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* such damages. |
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*/ |
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#include <algorithm> |
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#include <math.h> |
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#include "primitives/RigidBody.hpp" |
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#include "utils/simError.h" |
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#include "utils/NumericConstant.hpp" |
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namespace oopse { |
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|
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RigidBody::RigidBody() : StuntDouble(otRigidBody, &Snapshot::rigidbodyData), inertiaTensor_(0.0){ |
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Itmp(2, 2) += mtmp * r2; |
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} |
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|
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//project the inertial moment of directional atoms into this rigid body |
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for (std::size_t i = 0; i < atoms_.size(); i++) { |
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if (atoms_[i]->isDirectional()) { |
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RectMatrix<double, 3, 3> Iproject = refOrients_[i].transpose() * atoms_[i]->getI(); |
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Itmp(0, 0) += Iproject(0, 0); |
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Itmp(1, 1) += Iproject(1, 1); |
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Itmp(2, 2) += Iproject(2, 2); |
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} |
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} |
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|
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//diagonalize |
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Vector3d evals; |
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Mat3x3d::diagonalize(Itmp, evals, sU_); |
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dAtom = (DirectionalAtom *) atoms_[i]; |
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dAtom->setA(a * refOrients_[i]); |
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//dAtom->rotateBy( A ); |
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} |
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|
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} |
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|
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} |
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|
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|
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void RigidBody::updateAtoms(int frame) { |
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unsigned int i; |
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Vector3d ref; |
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Vector3d apos; |
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DirectionalAtom* dAtom; |
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Vector3d pos = getPos(frame); |
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RotMat3x3d a = getA(frame); |
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|
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for (i = 0; i < atoms_.size(); i++) { |
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|
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ref = body2Lab(refCoords_[i], frame); |
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|
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apos = pos + ref; |
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|
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atoms_[i]->setPos(apos, frame); |
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|
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if (atoms_[i]->isDirectional()) { |
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|
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dAtom = (DirectionalAtom *) atoms_[i]; |
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dAtom->setA(a * refOrients_[i], frame); |
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} |
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|
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} |
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|
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} |
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|
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void RigidBody::updateAtomVel() { |
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Mat3x3d skewMat;; |
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|
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Vector3d ji = getJ(); |
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Mat3x3d I = getI(); |
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|
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skewMat(0, 0) =0; |
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skewMat(0, 1) = ji[2] /I(2, 2); |
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skewMat(0, 2) = -ji[1] /I(1, 1); |
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|
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skewMat(1, 0) = -ji[2] /I(2, 2); |
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skewMat(1, 1) = 0; |
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skewMat(1, 2) = ji[0]/I(0, 0); |
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|
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skewMat(2, 0) =ji[1] /I(1, 1); |
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skewMat(2, 1) = -ji[0]/I(0, 0); |
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skewMat(2, 2) = 0; |
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|
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Mat3x3d mat = (getA() * skewMat).transpose(); |
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Vector3d rbVel = getVel(); |
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|
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|
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Vector3d velRot; |
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for (int i =0 ; i < refCoords_.size(); ++i) { |
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atoms_[i]->setVel(rbVel + mat * refCoords_[i]); |
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} |
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|
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} |
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|
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void RigidBody::updateAtomVel(int frame) { |
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Mat3x3d skewMat;; |
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|
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Vector3d ji = getJ(frame); |
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Mat3x3d I = getI(); |
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|
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skewMat(0, 0) =0; |
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skewMat(0, 1) = ji[2] /I(2, 2); |
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skewMat(0, 2) = -ji[1] /I(1, 1); |
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|
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skewMat(1, 0) = -ji[2] /I(2, 2); |
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skewMat(1, 1) = 0; |
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skewMat(1, 2) = ji[0]/I(0, 0); |
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|
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skewMat(2, 0) =ji[1] /I(1, 1); |
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skewMat(2, 1) = -ji[0]/I(0, 0); |
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skewMat(2, 2) = 0; |
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|
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Mat3x3d mat = (getA(frame) * skewMat).transpose(); |
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Vector3d rbVel = getVel(frame); |
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|
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|
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Vector3d velRot; |
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for (int i =0 ; i < refCoords_.size(); ++i) { |
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atoms_[i]->setVel(rbVel + mat * refCoords_[i], frame); |
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} |
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|
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} |
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|
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|
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|
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bool RigidBody::getAtomPos(Vector3d& pos, unsigned int index) { |
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if (index < atoms_.size()) { |
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|
|
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|
simError(); |
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} |
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|
|
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< |
euler[0] = ats->getEulerPhi(); |
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< |
euler[1] = ats->getEulerTheta(); |
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< |
euler[2] = ats->getEulerPsi(); |
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> |
euler[0] = ats->getEulerPhi() * NumericConstant::PI /180.0; |
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> |
euler[1] = ats->getEulerTheta() * NumericConstant::PI /180.0; |
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euler[2] = ats->getEulerPsi() * NumericConstant::PI /180.0; |
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|
|
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RotMat3x3d Atmp(euler); |
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refOrients_.push_back(Atmp); |
