OOPSE/libmdtools/RigidBody.hpp

#ifndef __RIGIDBODY_HPP__
#define __RIGIDBODY_HPP__

#include <vector>
//#include "Atom.hpp"
//#include "AtomStamp.hpp"
#include "RigidBodyStamp.hpp"
#include "StuntDouble.hpp"
using namespace std;

class Atom;
class AtomStamp;

typedef struct {
  double vec[3];
  double& operator[](int index) {return vec[index];}  
} vec3;

typedef struct {
  double mat[3][3];
  double* operator[](int index) {return mat[index];}  
} mat3x3;

class RigidBody : public StuntDouble {

public:
  
  RigidBody();
  virtual ~RigidBody();
 
  void addAtom(Atom* at, AtomStamp* ats);

  void getPos( double theP[3] );
  void setPos( double theP[3] );

  void getVel( double theV[3] );
  void setVel( double theV[3] );

  void getFrc( double theF[3] );
  void addFrc( double theF[3] );
  void zeroForces();
  
  virtual bool isLinear() {return is_linear;}
  virtual int linearAxis() {return linear_axis;}

  double getMass( void ) { return mass; }

  void printAmatIndex( void );
  void setEuler( double phi, double theta, double psi );
  void getQ( double the_q[4] ); // get the quanternions
  void setQ( double the_q[4] );

  void getA( double the_A[3][3] ); // get the full rotation matrix
  void setA( double the_A[3][3] );

  void getJ( double theJ[3] );
  void setJ( double theJ[3] );

  virtual void setType(char* type) {strcpy(rbName, type);}
  virtual char* getType() { return rbName;}

  void getTrq( double theT[3] );
  void addTrq( double theT[3] );

  void getI( double the_I[3][3] );
  void lab2Body( double r[3] );
  void body2Lab( double r[3] );

  void calcRefCoords( void );
  void doEulerToRotMat(vec3 &euler, mat3x3 &myA );
  void calcForcesAndTorques( void );
  void updateAtoms( void );

  //void yourAtomsHaveMoved( void );

  // Four functions added for derivatives with respect to Euler Angles:
  // (Needed for minimization routines):

  void getGrad(double gradient[6] );
  void getEulerAngles( double myEuler[3] ); 
 
  double max(double x, double y);
  double min(double x, double y);


  // utility routines

  void findCOM( void );

  virtual void accept(BaseVisitor* v);

  vector<Atom*> getAtoms() { return myAtoms;}
  
protected:

  double mass;     // the total mass
  double pos[3];   // the position array (center of mass)
  double vel[3];   // the velocity array (center of mass)
  double frc[3];   // the force array    (center of mass)
  double trq[3];   // the torque vector  ( space fixed )
  double ji[3];    // the angular momentum vector (body fixed)
  double A[3][3];  // the rotation matrix 
  double I[3][3];  // the inertial tensor (body fixed)
  double sU[3][3]; // the standard unit vectors (body fixed)

  bool is_linear;
  int linear_axis;
  double momIntTol;

  vector<Atom*> myAtoms;  // the vector of atoms
  vector<vec3> refCoords;
  vector<mat3x3> refOrients;

  char rbName[100]; //it will eventually be converted into string
};

#endif
Revision:	1174
Committed:	Wed May 12 20:54:10 2004 UTC (20 years, 1 month ago) by gezelter
File size:	2875 byte(s)
Log Message:	Fixes for compilation under Mac OS X with IBM's xl compilers
#	User	Rev	Content
1	gezelter	1100	#ifndef __RIGIDBODY_HPP__
2			#define __RIGIDBODY_HPP__
3
4			#include <vector>
5			//#include "Atom.hpp"
6			//#include "AtomStamp.hpp"
7			#include "RigidBodyStamp.hpp"
8			#include "StuntDouble.hpp"
9			using namespace std;
10
11			class Atom;
12			class AtomStamp;
13
14			typedef struct {
15			double vec[3];
16			double& operator[](int index) {return vec[index];}
17			} vec3;
18
19			typedef struct {
20			double mat[3][3];
21			double* operator[](int index) {return mat[index];}
22			} mat3x3;
23
24			class RigidBody : public StuntDouble {
25
26			public:
27
28			RigidBody();
29			virtual ~RigidBody();
30
31			void addAtom(Atom* at, AtomStamp* ats);
32
33			void getPos( double theP[3] );
34			void setPos( double theP[3] );
35
36			void getVel( double theV[3] );
37			void setVel( double theV[3] );
38
39			void getFrc( double theF[3] );
40			void addFrc( double theF[3] );
41			void zeroForces();
42	tim	1118
43			virtual bool isLinear() {return is_linear;}
44			virtual int linearAxis() {return linear_axis;}
45	gezelter	1100
46			double getMass( void ) { return mass; }
47
48			void printAmatIndex( void );
49	tim	1113	void setEuler( double phi, double theta, double psi );
50	gezelter	1100	void getQ( double the_q[4] ); // get the quanternions
51			void setQ( double the_q[4] );
52
53			void getA( double the_A[3][3] ); // get the full rotation matrix
54			void setA( double the_A[3][3] );
55
56			void getJ( double theJ[3] );
57			void setJ( double theJ[3] );
58
59	tim	1108	virtual void setType(char* type) {strcpy(rbName, type);}
60			virtual char* getType() { return rbName;}
61
62	gezelter	1100	void getTrq( double theT[3] );
63			void addTrq( double theT[3] );
64
65			void getI( double the_I[3][3] );
66			void lab2Body( double r[3] );
67			void body2Lab( double r[3] );
68
69			void calcRefCoords( void );
70			void doEulerToRotMat(vec3 &euler, mat3x3 &myA );
71			void calcForcesAndTorques( void );
72			void updateAtoms( void );
73
74			//void yourAtomsHaveMoved( void );
75
76			// Four functions added for derivatives with respect to Euler Angles:
77			// (Needed for minimization routines):
78
79			void getGrad(double gradient[6] );
80			void getEulerAngles( double myEuler[3] );
81
82			double max(double x, double y);
83			double min(double x, double y);
84
85
86			// utility routines
87
88			void findCOM( void );
89	tim	1118
90			virtual void accept(BaseVisitor* v);
91
92			vector<Atom*> getAtoms() { return myAtoms;}
93	gezelter	1100
94			protected:
95
96			double mass; // the total mass
97			double pos[3]; // the position array (center of mass)
98			double vel[3]; // the velocity array (center of mass)
99			double frc[3]; // the force array (center of mass)
100			double trq[3]; // the torque vector ( space fixed )
101			double ji[3]; // the angular momentum vector (body fixed)
102			double A[3][3]; // the rotation matrix
103			double I[3][3]; // the inertial tensor (body fixed)
104			double sU[3][3]; // the standard unit vectors (body fixed)
105
106	tim	1118	bool is_linear;
107			int linear_axis;
108	gezelter	1174	double momIntTol;
109	tim	1118
110	gezelter	1100	vector<Atom*> myAtoms; // the vector of atoms
111			vector<vec3> refCoords;
112			vector<mat3x3> refOrients;
113
114	tim	1108	char rbName[100]; //it will eventually be converted into string
115	gezelter	1100	};
116
117			#endif