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/* |
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* Copyright (C) 2000-2004 Object Oriented Parallel Simulation Engine (OOPSE) project |
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* |
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* Contact: oopse@oopse.org |
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* |
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* This program is free software; you can redistribute it and/or |
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* modify it under the terms of the GNU Lesser General Public License |
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* as published by the Free Software Foundation; either version 2.1 |
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* of the License, or (at your option) any later version. |
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* All we ask is that proper credit is given for our work, which includes |
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* - but is not limited to - adding the above copyright notice to the beginning |
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* of your source code files, and to any copyright notice that you may distribute |
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* with programs based on this work. |
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* |
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* This program is distributed in the hope that it will be useful, |
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* but WITHOUT ANY WARRANTY; without even the implied warranty of |
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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* GNU Lesser General Public License for more details. |
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* |
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* You should have received a copy of the GNU Lesser General Public License |
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* along with this program; if not, write to the Free Software |
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* Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. |
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* |
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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 _STUNTDOUBLE_HPP_ |
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#define _STUNTDOUBLE_HPP_ |
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|
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#include <vector> |
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|
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#include <core/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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|
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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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* 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 |
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* @note the dynamoc 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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return globalIndex_; |
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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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* 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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void 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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void 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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(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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(snapshotMan_->getSnapshot(snapshotNo))->storage_->position[LocalIndex_] = pos; |
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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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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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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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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 |
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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 |
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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 |
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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 |
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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 |
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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 |
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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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* @see #getQ |
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*/ |
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void setPrevQ(const Quat4d& q) { |
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(snapshotMan_->getPrevSnapshot())->storage_->aMat[LocalIndex_] = 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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*/ |
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void setQ(const Quat4d& q) { |
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(snapshotMan_->getCurrentSnapshot())->storage_->aMat[LocalIndex_] = 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 |
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* @param snapshotNo |
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* @see #getQ |
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*/ |
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void setQ(const Quat4d& q, int snapshotNo) { |
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(snapshotMan_->getSnapshot(snapshotNo))->storage_->aMat[LocalIndex_] = q; |
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} |
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|
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/** |
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* Returns the previous euler angles of this stuntdouble |
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* @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 |
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* @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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/** |
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* Returns the euler angles of this stuntdouble in specified snapshot |
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* |
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* @return the euler angles of this stuntdouble |
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* @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(); |
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} |
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|
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/** |
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* Sets the previous euler angles of this stuntdouble |
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* |
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* @param euler new euler angles |
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* @see #getEuler |
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*/ |
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void setPrevEuler(const Vector3d& euler) { |
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(snapshotMan_->getPrevSnapshot())->storage_->aMat[LocalIndex_] = euler; |
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} |
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|
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/** |
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* Sets the current euler angles of this stuntdouble |
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* @param euler new euler angles |
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*/ |
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void setEuler(const Vector3d& euler) { |
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(snapshotMan_->getCurrentSnapshot())->storage_->aMat[LocalIndex_] = euler; |
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} |
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|
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/** |
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* Sets the euler angles of this stuntdouble in specified snapshot |
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* |
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* @param euler euler angles to be set |
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* @param snapshotNo |
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* @see #getEuler |
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*/ |
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void setEuler(const Vector3d& euler, int snapshotNo) { |
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(snapshotMan_->getSnapshot(snapshotNo))->storage_->aMat[LocalIndex_] = euler; |
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} |
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|
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/** |
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* Returns the previous force of this stuntdouble |
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* @return the force of this stuntdouble |
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*/ |
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Vector3d getPrevFrc() { |
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return (snapshotMan_->getPrevSnapshot())->storage_->force[LocalIndex_]; |
458 |
} |
459 |
|
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/** |
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* Returns the current force of this stuntdouble |
462 |
* @return the force of this stuntdouble |
463 |
*/ |
464 |
Vector3d getFrc() { |
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return (snapshotMan_->getCurrentSnapshot())->storage_->force[LocalIndex_]; |
466 |
} |
467 |
|
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/** |
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* Returns the force of this stuntdouble in specified snapshot |
470 |
* |
471 |
* @return the force of this stuntdouble |
472 |
* @param snapshotNo |
473 |
*/ |
474 |
Vector3d getFrc(int snapshotNo) { |
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return (snapshotMan_->getSnapshot(snapShotNo))->storage_->force[LocalIndex_]; |
476 |
} |
477 |
|
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/** |
479 |
* Sets the previous force of this stuntdouble |
480 |
* |
481 |
* @param frc new force |
482 |
* @see #getFrc |
483 |
*/ |
484 |
void setPrevFrc(const Vector3d& frc) { |
485 |
(snapshotMan_->getPrevSnapshot())->storage_->force[LocalIndex_] = frc; |
486 |
} |
487 |
|
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/** |
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* Sets the current force of this stuntdouble |
490 |
* @param frc new force |
491 |
*/ |
492 |
void setFrc(const Vector3d& frc) { |
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(snapshotMan_->getCurrentSnapshot())->storage_->force[LocalIndex_] = frc; |
494 |
} |
495 |
|
496 |
/** |
497 |
* Sets the force of this stuntdouble in specified snapshot |
498 |
* |
499 |
* @param frc force to be set |
500 |
* @param snapshotNo |
501 |
* @see #getFrc |
502 |
*/ |
503 |
void setFrc(const Vector3d& frc, int snapshotNo) { |
504 |
(snapshotMan_->getSnapshot(snapshotNo))->storage_->force[LocalIndex_] = frc; |
505 |
} |
506 |
|
507 |
/** |
508 |
* Adds force into the previous force of this stuntdouble |
509 |
* |
510 |
* @param frc new force |
511 |
* @see #getFrc |
512 |
*/ |
513 |
void setPrevFrc(const Vector3d& frc) { |
514 |
(snapshotMan_->getPrevSnapshot())->storage_->force[LocalIndex_] += frc; |
515 |
} |
516 |
|
517 |
/** |
518 |
* Adds force into the current force of this stuntdouble |
519 |
* @param frc new force |
520 |
*/ |
521 |
void setFrc(const Vector3d& frc) { |
522 |
(snapshotMan_->getCurrentSnapshot())->storage_->force[LocalIndex_] += frc; |
523 |
} |
524 |
|
525 |
/** |
526 |
* Adds force into the force of this stuntdouble in specified snapshot |
527 |
* |
528 |
* @param frc force to be set |
529 |
* @param snapshotNo |
530 |
* @see #getFrc |
531 |
*/ |
532 |
void setFrc(const Vector3d& frc, int snapshotNo) { |
533 |
(snapshotMan_->getSnapshot(snapshotNo))->storage_->force[LocalIndex_] += frc; |
534 |
} |
535 |
|
536 |
/** |
537 |
* Returns the previous torque of this stuntdouble |
538 |
* @return the torque of this stuntdouble |
539 |
*/ |
540 |
Vector3d getPrevTrq() { |
541 |
return (snapshotMan_->getPrevSnapshot())->storage_->torque[LocalIndex_]; |
542 |
} |
543 |
|
544 |
/** |
545 |
* Returns the current torque of this stuntdouble |
546 |
* @return the torque of this stuntdouble |
547 |
*/ |
548 |
Vector3d getTrq() { |
549 |
return (snapshotMan_->getCurrentSnapshot())->storage_->torque[LocalIndex_]; |
550 |
} |
551 |
|
552 |
/** |
553 |
* Returns the torque of this stuntdouble in specified snapshot |
554 |
* |
555 |
* @return the torque of this stuntdouble |
556 |
* @param snapshotNo |
557 |
*/ |
558 |
Vector3d getTrq(int snapshotNo) { |
559 |
return (snapshotMan_->getSnapshot(snapShotNo))->storage_->torque[LocalIndex_]; |
560 |
} |
561 |
|
562 |
/** |
563 |
* Sets the previous torque of this stuntdouble |
564 |
* |
565 |
* @param trq new torque |
566 |
* @see #getTrq |
567 |
*/ |
568 |
void setPrevTrq(const Vector3d& trq) { |
569 |
(snapshotMan_->getPrevSnapshot())->storage_->torque[LocalIndex_] = trq; |
570 |
} |
571 |
|
572 |
/** |
573 |
* Sets the current torque of this stuntdouble |
574 |
* @param trq new torque |
575 |
*/ |
576 |
void setTrq(const Vector3d& trq) { |
577 |
(snapshotMan_->getCurrentSnapshot())->storage_->torque[LocalIndex_] = trq; |
578 |
} |
579 |
|
580 |
/** |
581 |
* Sets the torque of this stuntdouble in specified snapshot |
582 |
* |
583 |
* @param trq torque to be set |
584 |
* @param snapshotNo |
585 |
* @see #getTrq |
586 |
*/ |
587 |
void setTrq(const Vector3d& trq, int snapshotNo) { |
588 |
(snapshotMan_->getSnapshot(snapshotNo))->storage_->torque[LocalIndex_] = trq; |
589 |
} |
590 |
|
591 |
/** |
592 |
* Adds torque into the previous torque of this stuntdouble |
593 |
* |
594 |
* @param trq new torque |
595 |
* @see #getTrq |
596 |
*/ |
597 |
void addPrevTrq(const Vector3d& trq) { |
598 |
(snapshotMan_->getPrevSnapshot())->storage_->torque[LocalIndex_] += trq; |
599 |
} |
600 |
|
601 |
/** |
602 |
* Adds torque into the current torque of this stuntdouble |
603 |
* @param trq new torque |
604 |
*/ |
605 |
void addTrq(const Vector3d& trq) { |
606 |
(snapshotMan_->getCurrentSnapshot())->storage_->torque[LocalIndex_] += trq; |
607 |
} |
608 |
|
609 |
/** |
610 |
* Adds torque into the torque of this stuntdouble in specified snapshot |
611 |
* |
612 |
* @param trq torque to be add |
613 |
* @param snapshotNo |
614 |
* @see #getTrq |
615 |
*/ |
616 |
void addTrq(const Vector3d& trq, int snapshotNo) { |
617 |
(snapshotMan_->getSnapshot(snapshotNo))->storage_->torque[LocalIndex_] += trq; |
618 |
} |
619 |
|
620 |
|
621 |
/** |
622 |
* Returns the previous z-angle of this stuntdouble |
623 |
* @return the z-angle of this stuntdouble |
624 |
*/ |
625 |
Vector3d getPrevZangle() { |
626 |
return (snapshotMan_->getPrevSnapshot())->storage_->zAngle[LocalIndex_]; |
627 |
} |
628 |
|
629 |
/** |
630 |
* Returns the current z-angle of this stuntdouble |
631 |
* @return the z-angle of this stuntdouble |
632 |
*/ |
633 |
Vector3d getZangle() { |
634 |
return (snapshotMan_->getCurrentSnapshot())->storage_->zAngle[LocalIndex_]; |
635 |
} |
636 |
|
637 |
/** |
638 |
* Returns the z-angle of this stuntdouble in specified snapshot |
639 |
* @return the z-angle of this stuntdouble |
640 |
* @param snapshotNo |
641 |
*/ |
642 |
Vector3d getZangle(int snapshotNo) { |
643 |
return (snapshotMan_->getSnapshot(snapShotNo))->storage_->zAngle[LocalIndex_]; |
644 |
} |
645 |
|
646 |
/** |
647 |
* Sets the previous z-angle of this stuntdouble |
648 |
* @param angle new z-angle |
649 |
* @see #getZangle |
650 |
*/ |
651 |
void setPrevZangle(const Vector3d& angle) { |
652 |
(snapshotMan_->getPrevSnapshot())->storage_->zAngle[LocalIndex_] = angle; |
653 |
} |
654 |
|
655 |
/** |
656 |
* Sets the current z-angle of this stuntdouble |
657 |
* @param angle new z-angle |
658 |
*/ |
659 |
void setZangle(const Vector3d& angle) { |
660 |
(snapshotMan_->getCurrentSnapshot())->storage_->zAngle[LocalIndex_] = angle; |
661 |
} |
662 |
|
663 |
/** |
664 |
* Sets the z-angle of this stuntdouble in specified snapshot |
665 |
* @param angle z-angle to be set |
666 |
* @param snapshotNo |
667 |
* @see #getZangle |
668 |
*/ |
669 |
void setZangle(const Vector3d& angle, int snapshotNo) { |
670 |
(snapshotMan_->getSnapshot(snapshotNo))->storage_->zAngle[LocalIndex_] = angle; |
671 |
} |
672 |
|
673 |
/** |
674 |
* Adds z-angle into the previous z-angle of this stuntdouble |
675 |
* @param angle new z-angle |
676 |
* @see #getZangle |
677 |
*/ |
678 |
void addPrevZangle(const Vector3d& angle) { |
679 |
(snapshotMan_->getPrevSnapshot())->storage_->zAngle[LocalIndex_] += angle; |
680 |
} |
681 |
|
682 |
/** |
683 |
* Adds z-angle into the current z-angle of this stuntdouble |
684 |
* @param angle new z-angle |
685 |
*/ |
686 |
void addZangle(const Vector3d& angle) { |
687 |
(snapshotMan_->getCurrentSnapshot())->storage_->zAngle[LocalIndex_] += angle; |
688 |
} |
689 |
|
690 |
/** |
691 |
* Adds z-angle into the z-angle of this stuntdouble in specified snapshot |
692 |
* @param angle z-angle to be add |
693 |
* @param snapshotNo |
694 |
* @see #getZangle |
695 |
*/ |
696 |
void addZangle(const Vector3d& angle, int snapshotNo) { |
697 |
(snapshotMan_->getSnapshot(snapshotNo))->storage_->zAngle[LocalIndex_] += angle; |
698 |
} |
699 |
|
700 |
/** |
701 |
* Returns the inertia tensor of this stuntdouble |
702 |
* @return the inertia tensor of this stuntdouble |
703 |
* @see #setI |
704 |
*/ |
705 |
virtual Mat3x3d getI() = 0; |
706 |
|
707 |
/** |
708 |
* Sets the inertia tensor of this stuntdouble |
709 |
* @param trq new inertia tensor |
710 |
* @see #getI |
711 |
*/ |
712 |
virtual void setI(Mat3x3d& I) = 0; |
713 |
|
714 |
/** |
715 |
* Returns the gradient of this stuntdouble |
716 |
* @return the inertia tensor of this stuntdouble |
717 |
* @see #setI |
718 |
*/ |
719 |
virtual std::vector<double> getGrad() = 0; |
720 |
|
721 |
/** |
722 |
* Tests the if this stuntdouble is a linear rigidbody |
723 |
* |
724 |
* @return true if this stuntdouble is a linear rigidbody, otherwise return false |
725 |
* @note atom and directional atom will always return false |
726 |
* |
727 |
* @see #linearAxis |
728 |
*/ |
729 |
bool isLinear() { |
730 |
return linear_; |
731 |
} |
732 |
|
733 |
/** |
734 |
* Returns the linear axis of the rigidbody, atom and directional atom will always return -1 |
735 |
* |
736 |
* @return the linear axis of the rigidbody |
737 |
* |
738 |
* @see #isLinear |
739 |
*/ |
740 |
int linearAxis() { |
741 |
return linearAxis_; |
742 |
} |
743 |
|
744 |
/** Returns the mass of this stuntdouble */ |
745 |
double getMass() { |
746 |
return mass_; |
747 |
} |
748 |
|
749 |
/** |
750 |
* Sets the mass of this stuntdoulbe |
751 |
* @param mass the mass to be set |
752 |
*/ |
753 |
void setMass(double mass) { |
754 |
mass_ = mass; |
755 |
} |
756 |
|
757 |
/** Returns the name of this stuntdouble */ |
758 |
std::string getType(); |
759 |
|
760 |
/** Sets the name of this stuntdouble*/ |
761 |
void setType(const std::string& name); |
762 |
|
763 |
/** |
764 |
* Converts a lab fixed vector to a body fixed vector |
765 |
* @v lab fixed vector. On return, it will store body fixed vector |
766 |
*/ |
767 |
void lab2Body(Vector3d& v); |
768 |
|
769 |
/** |
770 |
* Converts a body fixed vector to a lab fixed vector |
771 |
* @v body fixed vector. On return, it will store lab fixed vector |
772 |
*/ |
773 |
void body2Lab(Vector3d& v); |
774 |
/** |
775 |
* <p> |
776 |
* The purpose of the Visitor Pattern is to encapsulate an operation that you want to perform on |
777 |
* the elements of a data structure. In this way, you can change the operation being performed |
778 |
* on a structure without the need of changing the classes of the elements that you are operating |
779 |
* on. Using a Visitor pattern allows you to decouple the classes for the data structure and the |
780 |
* algorithms used upon them |
781 |
* </p> |
782 |
* @param v visitor |
783 |
*/ |
784 |
virtual void accept(BaseVisitor* v) = 0; |
785 |
|
786 |
//below functions are just forward functions |
787 |
/** |
788 |
* Adds property into property map |
789 |
* @param genData GenericData to be added into PropertyMap |
790 |
*/ |
791 |
void addProperty(GenericData* genData); |
792 |
|
793 |
/** |
794 |
* Removes property from PropertyMap by name |
795 |
* @param propName the name of property to be removed |
796 |
*/ |
797 |
void removeProperty(std::string& propName); |
798 |
|
799 |
/** |
800 |
* clear all of the properties |
801 |
*/ |
802 |
void clearProperties(); |
803 |
|
804 |
/** |
805 |
* Returns all names of properties |
806 |
* @return all names of properties |
807 |
*/ |
808 |
std::vector<std::string> getPropertyNames(); |
809 |
|
810 |
/** |
811 |
* Returns all of the properties in PropertyMap |
812 |
* @return all of the properties in PropertyMap |
813 |
*/ |
814 |
std::vector<GenericData*> getProperties(); |
815 |
|
816 |
/** |
817 |
* Returns property |
818 |
* @param propName name of property |
819 |
* @return a pointer point to property with propName. If no property named propName |
820 |
* exists, return NULL |
821 |
*/ |
822 |
GenericData* getPropertyByName(std:string& propName); |
823 |
|
824 |
protected: |
825 |
|
826 |
StuntDouble(); |
827 |
|
828 |
StuntDouble(const StuntDouble& sd); |
829 |
StuntDouble& operator=(const StuntDouble& sd); |
830 |
|
831 |
ObjectType objType_; |
832 |
|
833 |
bool linear_; |
834 |
int linearAxis_; |
835 |
|
836 |
DataStoragePointer storage_; |
837 |
SnapshotManager* snapshotMan_; |
838 |
|
839 |
private: |
840 |
|
841 |
int globalIndex_; |
842 |
int localIndex_; |
843 |
|
844 |
std::string name_; |
845 |
|
846 |
double mass_; |
847 |
|
848 |
PropertyMap properties_; |
849 |
}; |
850 |
|
851 |
}//end namespace oopse |
852 |
#endif //ifndef _STUNTDOUBLE_HPP_ |