137 |
|
* @return the position of this stuntdouble |
138 |
|
*/ |
139 |
|
void Vector3d getPrevPos() { |
140 |
< |
return (snapshotMan_->getPrevSnapshot())->storage_->position[LocalIndex_]; |
140 |
> |
return (snapshotMan_->getPrevSnapshot())->storage_->position[localIndex_]; |
141 |
|
} |
142 |
|
|
143 |
|
/** |
145 |
|
* @return the position of this stuntdouble |
146 |
|
*/ |
147 |
|
void Vector3d getPos() { |
148 |
< |
return (snapshotMan_->getCurrentSnapshot())->storage_->position[LocalIndex_]; |
148 |
> |
return (snapshotMan_->getCurrentSnapshot())->storage_->position[localIndex_]; |
149 |
|
} |
150 |
|
|
151 |
|
/** |
154 |
|
* @param snapshotNo |
155 |
|
*/ |
156 |
|
Vector3d getPos(int snapshotNo) { |
157 |
< |
return (snapshotMan_->getSnapshot(snapShotNo))->storage_->position[LocalIndex_]; |
157 |
> |
return (snapshotMan_->getSnapshot(snapShotNo))->storage_->position[localIndex_]; |
158 |
|
} |
159 |
|
|
160 |
|
/** |
163 |
|
* @see #getPos |
164 |
|
*/ |
165 |
|
void setPrevPos(const Vector3d& pos) { |
166 |
< |
(snapshotMan_->getPrevSnapshot())->storage_->position[LocalIndex_] = pos; |
166 |
> |
(snapshotMan_->getPrevSnapshot())->storage_->position[localIndex_] = pos; |
167 |
|
} |
168 |
|
|
169 |
|
/** |
171 |
|
* @param pos new position |
172 |
|
*/ |
173 |
|
void setPos(const Vector3d& pos) { |
174 |
< |
(snapshotMan_->getCurrentSnapshot())->storage_->position[LocalIndex_] = pos; |
174 |
> |
(snapshotMan_->getCurrentSnapshot())->storage_->position[localIndex_] = pos; |
175 |
|
} |
176 |
|
|
177 |
|
/** |
181 |
|
* @see #getPos |
182 |
|
*/ |
183 |
|
void setPos(const Vector3d& pos, int snapshotNo) { |
184 |
< |
(snapshotMan_->getSnapshot(snapshotNo))->storage_->position[LocalIndex_] = pos; |
184 |
> |
(snapshotMan_->getSnapshot(snapshotNo))->storage_->position[localIndex_] = pos; |
185 |
|
} |
186 |
|
|
187 |
|
/** |
189 |
|
* @return the velocity of this stuntdouble |
190 |
|
*/ |
191 |
|
Vector3d getPrevVel() { |
192 |
< |
return (snapshotMan_->getPrevSnapshot())->storage_->velocity[LocalIndex_]; |
192 |
> |
return (snapshotMan_->getPrevSnapshot())->storage_->velocity[localIndex_]; |
193 |
|
} |
194 |
|
|
195 |
|
/** |
197 |
|
* @return the velocity of this stuntdouble |
198 |
|
*/ |
199 |
|
Vector3d getVel() { |
200 |
< |
return (snapshotMan_->getCurrentSnapshot())->storage_->velocity[LocalIndex_]; |
200 |
> |
return (snapshotMan_->getCurrentSnapshot())->storage_->velocity[localIndex_]; |
201 |
|
} |
202 |
|
|
203 |
|
/** |
206 |
|
* @param snapshotNo |
207 |
|
*/ |
208 |
|
Vector3d getVel(int snapshotNo) { |
209 |
< |
return (snapshotMan_->getSnapshot(snapShotNo))->storage_->velocity[LocalIndex_]; |
209 |
> |
return (snapshotMan_->getSnapshot(snapShotNo))->storage_->velocity[localIndex_]; |
210 |
|
} |
211 |
|
|
212 |
|
/** |
215 |
|
* @see #getVel |
216 |
|
*/ |
217 |
|
void setPrevVel(const Vector3d& vel) { |
218 |
< |
(snapshotMan_->getPrevSnapshot())->storage_->velocity[LocalIndex_] = vel; |
218 |
> |
(snapshotMan_->getPrevSnapshot())->storage_->velocity[localIndex_] = vel; |
219 |
|
} |
220 |
|
|
221 |
|
/** |
223 |
|
* @param vel new velocity |
224 |
|
*/ |
225 |
|
void setVel(const Vector3d& vel) { |
226 |
< |
(snapshotMan_->getCurrentSnapshot())->storage_->velocity[LocalIndex_] = vel; |
226 |
> |
(snapshotMan_->getCurrentSnapshot())->storage_->velocity[localIndex_] = vel; |
227 |
|
} |
228 |
|
|
229 |
|
/** |
233 |
|
* @see #getVel |
234 |
|
*/ |
235 |
|
void setVel(const Vector3d& vel, int snapshotNo) { |
236 |
< |
(snapshotMan_->getSnapshot(snapshotNo))->storage_->velocity[LocalIndex_] = vel; |
236 |
> |
(snapshotMan_->getSnapshot(snapshotNo))->storage_->velocity[localIndex_] = vel; |
237 |
|
} |
238 |
|
|
239 |
|
/** |
241 |
|
* @return the rotation matrix of this stuntdouble |
242 |
|
*/ |
243 |
|
RotMat3x3d getPrevA() { |
244 |
< |
return (snapshotMan_->getPrevSnapshot())->storage_->aMat[LocalIndex_]; |
244 |
> |
return (snapshotMan_->getPrevSnapshot())->storage_->aMat[localIndex_]; |
245 |
|
} |
246 |
|
|
247 |
|
/** |
249 |
|
* @return the rotation matrix of this stuntdouble |
250 |
|
*/ |
251 |
|
RotMat3x3d getA() { |
252 |
< |
return (snapshotMan_->getCurrentSnapshot())->storage_->aMat[LocalIndex_]; |
252 |
> |
return (snapshotMan_->getCurrentSnapshot())->storage_->aMat[localIndex_]; |
253 |
|
} |
254 |
|
|
255 |
|
/** |
259 |
|
* @param snapshotNo |
260 |
|
*/ |
261 |
|
RotMat3x3d getA(int snapshotNo) { |
262 |
< |
return (snapshotMan_->getSnapshot(snapShotNo))->storage_->aMat[LocalIndex_]; |
262 |
> |
return (snapshotMan_->getSnapshot(snapShotNo))->storage_->aMat[localIndex_]; |
263 |
|
} |
264 |
|
|
265 |
|
/** |
267 |
|
* @param a new rotation matrix |
268 |
|
* @see #getA |
269 |
|
*/ |
270 |
< |
void setPrevA(const RotMat3x3d& a) { |
271 |
< |
(snapshotMan_->getPrevSnapshot())->storage_->aMat[LocalIndex_] = a; |
270 |
> |
virtual void setPrevA(const RotMat3x3d& a) { |
271 |
> |
(snapshotMan_->getPrevSnapshot())->storage_->aMat[localIndex_] = a; |
272 |
|
} |
273 |
|
|
274 |
|
/** |
275 |
|
* Sets the current rotation matrix of this stuntdouble |
276 |
|
* @param a new rotation matrix |
277 |
|
*/ |
278 |
< |
void setA(const RotMat3x3d& a) { |
279 |
< |
(snapshotMan_->getCurrentSnapshot())->storage_->aMat[LocalIndex_] = a; |
278 |
> |
virtual void setA(const RotMat3x3d& a) { |
279 |
> |
(snapshotMan_->getCurrentSnapshot())->storage_->aMat[localIndex_] = a; |
280 |
|
} |
281 |
|
|
282 |
|
/** |
285 |
|
* @param snapshotNo |
286 |
|
* @see #getA |
287 |
|
*/ |
288 |
< |
void setA(const RotMat3x3d& a, int snapshotNo) { |
289 |
< |
(snapshotMan_->getSnapshot(snapshotNo))->storage_->a[LocalIndex_] = a; |
288 |
> |
virtual void setA(const RotMat3x3d& a, int snapshotNo) { |
289 |
> |
(snapshotMan_->getSnapshot(snapshotNo))->storage_->aMat[localIndex_] = a; |
290 |
|
} |
291 |
|
|
292 |
|
/** |
293 |
< |
* Returns the previous angular momentum of this stuntdouble |
293 |
> |
* Returns the previous angular momentum of this stuntdouble (body-fixed). |
294 |
|
* @return the angular momentum of this stuntdouble |
295 |
|
*/ |
296 |
|
Vector3d getPrevJ() { |
297 |
< |
return (snapshotMan_->getPrevSnapshot())->storage_->angularMomentum[LocalIndex_]; |
297 |
> |
return (snapshotMan_->getPrevSnapshot())->storage_->angularMomentum[localIndex_]; |
298 |
|
} |
299 |
|
|
300 |
|
/** |
301 |
< |
* Returns the current angular momentum of this stuntdouble |
301 |
> |
* Returns the current angular momentum of this stuntdouble (body -fixed). |
302 |
|
* @return the angular momentum of this stuntdouble |
303 |
|
*/ |
304 |
|
Vector3d getJ() { |
305 |
< |
return (snapshotMan_->getCurrentSnapshot())->storage_->angularMomentum[LocalIndex_]; |
305 |
> |
return (snapshotMan_->getCurrentSnapshot())->storage_->angularMomentum[localIndex_]; |
306 |
|
} |
307 |
|
|
308 |
|
/** |
309 |
< |
* Returns the angular momentum of this stuntdouble in specified snapshot |
309 |
> |
* Returns the angular momentum of this stuntdouble in specified snapshot (body-fixed). |
310 |
|
* @return the angular momentum of this stuntdouble |
311 |
|
* @param snapshotNo |
312 |
|
*/ |
313 |
|
Vector3d getJ(int snapshotNo) { |
314 |
< |
return (snapshotMan_->getSnapshot(snapShotNo))->storage_->angularMomentum[LocalIndex_]; |
314 |
> |
return (snapshotMan_->getSnapshot(snapShotNo))->storage_->angularMomentum[localIndex_]; |
315 |
|
} |
316 |
|
|
317 |
|
/** |
318 |
< |
* Sets the previous angular momentum of this stuntdouble |
318 |
> |
* Sets the previous angular momentum of this stuntdouble (body-fixed). |
319 |
|
* @param angMom new angular momentum |
320 |
|
* @see #getJ |
321 |
|
*/ |
322 |
|
void setPrevJ(const Vector3d& angMom) { |
323 |
< |
(snapshotMan_->getPrevSnapshot())->storage_->angularMomentum[LocalIndex_] = angMom; |
323 |
> |
(snapshotMan_->getPrevSnapshot())->storage_->angularMomentum[localIndex_] = angMom; |
324 |
|
} |
325 |
|
|
326 |
|
/** |
327 |
< |
* Sets the current angular momentum of this stuntdouble |
327 |
> |
* Sets the current angular momentum of this stuntdouble (body-fixed). |
328 |
|
* @param angMom new angular momentum |
329 |
|
*/ |
330 |
|
void setJ(const Vector3d& angMom) { |
331 |
< |
(snapshotMan_->getCurrentSnapshot())->storage_->angularMomentum[LocalIndex_] = angMom; |
331 |
> |
(snapshotMan_->getCurrentSnapshot())->storage_->angularMomentum[localIndex_] = angMom; |
332 |
|
} |
333 |
|
|
334 |
|
/** |
335 |
< |
* Sets the angular momentum of this stuntdouble in specified snapshot |
335 |
> |
* Sets the angular momentum of this stuntdouble in specified snapshot(body-fixed). |
336 |
|
* @param angMom angular momentum to be set |
337 |
|
* @param snapshotNo |
338 |
|
* @see #getJ |
339 |
|
*/ |
340 |
|
void setJ(const Vector3d& angMom, int snapshotNo) { |
341 |
< |
(snapshotMan_->getSnapshot(snapshotNo))->storage_->angularMomentum[LocalIndex_] = angMom; |
341 |
> |
(snapshotMan_->getSnapshot(snapshotNo))->storage_->angularMomentum[localIndex_] = angMom; |
342 |
|
} |
343 |
|
|
344 |
|
/** |
346 |
|
* @return the quaternion of this stuntdouble |
347 |
|
*/ |
348 |
|
Quat4d getPrevQ() { |
349 |
< |
return (snapshotMan_->getPrevSnapshot())->storage_->aMat[LocalIndex_].toQuaternion(); |
349 |
> |
return (snapshotMan_->getPrevSnapshot())->storage_->aMat[localIndex_].toQuaternion(); |
350 |
|
} |
351 |
|
|
352 |
|
/** |
354 |
|
* @return the quaternion of this stuntdouble |
355 |
|
*/ |
356 |
|
Quat4d getQ() { |
357 |
< |
return (snapshotMan_->getCurrentSnapshot())->storage_->aMat[LocalIndex_].toQuaternion(); |
357 |
> |
return (snapshotMan_->getCurrentSnapshot())->storage_->aMat[localIndex_].toQuaternion(); |
358 |
|
} |
359 |
|
|
360 |
|
/** |
363 |
|
* @param snapshotNo |
364 |
|
*/ |
365 |
|
Quat4d getQ(int snapshotNo) { |
366 |
< |
return (snapshotMan_->getSnapshot(snapShotNo))->storage_->aMat[LocalIndex_].toQuaternion(); |
366 |
> |
return (snapshotMan_->getSnapshot(snapShotNo))->storage_->aMat[localIndex_].toQuaternion(); |
367 |
|
} |
368 |
|
|
369 |
|
/** |
370 |
|
* Sets the previous quaternion of this stuntdouble |
371 |
|
* @param q new quaternion |
372 |
< |
* @see #getQ |
372 |
> |
* @note actual storage data is rotation matrix |
373 |
|
*/ |
374 |
|
void setPrevQ(const Quat4d& q) { |
375 |
< |
(snapshotMan_->getPrevSnapshot())->storage_->aMat[LocalIndex_] = q; |
375 |
> |
(snapshotMan_->getPrevSnapshot())->storage_->aMat[localIndex_] = q; |
376 |
|
} |
377 |
|
|
378 |
|
/** |
379 |
|
* Sets the current quaternion of this stuntdouble |
380 |
|
* @param q new quaternion |
381 |
+ |
* @note actual storage data is rotation matrix |
382 |
|
*/ |
383 |
|
void setQ(const Quat4d& q) { |
384 |
< |
(snapshotMan_->getCurrentSnapshot())->storage_->aMat[LocalIndex_] = q; |
384 |
> |
(snapshotMan_->getCurrentSnapshot())->storage_->aMat[localIndex_] = q; |
385 |
|
} |
386 |
|
|
387 |
|
/** |
389 |
|
* |
390 |
|
* @param q quaternion to be set |
391 |
|
* @param snapshotNo |
392 |
< |
* @see #getQ |
392 |
> |
* @note actual storage data is rotation matrix |
393 |
|
*/ |
394 |
|
void setQ(const Quat4d& q, int snapshotNo) { |
395 |
< |
(snapshotMan_->getSnapshot(snapshotNo))->storage_->aMat[LocalIndex_] = q; |
395 |
> |
(snapshotMan_->getSnapshot(snapshotNo))->storage_->aMat[localIndex_] = q; |
396 |
|
} |
397 |
|
|
398 |
|
/** |
400 |
|
* @return the euler angles of this stuntdouble |
401 |
|
*/ |
402 |
|
Vector3d getPrevEuler() { |
403 |
< |
return (snapshotMan_->getPrevSnapshot())->storage_->aMat[LocalIndex_].toEulerAngles(); |
403 |
> |
return (snapshotMan_->getPrevSnapshot())->storage_->aMat[localIndex_].toEulerAngles(); |
404 |
|
} |
405 |
|
|
406 |
|
/** |
408 |
|
* @return the euler angles of this stuntdouble |
409 |
|
*/ |
410 |
|
Vector3d getEuler() { |
411 |
< |
return (snapshotMan_->getCurrentSnapshot())->storage_->aMat[LocalIndex_].toEulerAngles(); |
411 |
> |
return (snapshotMan_->getCurrentSnapshot())->storage_->aMat[localIndex_].toEulerAngles(); |
412 |
|
} |
413 |
|
|
414 |
|
/** |
415 |
< |
* Returns the euler angles of this stuntdouble in specified snapshot |
415 |
< |
* |
415 |
> |
* Returns the euler angles of this stuntdouble in specified snapshot. |
416 |
|
* @return the euler angles of this stuntdouble |
417 |
|
* @param snapshotNo |
418 |
|
*/ |
419 |
|
Vector3d getEuler(int snapshotNo) { |
420 |
< |
return (snapshotMan_->getSnapshot(snapShotNo))->storage_->aMat[LocalIndex_].toEulerAngles(); |
420 |
> |
return (snapshotMan_->getSnapshot(snapShotNo))->storage_->aMat[localIndex_].toEulerAngles(); |
421 |
|
} |
422 |
|
|
423 |
|
/** |
424 |
< |
* Sets the previous euler angles of this stuntdouble |
425 |
< |
* |
424 |
> |
* Sets the previous euler angles of this stuntdouble. |
425 |
|
* @param euler new euler angles |
426 |
|
* @see #getEuler |
427 |
+ |
* @note actual storage data is rotation matrix |
428 |
|
*/ |
429 |
|
void setPrevEuler(const Vector3d& euler) { |
430 |
< |
(snapshotMan_->getPrevSnapshot())->storage_->aMat[LocalIndex_] = euler; |
430 |
> |
(snapshotMan_->getPrevSnapshot())->storage_->aMat[localIndex_] = euler; |
431 |
|
} |
432 |
|
|
433 |
|
/** |
435 |
|
* @param euler new euler angles |
436 |
|
*/ |
437 |
|
void setEuler(const Vector3d& euler) { |
438 |
< |
(snapshotMan_->getCurrentSnapshot())->storage_->aMat[LocalIndex_] = euler; |
438 |
> |
(snapshotMan_->getCurrentSnapshot())->storage_->aMat[localIndex_] = euler; |
439 |
|
} |
440 |
|
|
441 |
|
/** |
443 |
|
* |
444 |
|
* @param euler euler angles to be set |
445 |
|
* @param snapshotNo |
446 |
< |
* @see #getEuler |
446 |
> |
* @note actual storage data is rotation matrix |
447 |
|
*/ |
448 |
|
void setEuler(const Vector3d& euler, int snapshotNo) { |
449 |
< |
(snapshotMan_->getSnapshot(snapshotNo))->storage_->aMat[LocalIndex_] = euler; |
449 |
> |
(snapshotMan_->getSnapshot(snapshotNo))->storage_->aMat[localIndex_] = euler; |
450 |
|
} |
451 |
+ |
|
452 |
+ |
/** |
453 |
+ |
* Returns the previous unit vectors of this stuntdouble |
454 |
+ |
* @return the unit vectors of this stuntdouble |
455 |
+ |
*/ |
456 |
+ |
Vector3d getPrevUnitVector() { |
457 |
+ |
return (snapshotMan_->getPrevSnapshot())->storage_->unitVector[localIndex_]; |
458 |
+ |
} |
459 |
+ |
|
460 |
+ |
/** |
461 |
+ |
* Returns the current unit vectors of this stuntdouble |
462 |
+ |
* @return the unit vectors of this stuntdouble |
463 |
+ |
*/ |
464 |
+ |
Vector3d getUnitVector() { |
465 |
+ |
return (snapshotMan_->getCurrentSnapshot())->storage_->unitVector[localIndex_]; |
466 |
+ |
} |
467 |
|
|
468 |
|
/** |
469 |
+ |
* Returns the unit vectors of this stuntdouble in specified snapshot |
470 |
+ |
* |
471 |
+ |
* @return the unit vectors of this stuntdouble |
472 |
+ |
* @param snapshotNo |
473 |
+ |
*/ |
474 |
+ |
Vector3d getUnitVector(int snapshotNo) { |
475 |
+ |
return (snapshotMan_->getSnapshot(snapShotNo))->storage_->unitVector[localIndex_]; |
476 |
+ |
} |
477 |
+ |
|
478 |
+ |
/** |
479 |
|
* Returns the previous force of this stuntdouble |
480 |
|
* @return the force of this stuntdouble |
481 |
|
*/ |
482 |
|
Vector3d getPrevFrc() { |
483 |
< |
return (snapshotMan_->getPrevSnapshot())->storage_->force[LocalIndex_]; |
483 |
> |
return (snapshotMan_->getPrevSnapshot())->storage_->force[localIndex_]; |
484 |
|
} |
485 |
|
|
486 |
|
/** |
488 |
|
* @return the force of this stuntdouble |
489 |
|
*/ |
490 |
|
Vector3d getFrc() { |
491 |
< |
return (snapshotMan_->getCurrentSnapshot())->storage_->force[LocalIndex_]; |
491 |
> |
return (snapshotMan_->getCurrentSnapshot())->storage_->force[localIndex_]; |
492 |
|
} |
493 |
|
|
494 |
|
/** |
498 |
|
* @param snapshotNo |
499 |
|
*/ |
500 |
|
Vector3d getFrc(int snapshotNo) { |
501 |
< |
return (snapshotMan_->getSnapshot(snapShotNo))->storage_->force[LocalIndex_]; |
501 |
> |
return (snapshotMan_->getSnapshot(snapShotNo))->storage_->force[localIndex_]; |
502 |
|
} |
503 |
|
|
504 |
|
/** |
508 |
|
* @see #getFrc |
509 |
|
*/ |
510 |
|
void setPrevFrc(const Vector3d& frc) { |
511 |
< |
(snapshotMan_->getPrevSnapshot())->storage_->force[LocalIndex_] = frc; |
511 |
> |
(snapshotMan_->getPrevSnapshot())->storage_->force[localIndex_] = frc; |
512 |
|
} |
513 |
|
|
514 |
|
/** |
516 |
|
* @param frc new force |
517 |
|
*/ |
518 |
|
void setFrc(const Vector3d& frc) { |
519 |
< |
(snapshotMan_->getCurrentSnapshot())->storage_->force[LocalIndex_] = frc; |
519 |
> |
(snapshotMan_->getCurrentSnapshot())->storage_->force[localIndex_] = frc; |
520 |
|
} |
521 |
|
|
522 |
|
/** |
527 |
|
* @see #getFrc |
528 |
|
*/ |
529 |
|
void setFrc(const Vector3d& frc, int snapshotNo) { |
530 |
< |
(snapshotMan_->getSnapshot(snapshotNo))->storage_->force[LocalIndex_] = frc; |
530 |
> |
(snapshotMan_->getSnapshot(snapshotNo))->storage_->force[localIndex_] = frc; |
531 |
|
} |
532 |
|
|
533 |
|
/** |
537 |
|
* @see #getFrc |
538 |
|
*/ |
539 |
|
void setPrevFrc(const Vector3d& frc) { |
540 |
< |
(snapshotMan_->getPrevSnapshot())->storage_->force[LocalIndex_] += frc; |
540 |
> |
(snapshotMan_->getPrevSnapshot())->storage_->force[localIndex_] += frc; |
541 |
|
} |
542 |
|
|
543 |
|
/** |
545 |
|
* @param frc new force |
546 |
|
*/ |
547 |
|
void setFrc(const Vector3d& frc) { |
548 |
< |
(snapshotMan_->getCurrentSnapshot())->storage_->force[LocalIndex_] += frc; |
548 |
> |
(snapshotMan_->getCurrentSnapshot())->storage_->force[localIndex_] += frc; |
549 |
|
} |
550 |
|
|
551 |
|
/** |
556 |
|
* @see #getFrc |
557 |
|
*/ |
558 |
|
void setFrc(const Vector3d& frc, int snapshotNo) { |
559 |
< |
(snapshotMan_->getSnapshot(snapshotNo))->storage_->force[LocalIndex_] += frc; |
559 |
> |
(snapshotMan_->getSnapshot(snapshotNo))->storage_->force[localIndex_] += frc; |
560 |
|
} |
561 |
|
|
562 |
|
/** |
564 |
|
* @return the torque of this stuntdouble |
565 |
|
*/ |
566 |
|
Vector3d getPrevTrq() { |
567 |
< |
return (snapshotMan_->getPrevSnapshot())->storage_->torque[LocalIndex_]; |
567 |
> |
return (snapshotMan_->getPrevSnapshot())->storage_->torque[localIndex_]; |
568 |
|
} |
569 |
|
|
570 |
|
/** |
572 |
|
* @return the torque of this stuntdouble |
573 |
|
*/ |
574 |
|
Vector3d getTrq() { |
575 |
< |
return (snapshotMan_->getCurrentSnapshot())->storage_->torque[LocalIndex_]; |
575 |
> |
return (snapshotMan_->getCurrentSnapshot())->storage_->torque[localIndex_]; |
576 |
|
} |
577 |
|
|
578 |
|
/** |
582 |
|
* @param snapshotNo |
583 |
|
*/ |
584 |
|
Vector3d getTrq(int snapshotNo) { |
585 |
< |
return (snapshotMan_->getSnapshot(snapShotNo))->storage_->torque[LocalIndex_]; |
585 |
> |
return (snapshotMan_->getSnapshot(snapShotNo))->storage_->torque[localIndex_]; |
586 |
|
} |
587 |
|
|
588 |
|
/** |
592 |
|
* @see #getTrq |
593 |
|
*/ |
594 |
|
void setPrevTrq(const Vector3d& trq) { |
595 |
< |
(snapshotMan_->getPrevSnapshot())->storage_->torque[LocalIndex_] = trq; |
595 |
> |
(snapshotMan_->getPrevSnapshot())->storage_->torque[localIndex_] = trq; |
596 |
|
} |
597 |
|
|
598 |
|
/** |
600 |
|
* @param trq new torque |
601 |
|
*/ |
602 |
|
void setTrq(const Vector3d& trq) { |
603 |
< |
(snapshotMan_->getCurrentSnapshot())->storage_->torque[LocalIndex_] = trq; |
603 |
> |
(snapshotMan_->getCurrentSnapshot())->storage_->torque[localIndex_] = trq; |
604 |
|
} |
605 |
|
|
606 |
|
/** |
611 |
|
* @see #getTrq |
612 |
|
*/ |
613 |
|
void setTrq(const Vector3d& trq, int snapshotNo) { |
614 |
< |
(snapshotMan_->getSnapshot(snapshotNo))->storage_->torque[LocalIndex_] = trq; |
614 |
> |
(snapshotMan_->getSnapshot(snapshotNo))->storage_->torque[localIndex_] = trq; |
615 |
|
} |
616 |
|
|
617 |
|
/** |
621 |
|
* @see #getTrq |
622 |
|
*/ |
623 |
|
void addPrevTrq(const Vector3d& trq) { |
624 |
< |
(snapshotMan_->getPrevSnapshot())->storage_->torque[LocalIndex_] += trq; |
624 |
> |
(snapshotMan_->getPrevSnapshot())->storage_->torque[localIndex_] += trq; |
625 |
|
} |
626 |
|
|
627 |
|
/** |
629 |
|
* @param trq new torque |
630 |
|
*/ |
631 |
|
void addTrq(const Vector3d& trq) { |
632 |
< |
(snapshotMan_->getCurrentSnapshot())->storage_->torque[LocalIndex_] += trq; |
632 |
> |
(snapshotMan_->getCurrentSnapshot())->storage_->torque[localIndex_] += trq; |
633 |
|
} |
634 |
|
|
635 |
|
/** |
640 |
|
* @see #getTrq |
641 |
|
*/ |
642 |
|
void addTrq(const Vector3d& trq, int snapshotNo) { |
643 |
< |
(snapshotMan_->getSnapshot(snapshotNo))->storage_->torque[LocalIndex_] += trq; |
643 |
> |
(snapshotMan_->getSnapshot(snapshotNo))->storage_->torque[localIndex_] += trq; |
644 |
|
} |
645 |
|
|
646 |
|
|
649 |
|
* @return the z-angle of this stuntdouble |
650 |
|
*/ |
651 |
|
Vector3d getPrevZangle() { |
652 |
< |
return (snapshotMan_->getPrevSnapshot())->storage_->zAngle[LocalIndex_]; |
652 |
> |
return (snapshotMan_->getPrevSnapshot())->storage_->zAngle[localIndex_]; |
653 |
|
} |
654 |
|
|
655 |
|
/** |
657 |
|
* @return the z-angle of this stuntdouble |
658 |
|
*/ |
659 |
|
Vector3d getZangle() { |
660 |
< |
return (snapshotMan_->getCurrentSnapshot())->storage_->zAngle[LocalIndex_]; |
660 |
> |
return (snapshotMan_->getCurrentSnapshot())->storage_->zAngle[localIndex_]; |
661 |
|
} |
662 |
|
|
663 |
|
/** |
666 |
|
* @param snapshotNo |
667 |
|
*/ |
668 |
|
Vector3d getZangle(int snapshotNo) { |
669 |
< |
return (snapshotMan_->getSnapshot(snapShotNo))->storage_->zAngle[LocalIndex_]; |
669 |
> |
return (snapshotMan_->getSnapshot(snapShotNo))->storage_->zAngle[localIndex_]; |
670 |
|
} |
671 |
|
|
672 |
|
/** |
675 |
|
* @see #getZangle |
676 |
|
*/ |
677 |
|
void setPrevZangle(const Vector3d& angle) { |
678 |
< |
(snapshotMan_->getPrevSnapshot())->storage_->zAngle[LocalIndex_] = angle; |
678 |
> |
(snapshotMan_->getPrevSnapshot())->storage_->zAngle[localIndex_] = angle; |
679 |
|
} |
680 |
|
|
681 |
|
/** |
683 |
|
* @param angle new z-angle |
684 |
|
*/ |
685 |
|
void setZangle(const Vector3d& angle) { |
686 |
< |
(snapshotMan_->getCurrentSnapshot())->storage_->zAngle[LocalIndex_] = angle; |
686 |
> |
(snapshotMan_->getCurrentSnapshot())->storage_->zAngle[localIndex_] = angle; |
687 |
|
} |
688 |
|
|
689 |
|
/** |
693 |
|
* @see #getZangle |
694 |
|
*/ |
695 |
|
void setZangle(const Vector3d& angle, int snapshotNo) { |
696 |
< |
(snapshotMan_->getSnapshot(snapshotNo))->storage_->zAngle[LocalIndex_] = angle; |
696 |
> |
(snapshotMan_->getSnapshot(snapshotNo))->storage_->zAngle[localIndex_] = angle; |
697 |
|
} |
698 |
|
|
699 |
|
/** |
702 |
|
* @see #getZangle |
703 |
|
*/ |
704 |
|
void addPrevZangle(const Vector3d& angle) { |
705 |
< |
(snapshotMan_->getPrevSnapshot())->storage_->zAngle[LocalIndex_] += angle; |
705 |
> |
(snapshotMan_->getPrevSnapshot())->storage_->zAngle[localIndex_] += angle; |
706 |
|
} |
707 |
|
|
708 |
|
/** |
710 |
|
* @param angle new z-angle |
711 |
|
*/ |
712 |
|
void addZangle(const Vector3d& angle) { |
713 |
< |
(snapshotMan_->getCurrentSnapshot())->storage_->zAngle[LocalIndex_] += angle; |
713 |
> |
(snapshotMan_->getCurrentSnapshot())->storage_->zAngle[localIndex_] += angle; |
714 |
|
} |
715 |
|
|
716 |
|
/** |
720 |
|
* @see #getZangle |
721 |
|
*/ |
722 |
|
void addZangle(const Vector3d& angle, int snapshotNo) { |
723 |
< |
(snapshotMan_->getSnapshot(snapshotNo))->storage_->zAngle[LocalIndex_] += angle; |
723 |
> |
(snapshotMan_->getSnapshot(snapshotNo))->storage_->zAngle[localIndex_] += angle; |
724 |
|
} |
725 |
|
|
726 |
|
/** |
727 |
|
* Returns the inertia tensor of this stuntdouble |
728 |
|
* @return the inertia tensor of this stuntdouble |
703 |
– |
* @see #setI |
729 |
|
*/ |
730 |
|
virtual Mat3x3d getI() = 0; |
731 |
|
|
732 |
|
/** |
708 |
– |
* Sets the inertia tensor of this stuntdouble |
709 |
– |
* @param trq new inertia tensor |
710 |
– |
* @see #getI |
711 |
– |
*/ |
712 |
– |
virtual void setI(Mat3x3d& I) = 0; |
713 |
– |
|
714 |
– |
/** |
733 |
|
* Returns the gradient of this stuntdouble |
734 |
< |
* @return the inertia tensor of this stuntdouble |
717 |
< |
* @see #setI |
734 |
> |
* @return the gradient of this stuntdouble |
735 |
|
*/ |
736 |
|
virtual std::vector<double> getGrad() = 0; |
737 |
|
|
778 |
|
void setType(const std::string& name); |
779 |
|
|
780 |
|
/** |
781 |
< |
* Converts a lab fixed vector to a body fixed vector |
782 |
< |
* @v lab fixed vector. On return, it will store body fixed vector |
781 |
> |
* Converts a lab fixed vector to a body fixed vector. |
782 |
> |
* @return body fixed vector |
783 |
> |
* @param v lab fixed vector |
784 |
|
*/ |
785 |
< |
void lab2Body(Vector3d& v); |
785 |
> |
Vector3d lab2Body(const Vector3d& v); |
786 |
|
|
787 |
|
/** |
788 |
< |
* Converts a body fixed vector to a lab fixed vector |
789 |
< |
* @v body fixed vector. On return, it will store lab fixed vector |
788 |
> |
* Converts a body fixed vector to a lab fixed vector. |
789 |
> |
* @return corresponding lab fixed vector |
790 |
> |
* @param v body fixed vector |
791 |
|
*/ |
792 |
< |
void body2Lab(Vector3d& v); |
792 |
> |
Vector3d body2Lab(const Vector3d& v); |
793 |
|
/** |
794 |
|
* <p> |
795 |
|
* The purpose of the Visitor Pattern is to encapsulate an operation that you want to perform on |