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/* |
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/* |
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* Copyright (c) 2005 The University of Notre Dame. All Rights Reserved. |
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* |
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* The University of Notre Dame grants you ("Licensee") a |
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* redistribute this software in source and binary code form, provided |
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* that the following conditions are met: |
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* |
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* 1. Acknowledgement of the program authors must be made in any |
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* publication of scientific results based in part on use of the |
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* program. An acceptable form of acknowledgement is citation of |
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* the article in which the program was described (Matthew |
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* A. Meineke, Charles F. Vardeman II, Teng Lin, Christopher |
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* J. Fennell and J. Daniel Gezelter, "OOPSE: An Object-Oriented |
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* Parallel Simulation Engine for Molecular Dynamics," |
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* J. Comput. Chem. 26, pp. 252-271 (2005)) |
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* |
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* 2. Redistributions of source code must retain the above copyright |
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* 1. Redistributions of source code must retain the above copyright |
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* notice, this list of conditions and the following disclaimer. |
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* |
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* 3. Redistributions in binary form must reproduce the above copyright |
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* 2. Redistributions in binary form must reproduce the above copyright |
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* notice, this list of conditions and the following disclaimer in the |
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* documentation and/or other materials provided with the |
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* distribution. |
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* arising out of the use of or inability to use software, even if the |
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* University of Notre Dame has been advised of the possibility of |
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* such damages. |
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* |
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* SUPPORT OPEN SCIENCE! If you use OpenMD or its source code in your |
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* research, please cite the appropriate papers when you publish your |
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* work. Good starting points are: |
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* |
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* [1] Meineke, et al., J. Comp. Chem. 26, 252-271 (2005). |
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* [2] Fennell & Gezelter, J. Chem. Phys. 124, 234104 (2006). |
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* [3] Sun, Lin & Gezelter, J. Chem. Phys. 128, 24107 (2008). |
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* [4] Vardeman & Gezelter, in progress (2009). |
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*/ |
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#include <algorithm> |
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#include <math.h> |
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#include "primitives/RigidBody.hpp" |
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#include "utils/simError.h" |
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namespace oopse { |
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|
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RigidBody::RigidBody() : StuntDouble(otRigidBody, &Snapshot::rigidbodyData), inertiaTensor_(0.0){ |
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|
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} |
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|
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void RigidBody::setPrevA(const RotMat3x3d& a) { |
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#include "utils/NumericConstant.hpp" |
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namespace OpenMD { |
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|
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RigidBody::RigidBody() : StuntDouble(otRigidBody, &Snapshot::rigidbodyData), |
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inertiaTensor_(0.0){ |
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} |
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|
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void RigidBody::setPrevA(const RotMat3x3d& a) { |
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((snapshotMan_->getPrevSnapshot())->*storage_).aMat[localIndex_] = a; |
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//((snapshotMan_->getPrevSnapshot())->*storage_).electroFrame[localIndex_] = a.transpose() * sU_; |
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|
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|
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for (int i =0 ; i < atoms_.size(); ++i){ |
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if (atoms_[i]->isDirectional()) { |
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atoms_[i]->setPrevA(a * refOrients_[i]); |
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} |
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if (atoms_[i]->isDirectional()) { |
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atoms_[i]->setPrevA(refOrients_[i].transpose() * a); |
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} |
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} |
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|
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} |
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|
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|
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void RigidBody::setA(const RotMat3x3d& a) { |
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|
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} |
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|
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|
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void RigidBody::setA(const RotMat3x3d& a) { |
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((snapshotMan_->getCurrentSnapshot())->*storage_).aMat[localIndex_] = a; |
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//((snapshotMan_->getCurrentSnapshot())->*storage_).electroFrame[localIndex_] = a.transpose() * sU_; |
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|
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for (int i =0 ; i < atoms_.size(); ++i){ |
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if (atoms_[i]->isDirectional()) { |
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atoms_[i]->setA(a * refOrients_[i]); |
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} |
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if (atoms_[i]->isDirectional()) { |
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atoms_[i]->setA(refOrients_[i].transpose() * a); |
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} |
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} |
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} |
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|
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void RigidBody::setA(const RotMat3x3d& a, int snapshotNo) { |
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} |
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|
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void RigidBody::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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//((snapshotMan_->getSnapshot(snapshotNo))->*storage_).electroFrame[localIndex_] = a.transpose() * sU_; |
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|
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|
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for (int i =0 ; i < atoms_.size(); ++i){ |
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if (atoms_[i]->isDirectional()) { |
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atoms_[i]->setA(a * refOrients_[i], snapshotNo); |
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} |
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if (atoms_[i]->isDirectional()) { |
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atoms_[i]->setA(refOrients_[i].transpose() * a, snapshotNo); |
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} |
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} |
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|
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} |
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|
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Mat3x3d RigidBody::getI() { |
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|
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} |
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|
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Mat3x3d RigidBody::getI() { |
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return inertiaTensor_; |
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} |
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|
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std::vector<double> RigidBody::getGrad() { |
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std::vector<double> grad(6, 0.0); |
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} |
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|
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std::vector<RealType> RigidBody::getGrad() { |
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std::vector<RealType> grad(6, 0.0); |
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Vector3d force; |
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Vector3d torque; |
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Vector3d myEuler; |
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double phi, theta, psi; |
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double cphi, sphi, ctheta, stheta; |
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RealType phi, theta, psi; |
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RealType cphi, sphi, ctheta, stheta; |
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Vector3d ephi; |
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Vector3d etheta; |
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Vector3d epsi; |
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|
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|
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force = getFrc(); |
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torque =getTrq(); |
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myEuler = getA().toEulerAngles(); |
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|
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|
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phi = myEuler[0]; |
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theta = myEuler[1]; |
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psi = myEuler[2]; |
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|
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|
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cphi = cos(phi); |
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sphi = sin(phi); |
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ctheta = cos(theta); |
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stheta = sin(theta); |
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|
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|
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// get unit vectors along the phi, theta and psi rotation axes |
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|
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|
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ephi[0] = 0.0; |
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ephi[1] = 0.0; |
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ephi[2] = 1.0; |
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|
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|
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//etheta[0] = -sphi; |
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//etheta[1] = cphi; |
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//etheta[2] = 0.0; |
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|
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etheta[0] = cphi; |
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etheta[1] = sphi; |
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etheta[2] = 0.0; |
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|
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etheta[2] = 0.0; |
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|
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epsi[0] = stheta * cphi; |
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epsi[1] = stheta * sphi; |
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epsi[2] = ctheta; |
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|
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|
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//gradient is equal to -force |
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for (int j = 0 ; j<3; j++) |
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grad[j] = -force[j]; |
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|
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grad[j] = -force[j]; |
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|
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for (int j = 0; j < 3; j++ ) { |
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|
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grad[3] += torque[j]*ephi[j]; |
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grad[4] += torque[j]*etheta[j]; |
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grad[5] += torque[j]*epsi[j]; |
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|
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|
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grad[3] += torque[j]*ephi[j]; |
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grad[4] += torque[j]*etheta[j]; |
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grad[5] += torque[j]*epsi[j]; |
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|
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} |
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|
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return grad; |
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} |
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|
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void RigidBody::accept(BaseVisitor* v) { |
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} |
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|
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void RigidBody::accept(BaseVisitor* v) { |
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v->visit(this); |
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} |
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} |
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|
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/**@todo need modification */ |
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void RigidBody::calcRefCoords() { |
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double mtmp; |
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/**@todo need modification */ |
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void RigidBody::calcRefCoords() { |
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RealType mtmp; |
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Vector3d refCOM(0.0); |
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mass_ = 0.0; |
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for (std::size_t i = 0; i < atoms_.size(); ++i) { |
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mtmp = atoms_[i]->getMass(); |
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mass_ += mtmp; |
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refCOM += refCoords_[i]*mtmp; |
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mtmp = atoms_[i]->getMass(); |
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mass_ += mtmp; |
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refCOM += refCoords_[i]*mtmp; |
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} |
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refCOM /= mass_; |
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|
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|
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// Next, move the origin of the reference coordinate system to the COM: |
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for (std::size_t i = 0; i < atoms_.size(); ++i) { |
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refCoords_[i] -= refCOM; |
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refCoords_[i] -= refCOM; |
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} |
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|
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// Moment of Inertia calculation |
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Mat3x3d Itmp(0.0); |
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|
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// Moment of Inertia calculation |
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Mat3x3d Itmp(0.0); |
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for (std::size_t i = 0; i < atoms_.size(); i++) { |
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mtmp = atoms_[i]->getMass(); |
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Itmp -= outProduct(refCoords_[i], refCoords_[i]) * mtmp; |
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double r2 = refCoords_[i].lengthSquare(); |
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Itmp(0, 0) += mtmp * r2; |
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Itmp(1, 1) += mtmp * r2; |
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Itmp(2, 2) += mtmp * r2; |
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> |
Mat3x3d IAtom(0.0); |
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> |
mtmp = atoms_[i]->getMass(); |
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IAtom -= outProduct(refCoords_[i], refCoords_[i]) * mtmp; |
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> |
RealType r2 = refCoords_[i].lengthSquare(); |
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> |
IAtom(0, 0) += mtmp * r2; |
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> |
IAtom(1, 1) += mtmp * r2; |
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> |
IAtom(2, 2) += mtmp * r2; |
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> |
Itmp += IAtom; |
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> |
|
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> |
//project the inertial moment of directional atoms into this rigid body |
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> |
if (atoms_[i]->isDirectional()) { |
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> |
Itmp += refOrients_[i].transpose() * atoms_[i]->getI() * refOrients_[i]; |
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> |
} |
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} |
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|
|
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//project the inertial moment of directional atoms into this rigid body |
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for (std::size_t i = 0; i < atoms_.size(); i++) { |
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< |
if (atoms_[i]->isDirectional()) { |
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RectMatrix<double, 3, 3> Iproject = refOrients_[i].transpose() * atoms_[i]->getI(); |
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< |
Itmp(0, 0) += Iproject(0, 0); |
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< |
Itmp(1, 1) += Iproject(1, 1); |
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< |
Itmp(2, 2) += Iproject(2, 2); |
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< |
} |
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} |
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> |
// std::cout << Itmp << std::endl; |
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|
|
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|
//diagonalize |
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Vector3d evals; |
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|
|
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|
int nLinearAxis = 0; |
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|
for (int i = 0; i < 3; i++) { |
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< |
if (fabs(evals[i]) < oopse::epsilon) { |
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< |
linear_ = true; |
| 202 |
< |
linearAxis_ = i; |
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< |
++ nLinearAxis; |
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< |
} |
| 200 |
> |
if (fabs(evals[i]) < OpenMD::epsilon) { |
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> |
linear_ = true; |
| 202 |
> |
linearAxis_ = i; |
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> |
++ nLinearAxis; |
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> |
} |
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|
} |
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|
|
| 207 |
|
if (nLinearAxis > 1) { |
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< |
sprintf( painCave.errMsg, |
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< |
"RigidBody error.\n" |
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< |
"\tOOPSE found more than one axis in this rigid body with a vanishing \n" |
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< |
"\tmoment of inertia. This can happen in one of three ways:\n" |
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< |
"\t 1) Only one atom was specified, or \n" |
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< |
"\t 2) All atoms were specified at the same location, or\n" |
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< |
"\t 3) The programmers did something stupid.\n" |
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< |
"\tIt is silly to use a rigid body to describe this situation. Be smarter.\n" |
| 216 |
< |
); |
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< |
painCave.isFatal = 1; |
| 218 |
< |
simError(); |
| 208 |
> |
sprintf( painCave.errMsg, |
| 209 |
> |
"RigidBody error.\n" |
| 210 |
> |
"\tOpenMD found more than one axis in this rigid body with a vanishing \n" |
| 211 |
> |
"\tmoment of inertia. This can happen in one of three ways:\n" |
| 212 |
> |
"\t 1) Only one atom was specified, or \n" |
| 213 |
> |
"\t 2) All atoms were specified at the same location, or\n" |
| 214 |
> |
"\t 3) The programmers did something stupid.\n" |
| 215 |
> |
"\tIt is silly to use a rigid body to describe this situation. Be smarter.\n" |
| 216 |
> |
); |
| 217 |
> |
painCave.isFatal = 1; |
| 218 |
> |
simError(); |
| 219 |
|
} |
| 220 |
|
|
| 221 |
< |
} |
| 221 |
> |
} |
| 222 |
|
|
| 223 |
< |
void RigidBody::calcForcesAndTorques() { |
| 223 |
> |
void RigidBody::calcForcesAndTorques() { |
| 224 |
|
Vector3d afrc; |
| 225 |
|
Vector3d atrq; |
| 226 |
|
Vector3d apos; |
| 227 |
|
Vector3d rpos; |
| 228 |
|
Vector3d frc(0.0); |
| 229 |
< |
Vector3d trq(0.0); |
| 229 |
> |
Vector3d trq(0.0); |
| 230 |
|
Vector3d pos = this->getPos(); |
| 231 |
|
for (int i = 0; i < atoms_.size(); i++) { |
| 232 |
|
|
| 233 |
< |
afrc = atoms_[i]->getFrc(); |
| 234 |
< |
apos = atoms_[i]->getPos(); |
| 235 |
< |
rpos = apos - pos; |
| 233 |
> |
afrc = atoms_[i]->getFrc(); |
| 234 |
> |
apos = atoms_[i]->getPos(); |
| 235 |
> |
rpos = apos - pos; |
| 236 |
|
|
| 237 |
< |
frc += afrc; |
| 237 |
> |
frc += afrc; |
| 238 |
|
|
| 239 |
< |
trq[0] += rpos[1]*afrc[2] - rpos[2]*afrc[1]; |
| 240 |
< |
trq[1] += rpos[2]*afrc[0] - rpos[0]*afrc[2]; |
| 241 |
< |
trq[2] += rpos[0]*afrc[1] - rpos[1]*afrc[0]; |
| 239 |
> |
trq[0] += rpos[1]*afrc[2] - rpos[2]*afrc[1]; |
| 240 |
> |
trq[1] += rpos[2]*afrc[0] - rpos[0]*afrc[2]; |
| 241 |
> |
trq[2] += rpos[0]*afrc[1] - rpos[1]*afrc[0]; |
| 242 |
|
|
| 243 |
< |
// If the atom has a torque associated with it, then we also need to |
| 244 |
< |
// migrate the torques onto the center of mass: |
| 243 |
> |
// If the atom has a torque associated with it, then we also need to |
| 244 |
> |
// migrate the torques onto the center of mass: |
| 245 |
|
|
| 246 |
< |
if (atoms_[i]->isDirectional()) { |
| 247 |
< |
atrq = atoms_[i]->getTrq(); |
| 248 |
< |
trq += atrq; |
| 249 |
< |
} |
| 246 |
> |
if (atoms_[i]->isDirectional()) { |
| 247 |
> |
atrq = atoms_[i]->getTrq(); |
| 248 |
> |
trq += atrq; |
| 249 |
> |
} |
| 250 |
> |
} |
| 251 |
> |
addFrc(frc); |
| 252 |
> |
addTrq(trq); |
| 253 |
> |
} |
| 254 |
> |
|
| 255 |
> |
Mat3x3d RigidBody::calcForcesAndTorquesAndVirial() { |
| 256 |
> |
Vector3d afrc; |
| 257 |
> |
Vector3d atrq; |
| 258 |
> |
Vector3d apos; |
| 259 |
> |
Vector3d rpos; |
| 260 |
> |
Vector3d dfrc; |
| 261 |
> |
Vector3d frc(0.0); |
| 262 |
> |
Vector3d trq(0.0); |
| 263 |
> |
Vector3d pos = this->getPos(); |
| 264 |
> |
Mat3x3d tau_(0.0); |
| 265 |
> |
|
| 266 |
> |
for (int i = 0; i < atoms_.size(); i++) { |
| 267 |
> |
|
| 268 |
> |
afrc = atoms_[i]->getFrc(); |
| 269 |
> |
apos = atoms_[i]->getPos(); |
| 270 |
> |
rpos = apos - pos; |
| 271 |
|
|
| 272 |
+ |
frc += afrc; |
| 273 |
+ |
|
| 274 |
+ |
trq[0] += rpos[1]*afrc[2] - rpos[2]*afrc[1]; |
| 275 |
+ |
trq[1] += rpos[2]*afrc[0] - rpos[0]*afrc[2]; |
| 276 |
+ |
trq[2] += rpos[0]*afrc[1] - rpos[1]*afrc[0]; |
| 277 |
+ |
|
| 278 |
+ |
// If the atom has a torque associated with it, then we also need to |
| 279 |
+ |
// migrate the torques onto the center of mass: |
| 280 |
+ |
|
| 281 |
+ |
if (atoms_[i]->isDirectional()) { |
| 282 |
+ |
atrq = atoms_[i]->getTrq(); |
| 283 |
+ |
trq += atrq; |
| 284 |
+ |
} |
| 285 |
+ |
|
| 286 |
+ |
tau_(0,0) -= rpos[0]*afrc[0]; |
| 287 |
+ |
tau_(0,1) -= rpos[0]*afrc[1]; |
| 288 |
+ |
tau_(0,2) -= rpos[0]*afrc[2]; |
| 289 |
+ |
tau_(1,0) -= rpos[1]*afrc[0]; |
| 290 |
+ |
tau_(1,1) -= rpos[1]*afrc[1]; |
| 291 |
+ |
tau_(1,2) -= rpos[1]*afrc[2]; |
| 292 |
+ |
tau_(2,0) -= rpos[2]*afrc[0]; |
| 293 |
+ |
tau_(2,1) -= rpos[2]*afrc[1]; |
| 294 |
+ |
tau_(2,2) -= rpos[2]*afrc[2]; |
| 295 |
+ |
|
| 296 |
|
} |
| 297 |
< |
|
| 298 |
< |
setFrc(frc); |
| 299 |
< |
setTrq(trq); |
| 300 |
< |
|
| 254 |
< |
} |
| 297 |
> |
addFrc(frc); |
| 298 |
> |
addTrq(trq); |
| 299 |
> |
return tau_; |
| 300 |
> |
} |
| 301 |
|
|
| 302 |
< |
void RigidBody::updateAtoms() { |
| 302 |
> |
void RigidBody::updateAtoms() { |
| 303 |
|
unsigned int i; |
| 304 |
|
Vector3d ref; |
| 305 |
|
Vector3d apos; |
| 309 |
|
|
| 310 |
|
for (i = 0; i < atoms_.size(); i++) { |
| 311 |
|
|
| 312 |
< |
ref = body2Lab(refCoords_[i]); |
| 312 |
> |
ref = body2Lab(refCoords_[i]); |
| 313 |
|
|
| 314 |
< |
apos = pos + ref; |
| 314 |
> |
apos = pos + ref; |
| 315 |
|
|
| 316 |
< |
atoms_[i]->setPos(apos); |
| 316 |
> |
atoms_[i]->setPos(apos); |
| 317 |
|
|
| 318 |
< |
if (atoms_[i]->isDirectional()) { |
| 318 |
> |
if (atoms_[i]->isDirectional()) { |
| 319 |
|
|
| 320 |
< |
dAtom = (DirectionalAtom *) atoms_[i]; |
| 321 |
< |
dAtom->setA(a * refOrients_[i]); |
| 322 |
< |
//dAtom->rotateBy( A ); |
| 277 |
< |
} |
| 320 |
> |
dAtom = (DirectionalAtom *) atoms_[i]; |
| 321 |
> |
dAtom->setA(refOrients_[i].transpose() * a); |
| 322 |
> |
} |
| 323 |
|
|
| 324 |
|
} |
| 325 |
|
|
| 326 |
< |
} |
| 326 |
> |
} |
| 327 |
|
|
| 328 |
|
|
| 329 |
< |
bool RigidBody::getAtomPos(Vector3d& pos, unsigned int index) { |
| 329 |
> |
void RigidBody::updateAtoms(int frame) { |
| 330 |
> |
unsigned int i; |
| 331 |
> |
Vector3d ref; |
| 332 |
> |
Vector3d apos; |
| 333 |
> |
DirectionalAtom* dAtom; |
| 334 |
> |
Vector3d pos = getPos(frame); |
| 335 |
> |
RotMat3x3d a = getA(frame); |
| 336 |
> |
|
| 337 |
> |
for (i = 0; i < atoms_.size(); i++) { |
| 338 |
> |
|
| 339 |
> |
ref = body2Lab(refCoords_[i], frame); |
| 340 |
> |
|
| 341 |
> |
apos = pos + ref; |
| 342 |
> |
|
| 343 |
> |
atoms_[i]->setPos(apos, frame); |
| 344 |
> |
|
| 345 |
> |
if (atoms_[i]->isDirectional()) { |
| 346 |
> |
|
| 347 |
> |
dAtom = (DirectionalAtom *) atoms_[i]; |
| 348 |
> |
dAtom->setA(refOrients_[i].transpose() * a, frame); |
| 349 |
> |
} |
| 350 |
> |
|
| 351 |
> |
} |
| 352 |
> |
|
| 353 |
> |
} |
| 354 |
> |
|
| 355 |
> |
void RigidBody::updateAtomVel() { |
| 356 |
> |
Mat3x3d skewMat;; |
| 357 |
> |
|
| 358 |
> |
Vector3d ji = getJ(); |
| 359 |
> |
Mat3x3d I = getI(); |
| 360 |
> |
|
| 361 |
> |
skewMat(0, 0) =0; |
| 362 |
> |
skewMat(0, 1) = ji[2] /I(2, 2); |
| 363 |
> |
skewMat(0, 2) = -ji[1] /I(1, 1); |
| 364 |
> |
|
| 365 |
> |
skewMat(1, 0) = -ji[2] /I(2, 2); |
| 366 |
> |
skewMat(1, 1) = 0; |
| 367 |
> |
skewMat(1, 2) = ji[0]/I(0, 0); |
| 368 |
> |
|
| 369 |
> |
skewMat(2, 0) =ji[1] /I(1, 1); |
| 370 |
> |
skewMat(2, 1) = -ji[0]/I(0, 0); |
| 371 |
> |
skewMat(2, 2) = 0; |
| 372 |
> |
|
| 373 |
> |
Mat3x3d mat = (getA() * skewMat).transpose(); |
| 374 |
> |
Vector3d rbVel = getVel(); |
| 375 |
> |
|
| 376 |
> |
|
| 377 |
> |
Vector3d velRot; |
| 378 |
> |
for (int i =0 ; i < refCoords_.size(); ++i) { |
| 379 |
> |
atoms_[i]->setVel(rbVel + mat * refCoords_[i]); |
| 380 |
> |
} |
| 381 |
> |
|
| 382 |
> |
} |
| 383 |
> |
|
| 384 |
> |
void RigidBody::updateAtomVel(int frame) { |
| 385 |
> |
Mat3x3d skewMat;; |
| 386 |
> |
|
| 387 |
> |
Vector3d ji = getJ(frame); |
| 388 |
> |
Mat3x3d I = getI(); |
| 389 |
> |
|
| 390 |
> |
skewMat(0, 0) =0; |
| 391 |
> |
skewMat(0, 1) = ji[2] /I(2, 2); |
| 392 |
> |
skewMat(0, 2) = -ji[1] /I(1, 1); |
| 393 |
> |
|
| 394 |
> |
skewMat(1, 0) = -ji[2] /I(2, 2); |
| 395 |
> |
skewMat(1, 1) = 0; |
| 396 |
> |
skewMat(1, 2) = ji[0]/I(0, 0); |
| 397 |
> |
|
| 398 |
> |
skewMat(2, 0) =ji[1] /I(1, 1); |
| 399 |
> |
skewMat(2, 1) = -ji[0]/I(0, 0); |
| 400 |
> |
skewMat(2, 2) = 0; |
| 401 |
> |
|
| 402 |
> |
Mat3x3d mat = (getA(frame) * skewMat).transpose(); |
| 403 |
> |
Vector3d rbVel = getVel(frame); |
| 404 |
> |
|
| 405 |
> |
|
| 406 |
> |
Vector3d velRot; |
| 407 |
> |
for (int i =0 ; i < refCoords_.size(); ++i) { |
| 408 |
> |
atoms_[i]->setVel(rbVel + mat * refCoords_[i], frame); |
| 409 |
> |
} |
| 410 |
> |
|
| 411 |
> |
} |
| 412 |
> |
|
| 413 |
> |
|
| 414 |
> |
|
| 415 |
> |
bool RigidBody::getAtomPos(Vector3d& pos, unsigned int index) { |
| 416 |
|
if (index < atoms_.size()) { |
| 417 |
|
|
| 418 |
< |
Vector3d ref = body2Lab(refCoords_[index]); |
| 419 |
< |
pos = getPos() + ref; |
| 420 |
< |
return true; |
| 418 |
> |
Vector3d ref = body2Lab(refCoords_[index]); |
| 419 |
> |
pos = getPos() + ref; |
| 420 |
> |
return true; |
| 421 |
|
} else { |
| 422 |
< |
std::cerr << index << " is an invalid index, current rigid body contains " |
| 423 |
< |
<< atoms_.size() << "atoms" << std::endl; |
| 424 |
< |
return false; |
| 422 |
> |
std::cerr << index << " is an invalid index, current rigid body contains " |
| 423 |
> |
<< atoms_.size() << "atoms" << std::endl; |
| 424 |
> |
return false; |
| 425 |
|
} |
| 426 |
< |
} |
| 426 |
> |
} |
| 427 |
|
|
| 428 |
< |
bool RigidBody::getAtomPos(Vector3d& pos, Atom* atom) { |
| 428 |
> |
bool RigidBody::getAtomPos(Vector3d& pos, Atom* atom) { |
| 429 |
|
std::vector<Atom*>::iterator i; |
| 430 |
|
i = std::find(atoms_.begin(), atoms_.end(), atom); |
| 431 |
|
if (i != atoms_.end()) { |
| 432 |
< |
//RigidBody class makes sure refCoords_ and atoms_ match each other |
| 433 |
< |
Vector3d ref = body2Lab(refCoords_[i - atoms_.begin()]); |
| 434 |
< |
pos = getPos() + ref; |
| 435 |
< |
return true; |
| 432 |
> |
//RigidBody class makes sure refCoords_ and atoms_ match each other |
| 433 |
> |
Vector3d ref = body2Lab(refCoords_[i - atoms_.begin()]); |
| 434 |
> |
pos = getPos() + ref; |
| 435 |
> |
return true; |
| 436 |
|
} else { |
| 437 |
< |
std::cerr << "Atom " << atom->getGlobalIndex() |
| 438 |
< |
<<" does not belong to Rigid body "<< getGlobalIndex() << std::endl; |
| 439 |
< |
return false; |
| 437 |
> |
std::cerr << "Atom " << atom->getGlobalIndex() |
| 438 |
> |
<<" does not belong to Rigid body "<< getGlobalIndex() << std::endl; |
| 439 |
> |
return false; |
| 440 |
|
} |
| 441 |
< |
} |
| 442 |
< |
bool RigidBody::getAtomVel(Vector3d& vel, unsigned int index) { |
| 441 |
> |
} |
| 442 |
> |
bool RigidBody::getAtomVel(Vector3d& vel, unsigned int index) { |
| 443 |
|
|
| 444 |
|
//velRot = $(A\cdot skew(I^{-1}j))^{T}refCoor$ |
| 445 |
|
|
| 446 |
|
if (index < atoms_.size()) { |
| 447 |
|
|
| 448 |
< |
Vector3d velRot; |
| 449 |
< |
Mat3x3d skewMat;; |
| 450 |
< |
Vector3d ref = refCoords_[index]; |
| 451 |
< |
Vector3d ji = getJ(); |
| 452 |
< |
Mat3x3d I = getI(); |
| 448 |
> |
Vector3d velRot; |
| 449 |
> |
Mat3x3d skewMat;; |
| 450 |
> |
Vector3d ref = refCoords_[index]; |
| 451 |
> |
Vector3d ji = getJ(); |
| 452 |
> |
Mat3x3d I = getI(); |
| 453 |
|
|
| 454 |
< |
skewMat(0, 0) =0; |
| 455 |
< |
skewMat(0, 1) = ji[2] /I(2, 2); |
| 456 |
< |
skewMat(0, 2) = -ji[1] /I(1, 1); |
| 454 |
> |
skewMat(0, 0) =0; |
| 455 |
> |
skewMat(0, 1) = ji[2] /I(2, 2); |
| 456 |
> |
skewMat(0, 2) = -ji[1] /I(1, 1); |
| 457 |
|
|
| 458 |
< |
skewMat(1, 0) = -ji[2] /I(2, 2); |
| 459 |
< |
skewMat(1, 1) = 0; |
| 460 |
< |
skewMat(1, 2) = ji[0]/I(0, 0); |
| 458 |
> |
skewMat(1, 0) = -ji[2] /I(2, 2); |
| 459 |
> |
skewMat(1, 1) = 0; |
| 460 |
> |
skewMat(1, 2) = ji[0]/I(0, 0); |
| 461 |
|
|
| 462 |
< |
skewMat(2, 0) =ji[1] /I(1, 1); |
| 463 |
< |
skewMat(2, 1) = -ji[0]/I(0, 0); |
| 464 |
< |
skewMat(2, 2) = 0; |
| 462 |
> |
skewMat(2, 0) =ji[1] /I(1, 1); |
| 463 |
> |
skewMat(2, 1) = -ji[0]/I(0, 0); |
| 464 |
> |
skewMat(2, 2) = 0; |
| 465 |
|
|
| 466 |
< |
velRot = (getA() * skewMat).transpose() * ref; |
| 466 |
> |
velRot = (getA() * skewMat).transpose() * ref; |
| 467 |
|
|
| 468 |
< |
vel =getVel() + velRot; |
| 469 |
< |
return true; |
| 468 |
> |
vel =getVel() + velRot; |
| 469 |
> |
return true; |
| 470 |
|
|
| 471 |
|
} else { |
| 472 |
< |
std::cerr << index << " is an invalid index, current rigid body contains " |
| 473 |
< |
<< atoms_.size() << "atoms" << std::endl; |
| 474 |
< |
return false; |
| 472 |
> |
std::cerr << index << " is an invalid index, current rigid body contains " |
| 473 |
> |
<< atoms_.size() << "atoms" << std::endl; |
| 474 |
> |
return false; |
| 475 |
|
} |
| 476 |
< |
} |
| 476 |
> |
} |
| 477 |
|
|
| 478 |
< |
bool RigidBody::getAtomVel(Vector3d& vel, Atom* atom) { |
| 478 |
> |
bool RigidBody::getAtomVel(Vector3d& vel, Atom* atom) { |
| 479 |
|
|
| 480 |
|
std::vector<Atom*>::iterator i; |
| 481 |
|
i = std::find(atoms_.begin(), atoms_.end(), atom); |
| 482 |
|
if (i != atoms_.end()) { |
| 483 |
< |
return getAtomVel(vel, i - atoms_.begin()); |
| 483 |
> |
return getAtomVel(vel, i - atoms_.begin()); |
| 484 |
|
} else { |
| 485 |
< |
std::cerr << "Atom " << atom->getGlobalIndex() |
| 486 |
< |
<<" does not belong to Rigid body "<< getGlobalIndex() << std::endl; |
| 487 |
< |
return false; |
| 485 |
> |
std::cerr << "Atom " << atom->getGlobalIndex() |
| 486 |
> |
<<" does not belong to Rigid body "<< getGlobalIndex() << std::endl; |
| 487 |
> |
return false; |
| 488 |
|
} |
| 489 |
< |
} |
| 489 |
> |
} |
| 490 |
|
|
| 491 |
< |
bool RigidBody::getAtomRefCoor(Vector3d& coor, unsigned int index) { |
| 491 |
> |
bool RigidBody::getAtomRefCoor(Vector3d& coor, unsigned int index) { |
| 492 |
|
if (index < atoms_.size()) { |
| 493 |
|
|
| 494 |
< |
coor = refCoords_[index]; |
| 495 |
< |
return true; |
| 494 |
> |
coor = refCoords_[index]; |
| 495 |
> |
return true; |
| 496 |
|
} else { |
| 497 |
< |
std::cerr << index << " is an invalid index, current rigid body contains " |
| 498 |
< |
<< atoms_.size() << "atoms" << std::endl; |
| 499 |
< |
return false; |
| 497 |
> |
std::cerr << index << " is an invalid index, current rigid body contains " |
| 498 |
> |
<< atoms_.size() << "atoms" << std::endl; |
| 499 |
> |
return false; |
| 500 |
|
} |
| 501 |
|
|
| 502 |
< |
} |
| 502 |
> |
} |
| 503 |
|
|
| 504 |
< |
bool RigidBody::getAtomRefCoor(Vector3d& coor, Atom* atom) { |
| 504 |
> |
bool RigidBody::getAtomRefCoor(Vector3d& coor, Atom* atom) { |
| 505 |
|
std::vector<Atom*>::iterator i; |
| 506 |
|
i = std::find(atoms_.begin(), atoms_.end(), atom); |
| 507 |
|
if (i != atoms_.end()) { |
| 508 |
< |
//RigidBody class makes sure refCoords_ and atoms_ match each other |
| 509 |
< |
coor = refCoords_[i - atoms_.begin()]; |
| 510 |
< |
return true; |
| 508 |
> |
//RigidBody class makes sure refCoords_ and atoms_ match each other |
| 509 |
> |
coor = refCoords_[i - atoms_.begin()]; |
| 510 |
> |
return true; |
| 511 |
|
} else { |
| 512 |
< |
std::cerr << "Atom " << atom->getGlobalIndex() |
| 513 |
< |
<<" does not belong to Rigid body "<< getGlobalIndex() << std::endl; |
| 514 |
< |
return false; |
| 512 |
> |
std::cerr << "Atom " << atom->getGlobalIndex() |
| 513 |
> |
<<" does not belong to Rigid body "<< getGlobalIndex() << std::endl; |
| 514 |
> |
return false; |
| 515 |
|
} |
| 516 |
|
|
| 517 |
< |
} |
| 517 |
> |
} |
| 518 |
|
|
| 519 |
|
|
| 520 |
< |
void RigidBody::addAtom(Atom* at, AtomStamp* ats) { |
| 520 |
> |
void RigidBody::addAtom(Atom* at, AtomStamp* ats) { |
| 521 |
|
|
| 522 |
< |
Vector3d coords; |
| 523 |
< |
Vector3d euler; |
| 522 |
> |
Vector3d coords; |
| 523 |
> |
Vector3d euler; |
| 524 |
|
|
| 525 |
|
|
| 526 |
< |
atoms_.push_back(at); |
| 526 |
> |
atoms_.push_back(at); |
| 527 |
|
|
| 528 |
< |
if( !ats->havePosition() ){ |
| 529 |
< |
sprintf( painCave.errMsg, |
| 530 |
< |
"RigidBody error.\n" |
| 531 |
< |
"\tAtom %s does not have a position specified.\n" |
| 532 |
< |
"\tThis means RigidBody cannot set up reference coordinates.\n", |
| 533 |
< |
ats->getType() ); |
| 534 |
< |
painCave.isFatal = 1; |
| 535 |
< |
simError(); |
| 536 |
< |
} |
| 528 |
> |
if( !ats->havePosition() ){ |
| 529 |
> |
sprintf( painCave.errMsg, |
| 530 |
> |
"RigidBody error.\n" |
| 531 |
> |
"\tAtom %s does not have a position specified.\n" |
| 532 |
> |
"\tThis means RigidBody cannot set up reference coordinates.\n", |
| 533 |
> |
ats->getType().c_str() ); |
| 534 |
> |
painCave.isFatal = 1; |
| 535 |
> |
simError(); |
| 536 |
> |
} |
| 537 |
|
|
| 538 |
< |
coords[0] = ats->getPosX(); |
| 539 |
< |
coords[1] = ats->getPosY(); |
| 540 |
< |
coords[2] = ats->getPosZ(); |
| 538 |
> |
coords[0] = ats->getPosX(); |
| 539 |
> |
coords[1] = ats->getPosY(); |
| 540 |
> |
coords[2] = ats->getPosZ(); |
| 541 |
|
|
| 542 |
< |
refCoords_.push_back(coords); |
| 542 |
> |
refCoords_.push_back(coords); |
| 543 |
|
|
| 544 |
< |
RotMat3x3d identMat = RotMat3x3d::identity(); |
| 544 |
> |
RotMat3x3d identMat = RotMat3x3d::identity(); |
| 545 |
|
|
| 546 |
< |
if (at->isDirectional()) { |
| 546 |
> |
if (at->isDirectional()) { |
| 547 |
|
|
| 548 |
< |
if( !ats->haveOrientation() ){ |
| 549 |
< |
sprintf( painCave.errMsg, |
| 550 |
< |
"RigidBody error.\n" |
| 551 |
< |
"\tAtom %s does not have an orientation specified.\n" |
| 552 |
< |
"\tThis means RigidBody cannot set up reference orientations.\n", |
| 553 |
< |
ats->getType() ); |
| 554 |
< |
painCave.isFatal = 1; |
| 555 |
< |
simError(); |
| 556 |
< |
} |
| 548 |
> |
if( !ats->haveOrientation() ){ |
| 549 |
> |
sprintf( painCave.errMsg, |
| 550 |
> |
"RigidBody error.\n" |
| 551 |
> |
"\tAtom %s does not have an orientation specified.\n" |
| 552 |
> |
"\tThis means RigidBody cannot set up reference orientations.\n", |
| 553 |
> |
ats->getType().c_str() ); |
| 554 |
> |
painCave.isFatal = 1; |
| 555 |
> |
simError(); |
| 556 |
> |
} |
| 557 |
|
|
| 558 |
< |
euler[0] = ats->getEulerPhi(); |
| 559 |
< |
euler[1] = ats->getEulerTheta(); |
| 560 |
< |
euler[2] = ats->getEulerPsi(); |
| 558 |
> |
euler[0] = ats->getEulerPhi() * NumericConstant::PI /180.0; |
| 559 |
> |
euler[1] = ats->getEulerTheta() * NumericConstant::PI /180.0; |
| 560 |
> |
euler[2] = ats->getEulerPsi() * NumericConstant::PI /180.0; |
| 561 |
|
|
| 562 |
< |
RotMat3x3d Atmp(euler); |
| 563 |
< |
refOrients_.push_back(Atmp); |
| 562 |
> |
RotMat3x3d Atmp(euler); |
| 563 |
> |
refOrients_.push_back(Atmp); |
| 564 |
|
|
| 565 |
< |
}else { |
| 566 |
< |
refOrients_.push_back(identMat); |
| 567 |
< |
} |
| 565 |
> |
}else { |
| 566 |
> |
refOrients_.push_back(identMat); |
| 567 |
> |
} |
| 568 |
|
|
| 569 |
|
|
| 570 |
< |
} |
| 570 |
> |
} |
| 571 |
|
|
| 572 |
|
} |
| 573 |
|
|
