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/* |
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* Copyright (c) 2005 The University of Notre Dame. All Rights Reserved. |
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* |
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* The University of Notre Dame grants you ("Licensee") a |
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* non-exclusive, royalty free, license to use, modify and |
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* redistribute this software in source and binary code form, provided |
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* that the following conditions are met: |
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* |
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* 1. Acknowledgement of the program authors must be made in any |
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* publication of scientific results based in part on use of the |
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* program. An acceptable form of acknowledgement is citation of |
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* the article in which the program was described (Matthew |
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* A. Meineke, Charles F. Vardeman II, Teng Lin, Christopher |
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* J. Fennell and J. Daniel Gezelter, "OOPSE: An Object-Oriented |
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* Parallel Simulation Engine for Molecular Dynamics," |
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* J. Comput. Chem. 26, pp. 252-271 (2005)) |
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* |
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* 2. Redistributions of source code must retain the above copyright |
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* notice, this list of conditions and the following disclaimer. |
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* |
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* 3. Redistributions in binary form must reproduce the above copyright |
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* notice, this list of conditions and the following disclaimer in the |
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* documentation and/or other materials provided with the |
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* distribution. |
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* |
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* This software is provided "AS IS," without a warranty of any |
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* kind. All express or implied conditions, representations and |
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* warranties, including any implied warranty of merchantability, |
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* fitness for a particular purpose or non-infringement, are hereby |
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* excluded. The University of Notre Dame and its licensors shall not |
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* be liable for any damages suffered by licensee as a result of |
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* using, modifying or distributing the software or its |
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* derivatives. In no event will the University of Notre Dame or its |
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* licensors be liable for any lost revenue, profit or data, or for |
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* direct, indirect, special, consequential, incidental or punitive |
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* damages, however caused and regardless of the theory of liability, |
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* arising out of the use of or inability to use software, even if the |
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* University of Notre Dame has been advised of the possibility of |
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* such damages. |
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*/ |
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|
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/** |
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* @file StuntDouble.hpp |
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* @author tlin |
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* @date 10/22/2004 |
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* @version 1.0 |
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*/ |
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|
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#ifndef PRIMITIVES_STUNTDOUBLE_HPP |
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#define PRIMITIVES_STUNTDOUBLE_HPP |
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|
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#include <vector> |
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|
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#include "visitors/BaseVisitor.hpp" |
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#include "math/Quaternion.hpp" |
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#include "math/SquareMatrix3.hpp" |
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#include "math/Vector3.hpp" |
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#include "utils/PropertyMap.hpp" |
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#include "brains/Snapshot.hpp" |
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#include "brains/SnapshotManager.hpp" |
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namespace oopse{ |
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|
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|
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|
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/** |
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* @class StuntDouble StuntDouble.hpp "Primitives/StuntDouble.hpp" |
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* @brief |
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* "Don't move, or you're dead! Stand up! Captain, we've got them!" |
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* |
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* "Spectacular stunt, my friends, but all for naught. Turn around |
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* please. Ha. What a pity. What a pity. So, Princess, you thought |
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* you could outwit the imperious forces of...." |
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* |
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* "You idiots! These are not them. You've captured their stunt |
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* doubles! Search the area. Find them! Find them!" |
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* |
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* StuntDouble is a very strange idea. A StuntDouble stands in for |
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* some object that can be manipulated by the Integrators or |
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* Minimizers. Some of the manipulable objects are Atoms, some are |
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* DirectionalAtoms, and some are RigidBodies. StuntDouble |
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* provides an interface for the Integrators and Minimizers to use, |
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* and does some preliminary sanity checking so that the program |
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* doesn't try to do something stupid like torque an Atom (The |
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* quotes above are from Spaceballs...) |
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* |
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* @note the dynamic 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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enum ObjectType{ |
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otAtom, |
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otDAtom, |
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otRigidBody |
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}; |
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|
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virtual ~StuntDouble(); |
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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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globalIndex_ = index; |
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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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* Sets the Snapshot Manager of this stuntdouble |
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*/ |
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void setSnapshotManager(SnapshotManager* sman) { |
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snapshotMan_ = sman; |
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} |
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|
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/** |
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* Tests if this stuntdouble is an atom |
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* @return true is this stuntdouble is an atom(or a directional atom), return false otherwise |
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*/ |
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bool isAtom(){ |
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return objType_ == otAtom || objType_ == otDAtom; |
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} |
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|
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/** |
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* Tests if this stuntdouble is an directional atom |
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* @return true if this stuntdouble is an directional atom, return false otherwise |
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*/ |
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bool isDirectionalAtom(){ |
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return objType_ == otDAtom; |
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} |
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|
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/** |
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* Tests if this stuntdouble is a rigid body. |
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* @return true if this stuntdouble is a rigid body, otherwise return false |
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*/ |
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bool isRigidBody(){ |
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return objType_ == otRigidBody; |
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} |
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|
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/** |
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* Tests if this stuntdouble is a directional one. |
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* @return true is this stuntdouble is a directional atom or a rigid body, return false otherwise |
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*/ |
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bool isDirectional(){ |
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return isDirectionalAtom() || isRigidBody(); |
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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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Vector3d getPrevPos() { |
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return ((snapshotMan_->getPrevSnapshot())->*storage_).position[localIndex_]; |
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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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Vector3d getPos() { |
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return ((snapshotMan_->getCurrentSnapshot())->*storage_).position[localIndex_]; |
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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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* @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[localIndex_]; |
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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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* @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[localIndex_] = 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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DataStorage& data = snapshotMan_->getCurrentSnapshot()->*storage_; |
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data.position[localIndex_] = pos; |
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//((snapshotMan_->getCurrentSnapshot())->*storage_).position[localIndex_] = 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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* @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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|
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((snapshotMan_->getSnapshot(snapshotNo))->*storage_).position[localIndex_] = pos; |
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|
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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[localIndex_]; |
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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[localIndex_]; |
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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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* @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[localIndex_]; |
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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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* @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[localIndex_] = 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[localIndex_] = 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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* @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[localIndex_] = 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[localIndex_]; |
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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[localIndex_]; |
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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[localIndex_]; |
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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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* @param a new rotation matrix |
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* @see #getA |
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*/ |
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virtual void setPrevA(const RotMat3x3d& a) { |
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((snapshotMan_->getPrevSnapshot())->*storage_).aMat[localIndex_] = 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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virtual void setA(const RotMat3x3d& a) { |
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((snapshotMan_->getCurrentSnapshot())->*storage_).aMat[localIndex_] = 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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* @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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virtual void setA(const RotMat3x3d& a, int snapshotNo) { |
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((snapshotMan_->getSnapshot(snapshotNo))->*storage_).aMat[localIndex_] = 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 (body-fixed). |
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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[localIndex_]; |
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} |
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|
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/** |
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* Returns the current angular momentum of this stuntdouble (body -fixed). |
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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[localIndex_]; |
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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 (body-fixed). |
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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[localIndex_]; |
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} |
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|
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/** |
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* Sets the previous angular momentum of this stuntdouble (body-fixed). |
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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[localIndex_] = 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 (body-fixed). |
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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[localIndex_] = 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(body-fixed). |
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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[localIndex_] = 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[localIndex_].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[localIndex_].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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* @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[localIndex_].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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* @param q new quaternion |
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* @note actual storage data is rotation matrix |
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*/ |
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void setPrevQ(const Quat4d& q) { |
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setPrevA(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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* @note actual storage data is rotation matrix |
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*/ |
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void setQ(const Quat4d& q) { |
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setA(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 |
430 |
* @param snapshotNo |
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* @note actual storage data is rotation matrix |
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*/ |
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void setQ(const Quat4d& q, int snapshotNo) { |
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setA(q, snapshotNo); |
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} |
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|
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/** |
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* Returns the previous euler angles of this stuntdouble |
439 |
* @return the euler angles of this stuntdouble |
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*/ |
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Vector3d getPrevEuler() { |
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return ((snapshotMan_->getPrevSnapshot())->*storage_).aMat[localIndex_].toEulerAngles(); |
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} |
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|
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/** |
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* Returns the current euler angles of this stuntdouble |
447 |
* @return the euler angles of this stuntdouble |
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*/ |
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Vector3d getEuler() { |
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return ((snapshotMan_->getCurrentSnapshot())->*storage_).aMat[localIndex_].toEulerAngles(); |
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} |
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|
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/** |
454 |
* Returns the euler angles of this stuntdouble in specified snapshot. |
455 |
* @return the euler angles of this stuntdouble |
456 |
* @param snapshotNo |
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*/ |
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Vector3d getEuler(int snapshotNo) { |
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return ((snapshotMan_->getSnapshot(snapshotNo))->*storage_).aMat[localIndex_].toEulerAngles(); |
460 |
} |
461 |
|
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/** |
463 |
* Sets the previous euler angles of this stuntdouble. |
464 |
* @param euler new euler angles |
465 |
* @see #getEuler |
466 |
* @note actual storage data is rotation matrix |
467 |
*/ |
468 |
void setPrevEuler(const Vector3d& euler) { |
469 |
((snapshotMan_->getPrevSnapshot())->*storage_).aMat[localIndex_] = euler; |
470 |
} |
471 |
|
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/** |
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* Sets the current euler angles of this stuntdouble |
474 |
* @param euler new euler angles |
475 |
*/ |
476 |
void setEuler(const Vector3d& euler) { |
477 |
((snapshotMan_->getCurrentSnapshot())->*storage_).aMat[localIndex_] = euler; |
478 |
} |
479 |
|
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/** |
481 |
* Sets the euler angles of this stuntdouble in specified snapshot |
482 |
* |
483 |
* @param euler euler angles to be set |
484 |
* @param snapshotNo |
485 |
* @note actual storage data is rotation matrix |
486 |
*/ |
487 |
void setEuler(const Vector3d& euler, int snapshotNo) { |
488 |
((snapshotMan_->getSnapshot(snapshotNo))->*storage_).aMat[localIndex_] = euler; |
489 |
} |
490 |
|
491 |
/** |
492 |
* Returns the previous unit vectors of this stuntdouble |
493 |
* @return the unit vectors of this stuntdouble |
494 |
*/ |
495 |
RotMat3x3d getPrevElectroFrame() { |
496 |
return ((snapshotMan_->getPrevSnapshot())->*storage_).electroFrame[localIndex_]; |
497 |
} |
498 |
|
499 |
/** |
500 |
* Returns the current unit vectors of this stuntdouble |
501 |
* @return the unit vectors of this stuntdouble |
502 |
*/ |
503 |
RotMat3x3d getElectroFrame() { |
504 |
return ((snapshotMan_->getCurrentSnapshot())->*storage_).electroFrame[localIndex_]; |
505 |
} |
506 |
|
507 |
/** |
508 |
* Returns the unit vectors of this stuntdouble in specified snapshot |
509 |
* |
510 |
* @return the unit vectors of this stuntdouble |
511 |
* @param snapshotNo |
512 |
*/ |
513 |
RotMat3x3d getElectroFrame(int snapshotNo) { |
514 |
return ((snapshotMan_->getSnapshot(snapshotNo))->*storage_).electroFrame[localIndex_]; |
515 |
} |
516 |
|
517 |
/** |
518 |
* Returns the previous force of this stuntdouble |
519 |
* @return the force of this stuntdouble |
520 |
*/ |
521 |
Vector3d getPrevFrc() { |
522 |
return ((snapshotMan_->getPrevSnapshot())->*storage_).force[localIndex_]; |
523 |
} |
524 |
|
525 |
/** |
526 |
* Returns the current force of this stuntdouble |
527 |
* @return the force of this stuntdouble |
528 |
*/ |
529 |
Vector3d getFrc() { |
530 |
return ((snapshotMan_->getCurrentSnapshot())->*storage_).force[localIndex_]; |
531 |
} |
532 |
|
533 |
/** |
534 |
* Returns the force of this stuntdouble in specified snapshot |
535 |
* |
536 |
* @return the force of this stuntdouble |
537 |
* @param snapshotNo |
538 |
*/ |
539 |
Vector3d getFrc(int snapshotNo) { |
540 |
return ((snapshotMan_->getSnapshot(snapshotNo))->*storage_).force[localIndex_]; |
541 |
} |
542 |
|
543 |
/** |
544 |
* Sets the previous force of this stuntdouble |
545 |
* |
546 |
* @param frc new force |
547 |
* @see #getFrc |
548 |
*/ |
549 |
void setPrevFrc(const Vector3d& frc) { |
550 |
((snapshotMan_->getPrevSnapshot())->*storage_).force[localIndex_] = frc; |
551 |
} |
552 |
|
553 |
/** |
554 |
* Sets the current force of this stuntdouble |
555 |
* @param frc new force |
556 |
*/ |
557 |
void setFrc(const Vector3d& frc) { |
558 |
((snapshotMan_->getCurrentSnapshot())->*storage_).force[localIndex_] = frc; |
559 |
} |
560 |
|
561 |
/** |
562 |
* Sets the force of this stuntdouble in specified snapshot |
563 |
* |
564 |
* @param frc force to be set |
565 |
* @param snapshotNo |
566 |
* @see #getFrc |
567 |
*/ |
568 |
void setFrc(const Vector3d& frc, int snapshotNo) { |
569 |
((snapshotMan_->getSnapshot(snapshotNo))->*storage_).force[localIndex_] = frc; |
570 |
} |
571 |
|
572 |
/** |
573 |
* Adds force into the previous force of this stuntdouble |
574 |
* |
575 |
* @param frc new force |
576 |
* @see #getFrc |
577 |
*/ |
578 |
void addPrevFrc(const Vector3d& frc) { |
579 |
((snapshotMan_->getPrevSnapshot())->*storage_).force[localIndex_] += frc; |
580 |
} |
581 |
|
582 |
/** |
583 |
* Adds force into the current force of this stuntdouble |
584 |
* @param frc new force |
585 |
*/ |
586 |
void addFrc(const Vector3d& frc) { |
587 |
((snapshotMan_->getCurrentSnapshot())->*storage_).force[localIndex_] += frc; |
588 |
} |
589 |
|
590 |
/** |
591 |
* Adds force into the force of this stuntdouble in specified snapshot |
592 |
* |
593 |
* @param frc force to be set |
594 |
* @param snapshotNo |
595 |
* @see #getFrc |
596 |
*/ |
597 |
void addFrc(const Vector3d& frc, int snapshotNo) { |
598 |
((snapshotMan_->getSnapshot(snapshotNo))->*storage_).force[localIndex_] += frc; |
599 |
} |
600 |
|
601 |
/** |
602 |
* Returns the previous torque of this stuntdouble |
603 |
* @return the torque of this stuntdouble |
604 |
*/ |
605 |
Vector3d getPrevTrq() { |
606 |
return ((snapshotMan_->getPrevSnapshot())->*storage_).torque[localIndex_]; |
607 |
} |
608 |
|
609 |
/** |
610 |
* Returns the current torque of this stuntdouble |
611 |
* @return the torque of this stuntdouble |
612 |
*/ |
613 |
Vector3d getTrq() { |
614 |
return ((snapshotMan_->getCurrentSnapshot())->*storage_).torque[localIndex_]; |
615 |
} |
616 |
|
617 |
/** |
618 |
* Returns the torque of this stuntdouble in specified snapshot |
619 |
* |
620 |
* @return the torque of this stuntdouble |
621 |
* @param snapshotNo |
622 |
*/ |
623 |
Vector3d getTrq(int snapshotNo) { |
624 |
return ((snapshotMan_->getSnapshot(snapshotNo))->*storage_).torque[localIndex_]; |
625 |
} |
626 |
|
627 |
/** |
628 |
* Sets the previous torque of this stuntdouble |
629 |
* |
630 |
* @param trq new torque |
631 |
* @see #getTrq |
632 |
*/ |
633 |
void setPrevTrq(const Vector3d& trq) { |
634 |
((snapshotMan_->getPrevSnapshot())->*storage_).torque[localIndex_] = trq; |
635 |
} |
636 |
|
637 |
/** |
638 |
* Sets the current torque of this stuntdouble |
639 |
* @param trq new torque |
640 |
*/ |
641 |
void setTrq(const Vector3d& trq) { |
642 |
((snapshotMan_->getCurrentSnapshot())->*storage_).torque[localIndex_] = trq; |
643 |
} |
644 |
|
645 |
/** |
646 |
* Sets the torque of this stuntdouble in specified snapshot |
647 |
* |
648 |
* @param trq torque to be set |
649 |
* @param snapshotNo |
650 |
* @see #getTrq |
651 |
*/ |
652 |
void setTrq(const Vector3d& trq, int snapshotNo) { |
653 |
((snapshotMan_->getSnapshot(snapshotNo))->*storage_).torque[localIndex_] = trq; |
654 |
} |
655 |
|
656 |
/** |
657 |
* Adds torque into the previous torque of this stuntdouble |
658 |
* |
659 |
* @param trq new torque |
660 |
* @see #getTrq |
661 |
*/ |
662 |
void addPrevTrq(const Vector3d& trq) { |
663 |
((snapshotMan_->getPrevSnapshot())->*storage_).torque[localIndex_] += trq; |
664 |
} |
665 |
|
666 |
/** |
667 |
* Adds torque into the current torque of this stuntdouble |
668 |
* @param trq new torque |
669 |
*/ |
670 |
void addTrq(const Vector3d& trq) { |
671 |
((snapshotMan_->getCurrentSnapshot())->*storage_).torque[localIndex_] += trq; |
672 |
} |
673 |
|
674 |
/** |
675 |
* Adds torque into the torque of this stuntdouble in specified snapshot |
676 |
* |
677 |
* @param trq torque to be add |
678 |
* @param snapshotNo |
679 |
* @see #getTrq |
680 |
*/ |
681 |
void addTrq(const Vector3d& trq, int snapshotNo) { |
682 |
((snapshotMan_->getSnapshot(snapshotNo))->*storage_).torque[localIndex_] += trq; |
683 |
} |
684 |
|
685 |
|
686 |
/** |
687 |
* Returns the previous z-angle of this stuntdouble |
688 |
* @return the z-angle of this stuntdouble |
689 |
*/ |
690 |
double getPrevZangle() { |
691 |
return ((snapshotMan_->getPrevSnapshot())->*storage_).zAngle[localIndex_]; |
692 |
} |
693 |
|
694 |
/** |
695 |
* Returns the current z-angle of this stuntdouble |
696 |
* @return the z-angle of this stuntdouble |
697 |
*/ |
698 |
double getZangle() { |
699 |
return ((snapshotMan_->getCurrentSnapshot())->*storage_).zAngle[localIndex_]; |
700 |
} |
701 |
|
702 |
/** |
703 |
* Returns the z-angle of this stuntdouble in specified snapshot |
704 |
* @return the z-angle of this stuntdouble |
705 |
* @param snapshotNo |
706 |
*/ |
707 |
double getZangle(int snapshotNo) { |
708 |
return ((snapshotMan_->getSnapshot(snapshotNo))->*storage_).zAngle[localIndex_]; |
709 |
} |
710 |
|
711 |
/** |
712 |
* Sets the previous z-angle of this stuntdouble |
713 |
* @param angle new z-angle |
714 |
* @see #getZangle |
715 |
*/ |
716 |
void setPrevZangle(double angle) { |
717 |
((snapshotMan_->getPrevSnapshot())->*storage_).zAngle[localIndex_] = angle; |
718 |
} |
719 |
|
720 |
/** |
721 |
* Sets the current z-angle of this stuntdouble |
722 |
* @param angle new z-angle |
723 |
*/ |
724 |
void setZangle(double angle) { |
725 |
((snapshotMan_->getCurrentSnapshot())->*storage_).zAngle[localIndex_] = angle; |
726 |
} |
727 |
|
728 |
/** |
729 |
* Sets the z-angle of this stuntdouble in specified snapshot |
730 |
* @param angle z-angle to be set |
731 |
* @param snapshotNo |
732 |
* @see #getZangle |
733 |
*/ |
734 |
void setZangle(double angle, int snapshotNo) { |
735 |
((snapshotMan_->getSnapshot(snapshotNo))->*storage_).zAngle[localIndex_] = angle; |
736 |
} |
737 |
|
738 |
/** |
739 |
* Adds z-angle into the previous z-angle of this stuntdouble |
740 |
* @param angle new z-angle |
741 |
* @see #getZangle |
742 |
*/ |
743 |
void addPrevZangle(double angle) { |
744 |
((snapshotMan_->getPrevSnapshot())->*storage_).zAngle[localIndex_] += angle; |
745 |
} |
746 |
|
747 |
/** |
748 |
* Adds z-angle into the current z-angle of this stuntdouble |
749 |
* @param angle new z-angle |
750 |
*/ |
751 |
void addZangle(double angle) { |
752 |
((snapshotMan_->getCurrentSnapshot())->*storage_).zAngle[localIndex_] += angle; |
753 |
} |
754 |
|
755 |
/** |
756 |
* Adds z-angle into the z-angle of this stuntdouble in specified snapshot |
757 |
* @param angle z-angle to be add |
758 |
* @param snapshotNo |
759 |
* @see #getZangle |
760 |
*/ |
761 |
void addZangle(double angle, int snapshotNo) { |
762 |
((snapshotMan_->getSnapshot(snapshotNo))->*storage_).zAngle[localIndex_] += angle; |
763 |
} |
764 |
|
765 |
/** Set the force of this stuntdouble to zero */ |
766 |
void zeroForcesAndTorques(); |
767 |
/** |
768 |
* Returns the inertia tensor of this stuntdouble |
769 |
* @return the inertia tensor of this stuntdouble |
770 |
*/ |
771 |
virtual Mat3x3d getI() = 0; |
772 |
|
773 |
/** |
774 |
* Returns the gradient of this stuntdouble |
775 |
* @return the gradient of this stuntdouble |
776 |
*/ |
777 |
virtual std::vector<double> getGrad() = 0; |
778 |
|
779 |
/** |
780 |
* Tests the if this stuntdouble is a linear rigidbody |
781 |
* |
782 |
* @return true if this stuntdouble is a linear rigidbody, otherwise return false |
783 |
* @note atom and directional atom will always return false |
784 |
* |
785 |
* @see #linearAxis |
786 |
*/ |
787 |
bool isLinear() { |
788 |
return linear_; |
789 |
} |
790 |
|
791 |
/** |
792 |
* Returns the linear axis of the rigidbody, atom and directional atom will always return -1 |
793 |
* |
794 |
* @return the linear axis of the rigidbody |
795 |
* |
796 |
* @see #isLinear |
797 |
*/ |
798 |
int linearAxis() { |
799 |
return linearAxis_; |
800 |
} |
801 |
|
802 |
/** Returns the mass of this stuntdouble */ |
803 |
double getMass() { |
804 |
return mass_; |
805 |
} |
806 |
|
807 |
/** |
808 |
* Sets the mass of this stuntdoulbe |
809 |
* @param mass the mass to be set |
810 |
*/ |
811 |
void setMass(double mass) { |
812 |
mass_ = mass; |
813 |
} |
814 |
|
815 |
/** Returns the name of this stuntdouble */ |
816 |
virtual std::string getType() = 0; |
817 |
|
818 |
/** Sets the name of this stuntdouble*/ |
819 |
virtual void setType(const std::string& name) {} |
820 |
|
821 |
/** |
822 |
* Converts a lab fixed vector to a body fixed vector. |
823 |
* @return body fixed vector |
824 |
* @param v lab fixed vector |
825 |
*/ |
826 |
Vector3d lab2Body(const Vector3d& v) { |
827 |
return getA() * v; |
828 |
} |
829 |
|
830 |
Vector3d lab2Body(const Vector3d& v, int frame) { |
831 |
return getA(frame) * v; |
832 |
} |
833 |
|
834 |
/** |
835 |
* Converts a body fixed vector to a lab fixed vector. |
836 |
* @return corresponding lab fixed vector |
837 |
* @param v body fixed vector |
838 |
*/ |
839 |
Vector3d body2Lab(const Vector3d& v){ |
840 |
return getA().transpose() * v; |
841 |
} |
842 |
|
843 |
Vector3d body2Lab(const Vector3d& v, int frame){ |
844 |
return getA(frame).transpose() * v; |
845 |
} |
846 |
/** |
847 |
* <p> |
848 |
* The purpose of the Visitor Pattern is to encapsulate an operation that you want to perform on |
849 |
* the elements of a data structure. In this way, you can change the operation being performed |
850 |
* on a structure without the need of changing the classes of the elements that you are operating |
851 |
* on. Using a Visitor pattern allows you to decouple the classes for the data structure and the |
852 |
* algorithms used upon them |
853 |
* </p> |
854 |
* @param v visitor |
855 |
*/ |
856 |
virtual void accept(BaseVisitor* v) = 0; |
857 |
|
858 |
//below functions are just forward functions |
859 |
/** |
860 |
* Adds property into property map |
861 |
* @param genData GenericData to be added into PropertyMap |
862 |
*/ |
863 |
void addProperty(GenericData* genData); |
864 |
|
865 |
/** |
866 |
* Removes property from PropertyMap by name |
867 |
* @param propName the name of property to be removed |
868 |
*/ |
869 |
void removeProperty(const std::string& propName); |
870 |
|
871 |
/** |
872 |
* clear all of the properties |
873 |
*/ |
874 |
void clearProperties(); |
875 |
|
876 |
/** |
877 |
* Returns all names of properties |
878 |
* @return all names of properties |
879 |
*/ |
880 |
std::vector<std::string> getPropertyNames(); |
881 |
|
882 |
/** |
883 |
* Returns all of the properties in PropertyMap |
884 |
* @return all of the properties in PropertyMap |
885 |
*/ |
886 |
std::vector<GenericData*> getProperties(); |
887 |
|
888 |
/** |
889 |
* Returns property |
890 |
* @param propName name of property |
891 |
* @return a pointer point to property with propName. If no property named propName |
892 |
* exists, return NULL |
893 |
*/ |
894 |
GenericData* getPropertyByName(const std::string& propName); |
895 |
|
896 |
protected: |
897 |
|
898 |
StuntDouble(ObjectType objType, DataStoragePointer storage); |
899 |
|
900 |
StuntDouble(const StuntDouble& sd); |
901 |
StuntDouble& operator=(const StuntDouble& sd); |
902 |
|
903 |
ObjectType objType_; |
904 |
DataStoragePointer storage_; |
905 |
SnapshotManager* snapshotMan_; |
906 |
|
907 |
bool linear_; |
908 |
int linearAxis_; |
909 |
|
910 |
|
911 |
int globalIndex_; |
912 |
int localIndex_; |
913 |
|
914 |
|
915 |
double mass_; |
916 |
|
917 |
private: |
918 |
|
919 |
PropertyMap properties_; |
920 |
}; |
921 |
|
922 |
}//end namespace oopse |
923 |
#endif //PRIMITIVES_STUNTDOUBLE_HPP |