom*> getAtoms() { return atoms_;}
81	tim	1640
82			/**
83			* Returns the number of atoms in this rigid body
84			* @return the number of atoms in this rigid body
85			*/
86			int getNumAtoms() {return atomLists_.size();}
87
88
89			bool getAtomPos(Vector3d& pos, int index);
90			bool getAtomPos(Vector3d& pos, Atom* atom);
91
92			bool getAtomVel(Vector3d& vel, int index);
93			bool getAtomVel(Vector3d& vel, Atom*);
94
95			bool getAtomRefCoor(Vector3d& coor, int index);
96			bool getAtomRefCoor(Vector3d& coor, Atom* atom);
97
98			private:
99
100			Mat3x3d inertiaTensor_;
101	tim	1645	vector<Atom*> atoms_;
102	tim	1640	vector<Vector3d> refCoords;
103			};
104
105			}//namepace oopse
106
107			#endif //PRIMITIVES_RIGIDBODY_HPP
108