test/brains/StuntDouble.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.
 *
 */
 #ifndef _STUNTDOUBLE_HPP_
 #define _STUNTDOUBLE_HPP_

#include <vector>

#include <core/BaseVisitor.hpp>
#include <math/Quaternion.hpp>
#include <math/Mat3x3d.hpp>
#include <math/Vector3d.hpp>
#include <util/PropertyMap.hpp>

namespace oopse{

  /**
   * The base class for atom types. Typically, atom types are used to descibe the behavior of an atom
   * of a element in differnet enviroment. In OOPSE, atom types are also used to represent the coarse-
   * grainded atom
   * @author    tlin
   * @date  09/08/2004
   * @version 1.0
   */

  /*
   * Design Decision:
   * the member data of stuntdouble will be stored outside of the class
   */
   class StuntDouble{
    public:    

        /**
         * Returns the global index of this stuntdouble.
         * @return  the global index of this stuntdouble 
         */
        int getGlobalIndex() {
            return globalIndex_;
        }

        /**
         * Sets the global index of this stuntdouble.
         * @param new global index to be set
         */
        void setGlobalIndex(int index) {
            return globalIndex_;
        }
        
        /** 
         * Returns the local index of this stuntdouble 
         * @return the local index of this stuntdouble
         */
        int getLocalIndex() {
            return localIndex_;
        }

        /**
         * Sets the local index of this stuntdouble
         * @param index new index to be set
         */        
        void setLocalIndex(int index) {
            localIndex_ = index;
        }

       /**
         * Returns  the previous position of this stuntdouble
         * @return the position of this stuntdouble
         */    
        void Vector3d getPrevPos() {
            return (snapshotMan_->getPrevSnapshot())->storage->position[localId_];
        }
       
        /**
         * Returns  the current position of this stuntdouble
         * @return the position of this stuntdouble
         */    
        void Vector3d getPos() {
            return (snapshotMan_->getCurrentSnapshot())->storage->position[localId_];
        }

       /**
         * Returns  the position of this stuntdouble in specified snapshot 
         *
         * @return the position of this stuntdouble
         * @param snapshotNo
         */    
        Vector3d getPos(int snapshotNo) {
            return (snapshotMan_->getSnapshot(snapShotNo))->storage->position[localId_];
        }

       /**
         * Sets  the previous position of this stuntdouble
         *
         * @param pos  new position 
         * @see #getPos
         */         
       void setPrevPos(const Vector3d& pos) {
            (snapshotMan_->getPrevSnapshot())->storage->position[localId_] = pos;
       }
       
       /**
         * Sets  the current position of this stuntdouble
         * @param pos  new position 
         */         
        void setPos(const Vector3d& pos) {
            (snapshotMan_->getCurrentSnapshot())->storage->position[localId_] = pos;
        }

       /**
         * Sets  the position of this stuntdouble in specified snapshot
         *
         * @param pos position to be set 
         * @param snapshotNo 
         * @see #getPos
         */         
        void setPos(const Vector3d& pos, int snapshotNo) {
            (snapshotMan_->getSnapshot(snapshotNo))->storage->position[localId_] = pos;
        }
       
       /**
         * Returns  the previous velocity of this stuntdouble
         * @return the velocity of this stuntdouble
         */    
        Vector3d getPrevVel() {
            return (snapshotMan_->getPrevSnapshot())->storage->velocity[localId_];
        }
       
        /**
         * Returns  the current velocity of this stuntdouble
         * @return the velocity of this stuntdouble
         */    
        Vector3d getVel() {
            return (snapshotMan_->getCurrentSnapshot())->storage->velocity[localId_];
        }

       /**
         * Returns  the velocity of this stuntdouble in specified snapshot 
         *
         * @return the velocity of this stuntdouble
         * @param snapshotNo
         */    
         Vector3d getVel(int snapshotNo) {
            return (snapshotMan_->getSnapshot(snapShotNo))->storage->velocity[localId_];
        }

       /**
         * Sets  the previous velocity of this stuntdouble
         *
         * @param vel  new velocity 
         * @see #getVel
         */         
       void setPrevVel(const Vector3d& vel) {
            (snapshotMan_->getPrevSnapshot())->storage->velocity[localId_] = vel;
       }
       
       /**
         * Sets  the current velocity of this stuntdouble
         * @param vel  new velocity 
         */         
        void setVel(const Vector3d& vel) {
            (snapshotMan_->getCurrentSnapshot())->storage->velocity[localId_] = vel;
        }

       /**
         * Sets  the velocity of this stuntdouble in specified snapshot
         *
         * @param vel velocity to be set 
         * @param snapshotNo 
         * @see #getVel
         */         
        void setVel(const Vector3d& vel, int snapshotNo) {
            (snapshotMan_->getSnapshot(snapshotNo))->storage->velocity[localId_] = vel;
        }

       /**
         * Returns  the previous rotation matrix of this stuntdouble
         * @return the rotation matrix of this stuntdouble
         */    
        RotMat3x3d getPrevA() {
            return (snapshotMan_->getPrevSnapshot())->storage->aMat[localId_];
        }
       
        /**
         * Returns  the current rotation matrix of this stuntdouble
         * @return the rotation matrix of this stuntdouble
         */    
        RotMat3x3d getA() {
            return (snapshotMan_->getCurrentSnapshot())->storage->aMat[localId_];
        }

       /**
         * Returns  the rotation matrix of this stuntdouble in specified snapshot 
         *
         * @return the rotation matrix of this stuntdouble
         * @param snapshotNo
         */    
         RotMat3x3d getA(int snapshotNo) {
            return (snapshotMan_->getSnapshot(snapShotNo))->storage->aMat[localId_];
        }

       /**
         * Sets  the previous rotation matrix of this stuntdouble
         *
         * @param a  new rotation matrix 
         * @see #getA
         */         
       void setPrevA(const RotMat3x3d& a) {
            (snapshotMan_->getPrevSnapshot())->storage->aMat[localId_] = a;
       }
       
       /**
         * Sets  the current rotation matrix of this stuntdouble
         * @param a  new rotation matrix 
         */         
        void setA(const RotMat3x3d& a) {
            (snapshotMan_->getCurrentSnapshot())->storage->aMat[localId_] = a;
        }

       /**
         * Sets  the rotation matrix of this stuntdouble in specified snapshot
         *
         * @param a rotation matrix to be set 
         * @param snapshotNo 
         * @see #getA
         */         
        void setA(const RotMat3x3d& a, int snapshotNo) {
            (snapshotMan_->getSnapshot(snapshotNo))->storage->a[localId_] = a;
        }       

       /**
         * Returns  the previous angular momentum of this stuntdouble
         * @return the angular momentum of this stuntdouble
         */    
        Vector3d getPrevJ() {
            return (snapshotMan_->getPrevSnapshot())->storage->angularMomentum[localId_];
        }
       
        /**
         * Returns  the current angular momentum of this stuntdouble
         * @return the angular momentum of this stuntdouble
         */    
        Vector3d getJ() {
            return (snapshotMan_->getCurrentSnapshot())->storage->angularMomentum[localId_];
        }

       /**
         * Returns  the angular momentum of this stuntdouble in specified snapshot 
         *
         * @return the angular momentum of this stuntdouble
         * @param snapshotNo
         */    
         Vector3d getJ(int snapshotNo) {
            return (snapshotMan_->getSnapshot(snapShotNo))->storage->angularMomentum[localId_];
        }

       /**
         * Sets  the previous angular momentum of this stuntdouble
         *
         * @param angMom  new angular momentum 
         * @see #getJ
         */         
       void setPrevJ(const Vector3d& angMom) {
            (snapshotMan_->getPrevSnapshot())->storage->angularMomentum[localId_] = angMom;
       }
       
       /**
         * Sets  the current angular momentum of this stuntdouble
         * @param angMom  new angular momentum 
         */         
        void setJ(const Vector3d& angMom) {
            (snapshotMan_->getCurrentSnapshot())->storage->angularMomentum[localId_] = angMom;
        }

       /**
         * Sets the angular momentum of this stuntdouble in specified snapshot
         *
         * @param angMom angular momentum to be set 
         * @param snapshotNo 
         * @see #getJ
         */         
        void setJ(const Vector3d& angMom, int snapshotNo) {
            (snapshotMan_->getSnapshot(snapshotNo))->storage->angularMomentum[localId_] = angMom;
        }
         
       /**
         * Returns  the previous quaternion of this stuntdouble
         * @return the quaternion of this stuntdouble
         */    
        Quat4d getPrevQ() {
            return (snapshotMan_->getPrevSnapshot())->storage->aMat[localId_].toQuaternion();
        }
       
        /**
         * Returns  the current quaternion of this stuntdouble
         * @return the quaternion of this stuntdouble
         */    
        Quat4d getQ() {
            return (snapshotMan_->getCurrentSnapshot())->storage->aMat[localId_].toQuaternion();
        }

       /**
         * Returns  the quaternion of this stuntdouble in specified snapshot 
         *
         * @return the quaternion of this stuntdouble
         * @param snapshotNo
         */    
         Quat4d getQ(int snapshotNo) {
            return (snapshotMan_->getSnapshot(snapShotNo))->storage->aMat[localId_].toQuaternion();
        }

       /**
         * Sets  the previous quaternion of this stuntdouble
         *
         * @param q  new quaternion 
         * @see #getQ
         */         
       void setPrevQ(const Quat4d& q) {
            (snapshotMan_->getPrevSnapshot())->storage->aMat[localId_] = q;
       }
       
       /**
         * Sets  the current quaternion of this stuntdouble
         * @param q  new quaternion 
         */         
        void setQ(const Quat4d& q) {
            (snapshotMan_->getCurrentSnapshot())->storage->aMat[localId_] = q;
        }

       /**
         * Sets  the quaternion of this stuntdouble in specified snapshot
         *
         * @param q quaternion to be set 
         * @param snapshotNo 
         * @see #getQ
         */         
        void setQ(const Quat4d& q, int snapshotNo) {
            (snapshotMan_->getSnapshot(snapshotNo))->storage->aMat[localId_] = q;
        }
       
       /**
         * Returns the force of this stuntdouble
         *
         * @return the quaternion of this stuntdouble
         *
         * @see #setFrc
         * @see #addFrc
         */
        virtual Vector3d getFrc() = 0;

       /**
         * Sets the force of this stuntdouble
         *
         * @param frc new force
         *
         * @see #getFrc
         * @see #addFrc
         */     
        virtual void setFrc(Vector3d& frc) = 0;

       /**
         * Adds the force into this stuntdouble
         *
         * @param frc  force to be added
         *
         * @see #getFrc
         * @see #setFrc
         */          
        virtual void addFrc(Vector3d& frc) = 0;

       /**
         * Returns the torque of this stuntdouble
         *
         * @return the torque of this stuntdouble
         *
         * @see #setTrq
         * @see #addTrq
         */
        virtual Vector3d getTrq() = 0;

       /**
         * Sets the torque of this stuntdouble
         *
         * @param trq new torque
         *
         * @see #getTrq
         * @see #addTrq
         */      
        virtual void setTrq(Vector3d& trq) = 0;

       /**
         * Adds the torque into this stuntdouble
         *
         * @param trq  torque to be added
         *
         * @see #getTrq
         * @see #setTrq
         */
        virtual void addTrq(Vector3d& trq) = 0;

       /**
         * Returns the inertia tensor of this stuntdouble
         *
         * @return the inertia tensor of this stuntdouble
         *
         * @see #setI
         */ 
        virtual Mat3x3d getI() = 0;

       /**
         * Sets the inertia tensor of this stuntdouble
         *
         * @param trq new inertia tensor
         *
         * @see #getI
         */      
        virtual void setI(Mat3x3d& I) = 0;

       /**
         * Returns the gradient of this stuntdouble
         *
         * @return the inertia tensor of this stuntdouble
         *
         * @see #setI
         */ 
        virtual std::vector<double> getGrad() = 0;

       /**
         * Returns the euler angles of this stuntdouble
         * <p>
         *   <ol>
         *   <il>
         *   <il>
         *   <il>
         *   </ol>
         * </p>
         * @return the euler angles of this stuntdouble
         *
         * @see #setEuler
         */ 
        virtual Vector3d getEuler() = 0;

       /**
         * Sets the euler angles of this stuntdouble
         *
         * @param e new euler angles
         * <p>
         *   <ol>
         *   <il>e[0] = phi </il>
         *   <il>e[1] = theta <il>
         *   <il>e[2] = psi </il>
         *   </ol>
         * </p>
         *
         * @see #setEuler
         */ 
        virtual void setEuler(Vector3d& e) = 0;
        
        virtual bool isLinear() {return false;}

       /**
         * Returns the linear axis of the rigidbody, atom and directional atom will always return -1
         *
         * @return the linear axis of the rigidbody
         * 
         * @see #isLinear
         */ 
        virtual int linearAxis() {return -1;}

       /**
        * Returns the zangle
        *
        * @return the zangle
        *
        * @see #setZangle
        * @see #addZangle
        */
        virtual double   getZangle() = 0;

       /**
        *
        */
        virtual void   setZangle(double zAngle) = 0;

       /**
        *
        */
        virtual void   addZangle(double zAngle) = 0;

       /**
         * 
         * <p>
         * The purpose of the Visitor Pattern is to encapsulate an operation that you want to perform on
         * the elements of a data structure. In this way, you can change the operation being performed 
         * on a structure without the need of changing the classes of the elements that you are operating
         * on. Using a Visitor pattern allows you to decouple the classes for the data structure and the 
         * algorithms used upon them
         * </p>
         * @param v visitor
         */      
        virtual void accept(BaseVisitor* v) = 0;

        StorageMethod getStorageMethd(){return stMethod;}
        void setStorageMethod(StorageMethod method) {stMethod = method;}

        //below functions are just forward functions
        /**
         * Adds property into property map
         *
         * @param genData GenericData to be added into PropertyMap
         *
         * @see #removeProperty
         * @see #clearProperties
         */
        void addProperty(GenericData* genData) {  properties.addProperty(genData);  }

        /**
         * Removes property from PropertyMap by name
         *
         * @param propName the name of property to be removed
         *
         * @see #addProperty
         * @see #clearProperties
         */
        void removeProperty(std::string& propName) {  properties.removeProperty();  }

        /**
         * clear all of the properties
         *
         * @see #addProperty
         * @see #removeProperty
         */
        void clearProperties() {  properties.clearProperties(); }

        /**
         * Returns all names of properties
         *
         * @return all names of properties
         */
        std::vector<std::string> getPropertyNames() {return properties.getPropertyNames();  }

        /**
         * Returns all of the properties in PropertyMap
         *
         * @return all of the properties in PropertyMap
         *
         * @see #getPropertyByName
         */      
        std::vector<GenericData*> getProperties() { return properties.getProperties(); }

        /**
         * Returns property 
         *
         * @param propName name of property
         *
         * @return a pointer point to property with propName. If no property named propName
         * exists, return NULL
         *
         * @see #getProperties
         */      
        GenericData* getPropertyByName(std:string& propName) {  return properties.getPropertyByName(propName); }

      private:
        
        int globalIndex_;
        int localIndex_;
        PropertyMap properties;
        DataStoragePointer storage_;
        SnapshotManager* snapshotMan_;
 };

}//end namespace oopse
#endif //ifndef _STUNTDOUBLE_HPP_
Revision:	1639
Committed:	Fri Oct 22 23:09:57 2004 UTC (19 years, 8 months ago) by tim
File size:	18254 byte(s)
Log Message:	more work in Snapshot
#	User	Rev	Content
1	tim	1639	/*
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			#ifndef _STUNTDOUBLE_HPP_
26			#define _STUNTDOUBLE_HPP_
27
28			#include <vector>
29
30			#include <core/BaseVisitor.hpp>
31			#include <math/Quaternion.hpp>
32			#include <math/Mat3x3d.hpp>
33			#include <math/Vector3d.hpp>
34			#include <util/PropertyMap.hpp>
35
36			namespace oopse{
37
38			/**
39			* The base class for atom types. Typically, atom types are used to descibe the behavior of an atom
40			* of a element in differnet enviroment. In OOPSE, atom types are also used to represent the coarse-
41			* grainded atom
42			* @author tlin
43			* @date 09/08/2004
44			* @version 1.0
45			*/
46
47			/*
48			* Design Decision:
49			* the member data of stuntdouble will be stored outside of the class
50			*/
51			class StuntDouble{
52			public:
53
54			/**
55			* Returns the global index of this stuntdouble.
56			* @return the global index of this stuntdouble
57			*/
58			int getGlobalIndex() {
59			return globalIndex_;
60			}
61
62			/**
63			* Sets the global index of this stuntdouble.
64			* @param new global index to be set
65			*/
66			void setGlobalIndex(int index) {
67			return globalIndex_;
68			}
69
70			/**
71			* Returns the local index of this stuntdouble
72			* @return the local index of this stuntdouble
73			*/
74			int getLocalIndex() {
75			return localIndex_;
76			}
77
78			/**
79			* Sets the local index of this stuntdouble
80			* @param index new index to be set
81			*/
82			void setLocalIndex(int index) {
83			localIndex_ = index;
84			}
85
86			/**
87			* Returns the previous position of this stuntdouble
88			* @return the position of this stuntdouble
89			*/
90			void Vector3d getPrevPos() {
91			return (snapshotMan_->getPrevSnapshot())->storage->position[localId_];
92			}
93
94			/**
95			* Returns the current position of this stuntdouble
96			* @return the position of this stuntdouble
97			*/
98			void Vector3d getPos() {
99			return (snapshotMan_->getCurrentSnapshot())->storage->position[localId_];
100			}
101
102			/**
103			* Returns the position of this stuntdouble in specified snapshot
104			*
105			* @return the position of this stuntdouble
106			* @param snapshotNo
107			*/
108			Vector3d getPos(int snapshotNo) {
109			return (snapshotMan_->getSnapshot(snapShotNo))->storage->position[localId_];
110			}
111
112			/**
113			* Sets the previous position of this stuntdouble
114			*
115			* @param pos new position
116			* @see #getPos
117			*/
118			void setPrevPos(const Vector3d& pos) {
119			(snapshotMan_->getPrevSnapshot())->storage->position[localId_] = pos;
120			}
121
122			/**
123			* Sets the current position of this stuntdouble
124			* @param pos new position
125			*/
126			void setPos(const Vector3d& pos) {
127			(snapshotMan_->getCurrentSnapshot())->storage->position[localId_] = pos;
128			}
129
130			/**
131			* Sets the position of this stuntdouble in specified snapshot
132			*
133			* @param pos position to be set
134			* @param snapshotNo
135			* @see #getPos
136			*/
137			void setPos(const Vector3d& pos, int snapshotNo) {
138			(snapshotMan_->getSnapshot(snapshotNo))->storage->position[localId_] = pos;
139			}
140
141			/**
142			* Returns the previous velocity of this stuntdouble
143			* @return the velocity of this stuntdouble
144			*/
145			Vector3d getPrevVel() {
146			return (snapshotMan_->getPrevSnapshot())->storage->velocity[localId_];
147			}
148
149			/**
150			* Returns the current velocity of this stuntdouble
151			* @return the velocity of this stuntdouble
152			*/
153			Vector3d getVel() {
154			return (snapshotMan_->getCurrentSnapshot())->storage->velocity[localId_];
155			}
156
157			/**
158			* Returns the velocity of this stuntdouble in specified snapshot
159			*
160			* @return the velocity of this stuntdouble
161			* @param snapshotNo
162			*/
163			Vector3d getVel(int snapshotNo) {
164			return (snapshotMan_->getSnapshot(snapShotNo))->storage->velocity[localId_];
165			}
166
167			/**
168			* Sets the previous velocity of this stuntdouble
169			*
170			* @param vel new velocity
171			* @see #getVel
172			*/
173			void setPrevVel(const Vector3d& vel) {
174			(snapshotMan_->getPrevSnapshot())->storage->velocity[localId_] = vel;
175			}
176
177			/**
178			* Sets the current velocity of this stuntdouble
179			* @param vel new velocity
180			*/
181			void setVel(const Vector3d& vel) {
182			(snapshotMan_->getCurrentSnapshot())->storage->velocity[localId_] = vel;
183			}
184
185			/**
186			* Sets the velocity of this stuntdouble in specified snapshot
187			*
188			* @param vel velocity to be set
189			* @param snapshotNo
190			* @see #getVel
191			*/
192			void setVel(const Vector3d& vel, int snapshotNo) {
193			(snapshotMan_->getSnapshot(snapshotNo))->storage->velocity[localId_] = vel;
194			}
195
196			/**
197			* Returns the previous rotation matrix of this stuntdouble
198			* @return the rotation matrix of this stuntdouble
199			*/
200			RotMat3x3d getPrevA() {
201			return (snapshotMan_->getPrevSnapshot())->storage->aMat[localId_];
202			}
203
204			/**
205			* Returns the current rotation matrix of this stuntdouble
206			* @return the rotation matrix of this stuntdouble
207			*/
208			RotMat3x3d getA() {
209			return (snapshotMan_->getCurrentSnapshot())->storage->aMat[localId_];
210			}
211
212			/**
213			* Returns the rotation matrix of this stuntdouble in specified snapshot
214			*
215			* @return the rotation matrix of this stuntdouble
216			* @param snapshotNo
217			*/
218			RotMat3x3d getA(int snapshotNo) {
219			return (snapshotMan_->getSnapshot(snapShotNo))->storage->aMat[localId_];
220			}
221
222			/**
223			* Sets the previous rotation matrix of this stuntdouble
224			*
225			* @param a new rotation matrix
226			* @see #getA
227			*/
228			void setPrevA(const RotMat3x3d& a) {
229			(snapshotMan_->getPrevSnapshot())->storage->aMat[localId_] = a;
230			}
231
232			/**
233			* Sets the current rotation matrix of this stuntdouble
234			* @param a new rotation matrix
235			*/
236			void setA(const RotMat3x3d& a) {
237			(snapshotMan_->getCurrentSnapshot())->storage->aMat[localId_] = a;
238			}
239
240			/**
241			* Sets the rotation matrix of this stuntdouble in specified snapshot
242			*
243			* @param a rotation matrix to be set
244			* @param snapshotNo
245			* @see #getA
246			*/
247			void setA(const RotMat3x3d& a, int snapshotNo) {
248			(snapshotMan_->getSnapshot(snapshotNo))->storage->a[localId_] = a;
249			}
250
251			/**
252			* Returns the previous angular momentum of this stuntdouble
253			* @return the angular momentum of this stuntdouble
254			*/
255			Vector3d getPrevJ() {
256			return (snapshotMan_->getPrevSnapshot())->storage->angularMomentum[localId_];
257			}
258
259			/**
260			* Returns the current angular momentum of this stuntdouble
261			* @return the angular momentum of this stuntdouble
262			*/
263			Vector3d getJ() {
264			return (snapshotMan_->getCurrentSnapshot())->storage->angularMomentum[localId_];
265			}
266
267			/**
268			* Returns the angular momentum of this stuntdouble in specified snapshot
269			*
270			* @return the angular momentum of this stuntdouble
271			* @param snapshotNo
272			*/
273			Vector3d getJ(int snapshotNo) {
274			return (snapshotMan_->getSnapshot(snapShotNo))->storage->angularMomentum[localId_];
275			}
276
277			/**
278			* Sets the previous angular momentum of this stuntdouble
279			*
280			* @param angMom new angular momentum
281			* @see #getJ
282			*/
283			void setPrevJ(const Vector3d& angMom) {
284			(snapshotMan_->getPrevSnapshot())->storage->angularMomentum[localId_] = angMom;
285			}
286
287			/**
288			* Sets the current angular momentum of this stuntdouble
289			* @param angMom new angular momentum
290			*/
291			void setJ(const Vector3d& angMom) {
292			(snapshotMan_->getCurrentSnapshot())->storage->angularMomentum[localId_] = angMom;
293			}
294
295			/**
296			* Sets the angular momentum of this stuntdouble in specified snapshot
297			*
298			* @param angMom angular momentum to be set
299			* @param snapshotNo
300			* @see #getJ
301			*/
302			void setJ(const Vector3d& angMom, int snapshotNo) {
303			(snapshotMan_->getSnapshot(snapshotNo))->storage->angularMomentum[localId_] = angMom;
304			}
305
306			/**
307			* Returns the previous quaternion of this stuntdouble
308			* @return the quaternion of this stuntdouble
309			*/
310			Quat4d getPrevQ() {
311			return (snapshotMan_->getPrevSnapshot())->storage->aMat[localId_].toQuaternion();
312			}
313
314			/**
315			* Returns the current quaternion of this stuntdouble
316			* @return the quaternion of this stuntdouble
317			*/
318			Quat4d getQ() {
319			return (snapshotMan_->getCurrentSnapshot())->storage->aMat[localId_].toQuaternion();
320			}
321
322			/**
323			* Returns the quaternion of this stuntdouble in specified snapshot
324			*
325			* @return the quaternion of this stuntdouble
326			* @param snapshotNo
327			*/
328			Quat4d getQ(int snapshotNo) {
329			return (snapshotMan_->getSnapshot(snapShotNo))->storage->aMat[localId_].toQuaternion();
330			}
331
332			/**
333			* Sets the previous quaternion of this stuntdouble
334			*
335			* @param q new quaternion
336			* @see #getQ
337			*/
338			void setPrevQ(const Quat4d& q) {
339			(snapshotMan_->getPrevSnapshot())->storage->aMat[localId_] = q;
340			}
341
342			/**
343			* Sets the current quaternion of this stuntdouble
344			* @param q new quaternion
345			*/
346			void setQ(const Quat4d& q) {
347			(snapshotMan_->getCurrentSnapshot())->storage->aMat[localId_] = q;
348			}
349
350			/**
351			* Sets the quaternion of this stuntdouble in specified snapshot
352			*
353			* @param q quaternion to be set
354			* @param snapshotNo
355			* @see #getQ
356			*/
357			void setQ(const Quat4d& q, int snapshotNo) {
358			(snapshotMan_->getSnapshot(snapshotNo))->storage->aMat[localId_] = q;
359			}
360
361			/**
362			* Returns the force of this stuntdouble
363			*
364			* @return the quaternion of this stuntdouble
365			*
366			* @see #setFrc
367			* @see #addFrc
368			*/
369			virtual Vector3d getFrc() = 0;
370
371			/**
372			* Sets the force of this stuntdouble
373			*
374			* @param frc new force
375			*
376			* @see #getFrc
377			* @see #addFrc
378			*/
379			virtual void setFrc(Vector3d& frc) = 0;
380
381			/**
382			* Adds the force into this stuntdouble
383			*
384			* @param frc force to be added
385			*
386			* @see #getFrc
387			* @see #setFrc
388			*/
389			virtual void addFrc(Vector3d& frc) = 0;
390
391			/**
392			* Returns the torque of this stuntdouble
393			*
394			* @return the torque of this stuntdouble
395			*
396			* @see #setTrq
397			* @see #addTrq
398			*/
399			virtual Vector3d getTrq() = 0;
400
401			/**
402			* Sets the torque of this stuntdouble
403			*
404			* @param trq new torque
405			*
406			* @see #getTrq
407			* @see #addTrq
408			*/
409			virtual void setTrq(Vector3d& trq) = 0;
410
411			/**
412			* Adds the torque into this stuntdouble
413			*
414			* @param trq torque to be added
415			*
416			* @see #getTrq
417			* @see #setTrq
418			*/
419			virtual void addTrq(Vector3d& trq) = 0;
420
421			/**
422			* Returns the inertia tensor of this stuntdouble
423			*
424			* @return the inertia tensor of this stuntdouble
425			*
426			* @see #setI
427			*/
428			virtual Mat3x3d getI() = 0;
429
430			/**
431			* Sets the inertia tensor of this stuntdouble
432			*
433			* @param trq new inertia tensor
434			*
435			* @see #getI
436			*/
437			virtual void setI(Mat3x3d& I) = 0;
438
439			/**
440			* Returns the gradient of this stuntdouble
441			*
442			* @return the inertia tensor of this stuntdouble
443			*
444			* @see #setI
445			*/
446			virtual std::vector<double> getGrad() = 0;
447
448			/**
449			* Returns the euler angles of this stuntdouble
450			* <p>
451			* <ol>
452			* <il>
453			* <il>
454			* <il>
455			* </ol>
456			* </p>
457			* @return the euler angles of this stuntdouble
458			*
459			* @see #setEuler
460			*/
461			virtual Vector3d getEuler() = 0;
462
463			/**
464			* Sets the euler angles of this stuntdouble
465			*
466			* @param e new euler angles
467			* <p>
468			* <ol>
469			* <il>e[0] = phi </il>
470			* <il>e[1] = theta <il>
471			* <il>e[2] = psi </il>
472			* </ol>
473			* </p>
474			*
475			* @see #setEuler
476			*/
477			virtual void setEuler(Vector3d& e) = 0;
478
479			virtual bool isLinear() {return false;}
480
481			/**
482			* Returns the linear axis of the rigidbody, atom and directional atom will always return -1
483			*
484			* @return the linear axis of the rigidbody
485			*
486			* @see #isLinear
487			*/
488			virtual int linearAxis() {return -1;}
489
490			/**
491			* Returns the zangle
492			*
493			* @return the zangle
494			*
495			* @see #setZangle
496			* @see #addZangle
497			*/
498			virtual double getZangle() = 0;
499
500			/**
501			*
502			*/
503			virtual void setZangle(double zAngle) = 0;
504
505			/**
506			*
507			*/
508			virtual void addZangle(double zAngle) = 0;
509
510			/**
511			*
512			* <p>
513			* The purpose of the Visitor Pattern is to encapsulate an operation that you want to perform on
514			* the elements of a data structure. In this way, you can change the operation being performed
515			* on a structure without the need of changing the classes of the elements that you are operating
516			* on. Using a Visitor pattern allows you to decouple the classes for the data structure and the
517			* algorithms used upon them
518			* </p>
519			* @param v visitor
520			*/
521			virtual void accept(BaseVisitor* v) = 0;
522
523			StorageMethod getStorageMethd(){return stMethod;}
524			void setStorageMethod(StorageMethod method) {stMethod = method;}
525
526			//below functions are just forward functions
527			/**
528			* Adds property into property map
529			*
530			* @param genData GenericData to be added into PropertyMap
531			*
532			* @see #removeProperty
533			* @see #clearProperties
534			*/
535			void addProperty(GenericData* genData) { properties.addProperty(genData); }
536
537			/**
538			* Removes property from PropertyMap by name
539			*
540			* @param propName the name of property to be removed
541			*
542			* @see #addProperty
543			* @see #clearProperties
544			*/
545			void removeProperty(std::string& propName) { properties.removeProperty(); }
546
547			/**
548			* clear all of the properties
549			*
550			* @see #addProperty
551			* @see #removeProperty
552			*/
553			void clearProperties() { properties.clearProperties(); }
554
555			/**
556			* Returns all names of properties
557			*
558			* @return all names of properties
559			*/
560			std::vector<std::string> getPropertyNames() {return properties.getPropertyNames(); }
561
562			/**
563			* Returns all of the properties in PropertyMap
564			*
565			* @return all of the properties in PropertyMap
566			*
567			* @see #getPropertyByName
568			*/
569			std::vector<GenericData*> getProperties() { return properties.getProperties(); }
570
571			/**
572			* Returns property
573			*
574			* @param propName name of property
575			*
576			* @return a pointer point to property with propName. If no property named propName
577			* exists, return NULL
578			*
579			* @see #getProperties
580			*/
581			GenericData* getPropertyByName(std:string& propName) { return properties.getPropertyByName(propName); }
582
583			private:
584
585			int globalIndex_;
586			int localIndex_;
587			PropertyMap properties;
588			DataStoragePointer storage_;
589			SnapshotManager* snapshotMan_;
590			};
591
592			}//end namespace oopse
593			#endif //ifndef _STUNTDOUBLE_HPP_