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();

           /**
             * Sets  the previous rotation matrix of this stuntdouble
             * @param a  new rotation matrix 
             */         
           virtual void setPrevA(const RotMat3x3d& a);
           
           /**
             * Sets  the current rotation matrix of this stuntdouble
             * @param a  new rotation matrix 
             */         
            virtual void setA(const RotMat3x3d& a);
           /**
             * Sets  the rotation matrix of this stuntdouble in specified snapshot
             * @param a rotation matrix to be set 
             * @param snapshotNo 
             * @see #getA
             */         
            virtual void setA(const RotMat3x3d& a, int snapshotNo);

            /**
             * 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_;     
            RotMat3x3d sU_;               /**< body fixed standard unit vector */
            
            vector<Atom*> atoms_;
            vector<Vector3d> refCoords;
    };

}//namepace oopse

#endif //PRIMITIVES_RIGIDBODY_HPP

Revision:	1682
Committed:	Thu Oct 28 22:34:01 2004 UTC (19 years, 8 months ago) by tim
File size:	4321 byte(s)
Log Message:	More work on StuntDouble, Atom, DirectionalAtom and RigidBody
#	Content
1	/*
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	/**
44	* Sets the previous rotation matrix of this stuntdouble
45	* @param a new rotation matrix
46	*/
47	virtual void setPrevA(const RotMat3x3d& a);
48
49	/**
50	* Sets the current rotation matrix of this stuntdouble
51	* @param a new rotation matrix
52	*/
53	virtual void setA(const RotMat3x3d& a);
54	/**
55	* Sets the rotation matrix of this stuntdouble in specified snapshot
56	* @param a rotation matrix to be set
57	* @param snapshotNo
58	* @see #getA
59	*/
60	virtual void setA(const RotMat3x3d& a, int snapshotNo);
61
62	/**
63	* Returns the inertia tensor of this stuntdouble
64	* @return the inertia tensor of this stuntdouble
65	* @see #setI
66	*/
67	virtual Mat3x3d getI();
68
69	/**
70	* Sets the inertia tensor of this stuntdouble
71	* @param trq new inertia tensor
72	* @see #getI
73	*/
74	virtual void setI(Mat3x3d& I);
75
76	/**
77	* Returns the gradient of this stuntdouble
78	* @return the inertia tensor of this stuntdouble
79	* @see #setI
80	*/
81	virtual std::vector<double> getGrad();
82
83	virtual void accept(BaseVisitor* v);
84
85	void addAtom(Atom* atom);
86
87	/** calculate the reference coordinates */
88	void calcRefCoords();
89
90	/** Convert Atomic forces and torques to total forces and torques */
91	void calcForcesAndTorques();
92
93	/** update the positions of atoms belong to this rigidbody */
94	void updateAtoms();
95
96	/**
97	* Returns the atoms of this rigid body
98	* @return the atoms of this rigid body in a vector
99	*/
100	vector<Atom*> getAtoms() { return atoms_;}
101
102	/**
103	* Returns the number of atoms in this rigid body
104	* @return the number of atoms in this rigid body
105	*/
106	int getNumAtoms() {return atomLists_.size();}
107
108
109	bool getAtomPos(Vector3d& pos, int index);
110	bool getAtomPos(Vector3d& pos, Atom* atom);
111
112	bool getAtomVel(Vector3d& vel, int index);
113	bool getAtomVel(Vector3d& vel, Atom*);
114
115	bool getAtomRefCoor(Vector3d& coor, int index);
116	bool getAtomRefCoor(Vector3d& coor, Atom* atom);
117
118	private:
119
120	Mat3x3d inertiaTensor_;
121	RotMat3x3d sU_; /*< body fixed standard unit vector /
122
123	vector<Atom*> atoms_;
124	vector<Vector3d> refCoords;
125	};
126
127	}//namepace oopse
128
129	#endif //PRIMITIVES_RIGIDBODY_HPP
130