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root/OpenMD/branches/development/src/primitives/StuntDouble.hpp

Comparing trunk/src/primitives/StuntDouble.hpp (file contents):
Revision 334 by tim, Mon Feb 14 17:57:01 2005 UTC vs.
Revision 1024 by tim, Wed Aug 30 18:42:29 2006 UTC

#	Line 1 | Line 1
1	<	/*
1	>	/*
2		* Copyright (c) 2005 The University of Notre Dame. All Rights Reserved.
3		*
4		* The University of Notre Dame grants you ("Licensee") a
#	Line 46 | Line 46
46		* @version 1.0
47		*/
48
49	<	#ifndef PRIMITIVES_STUNTDOUBLE_HPP
50	<	#define PRIMITIVES_STUNTDOUBLE_HPP
49	>	#ifndef PRIMITIVES_STUNTDOUBLE_HPP
50	>	#define PRIMITIVES_STUNTDOUBLE_HPP
51
52		#include <vector>
53
#	Line 65 | Line 65 | namespace oopse{
65		/**
66		* @class StuntDouble StuntDouble.hpp "Primitives/StuntDouble.hpp"
67		* @brief
68	+	*     "Don't move, or you're dead! Stand up! Captain, we've got them!"
69	+	*
70	+	*     "Spectacular stunt, my friends, but all for naught. Turn around
71	+	*      please. Ha. What a pity. What a pity. So, Princess, you thought
72	+	*      you could outwit the imperious forces of...."
73	+	*
74	+	*     "You idiots! These are not them. You've captured their stunt
75	+	*      doubles! Search the area. Find them! Find them!"
76	+	*
77		* StuntDouble is a very strange idea.  A StuntDouble stands in for
78		* some object that can be manipulated by the Integrators or
79		* Minimizers.  Some of the manipulable objects are Atoms, some are
80		* DirectionalAtoms, and some are RigidBodies.  StuntDouble
81		* provides an interface for the Integrators and Minimizers to use,
82		* and does some preliminary sanity checking so that the program
83	<	* doesn't try to do something stupid like torque an Atom
83	>	* doesn't try to do something stupid like torque an Atom (The
84	>	* quotes above are from Spaceballs...)
85	>	*
86		* @note the dynamic data of stuntdouble will be stored outside of the class
87		*/
88	<	class StuntDouble{
89	<	public:
88	>	class StuntDouble{
89	>	public:
90
91	<	enum ObjectType{
92	<	otAtom,
93	<	otDAtom,
94	<	otRigidBody
95	<	};
91	>	enum ObjectType{
92	>	otAtom,
93	>	otDAtom,
94	>	otRigidBody
95	>	};
96
97	<	virtual ~StuntDouble();
97	>	virtual ~StuntDouble();
98
99	<	/**
100	<	* Returns the global index of this stuntdouble.
101	<	* @return  the global index of this stuntdouble
102	<	*/
103	<	int getGlobalIndex() {
104	<	return globalIndex_;
105	<	}
99	>	/**
100	>	* Returns the global index of this stuntRealType.
101	>	* @return  the global index of this stuntdouble
102	>	*/
103	>	int getGlobalIndex() {
104	>	return globalIndex_;
105	>	}
106
107	<	/**
108	<	* Sets the global index of this stuntdouble.
109	<	* @param new global index to be set
110	<	*/
111	<	void setGlobalIndex(int index) {
112	<	globalIndex_ = index;
113	<	}
107	>	/**
108	>	* Sets the global index of this stuntRealType.
109	>	* @param new global index to be set
110	>	*/
111	>	void setGlobalIndex(int index) {
112	>	globalIndex_ = index;
113	>	}
114
115	<	/**
116	<	* Returns the local index of this stuntdouble
117	<	* @return the local index of this stuntdouble
118	<	*/
119	<	int getLocalIndex() {
120	<	return localIndex_;
121	<	}
115	>	/**
116	>	* Returns the local index of this stuntdouble
117	>	* @return the local index of this stuntdouble
118	>	*/
119	>	int getLocalIndex() {
120	>	return localIndex_;
121	>	}
122
123	<	/**
124	<	* Sets the local index of this stuntdouble
125	<	* @param index new index to be set
126	<	*/
127	<	void setLocalIndex(int index) {
128	<	localIndex_ = index;
129	<	}
123	>	/**
124	>	* Sets the local index of this stuntdouble
125	>	* @param index new index to be set
126	>	*/
127	>	void setLocalIndex(int index) {
128	>	localIndex_ = index;
129	>	}
130
131	<	/**
132	<	* Sets the Snapshot Manager of this stuntdouble
133	<	*/
134	<	void setSnapshotManager(SnapshotManager* sman) {
135	<	snapshotMan_ = sman;
136	<	}
131	>	int getGlobalIntegrableObjectIndex(){
132	>	return globalIntegrableObjectIndex_;
133	>	}
134	>	void setGlobalIntegrableObjectIndex(int index) {
135	>	globalIntegrableObjectIndex_ = index;
136	>	}
137
138	<	/**
139	<	* Tests if this stuntdouble is an atom
140	<	* @return true is this stuntdouble is an atom(or a directional atom), return false otherwise
141	<	*/
142	<	bool isAtom(){
143	<	return objType_ == otAtom || objType_ == otDAtom;
133	<	}
138	>	/**
139	>	* Sets the Snapshot Manager of this stuntdouble
140	>	*/
141	>	void setSnapshotManager(SnapshotManager* sman) {
142	>	snapshotMan_ = sman;
143	>	}
144
145	<	/**
146	<	* Tests if this stuntdouble is an directional atom
147	<	* @return true if this stuntdouble is an directional atom, return false otherwise
148	<	*/
149	<	bool isDirectionalAtom(){
150	<	return objType_ == otDAtom;
151	<	}
145	>	/**
146	>	* Tests if this stuntdouble is an atom
147	>	* @return true is this stuntdouble is an atom(or a directional atom), return false otherwise
148	>	*/
149	>	bool isAtom(){
150	>	return objType_ == otAtom || objType_ == otDAtom;
151	>	}
152
153	<	/**
154	<	* Tests if this stuntdouble is a rigid body.
155	<	* @return true if this stuntdouble is a rigid body, otherwise return false
156	<	*/
157	<	bool isRigidBody(){
158	<	return objType_ == otRigidBody;
159	<	}
153	>	/**
154	>	* Tests if this stuntdouble is an directional atom
155	>	* @return true if this stuntdouble is an directional atom, return false otherwise
156	>	*/
157	>	bool isDirectionalAtom(){
158	>	return objType_ == otDAtom;
159	>	}
160
161	<	/**
162	<	* Tests if this stuntdouble is a directional one.
163	<	* @return true is this stuntdouble is a directional atom or a rigid body, return false otherwise
164	<	*/
165	<	bool isDirectional(){
166	<	return isDirectionalAtom() || isRigidBody();
167	<	}
161	>	/**
162	>	* Tests if this stuntdouble is a rigid body.
163	>	* @return true if this stuntdouble is a rigid body, otherwise return false
164	>	*/
165	>	bool isRigidBody(){
166	>	return objType_ == otRigidBody;
167	>	}
168
169	<	/**
170	<	* Returns the previous position of this stuntdouble
171	<	* @return the position of this stuntdouble
172	<	*/
173	<	Vector3d getPrevPos() {
174	<	return ((snapshotMan_->getPrevSnapshot())->*storage_).position[localIndex_];
175	<	}
166	<
167	<	/**
168	<	* Returns the current position of this stuntdouble
169	<	* @return the position of this stuntdouble
170	<	*/
171	<	Vector3d getPos() {
172	<	return ((snapshotMan_->getCurrentSnapshot())->*storage_).position[localIndex_];
173	<	}
169	>	/**
170	>	* Tests if this stuntdouble is a directional one.
171	>	* @return true is this stuntdouble is a directional atom or a rigid body, return false otherwise
172	>	*/
173	>	bool isDirectional(){
174	>	return isDirectionalAtom() || isRigidBody();
175	>	}
176
177	<	/**
178	<	* Returns the position of this stuntdouble in specified snapshot
179	<	* @return the position of this stuntdouble
180	<	* @param snapshotNo
181	<	*/
182	<	Vector3d getPos(int snapshotNo) {
183	<	return ((snapshotMan_->getSnapshot(snapshotNo))->*storage_).position[localIndex_];
184	<	}
177	>	/**
178	>	* Freezes out all velocity, angular velocity, forces and torques
179	>	* on this StuntDouble.  Also computes the number of frozen degrees
180	>	* of freedom.
181	>	* @return the total number of frozen degrees of freedom
182	>	*/
183	>	int freeze() {
184	>
185	>	int fdf = 3;
186
187	<	/**
188	<	* Sets  the previous position of this stuntdouble
189	<	* @param pos  new position
190	<	* @see #getPos
191	<	*/
192	<	void setPrevPos(const Vector3d& pos) {
193	<	((snapshotMan_->getPrevSnapshot())->*storage_).position[localIndex_] = pos;
194	<	}
195	<
196	<	/**
197	<	* Sets  the current position of this stuntdouble
198	<	* @param pos  new position
196	<	*/
197	<	void setPos(const Vector3d& pos) {
198	<	DataStorage&  data = snapshotMan_->getCurrentSnapshot()->*storage_;
199	<	data.position[localIndex_] = pos;
200	<	//((snapshotMan_->getCurrentSnapshot())->*storage_).position[localIndex_] = pos;
201	<	}
202	<
203	<	/**
204	<	* Sets  the position of this stuntdouble in specified snapshot
205	<	* @param pos position to be set
206	<	* @param snapshotNo
207	<	* @see #getPos
208	<	*/
209	<	void setPos(const Vector3d& pos, int snapshotNo) {
187	>	setVel(V3Zero);
188	>	setFrc(V3Zero);
189	>	if (isDirectional()){
190	>	setJ(V3Zero);
191	>	setTrq(V3Zero);
192	>	if (isLinear())
193	>	fdf +=2;
194	>	else
195	>	fdf +=3;
196	>	}
197	>	return fdf;
198	>	}
199
200	<	((snapshotMan_->getSnapshot(snapshotNo))->*storage_).position[localIndex_] = pos;
200	>	/**
201	>	* Returns the previous position of this stuntdouble
202	>	* @return the position of this stuntdouble
203	>	*/
204	>	Vector3d getPrevPos() {
205	>	return ((snapshotMan_->getPrevSnapshot())->*storage_).position[localIndex_];
206	>	}
207	>
208	>	/**
209	>	* Returns the current position of this stuntdouble
210	>	* @return the position of this stuntdouble
211	>	*/
212	>	Vector3d getPos() {
213	>	return ((snapshotMan_->getCurrentSnapshot())->*storage_).position[localIndex_];
214	>	}
215
216	<	}
216	>	/**
217	>	* Returns the position of this stuntdouble in specified snapshot
218	>	* @return the position of this stuntdouble
219	>	* @param snapshotNo
220	>	*/
221	>	Vector3d getPos(int snapshotNo) {
222	>	return ((snapshotMan_->getSnapshot(snapshotNo))->*storage_).position[localIndex_];
223	>	}
224	>
225	>	/**
226	>	* Sets  the previous position of this stuntdouble
227	>	* @param pos  new position
228	>	* @see #getPos
229	>	*/
230	>	void setPrevPos(const Vector3d& pos) {
231	>	((snapshotMan_->getPrevSnapshot())->*storage_).position[localIndex_] = pos;
232	>	}
233
234	<	/**
235	<	* Returns the previous velocity of this stuntdouble
236	<	* @return the velocity of this stuntdouble
237	<	*/
238	<	Vector3d getPrevVel() {
239	<	return ((snapshotMan_->getPrevSnapshot())->*storage_).velocity[localIndex_];
240	<	}
241	<
242	<	/**
224	<	* Returns the current velocity of this stuntdouble
225	<	* @return the velocity of this stuntdouble
226	<	*/
227	<	Vector3d getVel() {
228	<	return ((snapshotMan_->getCurrentSnapshot())->*storage_).velocity[localIndex_];
229	<	}
234	>	/**
235	>	* Sets  the current position of this stuntdouble
236	>	* @param pos  new position
237	>	*/
238	>	void setPos(const Vector3d& pos) {
239	>	DataStorage&  data = snapshotMan_->getCurrentSnapshot()->*storage_;
240	>	data.position[localIndex_] = pos;
241	>	//((snapshotMan_->getCurrentSnapshot())->*storage_).position[localIndex_] = pos;
242	>	}
243
244	<	/**
245	<	* Returns the velocity of this stuntdouble in specified snapshot
246	<	* @return the velocity of this stuntdouble
247	<	* @param snapshotNo
248	<	*/
249	<	Vector3d getVel(int snapshotNo) {
250	<	return ((snapshotMan_->getSnapshot(snapshotNo))->*storage_).velocity[localIndex_];
238	<	}
244	>	/**
245	>	* Sets  the position of this stuntdouble in specified snapshot
246	>	* @param pos position to be set
247	>	* @param snapshotNo
248	>	* @see #getPos
249	>	*/
250	>	void setPos(const Vector3d& pos, int snapshotNo) {
251
252	<	/**
253	<	* Sets  the previous velocity of this stuntdouble
254	<	* @param vel  new velocity
243	<	* @see #getVel
244	<	*/
245	<	void setPrevVel(const Vector3d& vel) {
246	<	((snapshotMan_->getPrevSnapshot())->*storage_).velocity[localIndex_] = vel;
247	<	}
252	>	((snapshotMan_->getSnapshot(snapshotNo))->*storage_).position[localIndex_] = pos;
253	>
254	>	}
255
256	<	/**
257	<	* Sets  the current velocity of this stuntdouble
258	<	* @param vel  new velocity
259	<	*/
260	<	void setVel(const Vector3d& vel) {
261	<	((snapshotMan_->getCurrentSnapshot())->*storage_).velocity[localIndex_] = vel;
262	<	}
256	>	/**
257	>	* Returns the previous velocity of this stuntdouble
258	>	* @return the velocity of this stuntdouble
259	>	*/
260	>	Vector3d getPrevVel() {
261	>	return ((snapshotMan_->getPrevSnapshot())->*storage_).velocity[localIndex_];
262	>	}
263	>
264	>	/**
265	>	* Returns the current velocity of this stuntdouble
266	>	* @return the velocity of this stuntdouble
267	>	*/
268	>	Vector3d getVel() {
269	>	return ((snapshotMan_->getCurrentSnapshot())->*storage_).velocity[localIndex_];
270	>	}
271
272	<	/**
273	<	* Sets  the velocity of this stuntdouble in specified snapshot
274	<	* @param vel velocity to be set
275	<	* @param snapshotNo
276	<	* @see #getVel
277	<	*/
278	<	void setVel(const Vector3d& vel, int snapshotNo) {
279	<	((snapshotMan_->getSnapshot(snapshotNo))->*storage_).velocity[localIndex_] = vel;
265	<	}
272	>	/**
273	>	* Returns the velocity of this stuntdouble in specified snapshot
274	>	* @return the velocity of this stuntdouble
275	>	* @param snapshotNo
276	>	*/
277	>	Vector3d getVel(int snapshotNo) {
278	>	return ((snapshotMan_->getSnapshot(snapshotNo))->*storage_).velocity[localIndex_];
279	>	}
280
281	<	/**
282	<	* Returns the previous rotation matrix of this stuntdouble
283	<	* @return the rotation matrix of this stuntdouble
284	<	*/
285	<	RotMat3x3d getPrevA() {
286	<	return ((snapshotMan_->getPrevSnapshot())->*storage_).aMat[localIndex_];
287	<	}
281	>	/**
282	>	* Sets  the previous velocity of this stuntdouble
283	>	* @param vel  new velocity
284	>	* @see #getVel
285	>	*/
286	>	void setPrevVel(const Vector3d& vel) {
287	>	((snapshotMan_->getPrevSnapshot())->*storage_).velocity[localIndex_] = vel;
288	>	}
289
290	<	/**
291	<	* Returns the current rotation matrix of this stuntdouble
292	<	* @return the rotation matrix of this stuntdouble
293	<	*/
294	<	RotMat3x3d getA() {
295	<	return ((snapshotMan_->getCurrentSnapshot())->*storage_).aMat[localIndex_];
296	<	}
290	>	/**
291	>	* Sets  the current velocity of this stuntdouble
292	>	* @param vel  new velocity
293	>	*/
294	>	void setVel(const Vector3d& vel) {
295	>	((snapshotMan_->getCurrentSnapshot())->*storage_).velocity[localIndex_] = vel;
296	>	}
297
298	<	/**
299	<	* Returns the rotation matrix of this stuntdouble in specified snapshot
300	<	*
301	<	* @return the rotation matrix of this stuntdouble
302	<	* @param snapshotNo
303	<	*/
304	<	RotMat3x3d getA(int snapshotNo) {
305	<	return ((snapshotMan_->getSnapshot(snapshotNo))->*storage_).aMat[localIndex_];
306	<	}
298	>	/**
299	>	* Sets  the velocity of this stuntdouble in specified snapshot
300	>	* @param vel velocity to be set
301	>	* @param snapshotNo
302	>	* @see #getVel
303	>	*/
304	>	void setVel(const Vector3d& vel, int snapshotNo) {
305	>	((snapshotMan_->getSnapshot(snapshotNo))->*storage_).velocity[localIndex_] = vel;
306	>	}
307
308	<	/**
309	<	* Sets  the previous rotation matrix of this stuntdouble
310	<	* @param a  new rotation matrix
311	<	* @see #getA
312	<	*/
313	<	virtual void setPrevA(const RotMat3x3d& a) {
314	<	((snapshotMan_->getPrevSnapshot())->*storage_).aMat[localIndex_] = a;
315	<	}
308	>	/**
309	>	* Returns the previous rotation matrix of this stuntdouble
310	>	* @return the rotation matrix of this stuntdouble
311	>	*/
312	>	RotMat3x3d getPrevA() {
313	>	return ((snapshotMan_->getPrevSnapshot())->*storage_).aMat[localIndex_];
314	>	}
315	>
316	>	/**
317	>	* Returns the current rotation matrix of this stuntdouble
318	>	* @return the rotation matrix of this stuntdouble
319	>	*/
320	>	RotMat3x3d getA() {
321	>	return ((snapshotMan_->getCurrentSnapshot())->*storage_).aMat[localIndex_];
322	>	}
323	>
324	>	/**
325	>	* Returns the rotation matrix of this stuntdouble in specified snapshot
326	>	*
327	>	* @return the rotation matrix of this stuntdouble
328	>	* @param snapshotNo
329	>	*/
330	>	RotMat3x3d getA(int snapshotNo) {
331	>	return ((snapshotMan_->getSnapshot(snapshotNo))->*storage_).aMat[localIndex_];
332	>	}
333	>
334	>	/**
335	>	* Sets  the previous rotation matrix of this stuntdouble
336	>	* @param a  new rotation matrix
337	>	* @see #getA
338	>	*/
339	>	virtual void setPrevA(const RotMat3x3d& a) {
340	>	((snapshotMan_->getPrevSnapshot())->*storage_).aMat[localIndex_] = a;
341	>	}
342
343	<	/**
344	<	* Sets  the current rotation matrix of this stuntdouble
345	<	* @param a  new rotation matrix
346	<	*/
347	<	virtual void setA(const RotMat3x3d& a) {
348	<	((snapshotMan_->getCurrentSnapshot())->*storage_).aMat[localIndex_] = a;
349	<	}
343	>	/**
344	>	* Sets  the current rotation matrix of this stuntdouble
345	>	* @param a  new rotation matrix
346	>	*/
347	>	virtual void setA(const RotMat3x3d& a) {
348	>	((snapshotMan_->getCurrentSnapshot())->*storage_).aMat[localIndex_] = a;
349	>	}
350
351	<	/**
352	<	* Sets  the rotation matrix of this stuntdouble in specified snapshot
353	<	* @param a rotation matrix to be set
354	<	* @param snapshotNo
355	<	* @see #getA
356	<	*/
357	<	virtual void setA(const RotMat3x3d& a, int snapshotNo) {
358	<	((snapshotMan_->getSnapshot(snapshotNo))->*storage_).aMat[localIndex_] = a;
359	<	}
351	>	/**
352	>	* Sets  the rotation matrix of this stuntdouble in specified snapshot
353	>	* @param a rotation matrix to be set
354	>	* @param snapshotNo
355	>	* @see #getA
356	>	*/
357	>	virtual void setA(const RotMat3x3d& a, int snapshotNo) {
358	>	((snapshotMan_->getSnapshot(snapshotNo))->*storage_).aMat[localIndex_] = a;
359	>	}
360
361	<	/**
362	<	* Returns the previous angular momentum of this stuntdouble (body-fixed).
363	<	* @return the angular momentum of this stuntdouble
364	<	*/
365	<	Vector3d getPrevJ() {
366	<	return ((snapshotMan_->getPrevSnapshot())->*storage_).angularMomentum[localIndex_];
367	<	}
361	>	/**
362	>	* Returns the previous angular momentum of this stuntdouble (body-fixed).
363	>	* @return the angular momentum of this stuntdouble
364	>	*/
365	>	Vector3d getPrevJ() {
366	>	return ((snapshotMan_->getPrevSnapshot())->*storage_).angularMomentum[localIndex_];
367	>	}
368
369	<	/**
370	<	* Returns the current angular momentum of this stuntdouble (body -fixed).
371	<	* @return the angular momentum of this stuntdouble
372	<	*/
373	<	Vector3d getJ() {
374	<	return ((snapshotMan_->getCurrentSnapshot())->*storage_).angularMomentum[localIndex_];
375	<	}
369	>	/**
370	>	* Returns the current angular momentum of this stuntdouble (body -fixed).
371	>	* @return the angular momentum of this stuntdouble
372	>	*/
373	>	Vector3d getJ() {
374	>	return ((snapshotMan_->getCurrentSnapshot())->*storage_).angularMomentum[localIndex_];
375	>	}
376
377	<	/**
378	<	* Returns the angular momentum of this stuntdouble in specified snapshot (body-fixed).
379	<	* @return the angular momentum of this stuntdouble
380	<	* @param snapshotNo
381	<	*/
382	<	Vector3d getJ(int snapshotNo) {
383	<	return ((snapshotMan_->getSnapshot(snapshotNo))->*storage_).angularMomentum[localIndex_];
384	<	}
377	>	/**
378	>	* Returns the angular momentum of this stuntdouble in specified snapshot (body-fixed).
379	>	* @return the angular momentum of this stuntdouble
380	>	* @param snapshotNo
381	>	*/
382	>	Vector3d getJ(int snapshotNo) {
383	>	return ((snapshotMan_->getSnapshot(snapshotNo))->*storage_).angularMomentum[localIndex_];
384	>	}
385
386	<	/**
387	<	* Sets  the previous angular momentum of this stuntdouble (body-fixed).
388	<	* @param angMom  new angular momentum
389	<	* @see #getJ
390	<	*/
391	<	void setPrevJ(const Vector3d& angMom) {
392	<	((snapshotMan_->getPrevSnapshot())->*storage_).angularMomentum[localIndex_] = angMom;
393	<	}
386	>	/**
387	>	* Sets  the previous angular momentum of this stuntdouble (body-fixed).
388	>	* @param angMom  new angular momentum
389	>	* @see #getJ
390	>	*/
391	>	void setPrevJ(const Vector3d& angMom) {
392	>	((snapshotMan_->getPrevSnapshot())->*storage_).angularMomentum[localIndex_] = angMom;
393	>	}
394
395	<	/**
396	<	* Sets  the current angular momentum of this stuntdouble (body-fixed).
397	<	* @param angMom  new angular momentum
398	<	*/
399	<	void setJ(const Vector3d& angMom) {
400	<	((snapshotMan_->getCurrentSnapshot())->*storage_).angularMomentum[localIndex_] = angMom;
401	<	}
395	>	/**
396	>	* Sets  the current angular momentum of this stuntdouble (body-fixed).
397	>	* @param angMom  new angular momentum
398	>	*/
399	>	void setJ(const Vector3d& angMom) {
400	>	((snapshotMan_->getCurrentSnapshot())->*storage_).angularMomentum[localIndex_] = angMom;
401	>	}
402
403	<	/**
404	<	* Sets the angular momentum of this stuntdouble in specified snapshot(body-fixed).
405	<	* @param angMom angular momentum to be set
406	<	* @param snapshotNo
407	<	* @see #getJ
408	<	*/
409	<	void setJ(const Vector3d& angMom, int snapshotNo) {
410	<	((snapshotMan_->getSnapshot(snapshotNo))->*storage_).angularMomentum[localIndex_] = angMom;
411	<	}
403	>	/**
404	>	* Sets the angular momentum of this stuntdouble in specified snapshot(body-fixed).
405	>	* @param angMom angular momentum to be set
406	>	* @param snapshotNo
407	>	* @see #getJ
408	>	*/
409	>	void setJ(const Vector3d& angMom, int snapshotNo) {
410	>	((snapshotMan_->getSnapshot(snapshotNo))->*storage_).angularMomentum[localIndex_] = angMom;
411	>	}
412
413	<	/**
414	<	* Returns the previous quaternion of this stuntdouble
415	<	* @return the quaternion of this stuntdouble
416	<	*/
417	<	Quat4d getPrevQ() {
418	<	return ((snapshotMan_->getPrevSnapshot())->*storage_).aMat[localIndex_].toQuaternion();
419	<	}
413	>	/**
414	>	* Returns the previous quaternion of this stuntdouble
415	>	* @return the quaternion of this stuntdouble
416	>	*/
417	>	Quat4d getPrevQ() {
418	>	return ((snapshotMan_->getPrevSnapshot())->*storage_).aMat[localIndex_].toQuaternion();
419	>	}
420
421	<	/**
422	<	* Returns the current quaternion of this stuntdouble
423	<	* @return the quaternion of this stuntdouble
424	<	*/
425	<	Quat4d getQ() {
426	<	return ((snapshotMan_->getCurrentSnapshot())->*storage_).aMat[localIndex_].toQuaternion();
427	<	}
421	>	/**
422	>	* Returns the current quaternion of this stuntdouble
423	>	* @return the quaternion of this stuntdouble
424	>	*/
425	>	Quat4d getQ() {
426	>	return ((snapshotMan_->getCurrentSnapshot())->*storage_).aMat[localIndex_].toQuaternion();
427	>	}
428
429	<	/**
430	<	* Returns the quaternion of this stuntdouble in specified snapshot
431	<	* @return the quaternion of this stuntdouble
432	<	* @param snapshotNo
433	<	*/
434	<	Quat4d getQ(int snapshotNo) {
435	<	return ((snapshotMan_->getSnapshot(snapshotNo))->*storage_).aMat[localIndex_].toQuaternion();
436	<	}
429	>	/**
430	>	* Returns the quaternion of this stuntdouble in specified snapshot
431	>	* @return the quaternion of this stuntdouble
432	>	* @param snapshotNo
433	>	*/
434	>	Quat4d getQ(int snapshotNo) {
435	>	return ((snapshotMan_->getSnapshot(snapshotNo))->*storage_).aMat[localIndex_].toQuaternion();
436	>	}
437
438	<	/**
439	<	* Sets  the previous quaternion of this stuntdouble
440	<	* @param q  new quaternion
441	<	* @note actual storage data is rotation matrix
442	<	*/
443	<	void setPrevQ(const Quat4d& q) {
444	<	setPrevA(q);
445	<	}
438	>	/**
439	>	* Sets  the previous quaternion of this stuntdouble
440	>	* @param q  new quaternion
441	>	* @note actual storage data is rotation matrix
442	>	*/
443	>	void setPrevQ(const Quat4d& q) {
444	>	setPrevA(q);
445	>	}
446
447	<	/**
448	<	* Sets  the current quaternion of this stuntdouble
449	<	* @param q  new quaternion
450	<	* @note actual storage data is rotation matrix
451	<	*/
452	<	void setQ(const Quat4d& q) {
453	<	setA(q);
454	<	}
447	>	/**
448	>	* Sets  the current quaternion of this stuntdouble
449	>	* @param q  new quaternion
450	>	* @note actual storage data is rotation matrix
451	>	*/
452	>	void setQ(const Quat4d& q) {
453	>	setA(q);
454	>	}
455
456	<	/**
457	<	* Sets  the quaternion of this stuntdouble in specified snapshot
458	<	*
459	<	* @param q quaternion to be set
460	<	* @param snapshotNo
461	<	* @note actual storage data is rotation matrix
462	<	*/
463	<	void setQ(const Quat4d& q, int snapshotNo) {
464	<	setA(q, snapshotNo);
465	<	}
456	>	/**
457	>	* Sets  the quaternion of this stuntdouble in specified snapshot
458	>	*
459	>	* @param q quaternion to be set
460	>	* @param snapshotNo
461	>	* @note actual storage data is rotation matrix
462	>	*/
463	>	void setQ(const Quat4d& q, int snapshotNo) {
464	>	setA(q, snapshotNo);
465	>	}
466
467	<	/**
468	<	* Returns the previous euler angles of this stuntdouble
469	<	* @return the euler angles of this stuntdouble
470	<	*/
471	<	Vector3d getPrevEuler() {
472	<	return ((snapshotMan_->getPrevSnapshot())->*storage_).aMat[localIndex_].toEulerAngles();
473	<	}
467	>	/**
468	>	* Returns the previous euler angles of this stuntdouble
469	>	* @return the euler angles of this stuntdouble
470	>	*/
471	>	Vector3d getPrevEuler() {
472	>	return ((snapshotMan_->getPrevSnapshot())->*storage_).aMat[localIndex_].toEulerAngles();
473	>	}
474
475	<	/**
476	<	* Returns the current euler angles of this stuntdouble
477	<	* @return the euler angles of this stuntdouble
478	<	*/
479	<	Vector3d getEuler() {
480	<	return ((snapshotMan_->getCurrentSnapshot())->*storage_).aMat[localIndex_].toEulerAngles();
481	<	}
475	>	/**
476	>	* Returns the current euler angles of this stuntdouble
477	>	* @return the euler angles of this stuntdouble
478	>	*/
479	>	Vector3d getEuler() {
480	>	return ((snapshotMan_->getCurrentSnapshot())->*storage_).aMat[localIndex_].toEulerAngles();
481	>	}
482
483	<	/**
484	<	* Returns the euler angles of this stuntdouble in specified snapshot.
485	<	* @return the euler angles of this stuntdouble
486	<	* @param snapshotNo
487	<	*/
488	<	Vector3d getEuler(int snapshotNo) {
489	<	return ((snapshotMan_->getSnapshot(snapshotNo))->*storage_).aMat[localIndex_].toEulerAngles();
490	<	}
483	>	/**
484	>	* Returns the euler angles of this stuntdouble in specified snapshot.
485	>	* @return the euler angles of this stuntdouble
486	>	* @param snapshotNo
487	>	*/
488	>	Vector3d getEuler(int snapshotNo) {
489	>	return ((snapshotMan_->getSnapshot(snapshotNo))->*storage_).aMat[localIndex_].toEulerAngles();
490	>	}
491
492	<	/**
493	<	* Sets  the previous euler angles of this stuntdouble.
494	<	* @param euler  new euler angles
495	<	* @see #getEuler
496	<	* @note actual storage data is rotation matrix
497	<	*/
498	<	void setPrevEuler(const Vector3d& euler) {
499	<	((snapshotMan_->getPrevSnapshot())->*storage_).aMat[localIndex_] = euler;
500	<	}
492	>	/**
493	>	* Sets  the previous euler angles of this stuntRealType.
494	>	* @param euler  new euler angles
495	>	* @see #getEuler
496	>	* @note actual storage data is rotation matrix
497	>	*/
498	>	void setPrevEuler(const Vector3d& euler) {
499	>	((snapshotMan_->getPrevSnapshot())->*storage_).aMat[localIndex_] = euler;
500	>	}
501
502	<	/**
503	<	* Sets  the current euler angles of this stuntdouble
504	<	* @param euler  new euler angles
505	<	*/
506	<	void setEuler(const Vector3d& euler) {
507	<	((snapshotMan_->getCurrentSnapshot())->*storage_).aMat[localIndex_] = euler;
508	<	}
502	>	/**
503	>	* Sets  the current euler angles of this stuntdouble
504	>	* @param euler  new euler angles
505	>	*/
506	>	void setEuler(const Vector3d& euler) {
507	>	((snapshotMan_->getCurrentSnapshot())->*storage_).aMat[localIndex_] = euler;
508	>	}
509
510	<	/**
511	<	* Sets  the euler angles  of this stuntdouble in specified snapshot
512	<	*
513	<	* @param euler euler angles to be set
514	<	* @param snapshotNo
515	<	* @note actual storage data is rotation matrix
516	<	*/
517	<	void setEuler(const Vector3d& euler, int snapshotNo) {
518	<	((snapshotMan_->getSnapshot(snapshotNo))->*storage_).aMat[localIndex_] = euler;
519	<	}
510	>	/**
511	>	* Sets  the euler angles  of this stuntdouble in specified snapshot
512	>	*
513	>	* @param euler euler angles to be set
514	>	* @param snapshotNo
515	>	* @note actual storage data is rotation matrix
516	>	*/
517	>	void setEuler(const Vector3d& euler, int snapshotNo) {
518	>	((snapshotMan_->getSnapshot(snapshotNo))->*storage_).aMat[localIndex_] = euler;
519	>	}
520
521	<	/**
522	<	* Returns the previous unit vectors of this stuntdouble
523	<	* @return the unit vectors of this stuntdouble
524	<	*/
525	<	RotMat3x3d getPrevElectroFrame() {
526	<	return ((snapshotMan_->getPrevSnapshot())->*storage_).electroFrame[localIndex_];
527	<	}
521	>	/**
522	>	* Returns the previous unit vectors of this stuntdouble
523	>	* @return the unit vectors of this stuntdouble
524	>	*/
525	>	RotMat3x3d getPrevElectroFrame() {
526	>	return ((snapshotMan_->getPrevSnapshot())->*storage_).electroFrame[localIndex_];
527	>	}
528
529	<	/**
530	<	* Returns the current unit vectors of this stuntdouble
531	<	* @return the unit vectors of this stuntdouble
532	<	*/
533	<	RotMat3x3d getElectroFrame() {
534	<	return ((snapshotMan_->getCurrentSnapshot())->*storage_).electroFrame[localIndex_];
535	<	}
529	>	/**
530	>	* Returns the current unit vectors of this stuntdouble
531	>	* @return the unit vectors of this stuntdouble
532	>	*/
533	>	RotMat3x3d getElectroFrame() {
534	>	return ((snapshotMan_->getCurrentSnapshot())->*storage_).electroFrame[localIndex_];
535	>	}
536
537	<	/**
538	<	* Returns the unit vectors of this stuntdouble in specified snapshot
539	<	*
540	<	* @return the unit vectors of this stuntdouble
541	<	* @param snapshotNo
542	<	*/
543	<	RotMat3x3d getElectroFrame(int snapshotNo) {
544	<	return ((snapshotMan_->getSnapshot(snapshotNo))->*storage_).electroFrame[localIndex_];
545	<	}
546	<
547	<	/**
548	<	* Returns the previous force of this stuntdouble
549	<	* @return the force of this stuntdouble
550	<	*/
551	<	Vector3d getPrevFrc() {
552	<	return ((snapshotMan_->getPrevSnapshot())->*storage_).force[localIndex_];
553	<	}
537	>	/**
538	>	* Returns the unit vectors of this stuntdouble in specified snapshot
539	>	*
540	>	* @return the unit vectors of this stuntdouble
541	>	* @param snapshotNo
542	>	*/
543	>	RotMat3x3d getElectroFrame(int snapshotNo) {
544	>	return ((snapshotMan_->getSnapshot(snapshotNo))->*storage_).electroFrame[localIndex_];
545	>	}
546	>
547	>	/**
548	>	* Returns the previous force of this stuntdouble
549	>	* @return the force of this stuntdouble
550	>	*/
551	>	Vector3d getPrevFrc() {
552	>	return ((snapshotMan_->getPrevSnapshot())->*storage_).force[localIndex_];
553	>	}
554
555	<	/**
556	<	* Returns the current force of this stuntdouble
557	<	* @return the force of this stuntdouble
558	<	*/
559	<	Vector3d getFrc() {
560	<	return ((snapshotMan_->getCurrentSnapshot())->*storage_).force[localIndex_];
561	<	}
555	>	/**
556	>	* Returns the current force of this stuntdouble
557	>	* @return the force of this stuntdouble
558	>	*/
559	>	Vector3d getFrc() {
560	>	return ((snapshotMan_->getCurrentSnapshot())->*storage_).force[localIndex_];
561	>	}
562
563	<	/**
564	<	* Returns the force of this stuntdouble in specified snapshot
565	<	*
566	<	* @return the force of this stuntdouble
567	<	* @param snapshotNo
568	<	*/
569	<	Vector3d getFrc(int snapshotNo) {
570	<	return ((snapshotMan_->getSnapshot(snapshotNo))->*storage_).force[localIndex_];
571	<	}
563	>	/**
564	>	* Returns the force of this stuntdouble in specified snapshot
565	>	*
566	>	* @return the force of this stuntdouble
567	>	* @param snapshotNo
568	>	*/
569	>	Vector3d getFrc(int snapshotNo) {
570	>	return ((snapshotMan_->getSnapshot(snapshotNo))->*storage_).force[localIndex_];
571	>	}
572
573	<	/**
574	<	* Sets  the previous force of this stuntdouble
575	<	*
576	<	* @param frc  new force
577	<	* @see #getFrc
578	<	*/
579	<	void setPrevFrc(const Vector3d& frc) {
580	<	((snapshotMan_->getPrevSnapshot())->*storage_).force[localIndex_] = frc;
581	<	}
573	>	/**
574	>	* Sets  the previous force of this stuntdouble
575	>	*
576	>	* @param frc  new force
577	>	* @see #getFrc
578	>	*/
579	>	void setPrevFrc(const Vector3d& frc) {
580	>	((snapshotMan_->getPrevSnapshot())->*storage_).force[localIndex_] = frc;
581	>	}
582
583	<	/**
584	<	* Sets  the current force of this stuntdouble
585	<	* @param frc  new force
586	<	*/
587	<	void setFrc(const Vector3d& frc) {
588	<	((snapshotMan_->getCurrentSnapshot())->*storage_).force[localIndex_] = frc;
589	<	}
583	>	/**
584	>	* Sets  the current force of this stuntdouble
585	>	* @param frc  new force
586	>	*/
587	>	void setFrc(const Vector3d& frc) {
588	>	((snapshotMan_->getCurrentSnapshot())->*storage_).force[localIndex_] = frc;
589	>	}
590
591	<	/**
592	<	* Sets  the force of this stuntdouble in specified snapshot
593	<	*
594	<	* @param frc force to be set
595	<	* @param snapshotNo
596	<	* @see #getFrc
597	<	*/
598	<	void setFrc(const Vector3d& frc, int snapshotNo) {
599	<	((snapshotMan_->getSnapshot(snapshotNo))->*storage_).force[localIndex_] = frc;
600	<	}
591	>	/**
592	>	* Sets  the force of this stuntdouble in specified snapshot
593	>	*
594	>	* @param frc force to be set
595	>	* @param snapshotNo
596	>	* @see #getFrc
597	>	*/
598	>	void setFrc(const Vector3d& frc, int snapshotNo) {
599	>	((snapshotMan_->getSnapshot(snapshotNo))->*storage_).force[localIndex_] = frc;
600	>	}
601
602	<	/**
603	<	* Adds force into the previous force of this stuntdouble
604	<	*
605	<	* @param frc  new force
606	<	* @see #getFrc
607	<	*/
608	<	void addPrevFrc(const Vector3d& frc) {
609	<	((snapshotMan_->getPrevSnapshot())->*storage_).force[localIndex_] += frc;
610	<	}
602	>	/**
603	>	* Adds force into the previous force of this stuntdouble
604	>	*
605	>	* @param frc  new force
606	>	* @see #getFrc
607	>	*/
608	>	void addPrevFrc(const Vector3d& frc) {
609	>	((snapshotMan_->getPrevSnapshot())->*storage_).force[localIndex_] += frc;
610	>	}
611
612	<	/**
613	<	* Adds force into the current force of this stuntdouble
614	<	* @param frc  new force
615	<	*/
616	<	void addFrc(const Vector3d& frc) {
617	<	((snapshotMan_->getCurrentSnapshot())->*storage_).force[localIndex_] += frc;
618	<	}
612	>	/**
613	>	* Adds force into the current force of this stuntdouble
614	>	* @param frc  new force
615	>	*/
616	>	void addFrc(const Vector3d& frc) {
617	>	((snapshotMan_->getCurrentSnapshot())->*storage_).force[localIndex_] += frc;
618	>	}
619
620	<	/**
621	<	* Adds force into the force of this stuntdouble in specified snapshot
622	<	*
623	<	* @param frc force to be set
624	<	* @param snapshotNo
625	<	* @see #getFrc
626	<	*/
627	<	void addFrc(const Vector3d& frc, int snapshotNo) {
628	<	((snapshotMan_->getSnapshot(snapshotNo))->*storage_).force[localIndex_] += frc;
629	<	}
620	>	/**
621	>	* Adds force into the force of this stuntdouble in specified snapshot
622	>	*
623	>	* @param frc force to be set
624	>	* @param snapshotNo
625	>	* @see #getFrc
626	>	*/
627	>	void addFrc(const Vector3d& frc, int snapshotNo) {
628	>	((snapshotMan_->getSnapshot(snapshotNo))->*storage_).force[localIndex_] += frc;
629	>	}
630
631	<	/**
632	<	* Returns the previous torque of this stuntdouble
633	<	* @return the torque of this stuntdouble
634	<	*/
635	<	Vector3d getPrevTrq() {
636	<	return ((snapshotMan_->getPrevSnapshot())->*storage_).torque[localIndex_];
637	<	}
631	>	/**
632	>	* Returns the previous torque of this stuntdouble
633	>	* @return the torque of this stuntdouble
634	>	*/
635	>	Vector3d getPrevTrq() {
636	>	return ((snapshotMan_->getPrevSnapshot())->*storage_).torque[localIndex_];
637	>	}
638
639	<	/**
640	<	* Returns the current torque of this stuntdouble
641	<	* @return the torque of this stuntdouble
642	<	*/
643	<	Vector3d getTrq() {
644	<	return ((snapshotMan_->getCurrentSnapshot())->*storage_).torque[localIndex_];
645	<	}
639	>	/**
640	>	* Returns the current torque of this stuntdouble
641	>	* @return the torque of this stuntdouble
642	>	*/
643	>	Vector3d getTrq() {
644	>	return ((snapshotMan_->getCurrentSnapshot())->*storage_).torque[localIndex_];
645	>	}
646
647	<	/**
648	<	* Returns the torque of this stuntdouble in specified snapshot
649	<	*
650	<	* @return the torque of this stuntdouble
651	<	* @param snapshotNo
652	<	*/
653	<	Vector3d getTrq(int snapshotNo) {
654	<	return ((snapshotMan_->getSnapshot(snapshotNo))->*storage_).torque[localIndex_];
655	<	}
647	>	/**
648	>	* Returns the torque of this stuntdouble in specified snapshot
649	>	*
650	>	* @return the torque of this stuntdouble
651	>	* @param snapshotNo
652	>	*/
653	>	Vector3d getTrq(int snapshotNo) {
654	>	return ((snapshotMan_->getSnapshot(snapshotNo))->*storage_).torque[localIndex_];
655	>	}
656
657	<	/**
658	<	* Sets  the previous torque of this stuntdouble
659	<	*
660	<	* @param trq  new torque
661	<	* @see #getTrq
662	<	*/
663	<	void setPrevTrq(const Vector3d& trq) {
664	<	((snapshotMan_->getPrevSnapshot())->*storage_).torque[localIndex_] = trq;
665	<	}
657	>	/**
658	>	* Sets  the previous torque of this stuntdouble
659	>	*
660	>	* @param trq  new torque
661	>	* @see #getTrq
662	>	*/
663	>	void setPrevTrq(const Vector3d& trq) {
664	>	((snapshotMan_->getPrevSnapshot())->*storage_).torque[localIndex_] = trq;
665	>	}
666
667	<	/**
668	<	* Sets  the current torque of this stuntdouble
669	<	* @param trq  new torque
670	<	*/
671	<	void setTrq(const Vector3d& trq) {
672	<	((snapshotMan_->getCurrentSnapshot())->*storage_).torque[localIndex_] = trq;
673	<	}
667	>	/**
668	>	* Sets  the current torque of this stuntdouble
669	>	* @param trq  new torque
670	>	*/
671	>	void setTrq(const Vector3d& trq) {
672	>	((snapshotMan_->getCurrentSnapshot())->*storage_).torque[localIndex_] = trq;
673	>	}
674
675	<	/**
676	<	* Sets  the torque of this stuntdouble in specified snapshot
677	<	*
678	<	* @param trq torque to be set
679	<	* @param snapshotNo
680	<	* @see #getTrq
681	<	*/
682	<	void setTrq(const Vector3d& trq, int snapshotNo) {
683	<	((snapshotMan_->getSnapshot(snapshotNo))->*storage_).torque[localIndex_] = trq;
684	<	}
675	>	/**
676	>	* Sets  the torque of this stuntdouble in specified snapshot
677	>	*
678	>	* @param trq torque to be set
679	>	* @param snapshotNo
680	>	* @see #getTrq
681	>	*/
682	>	void setTrq(const Vector3d& trq, int snapshotNo) {
683	>	((snapshotMan_->getSnapshot(snapshotNo))->*storage_).torque[localIndex_] = trq;
684	>	}
685
686	<	/**
687	<	* Adds torque into the previous torque of this stuntdouble
688	<	*
689	<	* @param trq  new torque
690	<	* @see #getTrq
691	<	*/
692	<	void addPrevTrq(const Vector3d& trq) {
693	<	((snapshotMan_->getPrevSnapshot())->*storage_).torque[localIndex_] += trq;
694	<	}
686	>	/**
687	>	* Adds torque into the previous torque of this stuntdouble
688	>	*
689	>	* @param trq  new torque
690	>	* @see #getTrq
691	>	*/
692	>	void addPrevTrq(const Vector3d& trq) {
693	>	((snapshotMan_->getPrevSnapshot())->*storage_).torque[localIndex_] += trq;
694	>	}
695
696	<	/**
697	<	* Adds torque into the current torque of this stuntdouble
698	<	* @param trq  new torque
699	<	*/
700	<	void addTrq(const Vector3d& trq) {
701	<	((snapshotMan_->getCurrentSnapshot())->*storage_).torque[localIndex_] += trq;
702	<	}
696	>	/**
697	>	* Adds torque into the current torque of this stuntdouble
698	>	* @param trq  new torque
699	>	*/
700	>	void addTrq(const Vector3d& trq) {
701	>	((snapshotMan_->getCurrentSnapshot())->*storage_).torque[localIndex_] += trq;
702	>	}
703
704	<	/**
705	<	* Adds torque into the torque of this stuntdouble in specified snapshot
706	<	*
707	<	* @param trq torque to be add
708	<	* @param snapshotNo
709	<	* @see #getTrq
710	<	*/
711	<	void addTrq(const Vector3d& trq, int snapshotNo) {
712	<	((snapshotMan_->getSnapshot(snapshotNo))->*storage_).torque[localIndex_] += trq;
713	<	}
704	>	/**
705	>	* Adds torque into the torque of this stuntdouble in specified snapshot
706	>	*
707	>	* @param trq torque to be add
708	>	* @param snapshotNo
709	>	* @see #getTrq
710	>	*/
711	>	void addTrq(const Vector3d& trq, int snapshotNo) {
712	>	((snapshotMan_->getSnapshot(snapshotNo))->*storage_).torque[localIndex_] += trq;
713	>	}
714
715
716	<	/**
717	<	* Returns the previous z-angle of this stuntdouble
718	<	* @return the z-angle of this stuntdouble
719	<	*/
720	<	double getPrevZangle() {
721	<	return ((snapshotMan_->getPrevSnapshot())->*storage_).zAngle[localIndex_];
722	<	}
716	>	/**
717	>	* Returns the previous z-angle of this stuntdouble
718	>	* @return the z-angle of this stuntdouble
719	>	*/
720	>	RealType getPrevZangle() {
721	>	return ((snapshotMan_->getPrevSnapshot())->*storage_).zAngle[localIndex_];
722	>	}
723
724	<	/**
725	<	* Returns the current z-angle of this stuntdouble
726	<	* @return the z-angle of this stuntdouble
727	<	*/
728	<	double getZangle() {
729	<	return ((snapshotMan_->getCurrentSnapshot())->*storage_).zAngle[localIndex_];
730	<	}
724	>	/**
725	>	* Returns the current z-angle of this stuntdouble
726	>	* @return the z-angle of this stuntdouble
727	>	*/
728	>	RealType getZangle() {
729	>	return ((snapshotMan_->getCurrentSnapshot())->*storage_).zAngle[localIndex_];
730	>	}
731
732	<	/**
733	<	* Returns the z-angle of this stuntdouble in specified snapshot
734	<	* @return the z-angle of this stuntdouble
735	<	* @param snapshotNo
736	<	*/
737	<	double getZangle(int snapshotNo) {
738	<	return ((snapshotMan_->getSnapshot(snapshotNo))->*storage_).zAngle[localIndex_];
739	<	}
732	>	/**
733	>	* Returns the z-angle of this stuntdouble in specified snapshot
734	>	* @return the z-angle of this stuntdouble
735	>	* @param snapshotNo
736	>	*/
737	>	RealType getZangle(int snapshotNo) {
738	>	return ((snapshotMan_->getSnapshot(snapshotNo))->*storage_).zAngle[localIndex_];
739	>	}
740
741	<	/**
742	<	* Sets  the previous z-angle of this stuntdouble
743	<	* @param angle  new z-angle
744	<	* @see #getZangle
745	<	*/
746	<	void setPrevZangle(double angle) {
747	<	((snapshotMan_->getPrevSnapshot())->*storage_).zAngle[localIndex_] = angle;
748	<	}
741	>	/**
742	>	* Sets  the previous z-angle of this stuntdouble
743	>	* @param angle  new z-angle
744	>	* @see #getZangle
745	>	*/
746	>	void setPrevZangle(RealType angle) {
747	>	((snapshotMan_->getPrevSnapshot())->*storage_).zAngle[localIndex_] = angle;
748	>	}
749
750	<	/**
751	<	* Sets  the current z-angle of this stuntdouble
752	<	* @param angle  new z-angle
753	<	*/
754	<	void setZangle(double angle) {
755	<	((snapshotMan_->getCurrentSnapshot())->*storage_).zAngle[localIndex_] = angle;
756	<	}
750	>	/**
751	>	* Sets  the current z-angle of this stuntdouble
752	>	* @param angle  new z-angle
753	>	*/
754	>	void setZangle(RealType angle) {
755	>	((snapshotMan_->getCurrentSnapshot())->*storage_).zAngle[localIndex_] = angle;
756	>	}
757
758	<	/**
759	<	* Sets  the z-angle of this stuntdouble in specified snapshot
760	<	* @param angle z-angle to be set
761	<	* @param snapshotNo
762	<	* @see #getZangle
763	<	*/
764	<	void setZangle(double angle, int snapshotNo) {
765	<	((snapshotMan_->getSnapshot(snapshotNo))->*storage_).zAngle[localIndex_] = angle;
766	<	}
758	>	/**
759	>	* Sets  the z-angle of this stuntdouble in specified snapshot
760	>	* @param angle z-angle to be set
761	>	* @param snapshotNo
762	>	* @see #getZangle
763	>	*/
764	>	void setZangle(RealType angle, int snapshotNo) {
765	>	((snapshotMan_->getSnapshot(snapshotNo))->*storage_).zAngle[localIndex_] = angle;
766	>	}
767
768	<	/**
769	<	* Adds z-angle into the previous z-angle of this stuntdouble
770	<	* @param angle  new z-angle
771	<	* @see #getZangle
772	<	*/
773	<	void addPrevZangle(double angle) {
774	<	((snapshotMan_->getPrevSnapshot())->*storage_).zAngle[localIndex_] += angle;
775	<	}
768	>	/**
769	>	* Adds z-angle into the previous z-angle of this stuntdouble
770	>	* @param angle  new z-angle
771	>	* @see #getZangle
772	>	*/
773	>	void addPrevZangle(RealType angle) {
774	>	((snapshotMan_->getPrevSnapshot())->*storage_).zAngle[localIndex_] += angle;
775	>	}
776
777	<	/**
778	<	* Adds z-angle into the current z-angle of this stuntdouble
779	<	* @param angle  new z-angle
780	<	*/
781	<	void addZangle(double angle) {
782	<	((snapshotMan_->getCurrentSnapshot())->*storage_).zAngle[localIndex_] += angle;
783	<	}
777	>	/**
778	>	* Adds z-angle into the current z-angle of this stuntdouble
779	>	* @param angle  new z-angle
780	>	*/
781	>	void addZangle(RealType angle) {
782	>	((snapshotMan_->getCurrentSnapshot())->*storage_).zAngle[localIndex_] += angle;
783	>	}
784
785	<	/**
786	<	* Adds z-angle into the z-angle of this stuntdouble in specified snapshot
787	<	* @param angle z-angle to be add
788	<	* @param snapshotNo
789	<	* @see #getZangle
790	<	*/
791	<	void addZangle(double angle, int snapshotNo) {
792	<	((snapshotMan_->getSnapshot(snapshotNo))->*storage_).zAngle[localIndex_] += angle;
793	<	}
785	>	/**
786	>	* Adds z-angle into the z-angle of this stuntdouble in specified snapshot
787	>	* @param angle z-angle to be add
788	>	* @param snapshotNo
789	>	* @see #getZangle
790	>	*/
791	>	void addZangle(RealType angle, int snapshotNo) {
792	>	((snapshotMan_->getSnapshot(snapshotNo))->*storage_).zAngle[localIndex_] += angle;
793	>	}
794
795	<	/** Set the force of this stuntdouble to zero */
796	<	void zeroForcesAndTorques();
797	<	/**
798	<	* Returns the inertia tensor of this stuntdouble
799	<	* @return the inertia tensor of this stuntdouble
800	<	*/
801	<	virtual Mat3x3d getI() = 0;
795	>	/** Set the force of this stuntdouble to zero */
796	>	void zeroForcesAndTorques();
797	>	/**
798	>	* Returns the inertia tensor of this stuntdouble
799	>	* @return the inertia tensor of this stuntdouble
800	>	*/
801	>	virtual Mat3x3d getI() = 0;
802
803	<	/**
804	<	* Returns the gradient of this stuntdouble
805	<	* @return the gradient of this stuntdouble
806	<	*/
807	<	virtual std::vector<double> getGrad() = 0;
803	>	/**
804	>	* Returns the gradient of this stuntdouble
805	>	* @return the gradient of this stuntdouble
806	>	*/
807	>	virtual std::vector<RealType> getGrad() = 0;
808
809	<	/**
810	<	* Tests the  if this stuntdouble is a  linear rigidbody
811	<	*
812	<	* @return true if this stuntdouble is a  linear rigidbody, otherwise return false
813	<	* @note atom and directional atom will always return false
814	<	*
815	<	* @see #linearAxis
816	<	*/
817	<	bool isLinear() {
818	<	return linear_;
819	<	}
809	>	/**
810	>	* Tests the  if this stuntdouble is a  linear rigidbody
811	>	*
812	>	* @return true if this stuntdouble is a  linear rigidbody, otherwise return false
813	>	* @note atom and directional atom will always return false
814	>	*
815	>	* @see #linearAxis
816	>	*/
817	>	bool isLinear() {
818	>	return linear_;
819	>	}
820
821	<	/**
822	<	* Returns the linear axis of the rigidbody, atom and directional atom will always return -1
823	<	*
824	<	* @return the linear axis of the rigidbody
825	<	*
826	<	* @see #isLinear
827	<	*/
828	<	int linearAxis() {
829	<	return linearAxis_;
830	<	}
821	>	/**
822	>	* Returns the linear axis of the rigidbody, atom and directional atom will always return -1
823	>	*
824	>	* @return the linear axis of the rigidbody
825	>	*
826	>	* @see #isLinear
827	>	*/
828	>	int linearAxis() {
829	>	return linearAxis_;
830	>	}
831
832	<	/** Returns the mass of this stuntdouble */
833	<	double getMass() {
834	<	return mass_;
835	<	}
832	>	/** Returns the mass of this stuntdouble */
833	>	RealType getMass() {
834	>	return mass_;
835	>	}
836
837	<	/**
838	<	* Sets the mass of this stuntdoulbe
839	<	* @param mass the mass to be set
840	<	*/
841	<	void setMass(double mass) {
842	<	mass_ = mass;
843	<	}
837	>	/**
838	>	* Sets the mass of this stuntdoulbe
839	>	* @param mass the mass to be set
840	>	*/
841	>	void setMass(RealType mass) {
842	>	mass_ = mass;
843	>	}
844
845	<	/** Returns the name of this stuntdouble */
846	<	virtual std::string getType() = 0;
845	>	/** Returns the name of this stuntdouble */
846	>	virtual std::string getType() = 0;
847
848	<	/** Sets the name of this stuntdouble*/
849	<	virtual void setType(const std::string& name) {}
848	>	/** Sets the name of this stuntRealType*/
849	>	virtual void setType(const std::string& name) {}
850
851	<	/**
852	<	* Converts a lab fixed vector to a body fixed vector.
853	<	* @return body fixed vector
854	<	* @param v lab fixed vector
855	<	*/
856	<	Vector3d lab2Body(const Vector3d& v) {
857	<	return getA() * v;
858	<	}
851	>	/**
852	>	* Converts a lab fixed vector to a body fixed vector.
853	>	* @return body fixed vector
854	>	* @param v lab fixed vector
855	>	*/
856	>	Vector3d lab2Body(const Vector3d& v) {
857	>	return getA() * v;
858	>	}
859
860	<	Vector3d lab2Body(const Vector3d& v, int frame) {
861	<	return getA(frame) * v;
862	<	}
860	>	Vector3d lab2Body(const Vector3d& v, int frame) {
861	>	return getA(frame) * v;
862	>	}
863
864	<	/**
865	<	* Converts a body fixed vector to a lab fixed vector.
866	<	* @return corresponding lab fixed vector
867	<	* @param v body fixed vector
868	<	*/
869	<	Vector3d body2Lab(const Vector3d& v){
870	<	return getA().transpose() * v;
871	<	}
864	>	/**
865	>	* Converts a body fixed vector to a lab fixed vector.
866	>	* @return corresponding lab fixed vector
867	>	* @param v body fixed vector
868	>	*/
869	>	Vector3d body2Lab(const Vector3d& v){
870	>	return getA().transpose() * v;
871	>	}
872
873	<	Vector3d body2Lab(const Vector3d& v, int frame){
874	<	return getA(frame).transpose() * v;
875	<	}
876	<	/**
877	<	* <p>
878	<	* The purpose of the Visitor Pattern is to encapsulate an operation that you want to perform on
879	<	* the elements of a data structure. In this way, you can change the operation being performed
880	<	* on a structure without the need of changing the classes of the elements that you are operating
881	<	* on. Using a Visitor pattern allows you to decouple the classes for the data structure and the
882	<	* algorithms used upon them
883	<	* </p>
884	<	* @param v visitor
885	<	*/
886	<	virtual void accept(BaseVisitor* v) = 0;
873	>	Vector3d body2Lab(const Vector3d& v, int frame){
874	>	return getA(frame).transpose() * v;
875	>	}
876	>	/**
877	>	* <p>
878	>	* The purpose of the Visitor Pattern is to encapsulate an operation that you want to perform on
879	>	* the elements of a data structure. In this way, you can change the operation being performed
880	>	* on a structure without the need of changing the classes of the elements that you are operating
881	>	* on. Using a Visitor pattern allows you to decouple the classes for the data structure and the
882	>	* algorithms used upon them
883	>	* </p>
884	>	* @param v visitor
885	>	*/
886	>	virtual void accept(BaseVisitor* v) = 0;
887
888	<	//below functions are just forward functions
889	<	/**
890	<	* Adds property into property map
891	<	* @param genData GenericData to be added into PropertyMap
892	<	*/
893	<	void addProperty(GenericData* genData);
888	>	//below functions are just forward functions
889	>	/**
890	>	* Adds property into property map
891	>	* @param genData GenericData to be added into PropertyMap
892	>	*/
893	>	void addProperty(GenericData* genData);
894
895	<	/**
896	<	* Removes property from PropertyMap by name
897	<	* @param propName the name of property to be removed
898	<	*/
899	<	void removeProperty(const std::string& propName);
895	>	/**
896	>	* Removes property from PropertyMap by name
897	>	* @param propName the name of property to be removed
898	>	*/
899	>	void removeProperty(const std::string& propName);
900
901	<	/**
902	<	* clear all of the properties
903	<	*/
904	<	void clearProperties();
901	>	/**
902	>	* clear all of the properties
903	>	*/
904	>	void clearProperties();
905
906	<	/**
907	<	* Returns all names of properties
908	<	* @return all names of properties
909	<	*/
910	<	std::vector<std::string> getPropertyNames();
906	>	/**
907	>	* Returns all names of properties
908	>	* @return all names of properties
909	>	*/
910	>	std::vector<std::string> getPropertyNames();
911
912	<	/**
913	<	* Returns all of the properties in PropertyMap
914	<	* @return all of the properties in PropertyMap
915	<	*/
916	<	std::vector<GenericData*> getProperties();
912	>	/**
913	>	* Returns all of the properties in PropertyMap
914	>	* @return all of the properties in PropertyMap
915	>	*/
916	>	std::vector<GenericData*> getProperties();
917
918	<	/**
919	<	* Returns property
920	<	* @param propName name of property
921	<	* @return a pointer point to property with propName. If no property named propName
922	<	* exists, return NULL
923	<	*/
924	<	GenericData* getPropertyByName(const std::string& propName);
918	>	/**
919	>	* Returns property
920	>	* @param propName name of property
921	>	* @return a pointer point to property with propName. If no property named propName
922	>	* exists, return NULL
923	>	*/
924	>	GenericData* getPropertyByName(const std::string& propName);
925
926	<	protected:
926	>	protected:
927
928	<	StuntDouble(ObjectType objType, DataStoragePointer storage);
928	>	StuntDouble(ObjectType objType, DataStoragePointer storage);
929
930	<	StuntDouble(const StuntDouble& sd);
931	<	StuntDouble& operator=(const StuntDouble& sd);
930	>	StuntDouble(const StuntDouble& sd);
931	>	StuntDouble& operator=(const StuntDouble& sd);
932
933	<	ObjectType objType_;
934	<	DataStoragePointer storage_;
935	<	SnapshotManager* snapshotMan_;
933	>	ObjectType objType_;
934	>	DataStoragePointer storage_;
935	>	SnapshotManager* snapshotMan_;
936
937	<	bool linear_;
938	<	int linearAxis_;
937	>	bool linear_;
938	>	int linearAxis_;
939
940
941	<	int globalIndex_;
942	<	int localIndex_;
941	>	int globalIndex_;
942	>	int globalIntegrableObjectIndex_;
943	>	int localIndex_;
944
945
946	<	double mass_;
946	>	RealType mass_;
947
948	<	private:
948	>	private:
949
950	<	PropertyMap properties_;
951	<	};
950	>	PropertyMap properties_;
951	>	};
952
953		}//end namespace oopse
954		#endif //PRIMITIVES_STUNTDOUBLE_HPP

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