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Comparing trunk/OOPSE-3.0/test/brains/StuntDouble.hpp (file contents):
Revision 1639 by tim, Fri Oct 22 23:09:57 2004 UTC vs.
Revision 1691 by tim, Mon Nov 1 19:57:07 2004 UTC

# Line 22 | Line 22
22   * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.
23   *
24   */
25 +
26 + /**
27 + * @file StuntDouble.hpp
28 + * @author    tlin
29 + * @date  10/22/2004
30 + * @version 1.0
31 + */
32 +  
33   #ifndef _STUNTDOUBLE_HPP_
34   #define _STUNTDOUBLE_HPP_
35  
36   #include <vector>
37  
38 < #include <core/BaseVisitor.hpp>
39 < #include <math/Quaternion.hpp>
40 < #include <math/Mat3x3d.hpp>
41 < #include <math/Vector3d.hpp>
42 < #include <util/PropertyMap.hpp>
43 <
38 > #include "visitors/BaseVisitor.hpp"
39 > #include "math/Quaternion.hpp"
40 > #include "math/SquareMatrix3.hpp"
41 > #include "math/Vector3.hpp"
42 > #include "utils/PropertyMap.hpp"
43 > #include "brains/SnapshotManager.hpp"
44   namespace oopse{
45  
46 +
47 +  
48    /**
49 <   * The base class for atom types. Typically, atom types are used to descibe the behavior of an atom
50 <   * of a element in differnet enviroment. In OOPSE, atom types are also used to represent the coarse-
51 <   * grainded atom
52 <   * @author    tlin
53 <   * @date  09/08/2004
54 <   * @version 1.0
49 >   * @class StuntDouble StuntDouble.hpp "Primitives/StuntDouble.hpp"
50 >   * @brief
51 >   * StuntDouble is a very strange idea.  A StuntDouble stands in for
52 >   * some object that can be manipulated by the Integrators or
53 >   * Minimizers.  Some of the manipulable objects are Atoms, some are
54 >   * DirectionalAtoms, and some are RigidBodies.  StuntDouble
55 >   * provides an interface for the Integrators and Minimizers to use,
56 >   * and does some preliminary sanity checking so that the program
57 >   * doesn't try to do something stupid like torque an Atom
58 >   * @note the dynamoc data of stuntdouble will be stored outside of the class
59     */
46 –
47 –  /*
48 –   * Design Decision:
49 –   * the member data of stuntdouble will be stored outside of the class
50 –   */
60     class StuntDouble{
61 <    public:    
61 >   public:    
62  
63 +        enum ObjectType{
64 +            otAtom,
65 +            otDAtom,
66 +            otRigidBody
67 +        };
68 +
69 +        virtual ~StuntDouble();
70 +        
71          /**
72           * Returns the global index of this stuntdouble.
73           * @return  the global index of this stuntdouble
# Line 63 | Line 80 | namespace oopse{
80           * Sets the global index of this stuntdouble.
81           * @param new global index to be set
82           */
83 <        void setGlobalIndex(int index) {
83 >        int setGlobalIndex(int index) {
84              return globalIndex_;
85          }
86          
# Line 83 | Line 100 | namespace oopse{
100              localIndex_ = index;
101          }
102  
103 +        /**
104 +         * Tests if this stuntdouble is an atom
105 +         * @return true is this stuntdouble is an atom(or a directional atom), return false otherwise
106 +         */
107 +        bool isAtom(){
108 +            return objType_ == otAtom || objType_ == otDAtom;
109 +        }
110 +
111 +        /**
112 +         * Tests if this stuntdouble is an directional atom
113 +         * @return true if this stuntdouble is an directional atom, return false otherwise
114 +         */
115 +        bool isDirectionalAtom(){
116 +            return objType_ == otDAtom;
117 +        }
118 +
119 +        /**
120 +         * Tests if this stuntdouble is a rigid body.
121 +         * @return true if this stuntdouble is a rigid body, otherwise return false
122 +         */
123 +        bool isRigidBody(){
124 +            return objType_ == otRigidBody;
125 +        }
126 +
127 +        /**
128 +         * Tests if this stuntdouble is a directional one.
129 +         * @return true is this stuntdouble is a directional atom or a rigid body, return false otherwise
130 +         */
131 +        bool isDirectional(){
132 +            return isDirectionalAtom() || isRigidBody();
133 +        }
134 +
135         /**
136 <         * Returns  the previous position of this stuntdouble
136 >         * Returns the previous position of this stuntdouble
137           * @return the position of this stuntdouble
138           */    
139 <        void Vector3d getPrevPos() {
140 <            return (snapshotMan_->getPrevSnapshot())->storage->position[localId_];
139 >        Vector3d getPrevPos() {
140 >            return ((snapshotMan_->getPrevSnapshot())->*storage_).position[localIndex_];
141          }
142        
143          /**
144 <         * Returns  the current position of this stuntdouble
144 >         * Returns the current position of this stuntdouble
145           * @return the position of this stuntdouble
146           */    
147 <        void Vector3d getPos() {
148 <            return (snapshotMan_->getCurrentSnapshot())->storage->position[localId_];
147 >        Vector3d getPos() {
148 >            return ((snapshotMan_->getCurrentSnapshot())->*storage_).position[localIndex_];
149          }
150  
151         /**
152 <         * Returns  the position of this stuntdouble in specified snapshot
104 <         *
152 >         * Returns the position of this stuntdouble in specified snapshot
153           * @return the position of this stuntdouble
154           * @param snapshotNo
155           */    
156          Vector3d getPos(int snapshotNo) {
157 <            return (snapshotMan_->getSnapshot(snapShotNo))->storage->position[localId_];
157 >            return ((snapshotMan_->getSnapshot(snapshotNo))->*storage_).position[localIndex_];
158          }
159  
160         /**
161           * Sets  the previous position of this stuntdouble
114 –         *
162           * @param pos  new position
163           * @see #getPos
164           */        
165         void setPrevPos(const Vector3d& pos) {
166 <            (snapshotMan_->getPrevSnapshot())->storage->position[localId_] = pos;
166 >            ((snapshotMan_->getPrevSnapshot())->*storage_).position[localIndex_] = pos;
167         }
168        
169         /**
# Line 124 | Line 171 | namespace oopse{
171           * @param pos  new position
172           */        
173          void setPos(const Vector3d& pos) {
174 <            (snapshotMan_->getCurrentSnapshot())->storage->position[localId_] = pos;
174 >            ((snapshotMan_->getCurrentSnapshot())->*storage_).position[localIndex_] = pos;
175          }
176  
177         /**
178           * Sets  the position of this stuntdouble in specified snapshot
132 –         *
179           * @param pos position to be set
180           * @param snapshotNo
181           * @see #getPos
182           */        
183          void setPos(const Vector3d& pos, int snapshotNo) {
184 <            (snapshotMan_->getSnapshot(snapshotNo))->storage->position[localId_] = pos;
184 >            ((snapshotMan_->getSnapshot(snapshotNo))->*storage_).position[localIndex_] = pos;
185          }
186        
187         /**
188 <         * Returns  the previous velocity of this stuntdouble
188 >         * Returns the previous velocity of this stuntdouble
189           * @return the velocity of this stuntdouble
190           */    
191          Vector3d getPrevVel() {
192 <            return (snapshotMan_->getPrevSnapshot())->storage->velocity[localId_];
192 >            return ((snapshotMan_->getPrevSnapshot())->*storage_).velocity[localIndex_];
193          }
194        
195          /**
196 <         * Returns  the current velocity of this stuntdouble
196 >         * Returns the current velocity of this stuntdouble
197           * @return the velocity of this stuntdouble
198           */    
199          Vector3d getVel() {
200 <            return (snapshotMan_->getCurrentSnapshot())->storage->velocity[localId_];
200 >            return ((snapshotMan_->getCurrentSnapshot())->*storage_).velocity[localIndex_];
201          }
202  
203         /**
204 <         * Returns  the velocity of this stuntdouble in specified snapshot
159 <         *
204 >         * Returns the velocity of this stuntdouble in specified snapshot
205           * @return the velocity of this stuntdouble
206           * @param snapshotNo
207           */    
208           Vector3d getVel(int snapshotNo) {
209 <            return (snapshotMan_->getSnapshot(snapShotNo))->storage->velocity[localId_];
209 >            return ((snapshotMan_->getSnapshot(snapshotNo))->*storage_).velocity[localIndex_];
210          }
211  
212         /**
213           * Sets  the previous velocity of this stuntdouble
169 –         *
214           * @param vel  new velocity
215           * @see #getVel
216           */        
217         void setPrevVel(const Vector3d& vel) {
218 <            (snapshotMan_->getPrevSnapshot())->storage->velocity[localId_] = vel;
218 >            ((snapshotMan_->getPrevSnapshot())->*storage_).velocity[localIndex_] = vel;
219         }
220        
221         /**
# Line 179 | Line 223 | namespace oopse{
223           * @param vel  new velocity
224           */        
225          void setVel(const Vector3d& vel) {
226 <            (snapshotMan_->getCurrentSnapshot())->storage->velocity[localId_] = vel;
226 >            ((snapshotMan_->getCurrentSnapshot())->*storage_).velocity[localIndex_] = vel;
227          }
228  
229         /**
230           * Sets  the velocity of this stuntdouble in specified snapshot
187 –         *
231           * @param vel velocity to be set
232           * @param snapshotNo
233           * @see #getVel
234           */        
235          void setVel(const Vector3d& vel, int snapshotNo) {
236 <            (snapshotMan_->getSnapshot(snapshotNo))->storage->velocity[localId_] = vel;
236 >            ((snapshotMan_->getSnapshot(snapshotNo))->*storage_).velocity[localIndex_] = vel;
237          }
238  
239         /**
240 <         * Returns  the previous rotation matrix of this stuntdouble
240 >         * Returns the previous rotation matrix of this stuntdouble
241           * @return the rotation matrix of this stuntdouble
242           */    
243          RotMat3x3d getPrevA() {
244 <            return (snapshotMan_->getPrevSnapshot())->storage->aMat[localId_];
244 >            return ((snapshotMan_->getPrevSnapshot())->*storage_).aMat[localIndex_];
245          }
246        
247          /**
248 <         * Returns  the current rotation matrix of this stuntdouble
248 >         * Returns the current rotation matrix of this stuntdouble
249           * @return the rotation matrix of this stuntdouble
250           */    
251          RotMat3x3d getA() {
252 <            return (snapshotMan_->getCurrentSnapshot())->storage->aMat[localId_];
252 >            return ((snapshotMan_->getCurrentSnapshot())->*storage_).aMat[localIndex_];
253          }
254  
255         /**
256 <         * Returns  the rotation matrix of this stuntdouble in specified snapshot
256 >         * Returns the rotation matrix of this stuntdouble in specified snapshot
257           *
258           * @return the rotation matrix of this stuntdouble
259           * @param snapshotNo
260           */    
261           RotMat3x3d getA(int snapshotNo) {
262 <            return (snapshotMan_->getSnapshot(snapShotNo))->storage->aMat[localId_];
262 >            return ((snapshotMan_->getSnapshot(snapshotNo))->*storage_).aMat[localIndex_];
263          }
264  
265         /**
266           * Sets  the previous rotation matrix of this stuntdouble
224 –         *
267           * @param a  new rotation matrix
268           * @see #getA
269           */        
270 <       void setPrevA(const RotMat3x3d& a) {
271 <            (snapshotMan_->getPrevSnapshot())->storage->aMat[localId_] = 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[localId_] = a;
278 >        virtual void setA(const RotMat3x3d& a) {
279 >            ((snapshotMan_->getCurrentSnapshot())->*storage_).aMat[localIndex_] = a;
280          }
281  
282         /**
283           * Sets  the rotation matrix of this stuntdouble in specified snapshot
242 –         *
284           * @param a rotation matrix to be set
285           * @param snapshotNo
286           * @see #getA
287           */        
288 <        void setA(const RotMat3x3d& a, int snapshotNo) {
289 <            (snapshotMan_->getSnapshot(snapshotNo))->storage->a[localId_] = 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[localId_];
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[localId_];
305 >            return ((snapshotMan_->getCurrentSnapshot())->*storage_).angularMomentum[localIndex_];
306          }
307  
308         /**
309 <         * Returns  the angular momentum of this stuntdouble in specified snapshot
269 <         *
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[localId_];
314 >            return ((snapshotMan_->getSnapshot(snapshotNo))->*storage_).angularMomentum[localIndex_];
315          }
316  
317         /**
318 <         * Sets  the previous angular momentum of this stuntdouble
279 <         *
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[localId_] = 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[localId_] = angMom;
331 >            ((snapshotMan_->getCurrentSnapshot())->*storage_).angularMomentum[localIndex_] = angMom;
332          }
333  
334         /**
335 <         * Sets the angular momentum of this stuntdouble in specified snapshot
297 <         *
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[localId_] = angMom;
341 >            ((snapshotMan_->getSnapshot(snapshotNo))->*storage_).angularMomentum[localIndex_] = angMom;
342          }
343          
344         /**
345 <         * Returns  the previous quaternion of this stuntdouble
345 >         * Returns the previous quaternion of this stuntdouble
346           * @return the quaternion of this stuntdouble
347           */    
348          Quat4d getPrevQ() {
349 <            return (snapshotMan_->getPrevSnapshot())->storage->aMat[localId_].toQuaternion();
349 >            return ((snapshotMan_->getPrevSnapshot())->*storage_).aMat[localIndex_].toQuaternion();
350          }
351        
352          /**
353 <         * Returns  the current quaternion of this stuntdouble
353 >         * Returns the current quaternion of this stuntdouble
354           * @return the quaternion of this stuntdouble
355           */    
356          Quat4d getQ() {
357 <            return (snapshotMan_->getCurrentSnapshot())->storage->aMat[localId_].toQuaternion();
357 >            return ((snapshotMan_->getCurrentSnapshot())->*storage_).aMat[localIndex_].toQuaternion();
358          }
359  
360         /**
361 <         * Returns  the quaternion of this stuntdouble in specified snapshot
324 <         *
361 >         * Returns the quaternion of this stuntdouble in specified snapshot
362           * @return the quaternion of this stuntdouble
363           * @param snapshotNo
364           */    
365           Quat4d getQ(int snapshotNo) {
366 <            return (snapshotMan_->getSnapshot(snapShotNo))->storage->aMat[localId_].toQuaternion();
366 >            return ((snapshotMan_->getSnapshot(snapshotNo))->*storage_).aMat[localIndex_].toQuaternion();
367          }
368  
369         /**
370           * Sets  the previous quaternion of this stuntdouble
334 –         *
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[localId_] = 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[localId_] = q;
384 >            ((snapshotMan_->getCurrentSnapshot())->*storage_).aMat[localIndex_] = q;
385          }
386  
387         /**
# Line 352 | Line 389 | namespace oopse{
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[localId_] = q;
395 >            ((snapshotMan_->getSnapshot(snapshotNo))->*storage_).aMat[localIndex_] = q;
396          }
397 +
398 +       /**
399 +         * Returns the previous euler angles of this stuntdouble
400 +         * @return the euler angles of this stuntdouble
401 +         */    
402 +        Vector3d getPrevEuler() {
403 +            return ((snapshotMan_->getPrevSnapshot())->*storage_).aMat[localIndex_].toEulerAngles();
404 +        }
405        
406 +        /**
407 +         * Returns the current euler angles of this stuntdouble
408 +         * @return the euler angles of this stuntdouble
409 +         */    
410 +        Vector3d getEuler() {
411 +            return ((snapshotMan_->getCurrentSnapshot())->*storage_).aMat[localIndex_].toEulerAngles();
412 +        }
413 +
414         /**
415 <         * Returns the force of this stuntdouble
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();
421 >        }
422 >
423 >       /**
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;
431 >       }
432 >      
433 >       /**
434 >         * Sets  the current euler angles of this stuntdouble
435 >         * @param euler  new euler angles
436 >         */        
437 >        void setEuler(const Vector3d& euler) {
438 >            ((snapshotMan_->getCurrentSnapshot())->*storage_).aMat[localIndex_] = euler;
439 >        }
440 >
441 >       /**
442 >         * Sets  the euler angles  of this stuntdouble in specified snapshot
443           *
444 <         * @return the quaternion of this stuntdouble
444 >         * @param euler euler angles to be set
445 >         * @param snapshotNo
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;
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 <         * @see #setFrc
472 <         * @see #addFrc
473 <         */
474 <        virtual Vector3d getFrc() = 0;
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 <         * Sets the force of this stuntdouble
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_];
484 >        }
485 >      
486 >        /**
487 >         * Returns the current force of this stuntdouble
488 >         * @return the force of this stuntdouble
489 >         */    
490 >        Vector3d getFrc() {
491 >            return ((snapshotMan_->getCurrentSnapshot())->*storage_).force[localIndex_];
492 >        }
493 >
494 >       /**
495 >         * Returns the force of this stuntdouble in specified snapshot
496           *
497 <         * @param frc new force
497 >         * @return the force of this stuntdouble
498 >         * @param snapshotNo
499 >         */    
500 >         Vector3d getFrc(int snapshotNo) {
501 >            return ((snapshotMan_->getSnapshot(snapshotNo))->*storage_).force[localIndex_];
502 >        }
503 >
504 >       /**
505 >         * Sets  the previous force of this stuntdouble
506           *
507 +         * @param frc  new force
508           * @see #getFrc
509 <         * @see #addFrc
510 <         */    
511 <        virtual void setFrc(Vector3d& frc) = 0;
509 >         */        
510 >       void setPrevFrc(const Vector3d& frc) {
511 >            ((snapshotMan_->getPrevSnapshot())->*storage_).force[localIndex_] = frc;
512 >       }
513 >      
514 >       /**
515 >         * Sets  the current force of this stuntdouble
516 >         * @param frc  new force
517 >         */        
518 >        void setFrc(const Vector3d& frc) {
519 >            ((snapshotMan_->getCurrentSnapshot())->*storage_).force[localIndex_] = frc;
520 >        }
521  
522         /**
523 <         * Adds the force into this stuntdouble
523 >         * Sets  the force of this stuntdouble in specified snapshot
524           *
525 <         * @param frc  force to be added
525 >         * @param frc force to be set
526 >         * @param snapshotNo
527 >         * @see #getFrc
528 >         */        
529 >        void setFrc(const Vector3d& frc, int snapshotNo) {
530 >            ((snapshotMan_->getSnapshot(snapshotNo))->*storage_).force[localIndex_] = frc;
531 >        }
532 >
533 >       /**
534 >         * Adds force into the previous force of this stuntdouble
535           *
536 +         * @param frc  new force
537           * @see #getFrc
538 <         * @see #setFrc
539 <         */          
540 <        virtual void addFrc(Vector3d& frc) = 0;
538 >         */        
539 >       void addPrevFrc(const Vector3d& frc) {
540 >            ((snapshotMan_->getPrevSnapshot())->*storage_).force[localIndex_] += frc;
541 >       }
542 >      
543 >       /**
544 >         * Adds force into the current force of this stuntdouble
545 >         * @param frc  new force
546 >         */        
547 >        void addFrc(const Vector3d& frc) {
548 >            ((snapshotMan_->getCurrentSnapshot())->*storage_).force[localIndex_] += frc;
549 >        }
550  
551         /**
552 <         * Returns the torque of this stuntdouble
553 <         *
552 >         * Adds force into the force of this stuntdouble in specified snapshot
553 >         *
554 >         * @param frc force to be set
555 >         * @param snapshotNo
556 >         * @see #getFrc
557 >         */        
558 >        void addFrc(const Vector3d& frc, int snapshotNo) {
559 >            ((snapshotMan_->getSnapshot(snapshotNo))->*storage_).force[localIndex_] += frc;
560 >        }
561 >
562 >       /**
563 >         * Returns the previous torque of this stuntdouble
564           * @return the torque of this stuntdouble
565 +         */    
566 +        Vector3d getPrevTrq() {
567 +            return ((snapshotMan_->getPrevSnapshot())->*storage_).torque[localIndex_];
568 +        }
569 +      
570 +        /**
571 +         * Returns the current torque of this stuntdouble
572 +         * @return the torque of this stuntdouble
573 +         */    
574 +        Vector3d getTrq() {
575 +            return ((snapshotMan_->getCurrentSnapshot())->*storage_).torque[localIndex_];
576 +        }
577 +
578 +       /**
579 +         * Returns the torque of this stuntdouble in specified snapshot
580           *
581 <         * @see #setTrq
582 <         * @see #addTrq
583 <         */
584 <        virtual Vector3d getTrq() = 0;
581 >         * @return the torque of this stuntdouble
582 >         * @param snapshotNo
583 >         */    
584 >         Vector3d getTrq(int snapshotNo) {
585 >            return ((snapshotMan_->getSnapshot(snapshotNo))->*storage_).torque[localIndex_];
586 >        }
587  
588         /**
589 <         * Sets the torque of this stuntdouble
589 >         * Sets  the previous torque of this stuntdouble
590           *
591 <         * @param trq new torque
405 <         *
591 >         * @param trq  new torque
592           * @see #getTrq
593 <         * @see #addTrq
594 <         */      
595 <        virtual void setTrq(Vector3d& trq) = 0;
593 >         */        
594 >       void setPrevTrq(const Vector3d& trq) {
595 >            ((snapshotMan_->getPrevSnapshot())->*storage_).torque[localIndex_] = trq;
596 >       }
597 >      
598 >       /**
599 >         * Sets  the current torque of this stuntdouble
600 >         * @param trq  new torque
601 >         */        
602 >        void setTrq(const Vector3d& trq) {
603 >            ((snapshotMan_->getCurrentSnapshot())->*storage_).torque[localIndex_] = trq;
604 >        }
605  
606         /**
607 <         * Adds the torque into this stuntdouble
607 >         * Sets  the torque of this stuntdouble in specified snapshot
608           *
609 <         * @param trq  torque to be added
610 <         *
609 >         * @param trq torque to be set
610 >         * @param snapshotNo
611           * @see #getTrq
612 <         * @see #setTrq
613 <         */
614 <        virtual void addTrq(Vector3d& trq) = 0;
612 >         */        
613 >        void setTrq(const Vector3d& trq, int snapshotNo) {
614 >            ((snapshotMan_->getSnapshot(snapshotNo))->*storage_).torque[localIndex_] = trq;
615 >        }
616  
617         /**
618 <         * Returns the inertia tensor of this stuntdouble
618 >         * Adds torque into the previous torque of this stuntdouble
619           *
620 <         * @return the inertia tensor of this stuntdouble
621 <         *
622 <         * @see #setI
623 <         */
624 <        virtual Mat3x3d getI() = 0;
620 >         * @param trq  new torque
621 >         * @see #getTrq
622 >         */        
623 >       void addPrevTrq(const Vector3d& trq) {
624 >            ((snapshotMan_->getPrevSnapshot())->*storage_).torque[localIndex_] += trq;
625 >       }
626 >      
627 >       /**
628 >         * Adds torque into the current torque of this stuntdouble
629 >         * @param trq  new torque
630 >         */        
631 >        void addTrq(const Vector3d& trq) {
632 >            ((snapshotMan_->getCurrentSnapshot())->*storage_).torque[localIndex_] += trq;
633 >        }
634  
635         /**
636 <         * Sets the inertia tensor of this stuntdouble
636 >         * Adds torque into the torque of this stuntdouble in specified snapshot
637           *
638 <         * @param trq new inertia tensor
639 <         *
640 <         * @see #getI
641 <         */      
642 <        virtual void setI(Mat3x3d& I) = 0;
638 >         * @param trq torque to be add
639 >         * @param snapshotNo
640 >         * @see #getTrq
641 >         */        
642 >        void addTrq(const Vector3d& trq, int snapshotNo) {
643 >            ((snapshotMan_->getSnapshot(snapshotNo))->*storage_).torque[localIndex_] += trq;
644 >        }      
645  
646 +
647         /**
648 <         * Returns the gradient of this stuntdouble
649 <         *
650 <         * @return the inertia tensor of this stuntdouble
651 <         *
652 <         * @see #setI
653 <         */
654 <        virtual std::vector<double> getGrad() = 0;
648 >         * Returns the previous z-angle of this stuntdouble
649 >         * @return the z-angle of this stuntdouble
650 >         */    
651 >        double getPrevZangle() {
652 >            return ((snapshotMan_->getPrevSnapshot())->*storage_).zAngle[localIndex_];
653 >        }
654 >      
655 >        /**
656 >         * Returns the current z-angle of this stuntdouble
657 >         * @return the z-angle of this stuntdouble
658 >         */    
659 >        double getZangle() {
660 >            return ((snapshotMan_->getCurrentSnapshot())->*storage_).zAngle[localIndex_];
661 >        }
662  
663         /**
664 <         * Returns the euler angles of this stuntdouble
665 <         * <p>
666 <         *   <ol>
667 <         *   <il>
668 <         *   <il>
669 <         *   <il>
670 <         *   </ol>
456 <         * </p>
457 <         * @return the euler angles of this stuntdouble
458 <         *
459 <         * @see #setEuler
460 <         */
461 <        virtual Vector3d getEuler() = 0;
664 >         * Returns the z-angle of this stuntdouble in specified snapshot
665 >         * @return the z-angle of this stuntdouble
666 >         * @param snapshotNo
667 >         */    
668 >         double getZangle(int snapshotNo) {
669 >            return ((snapshotMan_->getSnapshot(snapshotNo))->*storage_).zAngle[localIndex_];
670 >        }
671  
672         /**
673 <         * Sets the euler angles of this stuntdouble
674 <         *
675 <         * @param e new euler angles
676 <         * <p>
677 <         *   <ol>
678 <         *   <il>e[0] = phi </il>
679 <         *   <il>e[1] = theta <il>
680 <         *   <il>e[2] = psi </il>
681 <         *   </ol>
682 <         * </p>
683 <         *
684 <         * @see #setEuler
685 <         */
686 <        virtual void setEuler(Vector3d& e) = 0;
687 <        
479 <        virtual bool isLinear() {return false;}
673 >         * Sets  the previous z-angle of this stuntdouble
674 >         * @param angle  new z-angle
675 >         * @see #getZangle
676 >         */        
677 >       void setPrevZangle(double angle) {
678 >            ((snapshotMan_->getPrevSnapshot())->*storage_).zAngle[localIndex_] = angle;
679 >       }
680 >      
681 >       /**
682 >         * Sets  the current z-angle of this stuntdouble
683 >         * @param angle  new z-angle
684 >         */        
685 >        void setZangle(double angle) {
686 >            ((snapshotMan_->getCurrentSnapshot())->*storage_).zAngle[localIndex_] = angle;
687 >        }
688  
689         /**
690 <         * Returns the linear axis of the rigidbody, atom and directional atom will always return -1
691 <         *
692 <         * @return the linear axis of the rigidbody
693 <         *
694 <         * @see #isLinear
695 <         */
696 <        virtual int linearAxis() {return -1;}
690 >         * Sets  the z-angle of this stuntdouble in specified snapshot
691 >         * @param angle z-angle to be set
692 >         * @param snapshotNo
693 >         * @see #getZangle
694 >         */        
695 >        void setZangle(double angle, int snapshotNo) {
696 >            ((snapshotMan_->getSnapshot(snapshotNo))->*storage_).zAngle[localIndex_] = angle;
697 >        }
698  
699         /**
700 <        * Returns the zangle
701 <        *
702 <        * @return the zangle
703 <        *
704 <        * @see #setZangle
705 <        * @see #addZangle
706 <        */
707 <        virtual double   getZangle() = 0;
700 >         * Adds z-angle into the previous z-angle of this stuntdouble
701 >         * @param angle  new z-angle
702 >         * @see #getZangle
703 >         */        
704 >       void addPrevZangle(double angle) {
705 >            ((snapshotMan_->getPrevSnapshot())->*storage_).zAngle[localIndex_] += angle;
706 >       }
707 >      
708 >       /**
709 >         * Adds z-angle into the current z-angle of this stuntdouble
710 >         * @param angle  new z-angle
711 >         */        
712 >        void addZangle(double angle) {
713 >            ((snapshotMan_->getCurrentSnapshot())->*storage_).zAngle[localIndex_] += angle;
714 >        }
715  
716         /**
717 <        *
718 <        */
719 <        virtual void   setZangle(double zAngle) = 0;
717 >         * Adds z-angle into the z-angle of this stuntdouble in specified snapshot
718 >         * @param angle z-angle to be add
719 >         * @param snapshotNo
720 >         * @see #getZangle
721 >         */        
722 >        void addZangle(double angle, int snapshotNo) {
723 >            ((snapshotMan_->getSnapshot(snapshotNo))->*storage_).zAngle[localIndex_] += angle;
724 >        }      
725  
726 +        /** Set the force of this stuntdouble to zero */
727 +        virtual void zeroForces();
728         /**
729 <        *
730 <        */
731 <        virtual void   addZangle(double zAngle) = 0;
729 >         * Returns the inertia tensor of this stuntdouble
730 >         * @return the inertia tensor of this stuntdouble
731 >         */
732 >        virtual Mat3x3d getI() = 0;
733  
734         /**
735 +         * Returns the gradient of this stuntdouble
736 +         * @return the gradient of this stuntdouble
737 +         */
738 +        virtual std::vector<double> getGrad() = 0;
739 +
740 +       /**
741 +         * Tests the  if this stuntdouble is a  linear rigidbody
742 +         *
743 +         * @return true if this stuntdouble is a  linear rigidbody, otherwise return false
744 +         * @note atom and directional atom will always return false
745           *
746 +         * @see #linearAxis
747 +         */        
748 +        bool isLinear() {
749 +            return linear_;
750 +        }
751 +
752 +       /**
753 +         * Returns the linear axis of the rigidbody, atom and directional atom will always return -1
754 +         *
755 +         * @return the linear axis of the rigidbody
756 +         *
757 +         * @see #isLinear
758 +         */
759 +        int linearAxis() {
760 +            return linearAxis_;
761 +        }
762 +
763 +        /** Returns the mass of this stuntdouble */
764 +        double getMass() {
765 +            return mass_;
766 +        }
767 +
768 +        /**
769 +         * Sets the mass of this stuntdoulbe
770 +         * @param mass the mass to be set
771 +         */        
772 +        void setMass(double mass) {
773 +            mass_ = mass;
774 +        }
775 +
776 +        /** Returns the name of this stuntdouble */
777 +        std::string getType();
778 +        
779 +        /** Sets the name of this stuntdouble*/
780 +        void setType(const std::string& name);
781 +
782 +        /**
783 +         * Converts a lab fixed vector to a body fixed vector.
784 +         * @return body fixed vector
785 +         * @param v lab fixed vector
786 +         */
787 +        Vector3d lab2Body(const Vector3d& v);
788 +
789 +        /**
790 +         * Converts a body fixed vector to a lab fixed vector.
791 +         * @return corresponding lab fixed vector
792 +         * @param v body fixed vector
793 +         */
794 +        Vector3d body2Lab(const Vector3d& v);
795 +        /**
796           * <p>
797           * The purpose of the Visitor Pattern is to encapsulate an operation that you want to perform on
798           * the elements of a data structure. In this way, you can change the operation being performed
# Line 520 | Line 804 | namespace oopse{
804           */      
805          virtual void accept(BaseVisitor* v) = 0;
806  
523 –        StorageMethod getStorageMethd(){return stMethod;}
524 –        void setStorageMethod(StorageMethod method) {stMethod = method;}
525 –
807          //below functions are just forward functions
808          /**
809           * Adds property into property map
529 –         *
810           * @param genData GenericData to be added into PropertyMap
531 –         *
532 –         * @see #removeProperty
533 –         * @see #clearProperties
811           */
812 <        void addProperty(GenericData* genData) {  properties.addProperty(genData);  }
812 >        void addProperty(GenericData* genData);
813  
814          /**
815           * Removes property from PropertyMap by name
539 –         *
816           * @param propName the name of property to be removed
541 –         *
542 –         * @see #addProperty
543 –         * @see #clearProperties
817           */
818 <        void removeProperty(std::string& propName) {  properties.removeProperty();  }
818 >        void removeProperty(std::string& propName);
819  
820          /**
821           * clear all of the properties
549 –         *
550 –         * @see #addProperty
551 –         * @see #removeProperty
822           */
823 <        void clearProperties() {  properties.clearProperties(); }
823 >        void clearProperties();
824  
825          /**
826           * Returns all names of properties
557 –         *
827           * @return all names of properties
828           */
829 <        std::vector<std::string> getPropertyNames() {return properties.getPropertyNames();  }
829 >        std::vector<std::string> getPropertyNames();
830  
831          /**
832           * Returns all of the properties in PropertyMap
564 –         *
833           * @return all of the properties in PropertyMap
566 –         *
567 –         * @see #getPropertyByName
834           */      
835 <        std::vector<GenericData*> getProperties() { return properties.getProperties(); }
835 >        std::vector<GenericData*> getProperties();
836  
837          /**
838           * Returns property
573 –         *
839           * @param propName name of property
575 –         *
840           * @return a pointer point to property with propName. If no property named propName
841           * exists, return NULL
578 –         *
579 –         * @see #getProperties
842           */      
843 <        GenericData* getPropertyByName(std:string& propName) {  return properties.getPropertyByName(propName); }
843 >        GenericData* getPropertyByName(std::string& propName);
844  
845 <      private:
845 >    protected:
846          
847 <        int globalIndex_;
848 <        int localIndex_;
849 <        PropertyMap properties;
847 >        StuntDouble(ObjectType objType, DataStoragePointer storage);
848 >        
849 >        StuntDouble(const StuntDouble& sd);
850 >        StuntDouble& operator=(const StuntDouble& sd);
851 >
852 >        ObjectType objType_;
853 >
854 >        bool linear_;
855 >        int linearAxis_;        
856 >
857          DataStoragePointer storage_;
858          SnapshotManager* snapshotMan_;
859 < };
859 >        
860 >        int globalIndex_;
861 >        int localIndex_;
862 >        
863 >    private:
864  
865 +        std::string name_;
866 +
867 +        double mass_;
868 +        
869 +        PropertyMap properties_;
870 +    };
871 +
872   }//end namespace oopse
873   #endif //ifndef _STUNTDOUBLE_HPP_

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