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gezelter |
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#include "StuntDouble.hpp" |
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#include "Atom.hpp" |
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#include "DirectionalAtom.hpp" |
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#include "RigidBody.hpp" |
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#include "simError.h" |
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/* |
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"Don't move, or you're dead! Stand up! Captain, we've got them!" |
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"Spectacular stunt, my friends, but all for naught. Turn around |
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please. Ha. What a pity. What a pity. So, Princess, you thought |
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you could outwit the imperious forces of...." |
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"You idiots! These are not them. You've captured their stunt |
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doubles! Search the area. Find them! Find them!" |
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StuntDouble is a very strange idea. A StuntDouble stands in for |
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some object that can be manipulated by the Integrators or |
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Minimizers. Some of the manipulable objects are Atoms, some are |
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DirectionalAtoms, and some are RigidBodies. StuntDouble |
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provides an interface for the Integrators and Minimizers to use, |
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and does some preliminary sanity checking so that the program |
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doesn't try to do something stupid like torque an Atom. (The |
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quotes above are from Spaceballs...) |
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*/ |
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int StuntDouble::getObjType(){ |
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return objType; |
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} |
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double StuntDouble::getMass(){ |
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switch (objType) |
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{ |
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case OT_ATOM : |
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case OT_DATOM: |
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return ((Atom*)this)->getMass(); |
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break; |
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case OT_RIGIDBODY: |
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return ((RigidBody*)this)->getMass(); |
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break; |
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default: |
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sprintf( painCave.errMsg, |
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"Unrecognized ObjType (%d) in StuntDouble::getMass.\n", |
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objType ); |
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painCave.isFatal = 1; |
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simError(); |
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return 0.0; |
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} |
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} |
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void StuntDouble::getPos(double pos[3]){ |
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switch (objType) |
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{ |
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case OT_ATOM : |
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case OT_DATOM: |
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((Atom*)this)->getPos(pos); |
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break; |
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case OT_RIGIDBODY: |
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((RigidBody*)this)->getPos(pos); |
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break; |
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default: |
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sprintf( painCave.errMsg, |
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"Unrecognized ObjType (%d) in StuntDouble::getPos.\n", |
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objType ); |
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painCave.isFatal = 1; |
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simError(); |
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} |
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} |
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void StuntDouble::getVel(double vel[3]){ |
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switch (objType) |
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{ |
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case OT_ATOM : |
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case OT_DATOM: |
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((Atom*)this)->getVel(vel); |
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break; |
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case OT_RIGIDBODY: |
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((RigidBody*)this)->getVel(vel); |
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break; |
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default: |
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sprintf( painCave.errMsg, |
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"Unrecognized ObjType (%d) in StuntDouble::getVel.\n", |
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objType ); |
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painCave.isFatal = 1; |
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simError(); |
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} |
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} |
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void StuntDouble::getFrc(double frc[3]){ |
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switch (objType) |
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{ |
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case OT_ATOM : |
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case OT_DATOM: |
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((Atom*)this)->getFrc(frc); |
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break; |
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case OT_RIGIDBODY: |
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((RigidBody*)this)->getFrc(frc); |
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break; |
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default: |
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sprintf( painCave.errMsg, |
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"Unrecognized ObjType (%d) in StuntDouble::getFrc.\n", |
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objType ); |
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painCave.isFatal = 1; |
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simError(); |
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} |
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} |
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void StuntDouble::setPos(double pos[3]){ |
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switch (objType) |
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{ |
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case OT_ATOM : |
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case OT_DATOM: |
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((Atom*)this)->setPos(pos); |
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break; |
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case OT_RIGIDBODY: |
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((RigidBody*)this)->setPos(pos); |
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break; |
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default: |
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sprintf( painCave.errMsg, |
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"Unrecognized ObjType (%d) in StuntDouble::setPos.\n", |
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objType ); |
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painCave.isFatal = 1; |
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simError(); |
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} |
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} |
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void StuntDouble::setVel(double vel[3]){ |
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switch (objType) |
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{ |
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case OT_ATOM : |
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case OT_DATOM: |
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((Atom*)this)->setVel(vel); |
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break; |
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case OT_RIGIDBODY: |
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((RigidBody*)this)->setVel(vel); |
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break; |
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default: |
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sprintf( painCave.errMsg, |
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"Unrecognized ObjType (%d) in StuntDouble::setVel.\n", |
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objType ); |
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painCave.isFatal = 1; |
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simError(); |
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} |
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} |
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void StuntDouble::addFrc(double frc[3]){ |
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switch (objType) |
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{ |
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case OT_ATOM : |
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case OT_DATOM: |
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((Atom*)this)->addFrc(frc); |
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break; |
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case OT_RIGIDBODY: |
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((RigidBody*)this)->addFrc(frc); |
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break; |
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default: |
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sprintf( painCave.errMsg, |
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"Unrecognized ObjType (%d) in StuntDouble::addFrc.\n", |
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objType ); |
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painCave.isFatal = 1; |
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simError(); |
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} |
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} |
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void StuntDouble::getA(double A[3][3]){ |
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switch (objType) |
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{ |
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case OT_ATOM: |
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sprintf( painCave.errMsg, |
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"StuntDouble::getA was called for a regular atom.\n" |
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"\tRegular Atoms don't have rotation matrices. Be smarter.\n"); |
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painCave.isFatal = 0; |
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simError(); |
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// Return unit matrix |
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A[0][0] = 1; A[0][1] = 0; A[0][2] = 0; |
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A[1][0] = 0; A[1][1] = 1; A[1][2] = 0; |
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A[2][0] = 0; A[2][1] = 0; A[2][2] = 1; |
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break; |
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case OT_DATOM: |
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((DirectionalAtom*)this)->getA(A); |
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break; |
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case OT_RIGIDBODY: |
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((RigidBody*)this)->getA(A); |
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break; |
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default: |
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sprintf( painCave.errMsg, |
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"Unrecognized ObjType (%d) in StuntDouble::getA.\n", |
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objType ); |
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painCave.isFatal = 1; |
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simError(); |
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} |
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} |
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void StuntDouble::setA(double A[3][3]){ |
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switch (objType) |
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{ |
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case OT_ATOM: |
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sprintf( painCave.errMsg, |
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"StuntDouble::setA was called for a regular atom.\n" |
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"\tRegular Atoms don't have rotation matrices. Be smarter.\n"); |
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painCave.isFatal = 1; |
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simError(); |
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break; |
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case OT_DATOM: |
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((DirectionalAtom*)this)->setA(A); |
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break; |
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case OT_RIGIDBODY: |
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((RigidBody*)this)->setA(A); |
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break; |
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default: |
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sprintf( painCave.errMsg, |
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"Unrecognized ObjType (%d) in StuntDouble::setA.\n", |
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objType ); |
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painCave.isFatal = 1; |
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simError(); |
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} |
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} |
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void StuntDouble::getJ(double j[3]){ |
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switch (objType) |
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{ |
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case OT_ATOM: |
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sprintf( painCave.errMsg, |
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"StuntDouble::getJ was called for a regular atom.\n" |
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"\tRegular Atoms don't have angular momentum. Be smarter.\n"); |
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painCave.isFatal = 0; |
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simError(); |
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// Return zeros. |
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j[0] = 0; |
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j[1] = 0; |
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j[2] = 0; |
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break; |
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case OT_DATOM: |
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((DirectionalAtom*)this)->getJ(j); |
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break; |
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case OT_RIGIDBODY: |
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((RigidBody*)this)->getJ(j); |
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break; |
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default: |
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sprintf( painCave.errMsg, |
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"Unrecognized ObjType (%d) in StuntDouble::getJ.\n", |
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objType ); |
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painCave.isFatal = 1; |
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simError(); |
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} |
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} |
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void StuntDouble::setJ(double j[3]){ |
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switch (objType) |
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{ |
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case OT_ATOM: |
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sprintf( painCave.errMsg, |
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"StuntDouble::setJ was called for a regular atom.\n" |
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"\tRegular Atoms don't have angular momentum. Be smarter.\n"); |
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painCave.isFatal = 1; |
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simError(); |
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break; |
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case OT_DATOM: |
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((DirectionalAtom*)this)->setJ(j); |
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break; |
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case OT_RIGIDBODY: |
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((RigidBody*)this)->setJ(j); |
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break; |
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default: |
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sprintf( painCave.errMsg, |
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"Unrecognized ObjType (%d) in StuntDouble::setJ.\n", |
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objType ); |
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painCave.isFatal = 1; |
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simError(); |
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} |
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} |
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void StuntDouble::getTrq(double trq[3]){ |
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switch (objType) |
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{ |
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case OT_ATOM: |
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sprintf( painCave.errMsg, |
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"StuntDouble::getTrq was called for a regular atom.\n" |
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"\tRegular Atoms don't have torques. Be smarter.\n"); |
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painCave.isFatal = 0; |
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simError(); |
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// Return zeros. |
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trq[0] = 0; |
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trq[1] = 0; |
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trq[2] = 0; |
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break; |
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case OT_DATOM: |
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((DirectionalAtom*)this)->getTrq(trq); |
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break; |
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case OT_RIGIDBODY: |
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((RigidBody*)this)->getTrq(trq); |
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break; |
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default: |
297 |
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sprintf( painCave.errMsg, |
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"Unrecognized ObjType (%d) in StuntDouble::getTrq.\n", |
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objType ); |
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painCave.isFatal = 1; |
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simError(); |
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} |
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} |
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void StuntDouble::addTrq(double trq[3]){ |
306 |
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switch (objType) |
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{ |
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case OT_ATOM: |
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sprintf( painCave.errMsg, |
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"StuntDouble::addTrq was called for a regular atom.\n" |
311 |
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"\tRegular Atoms don't have torques. Be smarter.\n"); |
312 |
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painCave.isFatal = 1; |
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simError(); |
314 |
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break; |
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case OT_DATOM: |
316 |
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((DirectionalAtom*)this)->addTrq(trq); |
317 |
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break; |
318 |
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case OT_RIGIDBODY: |
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((RigidBody*)this)->addTrq(trq); |
320 |
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break; |
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default: |
322 |
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sprintf( painCave.errMsg, |
323 |
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"Unrecognized ObjType (%d) in StuntDouble::addTrq.\n", |
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objType ); |
325 |
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painCave.isFatal = 1; |
326 |
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simError(); |
327 |
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} |
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} |
329 |
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330 |
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void StuntDouble::getI(double I[3][3]){ |
331 |
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switch (objType) |
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{ |
333 |
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case OT_ATOM: |
334 |
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sprintf( painCave.errMsg, |
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"StuntDouble::getI was called for a regular atom.\n" |
336 |
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"\tRegular Atoms don't have moments of inertia. Be smarter.\n"); |
337 |
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painCave.isFatal = 0; |
338 |
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simError(); |
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// Return zero matrix |
340 |
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I[0][0] = 0; I[0][1] = 0; I[0][2] = 0; |
341 |
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I[1][0] = 0; I[1][1] = 0; I[1][2] = 0; |
342 |
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I[2][0] = 0; I[2][1] = 0; I[2][2] = 0; |
343 |
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break; |
344 |
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case OT_DATOM: |
345 |
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((DirectionalAtom*)this)->getI(I); |
346 |
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break; |
347 |
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case OT_RIGIDBODY: |
348 |
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((RigidBody*)this)->getI(I); |
349 |
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break; |
350 |
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default: |
351 |
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sprintf( painCave.errMsg, |
352 |
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"Unrecognized ObjType (%d) in StuntDouble::getI.\n", |
353 |
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objType ); |
354 |
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painCave.isFatal = 1; |
355 |
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simError(); |
356 |
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} |
357 |
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} |
358 |
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|
359 |
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void StuntDouble::lab2Body(double vec[3]){ |
360 |
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switch (objType) |
361 |
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{ |
362 |
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case OT_ATOM: |
363 |
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sprintf( painCave.errMsg, |
364 |
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"StuntDouble::lab2Body was called for a regular atom.\n" |
365 |
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"\tRegular Atoms don't have reference frames. Be smarter.\n"); |
366 |
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painCave.isFatal = 0; |
367 |
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simError(); |
368 |
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break; |
369 |
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case OT_DATOM: |
370 |
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((DirectionalAtom*)this)->lab2Body(vec); |
371 |
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break; |
372 |
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case OT_RIGIDBODY: |
373 |
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((RigidBody*)this)->lab2Body(vec); |
374 |
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break; |
375 |
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default: |
376 |
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sprintf( painCave.errMsg, |
377 |
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"Unrecognized ObjType (%d) in StuntDouble::lab2Body.\n", |
378 |
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objType ); |
379 |
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painCave.isFatal = 1; |
380 |
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simError(); |
381 |
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} |
382 |
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} |
383 |
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|
384 |
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void StuntDouble::getGrad(double grad[6]){ |
385 |
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double frc[3]; |
386 |
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|
387 |
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switch (objType) |
388 |
|
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{ |
389 |
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case OT_ATOM: |
390 |
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sprintf( painCave.errMsg, |
391 |
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"StuntDouble::getGrad was called for a regular atom.\n" |
392 |
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"\tRegular Atoms don't have 6 coordinates. Be smarter.\n"); |
393 |
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painCave.isFatal = 0; |
394 |
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simError(); |
395 |
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((Atom*)this)->getFrc(frc); |
396 |
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grad[0] = -frc[0]; |
397 |
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grad[1] = -frc[1]; |
398 |
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grad[2] = -frc[2]; |
399 |
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grad[3] = 0.0; |
400 |
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grad[4] = 0.0; |
401 |
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grad[5] = 0.0; |
402 |
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break; |
403 |
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case OT_DATOM: |
404 |
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((DirectionalAtom*)this)->getGrad(grad); |
405 |
|
|
break; |
406 |
|
|
case OT_RIGIDBODY: |
407 |
|
|
((RigidBody*)this)->getGrad(grad); |
408 |
|
|
break; |
409 |
|
|
default: |
410 |
|
|
sprintf( painCave.errMsg, |
411 |
|
|
"Unrecognized ObjType (%d) in StuntDouble::getGrad.\n", |
412 |
|
|
objType ); |
413 |
|
|
painCave.isFatal = 1; |
414 |
|
|
simError(); |
415 |
|
|
} |
416 |
|
|
} |
417 |
|
|
|
418 |
|
|
void StuntDouble::setEuler(double phi, double theta, double psi){ |
419 |
|
|
switch (objType) |
420 |
|
|
{ |
421 |
|
|
case OT_ATOM: |
422 |
|
|
sprintf( painCave.errMsg, |
423 |
|
|
"StuntDouble::setEuler was called for a regular atom.\n" |
424 |
|
|
"\tRegular Atoms don't have Euler Angles. Be smarter.\n"); |
425 |
|
|
painCave.isFatal = 1; |
426 |
|
|
simError(); |
427 |
|
|
break; |
428 |
|
|
case OT_DATOM: |
429 |
|
|
((DirectionalAtom*)this)->setEuler(phi, theta, psi); |
430 |
|
|
break; |
431 |
|
|
case OT_RIGIDBODY: |
432 |
|
|
((RigidBody*)this)->setEuler(phi, theta, psi); |
433 |
|
|
break; |
434 |
|
|
default: |
435 |
|
|
sprintf( painCave.errMsg, |
436 |
|
|
"Unrecognized ObjType (%d) in StuntDouble::setA.\n", |
437 |
|
|
objType ); |
438 |
|
|
painCave.isFatal = 1; |
439 |
|
|
simError(); |
440 |
|
|
} |
441 |
|
|
} |
442 |
|
|
|
443 |
|
|
void StuntDouble::getEulerAngles(double eulers[3]){ |
444 |
|
|
switch (objType) |
445 |
|
|
{ |
446 |
|
|
case OT_ATOM: |
447 |
|
|
sprintf( painCave.errMsg, |
448 |
|
|
"StuntDouble::getEulerAngles was called for a regular atom.\n" |
449 |
|
|
"\tRegular Atoms don't have Euler angles. Be smarter.\n"); |
450 |
|
|
painCave.isFatal = 0; |
451 |
|
|
simError(); |
452 |
|
|
// Return zeros. |
453 |
|
|
eulers[0] = 0; |
454 |
|
|
eulers[1] = 0; |
455 |
|
|
eulers[2] = 0; |
456 |
|
|
break; |
457 |
|
|
case OT_DATOM: |
458 |
|
|
((DirectionalAtom*)this)->getEulerAngles(eulers); |
459 |
|
|
break; |
460 |
|
|
case OT_RIGIDBODY: |
461 |
|
|
((RigidBody*)this)->getEulerAngles(eulers); |
462 |
|
|
break; |
463 |
|
|
default: |
464 |
|
|
sprintf( painCave.errMsg, |
465 |
|
|
"Unrecognized ObjType (%d) in StuntDouble::getEulerAngles.\n", |
466 |
|
|
objType ); |
467 |
|
|
painCave.isFatal = 1; |
468 |
|
|
simError(); |
469 |
|
|
} |
470 |
|
|
} |