1 |
/* |
2 |
* Copyright (c) 2005 The University of Notre Dame. All Rights Reserved. |
3 |
* |
4 |
* The University of Notre Dame grants you ("Licensee") a |
5 |
* non-exclusive, royalty free, license to use, modify and |
6 |
* redistribute this software in source and binary code form, provided |
7 |
* that the following conditions are met: |
8 |
* |
9 |
* 1. Acknowledgement of the program authors must be made in any |
10 |
* publication of scientific results based in part on use of the |
11 |
* program. An acceptable form of acknowledgement is citation of |
12 |
* the article in which the program was described (Matthew |
13 |
* A. Meineke, Charles F. Vardeman II, Teng Lin, Christopher |
14 |
* J. Fennell and J. Daniel Gezelter, "OOPSE: An Object-Oriented |
15 |
* Parallel Simulation Engine for Molecular Dynamics," |
16 |
* J. Comput. Chem. 26, pp. 252-271 (2005)) |
17 |
* |
18 |
* 2. Redistributions of source code must retain the above copyright |
19 |
* notice, this list of conditions and the following disclaimer. |
20 |
* |
21 |
* 3. Redistributions in binary form must reproduce the above copyright |
22 |
* notice, this list of conditions and the following disclaimer in the |
23 |
* documentation and/or other materials provided with the |
24 |
* distribution. |
25 |
* |
26 |
* This software is provided "AS IS," without a warranty of any |
27 |
* kind. All express or implied conditions, representations and |
28 |
* warranties, including any implied warranty of merchantability, |
29 |
* fitness for a particular purpose or non-infringement, are hereby |
30 |
* excluded. The University of Notre Dame and its licensors shall not |
31 |
* be liable for any damages suffered by licensee as a result of |
32 |
* using, modifying or distributing the software or its |
33 |
* derivatives. In no event will the University of Notre Dame or its |
34 |
* licensors be liable for any lost revenue, profit or data, or for |
35 |
* direct, indirect, special, consequential, incidental or punitive |
36 |
* damages, however caused and regardless of the theory of liability, |
37 |
* arising out of the use of or inability to use software, even if the |
38 |
* University of Notre Dame has been advised of the possibility of |
39 |
* such damages. |
40 |
*/ |
41 |
|
42 |
/** |
43 |
* @file StuntDouble.hpp |
44 |
* @author tlin |
45 |
* @date 10/22/2004 |
46 |
* @version 1.0 |
47 |
*/ |
48 |
|
49 |
#ifndef PRIMITIVES_STUNTDOUBLE_HPP |
50 |
#define PRIMITIVES_STUNTDOUBLE_HPP |
51 |
|
52 |
#include <vector> |
53 |
|
54 |
#include "visitors/BaseVisitor.hpp" |
55 |
#include "math/Quaternion.hpp" |
56 |
#include "math/SquareMatrix3.hpp" |
57 |
#include "math/Vector3.hpp" |
58 |
#include "utils/PropertyMap.hpp" |
59 |
#include "brains/Snapshot.hpp" |
60 |
#include "brains/SnapshotManager.hpp" |
61 |
namespace oopse{ |
62 |
|
63 |
|
64 |
|
65 |
/** |
66 |
* @class StuntDouble StuntDouble.hpp "Primitives/StuntDouble.hpp" |
67 |
* @brief |
68 |
* "Don't move, or you're dead! Stand up! Captain, we've got them!" |
69 |
* |
70 |
* "Spectacular stunt, my friends, but all for naught. Turn around |
71 |
* please. Ha. What a pity. What a pity. So, Princess, you thought |
72 |
* you could outwit the imperious forces of...." |
73 |
* |
74 |
* "You idiots! These are not them. You've captured their stunt |
75 |
* doubles! Search the area. Find them! Find them!" |
76 |
* |
77 |
* StuntDouble is a very strange idea. A StuntDouble stands in for |
78 |
* some object that can be manipulated by the Integrators or |
79 |
* Minimizers. Some of the manipulable objects are Atoms, some are |
80 |
* DirectionalAtoms, and some are RigidBodies. StuntDouble |
81 |
* provides an interface for the Integrators and Minimizers to use, |
82 |
* and does some preliminary sanity checking so that the program |
83 |
* doesn't try to do something stupid like torque an Atom (The |
84 |
* quotes above are from Spaceballs...) |
85 |
* |
86 |
* @note the dynamic data of stuntdouble will be stored outside of the class |
87 |
*/ |
88 |
class StuntDouble{ |
89 |
public: |
90 |
|
91 |
enum ObjectType{ |
92 |
otAtom, |
93 |
otDAtom, |
94 |
otRigidBody |
95 |
}; |
96 |
|
97 |
virtual ~StuntDouble(); |
98 |
|
99 |
/** |
100 |
* Returns the global index of this stuntRealType. |
101 |
* @return the global index of this stuntdouble |
102 |
*/ |
103 |
int getGlobalIndex() { |
104 |
return globalIndex_; |
105 |
} |
106 |
|
107 |
/** |
108 |
* Sets the global index of this stuntRealType. |
109 |
* @param new global index to be set |
110 |
*/ |
111 |
void setGlobalIndex(int index) { |
112 |
globalIndex_ = index; |
113 |
} |
114 |
|
115 |
/** |
116 |
* Returns the local index of this stuntdouble |
117 |
* @return the local index of this stuntdouble |
118 |
*/ |
119 |
int getLocalIndex() { |
120 |
return localIndex_; |
121 |
} |
122 |
|
123 |
/** |
124 |
* Sets the local index of this stuntdouble |
125 |
* @param index new index to be set |
126 |
*/ |
127 |
void setLocalIndex(int index) { |
128 |
localIndex_ = index; |
129 |
} |
130 |
|
131 |
int getGlobalIntegrableObjectIndex(){ |
132 |
return globalIntegrableObjectIndex_; |
133 |
} |
134 |
void setGlobalIntegrableObjectIndex(int index) { |
135 |
globalIntegrableObjectIndex_ = index; |
136 |
} |
137 |
|
138 |
/** |
139 |
* Sets the Snapshot Manager of this stuntdouble |
140 |
*/ |
141 |
void setSnapshotManager(SnapshotManager* sman) { |
142 |
snapshotMan_ = sman; |
143 |
} |
144 |
|
145 |
/** |
146 |
* Tests if this stuntdouble is an atom |
147 |
* @return true is this stuntdouble is an atom(or a directional atom), return false otherwise |
148 |
*/ |
149 |
bool isAtom(){ |
150 |
return objType_ == otAtom || objType_ == otDAtom; |
151 |
} |
152 |
|
153 |
/** |
154 |
* Tests if this stuntdouble is an directional atom |
155 |
* @return true if this stuntdouble is an directional atom, return false otherwise |
156 |
*/ |
157 |
bool isDirectionalAtom(){ |
158 |
return objType_ == otDAtom; |
159 |
} |
160 |
|
161 |
/** |
162 |
* Tests if this stuntdouble is a rigid body. |
163 |
* @return true if this stuntdouble is a rigid body, otherwise return false |
164 |
*/ |
165 |
bool isRigidBody(){ |
166 |
return objType_ == otRigidBody; |
167 |
} |
168 |
|
169 |
/** |
170 |
* Tests if this stuntdouble is a directional one. |
171 |
* @return true is this stuntdouble is a directional atom or a rigid body, return false otherwise |
172 |
*/ |
173 |
bool isDirectional(){ |
174 |
return isDirectionalAtom() || isRigidBody(); |
175 |
} |
176 |
|
177 |
/** |
178 |
* Freezes out all velocity, angular velocity, forces and torques |
179 |
* on this StuntDouble. Also computes the number of frozen degrees |
180 |
* of freedom. |
181 |
* @return the total number of frozen degrees of freedom |
182 |
*/ |
183 |
int freeze() { |
184 |
|
185 |
int fdf = 3; |
186 |
|
187 |
setVel(V3Zero); |
188 |
setFrc(V3Zero); |
189 |
if (isDirectional()){ |
190 |
setJ(V3Zero); |
191 |
setTrq(V3Zero); |
192 |
if (isLinear()) |
193 |
fdf +=2; |
194 |
else |
195 |
fdf +=3; |
196 |
} |
197 |
return fdf; |
198 |
} |
199 |
|
200 |
/** |
201 |
* Returns the previous position of this stuntdouble |
202 |
* @return the position of this stuntdouble |
203 |
*/ |
204 |
Vector3d getPrevPos() { |
205 |
return ((snapshotMan_->getPrevSnapshot())->*storage_).position[localIndex_]; |
206 |
} |
207 |
|
208 |
/** |
209 |
* Returns the current position of this stuntdouble |
210 |
* @return the position of this stuntdouble |
211 |
*/ |
212 |
Vector3d getPos() { |
213 |
return ((snapshotMan_->getCurrentSnapshot())->*storage_).position[localIndex_]; |
214 |
} |
215 |
|
216 |
/** |
217 |
* Returns the position of this stuntdouble in specified snapshot |
218 |
* @return the position of this stuntdouble |
219 |
* @param snapshotNo |
220 |
*/ |
221 |
Vector3d getPos(int snapshotNo) { |
222 |
return ((snapshotMan_->getSnapshot(snapshotNo))->*storage_).position[localIndex_]; |
223 |
} |
224 |
|
225 |
/** |
226 |
* Sets the previous position of this stuntdouble |
227 |
* @param pos new position |
228 |
* @see #getPos |
229 |
*/ |
230 |
void setPrevPos(const Vector3d& pos) { |
231 |
((snapshotMan_->getPrevSnapshot())->*storage_).position[localIndex_] = pos; |
232 |
} |
233 |
|
234 |
/** |
235 |
* Sets the current position of this stuntdouble |
236 |
* @param pos new position |
237 |
*/ |
238 |
void setPos(const Vector3d& pos) { |
239 |
DataStorage& data = snapshotMan_->getCurrentSnapshot()->*storage_; |
240 |
data.position[localIndex_] = pos; |
241 |
//((snapshotMan_->getCurrentSnapshot())->*storage_).position[localIndex_] = pos; |
242 |
} |
243 |
|
244 |
/** |
245 |
* Sets the position of this stuntdouble in specified snapshot |
246 |
* @param pos position to be set |
247 |
* @param snapshotNo |
248 |
* @see #getPos |
249 |
*/ |
250 |
void setPos(const Vector3d& pos, int snapshotNo) { |
251 |
|
252 |
((snapshotMan_->getSnapshot(snapshotNo))->*storage_).position[localIndex_] = pos; |
253 |
|
254 |
} |
255 |
|
256 |
/** |
257 |
* Returns the previous velocity of this stuntdouble |
258 |
* @return the velocity of this stuntdouble |
259 |
*/ |
260 |
Vector3d getPrevVel() { |
261 |
return ((snapshotMan_->getPrevSnapshot())->*storage_).velocity[localIndex_]; |
262 |
} |
263 |
|
264 |
/** |
265 |
* Returns the current velocity of this stuntdouble |
266 |
* @return the velocity of this stuntdouble |
267 |
*/ |
268 |
Vector3d getVel() { |
269 |
return ((snapshotMan_->getCurrentSnapshot())->*storage_).velocity[localIndex_]; |
270 |
} |
271 |
|
272 |
/** |
273 |
* Returns the velocity of this stuntdouble in specified snapshot |
274 |
* @return the velocity of this stuntdouble |
275 |
* @param snapshotNo |
276 |
*/ |
277 |
Vector3d getVel(int snapshotNo) { |
278 |
return ((snapshotMan_->getSnapshot(snapshotNo))->*storage_).velocity[localIndex_]; |
279 |
} |
280 |
|
281 |
/** |
282 |
* Sets the previous velocity of this stuntdouble |
283 |
* @param vel new velocity |
284 |
* @see #getVel |
285 |
*/ |
286 |
void setPrevVel(const Vector3d& vel) { |
287 |
((snapshotMan_->getPrevSnapshot())->*storage_).velocity[localIndex_] = vel; |
288 |
} |
289 |
|
290 |
/** |
291 |
* Sets the current velocity of this stuntdouble |
292 |
* @param vel new velocity |
293 |
*/ |
294 |
void setVel(const Vector3d& vel) { |
295 |
((snapshotMan_->getCurrentSnapshot())->*storage_).velocity[localIndex_] = vel; |
296 |
} |
297 |
|
298 |
/** |
299 |
* Sets the velocity of this stuntdouble in specified snapshot |
300 |
* @param vel velocity to be set |
301 |
* @param snapshotNo |
302 |
* @see #getVel |
303 |
*/ |
304 |
void setVel(const Vector3d& vel, int snapshotNo) { |
305 |
((snapshotMan_->getSnapshot(snapshotNo))->*storage_).velocity[localIndex_] = vel; |
306 |
} |
307 |
|
308 |
/** |
309 |
* Returns the previous rotation matrix of this stuntdouble |
310 |
* @return the rotation matrix of this stuntdouble |
311 |
*/ |
312 |
RotMat3x3d getPrevA() { |
313 |
return ((snapshotMan_->getPrevSnapshot())->*storage_).aMat[localIndex_]; |
314 |
} |
315 |
|
316 |
/** |
317 |
* Returns the current rotation matrix of this stuntdouble |
318 |
* @return the rotation matrix of this stuntdouble |
319 |
*/ |
320 |
RotMat3x3d getA() { |
321 |
return ((snapshotMan_->getCurrentSnapshot())->*storage_).aMat[localIndex_]; |
322 |
} |
323 |
|
324 |
/** |
325 |
* Returns the rotation matrix of this stuntdouble in specified snapshot |
326 |
* |
327 |
* @return the rotation matrix of this stuntdouble |
328 |
* @param snapshotNo |
329 |
*/ |
330 |
RotMat3x3d getA(int snapshotNo) { |
331 |
return ((snapshotMan_->getSnapshot(snapshotNo))->*storage_).aMat[localIndex_]; |
332 |
} |
333 |
|
334 |
/** |
335 |
* Sets the previous rotation matrix of this stuntdouble |
336 |
* @param a new rotation matrix |
337 |
* @see #getA |
338 |
*/ |
339 |
virtual void setPrevA(const RotMat3x3d& a) { |
340 |
((snapshotMan_->getPrevSnapshot())->*storage_).aMat[localIndex_] = a; |
341 |
} |
342 |
|
343 |
/** |
344 |
* Sets the current rotation matrix of this stuntdouble |
345 |
* @param a new rotation matrix |
346 |
*/ |
347 |
virtual void setA(const RotMat3x3d& a) { |
348 |
((snapshotMan_->getCurrentSnapshot())->*storage_).aMat[localIndex_] = a; |
349 |
} |
350 |
|
351 |
/** |
352 |
* Sets the rotation matrix of this stuntdouble in specified snapshot |
353 |
* @param a rotation matrix to be set |
354 |
* @param snapshotNo |
355 |
* @see #getA |
356 |
*/ |
357 |
virtual void setA(const RotMat3x3d& a, int snapshotNo) { |
358 |
((snapshotMan_->getSnapshot(snapshotNo))->*storage_).aMat[localIndex_] = a; |
359 |
} |
360 |
|
361 |
/** |
362 |
* Returns the previous angular momentum of this stuntdouble (body-fixed). |
363 |
* @return the angular momentum of this stuntdouble |
364 |
*/ |
365 |
Vector3d getPrevJ() { |
366 |
return ((snapshotMan_->getPrevSnapshot())->*storage_).angularMomentum[localIndex_]; |
367 |
} |
368 |
|
369 |
/** |
370 |
* Returns the current angular momentum of this stuntdouble (body -fixed). |
371 |
* @return the angular momentum of this stuntdouble |
372 |
*/ |
373 |
Vector3d getJ() { |
374 |
return ((snapshotMan_->getCurrentSnapshot())->*storage_).angularMomentum[localIndex_]; |
375 |
} |
376 |
|
377 |
/** |
378 |
* Returns the angular momentum of this stuntdouble in specified snapshot (body-fixed). |
379 |
* @return the angular momentum of this stuntdouble |
380 |
* @param snapshotNo |
381 |
*/ |
382 |
Vector3d getJ(int snapshotNo) { |
383 |
return ((snapshotMan_->getSnapshot(snapshotNo))->*storage_).angularMomentum[localIndex_]; |
384 |
} |
385 |
|
386 |
/** |
387 |
* Sets the previous angular momentum of this stuntdouble (body-fixed). |
388 |
* @param angMom new angular momentum |
389 |
* @see #getJ |
390 |
*/ |
391 |
void setPrevJ(const Vector3d& angMom) { |
392 |
((snapshotMan_->getPrevSnapshot())->*storage_).angularMomentum[localIndex_] = angMom; |
393 |
} |
394 |
|
395 |
/** |
396 |
* Sets the current angular momentum of this stuntdouble (body-fixed). |
397 |
* @param angMom new angular momentum |
398 |
*/ |
399 |
void setJ(const Vector3d& angMom) { |
400 |
((snapshotMan_->getCurrentSnapshot())->*storage_).angularMomentum[localIndex_] = angMom; |
401 |
} |
402 |
|
403 |
/** |
404 |
* Sets the angular momentum of this stuntdouble in specified snapshot(body-fixed). |
405 |
* @param angMom angular momentum to be set |
406 |
* @param snapshotNo |
407 |
* @see #getJ |
408 |
*/ |
409 |
void setJ(const Vector3d& angMom, int snapshotNo) { |
410 |
((snapshotMan_->getSnapshot(snapshotNo))->*storage_).angularMomentum[localIndex_] = angMom; |
411 |
} |
412 |
|
413 |
/** |
414 |
* Returns the previous quaternion of this stuntdouble |
415 |
* @return the quaternion of this stuntdouble |
416 |
*/ |
417 |
Quat4d getPrevQ() { |
418 |
return ((snapshotMan_->getPrevSnapshot())->*storage_).aMat[localIndex_].toQuaternion(); |
419 |
} |
420 |
|
421 |
/** |
422 |
* Returns the current quaternion of this stuntdouble |
423 |
* @return the quaternion of this stuntdouble |
424 |
*/ |
425 |
Quat4d getQ() { |
426 |
return ((snapshotMan_->getCurrentSnapshot())->*storage_).aMat[localIndex_].toQuaternion(); |
427 |
} |
428 |
|
429 |
/** |
430 |
* Returns the quaternion of this stuntdouble in specified snapshot |
431 |
* @return the quaternion of this stuntdouble |
432 |
* @param snapshotNo |
433 |
*/ |
434 |
Quat4d getQ(int snapshotNo) { |
435 |
return ((snapshotMan_->getSnapshot(snapshotNo))->*storage_).aMat[localIndex_].toQuaternion(); |
436 |
} |
437 |
|
438 |
/** |
439 |
* Sets the previous quaternion of this stuntdouble |
440 |
* @param q new quaternion |
441 |
* @note actual storage data is rotation matrix |
442 |
*/ |
443 |
void setPrevQ(const Quat4d& q) { |
444 |
setPrevA(q); |
445 |
} |
446 |
|
447 |
/** |
448 |
* Sets the current quaternion of this stuntdouble |
449 |
* @param q new quaternion |
450 |
* @note actual storage data is rotation matrix |
451 |
*/ |
452 |
void setQ(const Quat4d& q) { |
453 |
setA(q); |
454 |
} |
455 |
|
456 |
/** |
457 |
* Sets the quaternion of this stuntdouble in specified snapshot |
458 |
* |
459 |
* @param q quaternion to be set |
460 |
* @param snapshotNo |
461 |
* @note actual storage data is rotation matrix |
462 |
*/ |
463 |
void setQ(const Quat4d& q, int snapshotNo) { |
464 |
setA(q, snapshotNo); |
465 |
} |
466 |
|
467 |
/** |
468 |
* Returns the previous euler angles of this stuntdouble |
469 |
* @return the euler angles of this stuntdouble |
470 |
*/ |
471 |
Vector3d getPrevEuler() { |
472 |
return ((snapshotMan_->getPrevSnapshot())->*storage_).aMat[localIndex_].toEulerAngles(); |
473 |
} |
474 |
|
475 |
/** |
476 |
* Returns the current euler angles of this stuntdouble |
477 |
* @return the euler angles of this stuntdouble |
478 |
*/ |
479 |
Vector3d getEuler() { |
480 |
return ((snapshotMan_->getCurrentSnapshot())->*storage_).aMat[localIndex_].toEulerAngles(); |
481 |
} |
482 |
|
483 |
/** |
484 |
* Returns the euler angles of this stuntdouble in specified snapshot. |
485 |
* @return the euler angles of this stuntdouble |
486 |
* @param snapshotNo |
487 |
*/ |
488 |
Vector3d getEuler(int snapshotNo) { |
489 |
return ((snapshotMan_->getSnapshot(snapshotNo))->*storage_).aMat[localIndex_].toEulerAngles(); |
490 |
} |
491 |
|
492 |
/** |
493 |
* Sets the previous euler angles of this stuntRealType. |
494 |
* @param euler new euler angles |
495 |
* @see #getEuler |
496 |
* @note actual storage data is rotation matrix |
497 |
*/ |
498 |
void setPrevEuler(const Vector3d& euler) { |
499 |
((snapshotMan_->getPrevSnapshot())->*storage_).aMat[localIndex_] = euler; |
500 |
} |
501 |
|
502 |
/** |
503 |
* Sets the current euler angles of this stuntdouble |
504 |
* @param euler new euler angles |
505 |
*/ |
506 |
void setEuler(const Vector3d& euler) { |
507 |
((snapshotMan_->getCurrentSnapshot())->*storage_).aMat[localIndex_] = euler; |
508 |
} |
509 |
|
510 |
/** |
511 |
* Sets the euler angles of this stuntdouble in specified snapshot |
512 |
* |
513 |
* @param euler euler angles to be set |
514 |
* @param snapshotNo |
515 |
* @note actual storage data is rotation matrix |
516 |
*/ |
517 |
void setEuler(const Vector3d& euler, int snapshotNo) { |
518 |
((snapshotMan_->getSnapshot(snapshotNo))->*storage_).aMat[localIndex_] = euler; |
519 |
} |
520 |
|
521 |
/** |
522 |
* Returns the previous unit vectors of this stuntdouble |
523 |
* @return the unit vectors of this stuntdouble |
524 |
*/ |
525 |
RotMat3x3d getPrevElectroFrame() { |
526 |
return ((snapshotMan_->getPrevSnapshot())->*storage_).electroFrame[localIndex_]; |
527 |
} |
528 |
|
529 |
/** |
530 |
* Returns the current unit vectors of this stuntdouble |
531 |
* @return the unit vectors of this stuntdouble |
532 |
*/ |
533 |
RotMat3x3d getElectroFrame() { |
534 |
return ((snapshotMan_->getCurrentSnapshot())->*storage_).electroFrame[localIndex_]; |
535 |
} |
536 |
|
537 |
/** |
538 |
* Returns the unit vectors of this stuntdouble in specified snapshot |
539 |
* |
540 |
* @return the unit vectors of this stuntdouble |
541 |
* @param snapshotNo |
542 |
*/ |
543 |
RotMat3x3d getElectroFrame(int snapshotNo) { |
544 |
return ((snapshotMan_->getSnapshot(snapshotNo))->*storage_).electroFrame[localIndex_]; |
545 |
} |
546 |
|
547 |
/** |
548 |
* Returns the previous force of this stuntdouble |
549 |
* @return the force of this stuntdouble |
550 |
*/ |
551 |
Vector3d getPrevFrc() { |
552 |
return ((snapshotMan_->getPrevSnapshot())->*storage_).force[localIndex_]; |
553 |
} |
554 |
|
555 |
/** |
556 |
* Returns the current force of this stuntdouble |
557 |
* @return the force of this stuntdouble |
558 |
*/ |
559 |
Vector3d getFrc() { |
560 |
return ((snapshotMan_->getCurrentSnapshot())->*storage_).force[localIndex_]; |
561 |
} |
562 |
|
563 |
/** |
564 |
* Returns the force of this stuntdouble in specified snapshot |
565 |
* |
566 |
* @return the force of this stuntdouble |
567 |
* @param snapshotNo |
568 |
*/ |
569 |
Vector3d getFrc(int snapshotNo) { |
570 |
return ((snapshotMan_->getSnapshot(snapshotNo))->*storage_).force[localIndex_]; |
571 |
} |
572 |
|
573 |
/** |
574 |
* Sets the previous force of this stuntdouble |
575 |
* |
576 |
* @param frc new force |
577 |
* @see #getFrc |
578 |
*/ |
579 |
void setPrevFrc(const Vector3d& frc) { |
580 |
((snapshotMan_->getPrevSnapshot())->*storage_).force[localIndex_] = frc; |
581 |
} |
582 |
|
583 |
/** |
584 |
* Sets the current force of this stuntdouble |
585 |
* @param frc new force |
586 |
*/ |
587 |
void setFrc(const Vector3d& frc) { |
588 |
((snapshotMan_->getCurrentSnapshot())->*storage_).force[localIndex_] = frc; |
589 |
} |
590 |
|
591 |
/** |
592 |
* Sets the force of this stuntdouble in specified snapshot |
593 |
* |
594 |
* @param frc force to be set |
595 |
* @param snapshotNo |
596 |
* @see #getFrc |
597 |
*/ |
598 |
void setFrc(const Vector3d& frc, int snapshotNo) { |
599 |
((snapshotMan_->getSnapshot(snapshotNo))->*storage_).force[localIndex_] = frc; |
600 |
} |
601 |
|
602 |
/** |
603 |
* Adds force into the previous force of this stuntdouble |
604 |
* |
605 |
* @param frc new force |
606 |
* @see #getFrc |
607 |
*/ |
608 |
void addPrevFrc(const Vector3d& frc) { |
609 |
((snapshotMan_->getPrevSnapshot())->*storage_).force[localIndex_] += frc; |
610 |
} |
611 |
|
612 |
/** |
613 |
* Adds force into the current force of this stuntdouble |
614 |
* @param frc new force |
615 |
*/ |
616 |
void addFrc(const Vector3d& frc) { |
617 |
((snapshotMan_->getCurrentSnapshot())->*storage_).force[localIndex_] += frc; |
618 |
} |
619 |
|
620 |
/** |
621 |
* Adds force into the force of this stuntdouble in specified snapshot |
622 |
* |
623 |
* @param frc force to be set |
624 |
* @param snapshotNo |
625 |
* @see #getFrc |
626 |
*/ |
627 |
void addFrc(const Vector3d& frc, int snapshotNo) { |
628 |
((snapshotMan_->getSnapshot(snapshotNo))->*storage_).force[localIndex_] += frc; |
629 |
} |
630 |
|
631 |
/** |
632 |
* Returns the previous torque of this stuntdouble |
633 |
* @return the torque of this stuntdouble |
634 |
*/ |
635 |
Vector3d getPrevTrq() { |
636 |
return ((snapshotMan_->getPrevSnapshot())->*storage_).torque[localIndex_]; |
637 |
} |
638 |
|
639 |
/** |
640 |
* Returns the current torque of this stuntdouble |
641 |
* @return the torque of this stuntdouble |
642 |
*/ |
643 |
Vector3d getTrq() { |
644 |
return ((snapshotMan_->getCurrentSnapshot())->*storage_).torque[localIndex_]; |
645 |
} |
646 |
|
647 |
/** |
648 |
* Returns the torque of this stuntdouble in specified snapshot |
649 |
* |
650 |
* @return the torque of this stuntdouble |
651 |
* @param snapshotNo |
652 |
*/ |
653 |
Vector3d getTrq(int snapshotNo) { |
654 |
return ((snapshotMan_->getSnapshot(snapshotNo))->*storage_).torque[localIndex_]; |
655 |
} |
656 |
|
657 |
/** |
658 |
* Sets the previous torque of this stuntdouble |
659 |
* |
660 |
* @param trq new torque |
661 |
* @see #getTrq |
662 |
*/ |
663 |
void setPrevTrq(const Vector3d& trq) { |
664 |
((snapshotMan_->getPrevSnapshot())->*storage_).torque[localIndex_] = trq; |
665 |
} |
666 |
|
667 |
/** |
668 |
* Sets the current torque of this stuntdouble |
669 |
* @param trq new torque |
670 |
*/ |
671 |
void setTrq(const Vector3d& trq) { |
672 |
((snapshotMan_->getCurrentSnapshot())->*storage_).torque[localIndex_] = trq; |
673 |
} |
674 |
|
675 |
/** |
676 |
* Sets the torque of this stuntdouble in specified snapshot |
677 |
* |
678 |
* @param trq torque to be set |
679 |
* @param snapshotNo |
680 |
* @see #getTrq |
681 |
*/ |
682 |
void setTrq(const Vector3d& trq, int snapshotNo) { |
683 |
((snapshotMan_->getSnapshot(snapshotNo))->*storage_).torque[localIndex_] = trq; |
684 |
} |
685 |
|
686 |
/** |
687 |
* Adds torque into the previous torque of this stuntdouble |
688 |
* |
689 |
* @param trq new torque |
690 |
* @see #getTrq |
691 |
*/ |
692 |
void addPrevTrq(const Vector3d& trq) { |
693 |
((snapshotMan_->getPrevSnapshot())->*storage_).torque[localIndex_] += trq; |
694 |
} |
695 |
|
696 |
/** |
697 |
* Adds torque into the current torque of this stuntdouble |
698 |
* @param trq new torque |
699 |
*/ |
700 |
void addTrq(const Vector3d& trq) { |
701 |
((snapshotMan_->getCurrentSnapshot())->*storage_).torque[localIndex_] += trq; |
702 |
} |
703 |
|
704 |
/** |
705 |
* Adds torque into the torque of this stuntdouble in specified snapshot |
706 |
* |
707 |
* @param trq torque to be add |
708 |
* @param snapshotNo |
709 |
* @see #getTrq |
710 |
*/ |
711 |
void addTrq(const Vector3d& trq, int snapshotNo) { |
712 |
((snapshotMan_->getSnapshot(snapshotNo))->*storage_).torque[localIndex_] += trq; |
713 |
} |
714 |
|
715 |
|
716 |
/** |
717 |
* Returns the previous z-angle of this stuntdouble |
718 |
* @return the z-angle of this stuntdouble |
719 |
*/ |
720 |
RealType getPrevZangle() { |
721 |
return ((snapshotMan_->getPrevSnapshot())->*storage_).zAngle[localIndex_]; |
722 |
} |
723 |
|
724 |
/** |
725 |
* Returns the current z-angle of this stuntdouble |
726 |
* @return the z-angle of this stuntdouble |
727 |
*/ |
728 |
RealType getZangle() { |
729 |
return ((snapshotMan_->getCurrentSnapshot())->*storage_).zAngle[localIndex_]; |
730 |
} |
731 |
|
732 |
/** |
733 |
* Returns the z-angle of this stuntdouble in specified snapshot |
734 |
* @return the z-angle of this stuntdouble |
735 |
* @param snapshotNo |
736 |
*/ |
737 |
RealType getZangle(int snapshotNo) { |
738 |
return ((snapshotMan_->getSnapshot(snapshotNo))->*storage_).zAngle[localIndex_]; |
739 |
} |
740 |
|
741 |
/** |
742 |
* Sets the previous z-angle of this stuntdouble |
743 |
* @param angle new z-angle |
744 |
* @see #getZangle |
745 |
*/ |
746 |
void setPrevZangle(RealType angle) { |
747 |
((snapshotMan_->getPrevSnapshot())->*storage_).zAngle[localIndex_] = angle; |
748 |
} |
749 |
|
750 |
/** |
751 |
* Sets the current z-angle of this stuntdouble |
752 |
* @param angle new z-angle |
753 |
*/ |
754 |
void setZangle(RealType angle) { |
755 |
((snapshotMan_->getCurrentSnapshot())->*storage_).zAngle[localIndex_] = angle; |
756 |
} |
757 |
|
758 |
/** |
759 |
* Sets the z-angle of this stuntdouble in specified snapshot |
760 |
* @param angle z-angle to be set |
761 |
* @param snapshotNo |
762 |
* @see #getZangle |
763 |
*/ |
764 |
void setZangle(RealType angle, int snapshotNo) { |
765 |
((snapshotMan_->getSnapshot(snapshotNo))->*storage_).zAngle[localIndex_] = angle; |
766 |
} |
767 |
|
768 |
/** |
769 |
* Adds z-angle into the previous z-angle of this stuntdouble |
770 |
* @param angle new z-angle |
771 |
* @see #getZangle |
772 |
*/ |
773 |
void addPrevZangle(RealType angle) { |
774 |
((snapshotMan_->getPrevSnapshot())->*storage_).zAngle[localIndex_] += angle; |
775 |
} |
776 |
|
777 |
/** |
778 |
* Adds z-angle into the current z-angle of this stuntdouble |
779 |
* @param angle new z-angle |
780 |
*/ |
781 |
void addZangle(RealType angle) { |
782 |
((snapshotMan_->getCurrentSnapshot())->*storage_).zAngle[localIndex_] += angle; |
783 |
} |
784 |
|
785 |
/** |
786 |
* Adds z-angle into the z-angle of this stuntdouble in specified snapshot |
787 |
* @param angle z-angle to be add |
788 |
* @param snapshotNo |
789 |
* @see #getZangle |
790 |
*/ |
791 |
void addZangle(RealType angle, int snapshotNo) { |
792 |
((snapshotMan_->getSnapshot(snapshotNo))->*storage_).zAngle[localIndex_] += angle; |
793 |
} |
794 |
|
795 |
/** Set the force of this stuntdouble to zero */ |
796 |
void zeroForcesAndTorques(); |
797 |
/** |
798 |
* Returns the inertia tensor of this stuntdouble |
799 |
* @return the inertia tensor of this stuntdouble |
800 |
*/ |
801 |
virtual Mat3x3d getI() = 0; |
802 |
|
803 |
/** |
804 |
* Returns the gradient of this stuntdouble |
805 |
* @return the gradient of this stuntdouble |
806 |
*/ |
807 |
virtual std::vector<RealType> getGrad() = 0; |
808 |
|
809 |
/** |
810 |
* Tests the if this stuntdouble is a linear rigidbody |
811 |
* |
812 |
* @return true if this stuntdouble is a linear rigidbody, otherwise return false |
813 |
* @note atom and directional atom will always return false |
814 |
* |
815 |
* @see #linearAxis |
816 |
*/ |
817 |
bool isLinear() { |
818 |
return linear_; |
819 |
} |
820 |
|
821 |
/** |
822 |
* Returns the linear axis of the rigidbody, atom and directional atom will always return -1 |
823 |
* |
824 |
* @return the linear axis of the rigidbody |
825 |
* |
826 |
* @see #isLinear |
827 |
*/ |
828 |
int linearAxis() { |
829 |
return linearAxis_; |
830 |
} |
831 |
|
832 |
/** Returns the mass of this stuntdouble */ |
833 |
RealType getMass() { |
834 |
return mass_; |
835 |
} |
836 |
|
837 |
/** |
838 |
* Sets the mass of this stuntdoulbe |
839 |
* @param mass the mass to be set |
840 |
*/ |
841 |
void setMass(RealType mass) { |
842 |
mass_ = mass; |
843 |
} |
844 |
|
845 |
/** Returns the name of this stuntdouble */ |
846 |
virtual std::string getType() = 0; |
847 |
|
848 |
/** Sets the name of this stuntRealType*/ |
849 |
virtual void setType(const std::string& name) {} |
850 |
|
851 |
/** |
852 |
* Converts a lab fixed vector to a body fixed vector. |
853 |
* @return body fixed vector |
854 |
* @param v lab fixed vector |
855 |
*/ |
856 |
Vector3d lab2Body(const Vector3d& v) { |
857 |
return getA() * v; |
858 |
} |
859 |
|
860 |
Vector3d lab2Body(const Vector3d& v, int frame) { |
861 |
return getA(frame) * v; |
862 |
} |
863 |
|
864 |
/** |
865 |
* Converts a body fixed vector to a lab fixed vector. |
866 |
* @return corresponding lab fixed vector |
867 |
* @param v body fixed vector |
868 |
*/ |
869 |
Vector3d body2Lab(const Vector3d& v){ |
870 |
return getA().transpose() * v; |
871 |
} |
872 |
|
873 |
Vector3d body2Lab(const Vector3d& v, int frame){ |
874 |
return getA(frame).transpose() * v; |
875 |
} |
876 |
/** |
877 |
* <p> |
878 |
* The purpose of the Visitor Pattern is to encapsulate an operation that you want to perform on |
879 |
* the elements of a data structure. In this way, you can change the operation being performed |
880 |
* on a structure without the need of changing the classes of the elements that you are operating |
881 |
* on. Using a Visitor pattern allows you to decouple the classes for the data structure and the |
882 |
* algorithms used upon them |
883 |
* </p> |
884 |
* @param v visitor |
885 |
*/ |
886 |
virtual void accept(BaseVisitor* v) = 0; |
887 |
|
888 |
//below functions are just forward functions |
889 |
/** |
890 |
* Adds property into property map |
891 |
* @param genData GenericData to be added into PropertyMap |
892 |
*/ |
893 |
void addProperty(GenericData* genData); |
894 |
|
895 |
/** |
896 |
* Removes property from PropertyMap by name |
897 |
* @param propName the name of property to be removed |
898 |
*/ |
899 |
void removeProperty(const std::string& propName); |
900 |
|
901 |
/** |
902 |
* clear all of the properties |
903 |
*/ |
904 |
void clearProperties(); |
905 |
|
906 |
/** |
907 |
* Returns all names of properties |
908 |
* @return all names of properties |
909 |
*/ |
910 |
std::vector<std::string> getPropertyNames(); |
911 |
|
912 |
/** |
913 |
* Returns all of the properties in PropertyMap |
914 |
* @return all of the properties in PropertyMap |
915 |
*/ |
916 |
std::vector<GenericData*> getProperties(); |
917 |
|
918 |
/** |
919 |
* Returns property |
920 |
* @param propName name of property |
921 |
* @return a pointer point to property with propName. If no property named propName |
922 |
* exists, return NULL |
923 |
*/ |
924 |
GenericData* getPropertyByName(const std::string& propName); |
925 |
|
926 |
protected: |
927 |
|
928 |
StuntDouble(ObjectType objType, DataStoragePointer storage); |
929 |
|
930 |
StuntDouble(const StuntDouble& sd); |
931 |
StuntDouble& operator=(const StuntDouble& sd); |
932 |
|
933 |
ObjectType objType_; |
934 |
DataStoragePointer storage_; |
935 |
SnapshotManager* snapshotMan_; |
936 |
|
937 |
bool linear_; |
938 |
int linearAxis_; |
939 |
|
940 |
|
941 |
int globalIndex_; |
942 |
int globalIntegrableObjectIndex_; |
943 |
int localIndex_; |
944 |
|
945 |
|
946 |
RealType mass_; |
947 |
|
948 |
private: |
949 |
|
950 |
PropertyMap properties_; |
951 |
}; |
952 |
|
953 |
}//end namespace oopse |
954 |
#endif //PRIMITIVES_STUNTDOUBLE_HPP |