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#ifndef _CONSTRAINTELEMENT_H_ |
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#define _CONSTRAINTELEMENT_H_ |
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|
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#include "RigidBody.hpp" |
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#include "Atom.hpp" |
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#include "Vector3d.hpp" |
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class Vector3dData : public GenericData{ |
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public: |
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Vector3d getData() {return vec;} |
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void setData(const Vector3d& rhs) { vec = rhs;} |
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private: |
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Vector3d vec; |
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|
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}; |
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|
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//class ConstraintElement is designed to not only provide the interface of StuntDouble, but also |
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//neccessary functionality to retrieve old position, old velocity and etc. |
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//First of all, those old data should be stored inside StuntDouble. We decide to store it on StuntDouble's |
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//generic property. |
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//////////////////////////////////////////////////////////////////////////////// |
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//Declaration of ConstraintElement |
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//////////////////////////////////////////////////////////////////////////////// |
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class ConstraintElement{ |
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public: |
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|
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virtual ~ConstraintElement() {} |
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|
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//Interface of stunt double |
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bool isAtom() {return refSd->isAtom();} |
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bool isDirectionalAtom() {return refSd->isDirectional();} |
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bool isRigidBody() {return refSd->isRigidBody();} |
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|
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double getMass(void) {return refSd->getMass();} |
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void getPos(double pos[3]) {refSd->getPos(pos);} |
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void setPos(double pos[3]) {refSd->setPos(pos);} |
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void getVel(double vel[3]) {refSd->getVel(vel);} |
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void setVel(double vel[3]) {refSd->setVel(vel);} |
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void getFrc(double frc[3]) {refSd->getFrc(frc);} |
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void addFrc(double frc[3]) {refSd->addFrc(frc);} |
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void getA(double A[3][3]) {refSd->getA(A);} |
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void setA(double A[3][3]) {refSd->setA(A);} |
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void getJ(double j[3]) {refSd->getJ(j);} |
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void setJ(double j[3]) {refSd->setJ(j);} |
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void getQ( double q[4] ) {refSd->getQ(q);} |
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void setQ( double q[4] ) {refSd->setQ(q);} |
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void setType(char* type){refSd->setType(type);} |
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char* getType() {return refSd->getType();} |
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void getTrq(double trq[3]) {refSd->getTrq(trq);} |
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void addTrq(double trq[3]) {refSd->addTrq(trq);} |
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void getI(double I[3][3]) {refSd->getI(I);} |
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void lab2Body(double vec[3]) {refSd->lab2Body(vec);} |
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void getGrad(double grad[6]) {refSd->getGrad(grad);} |
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void setEuler(double phi, double theta, double psi) {refSd->setEuler(phi, theta, psi);} |
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void getEulerAngles(double eulers[3]) {refSd->getEulerAngles(eulers);} |
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bool isLinear() {return refSd->isLinear();} |
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int linearAxis() {return refSd->linearAxis();} |
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double getZangle() {return refSd->getZangle();} |
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void setZangle(double zAngle) {refSd->setZangle(zAngle);} |
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void addZangle(double zAngle) {refSd->addZangle(zAngle);} |
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StuntDouble* getStuntDouble() {return refSd;} |
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virtual void getOldPos(double pos[3])=0; |
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virtual void getOldVel(double vel[3])=0; |
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virtual void getOldJ(double j[3])=0; |
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virtual void getOldA(double a[3][3])=0; |
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virtual void getOldQ(double q[4])=0; |
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bool getMoved() {return movedData->getData();} |
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void setMoved(bool status) {movedData->setData(status);} |
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bool getMoving() {return movingData->getData();} |
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void setMoving(bool status) {movingData->setData(status);} |
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//constraint force |
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void addConsForce(const Vector3d& frc){ |
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Vector3d tempFrc; |
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tempFrc = consForceData->getData(); |
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tempFrc += frc; |
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consForceData->setData(tempFrc); |
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} |
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Vector3d getConsForce() { return consForceData->getData();} |
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void setConsTorque(const Vector3d& frc) {consForceData->setData(frc);} |
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|
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//constraint torque |
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void addConsTorque(const Vector3d& trq){ |
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Vector3d tempTrq; |
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tempTrq = consTorqueData->getData(); |
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tempTrq += trq; |
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consTorqueData->setData(tempTrq); |
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} |
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Vector3d getConsTorque() { return consTorqueData->getData();} |
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void setConsForce(const Vector3d& trq) {consTorqueData->setData(trq);} |
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virtual void saveOldState() = 0; |
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protected: |
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ConstraintElement(StuntDouble* rhs); |
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StuntDouble* refSd; |
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|
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private: |
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BoolData* movedData; |
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BoolData* movingData; |
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Vector3dData* consForceData; |
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Vector3dData* consTorqueData; |
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}; |
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|
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//////////////////////////////////////////////////////////////////////////////// |
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//Declaration of ConsAtomData |
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//////////////////////////////////////////////////////////////////////////////// |
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struct ConsAtomInfo{ |
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double pos[3]; |
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double vel[3]; |
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double a[3][3]; |
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double j[3]; |
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double q[4]; |
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double frc[3]; |
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double trq[3]; |
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}; |
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|
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class ConsAtomData : public GenericData{ |
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public: |
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ConsAtomData() : data(NULL){} |
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~ConsAtomData(){ |
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if(data != NULL) |
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delete data; |
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} |
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|
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ConsAtomInfo* getData() {return data;} |
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void setData(ConsAtomInfo* info) { |
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if (data != NULL) |
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delete data; |
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|
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data = info; |
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} |
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|
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private: |
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ConsAtomInfo* data; |
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}; |
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//////////////////////////////////////////////////////////////////////////////// |
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//Declaration of ConstraintElement |
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//////////////////////////////////////////////////////////////////////////////// |
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class ConstraintAtom : public ConstraintElement{ |
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public: |
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ConstraintAtom(Atom* rhs); |
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void getOldPos(double pos[3]); |
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void getOldVel(double vel[3]); |
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void getOldJ(double j[3]); |
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void getOldA(double a[3][3]); |
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void getOldQ(double q[4]); |
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Atom* getAtom() {return dynamic_cast<Atom*>(refSd);} |
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virtual void saveOldState(); |
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protected: |
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ConsAtomInfo* oldConsAtomInfo; |
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|
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}; |
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|
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//////////////////////////////////////////////////////////////////////////////// |
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//Declaration of ConsRbData |
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//////////////////////////////////////////////////////////////////////////////// |
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class ConsRbData : public GenericData{ |
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public: |
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ConsRbData() : rb(NULL){} |
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~ConsRbData(){ |
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if (rb != NULL) |
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delete rb; |
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} |
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|
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RigidBody* getData() {return rb;} |
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void setData(RigidBody* rhs) { |
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if (rb != NULL) |
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delete rb; |
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rb = rhs; |
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} |
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|
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private: |
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RigidBody* rb; |
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}; |
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|
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//////////////////////////////////////////////////////////////////////////////// |
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//Declaration of ConstraintElement |
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//////////////////////////////////////////////////////////////////////////////// |
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class ConstraintRigidBody : public ConstraintElement{ |
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public: |
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ConstraintRigidBody(RigidBody*rhs, int index); |
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void getOldPos(double pos[3]) {oldRb->getPos(pos);} |
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void getOldVel(double vel[3]) {oldRb->getVel(vel);} |
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void getOldJ(double j[3]) {oldRb->getJ(j);} |
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void getOldA(double a[3][3]) {oldRb->getA(a);} |
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void getOldQ(double q[4]) {oldRb->getQ(q);} |
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void getOldAtomPos(double pos[3]) {oldRb->getAtomPos(pos, consAtomIndex);} |
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void getCurAtomPos(double pos[3]) {((RigidBody*)refSd)->getAtomPos(pos, consAtomIndex);} |
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void getOldAtomVel(double vel[3]) {oldRb->getAtomVel(vel, consAtomIndex);}; |
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void getCurAtomVel(double vel[3]) {((RigidBody*)refSd)->getAtomVel(vel, consAtomIndex);}; |
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void getRefCoor(double pos[3]) {return ((RigidBody*)refSd)->getAtomRefCoor(pos, consAtomIndex);} |
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RigidBody* getRigidBody() { return dynamic_cast<RigidBody*>(refSd);} |
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virtual void saveOldState(); |
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void restoreUnconsStatus(); |
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private: |
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int consAtomIndex; |
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RigidBody* oldRb; |
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|
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}; |
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#endif // endif _CONSTRAINTELEMENT_H_ |
