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/* |
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* Copyright (C) 2000-2004 Object Oriented Parallel Simulation Engine (OOPSE) project |
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* |
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* Contact: oopse@oopse.org |
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* |
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* This program is free software; you can redistribute it and/or |
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* modify it under the terms of the GNU Lesser General Public License |
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* as published by the Free Software Foundation; either version 2.1 |
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* of the License, or (at your option) any later version. |
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* All we ask is that proper credit is given for our work, which includes |
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* - but is not limited to - adding the above copyright notice to the beginning |
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* of your source code files, and to any copyright notice that you may distribute |
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* with programs based on this work. |
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* |
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* This program is distributed in the hope that it will be useful, |
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* but WITHOUT ANY WARRANTY; without even the implied warranty of |
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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* GNU Lesser General Public License for more details. |
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* |
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* You should have received a copy of the GNU Lesser General Public License |
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* along with this program; if not, write to the Free Software |
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* Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. |
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* |
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*/ |
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#ifndef _STUNTDOUBLE_HPP_ |
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#define _STUNTDOUBLE_HPP_ |
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|
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#include <vector> |
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|
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#include <core/BaseVisitor.hpp> |
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#include <math/Quaternion.hpp> |
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#include <math/Mat3x3d.hpp> |
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#include <math/Vector3d.hpp> |
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#include <util/PropertyMap.hpp> |
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|
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namespace oopse{ |
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|
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/** |
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* The base class for atom types. Typically, atom types are used to descibe the behavior of an atom |
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* of a element in differnet enviroment. In OOPSE, atom types are also used to represent the coarse- |
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* grainded atom |
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* @author tlin |
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* @date 09/08/2004 |
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* @version 1.0 |
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*/ |
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|
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/* |
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* Design Decision: |
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* the member 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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|
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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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return globalIndex_; |
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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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/** |
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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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* 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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void Vector3d getPrevPos() { |
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return (snapshotMan_->getPrevSnapshot())->storage->position[localId_]; |
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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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void Vector3d getPos() { |
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return (snapshotMan_->getCurrentSnapshot())->storage->position[localId_]; |
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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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* |
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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[localId_]; |
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} |
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|
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/** |
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* Sets the previous position of this stuntdouble |
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* |
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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[localId_] = 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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(snapshotMan_->getCurrentSnapshot())->storage->position[localId_] = pos; |
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} |
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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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* |
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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[localId_] = pos; |
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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[localId_]; |
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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[localId_]; |
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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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* |
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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[localId_]; |
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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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* |
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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[localId_] = 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[localId_] = vel; |
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} |
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|
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/** |
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* Sets the velocity of this stuntdouble in specified snapshot |
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* |
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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[localId_] = vel; |
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} |
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|
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/** |
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* Returns the previous rotation matrix of this stuntdouble |
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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[localId_]; |
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} |
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|
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/** |
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* Returns the current rotation matrix of this stuntdouble |
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* @return the rotation matrix of this stuntdouble |
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*/ |
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RotMat3x3d getA() { |
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return (snapshotMan_->getCurrentSnapshot())->storage->aMat[localId_]; |
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} |
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|
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/** |
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* Returns the rotation matrix of this stuntdouble in specified snapshot |
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* |
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* @return the rotation matrix of this stuntdouble |
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* @param snapshotNo |
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*/ |
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RotMat3x3d getA(int snapshotNo) { |
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return (snapshotMan_->getSnapshot(snapShotNo))->storage->aMat[localId_]; |
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} |
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|
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/** |
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* Sets the previous rotation matrix of this stuntdouble |
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* |
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* @param a new rotation matrix |
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* @see #getA |
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*/ |
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void setPrevA(const RotMat3x3d& a) { |
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(snapshotMan_->getPrevSnapshot())->storage->aMat[localId_] = a; |
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} |
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|
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/** |
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* Sets the current rotation matrix of this stuntdouble |
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* @param a new rotation matrix |
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*/ |
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void setA(const RotMat3x3d& a) { |
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(snapshotMan_->getCurrentSnapshot())->storage->aMat[localId_] = a; |
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} |
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|
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/** |
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* Sets the rotation matrix of this stuntdouble in specified snapshot |
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* |
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* @param a rotation matrix to be set |
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* @param snapshotNo |
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* @see #getA |
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*/ |
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void setA(const RotMat3x3d& a, int snapshotNo) { |
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(snapshotMan_->getSnapshot(snapshotNo))->storage->a[localId_] = a; |
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} |
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|
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/** |
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* Returns the previous angular momentum of this stuntdouble |
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* @return the angular momentum of this stuntdouble |
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*/ |
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Vector3d getPrevJ() { |
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return (snapshotMan_->getPrevSnapshot())->storage->angularMomentum[localId_]; |
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} |
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|
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/** |
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* Returns the current angular momentum of this stuntdouble |
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* @return the angular momentum of this stuntdouble |
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*/ |
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Vector3d getJ() { |
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return (snapshotMan_->getCurrentSnapshot())->storage->angularMomentum[localId_]; |
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} |
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|
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/** |
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* Returns the angular momentum of this stuntdouble in specified snapshot |
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* |
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* @return the angular momentum of this stuntdouble |
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* @param snapshotNo |
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*/ |
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Vector3d getJ(int snapshotNo) { |
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return (snapshotMan_->getSnapshot(snapShotNo))->storage->angularMomentum[localId_]; |
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} |
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|
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/** |
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* Sets the previous angular momentum of this stuntdouble |
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* |
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* @param angMom new angular momentum |
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* @see #getJ |
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*/ |
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void setPrevJ(const Vector3d& angMom) { |
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(snapshotMan_->getPrevSnapshot())->storage->angularMomentum[localId_] = angMom; |
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} |
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|
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/** |
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* Sets the current angular momentum of this stuntdouble |
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* @param angMom new angular momentum |
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*/ |
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void setJ(const Vector3d& angMom) { |
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(snapshotMan_->getCurrentSnapshot())->storage->angularMomentum[localId_] = angMom; |
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} |
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|
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/** |
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* Sets the angular momentum of this stuntdouble in specified snapshot |
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* |
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* @param angMom angular momentum to be set |
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* @param snapshotNo |
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* @see #getJ |
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*/ |
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void setJ(const Vector3d& angMom, int snapshotNo) { |
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(snapshotMan_->getSnapshot(snapshotNo))->storage->angularMomentum[localId_] = angMom; |
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} |
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|
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/** |
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* Returns the previous quaternion of this stuntdouble |
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* @return the quaternion of this stuntdouble |
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*/ |
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Quat4d getPrevQ() { |
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return (snapshotMan_->getPrevSnapshot())->storage->aMat[localId_].toQuaternion(); |
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} |
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|
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/** |
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* Returns the current quaternion of this stuntdouble |
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* @return the quaternion of this stuntdouble |
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*/ |
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Quat4d getQ() { |
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return (snapshotMan_->getCurrentSnapshot())->storage->aMat[localId_].toQuaternion(); |
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} |
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|
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/** |
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* Returns the quaternion of this stuntdouble in specified snapshot |
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* |
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* @return the quaternion of this stuntdouble |
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* @param snapshotNo |
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*/ |
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Quat4d getQ(int snapshotNo) { |
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return (snapshotMan_->getSnapshot(snapShotNo))->storage->aMat[localId_].toQuaternion(); |
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} |
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|
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/** |
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* Sets the previous quaternion of this stuntdouble |
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* |
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* @param q new quaternion |
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* @see #getQ |
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*/ |
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void setPrevQ(const Quat4d& q) { |
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(snapshotMan_->getPrevSnapshot())->storage->aMat[localId_] = q; |
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} |
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|
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/** |
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* Sets the current quaternion of this stuntdouble |
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* @param q new quaternion |
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*/ |
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void setQ(const Quat4d& q) { |
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(snapshotMan_->getCurrentSnapshot())->storage->aMat[localId_] = q; |
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} |
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|
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/** |
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* Sets the quaternion of this stuntdouble in specified snapshot |
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* |
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* @param q quaternion to be set |
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* @param snapshotNo |
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* @see #getQ |
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*/ |
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void setQ(const Quat4d& q, int snapshotNo) { |
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(snapshotMan_->getSnapshot(snapshotNo))->storage->aMat[localId_] = q; |
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} |
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|
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/** |
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* Returns the force of this stuntdouble |
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* |
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* @return the quaternion of this stuntdouble |
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* |
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* @see #setFrc |
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* @see #addFrc |
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*/ |
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virtual Vector3d getFrc() = 0; |
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|
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/** |
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* Sets the force of this stuntdouble |
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* |
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* @param frc new force |
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* |
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* @see #getFrc |
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* @see #addFrc |
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*/ |
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virtual void setFrc(Vector3d& frc) = 0; |
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|
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/** |
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* Adds the force into this stuntdouble |
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* |
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* @param frc force to be added |
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* |
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* @see #getFrc |
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* @see #setFrc |
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*/ |
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virtual void addFrc(Vector3d& frc) = 0; |
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|
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/** |
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* Returns the torque of this stuntdouble |
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* |
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* @return the torque of this stuntdouble |
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* |
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* @see #setTrq |
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* @see #addTrq |
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*/ |
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virtual Vector3d getTrq() = 0; |
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|
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/** |
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* Sets the torque of this stuntdouble |
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* |
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* @param trq new torque |
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* |
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* @see #getTrq |
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* @see #addTrq |
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*/ |
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virtual void setTrq(Vector3d& trq) = 0; |
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|
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/** |
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* Adds the torque into this stuntdouble |
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* |
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* @param trq torque to be added |
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* |
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* @see #getTrq |
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* @see #setTrq |
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*/ |
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virtual void addTrq(Vector3d& trq) = 0; |
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|
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/** |
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* Returns the inertia tensor of this stuntdouble |
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* |
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* @return the inertia tensor of this stuntdouble |
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* |
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* @see #setI |
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*/ |
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virtual Mat3x3d getI() = 0; |
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|
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/** |
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* Sets the inertia tensor of this stuntdouble |
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* |
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* @param trq new inertia tensor |
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* |
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* @see #getI |
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*/ |
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virtual void setI(Mat3x3d& I) = 0; |
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|
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/** |
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* Returns the gradient of this stuntdouble |
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* |
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* @return the inertia tensor of this stuntdouble |
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* |
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* @see #setI |
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*/ |
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virtual std::vector<double> getGrad() = 0; |
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|
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/** |
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* Returns the euler angles of this stuntdouble |
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* <p> |
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* <ol> |
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* <il> |
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* <il> |
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* <il> |
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* </ol> |
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* </p> |
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* @return the euler angles of this stuntdouble |
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* |
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* @see #setEuler |
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*/ |
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virtual Vector3d getEuler() = 0; |
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|
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/** |
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* Sets the euler angles of this stuntdouble |
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* |
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* @param e new euler angles |
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* <p> |
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* <ol> |
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* <il>e[0] = phi </il> |
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* <il>e[1] = theta <il> |
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* <il>e[2] = psi </il> |
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* </ol> |
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* </p> |
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* |
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* @see #setEuler |
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*/ |
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virtual void setEuler(Vector3d& e) = 0; |
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|
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virtual bool isLinear() {return false;} |
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|
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/** |
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* Returns the linear axis of the rigidbody, atom and directional atom will always return -1 |
483 |
* |
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* @return the linear axis of the rigidbody |
485 |
* |
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* @see #isLinear |
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*/ |
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virtual int linearAxis() {return -1;} |
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|
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/** |
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* Returns the zangle |
492 |
* |
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* @return the zangle |
494 |
* |
495 |
* @see #setZangle |
496 |
* @see #addZangle |
497 |
*/ |
498 |
virtual double getZangle() = 0; |
499 |
|
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/** |
501 |
* |
502 |
*/ |
503 |
virtual void setZangle(double zAngle) = 0; |
504 |
|
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/** |
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* |
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*/ |
508 |
virtual void addZangle(double zAngle) = 0; |
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|
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/** |
511 |
* |
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* <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 |
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* on. Using a Visitor pattern allows you to decouple the classes for the data structure and the |
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* algorithms used upon them |
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* </p> |
519 |
* @param v visitor |
520 |
*/ |
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virtual void accept(BaseVisitor* v) = 0; |
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|
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StorageMethod getStorageMethd(){return stMethod;} |
524 |
void setStorageMethod(StorageMethod method) {stMethod = method;} |
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|
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//below functions are just forward functions |
527 |
/** |
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* 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 |
|
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/** |
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_ |