97 |
|
virtual ~StuntDouble(); |
98 |
|
|
99 |
|
/** |
100 |
< |
* Returns the global index of this stuntdouble. |
100 |
> |
* Returns the global index of this stuntRealType. |
101 |
|
* @return the global index of this stuntdouble |
102 |
|
*/ |
103 |
|
int getGlobalIndex() { |
105 |
|
} |
106 |
|
|
107 |
|
/** |
108 |
< |
* Sets the global index of this stuntdouble. |
108 |
> |
* Sets the global index of this stuntRealType. |
109 |
|
* @param new global index to be set |
110 |
|
*/ |
111 |
|
void setGlobalIndex(int index) { |
483 |
|
} |
484 |
|
|
485 |
|
/** |
486 |
< |
* Sets the previous euler angles of this stuntdouble. |
486 |
> |
* Sets the previous euler angles of this stuntRealType. |
487 |
|
* @param euler new euler angles |
488 |
|
* @see #getEuler |
489 |
|
* @note actual storage data is rotation matrix |
710 |
|
* Returns the previous z-angle of this stuntdouble |
711 |
|
* @return the z-angle of this stuntdouble |
712 |
|
*/ |
713 |
< |
double getPrevZangle() { |
713 |
> |
RealType getPrevZangle() { |
714 |
|
return ((snapshotMan_->getPrevSnapshot())->*storage_).zAngle[localIndex_]; |
715 |
|
} |
716 |
|
|
718 |
|
* Returns the current z-angle of this stuntdouble |
719 |
|
* @return the z-angle of this stuntdouble |
720 |
|
*/ |
721 |
< |
double getZangle() { |
721 |
> |
RealType getZangle() { |
722 |
|
return ((snapshotMan_->getCurrentSnapshot())->*storage_).zAngle[localIndex_]; |
723 |
|
} |
724 |
|
|
727 |
|
* @return the z-angle of this stuntdouble |
728 |
|
* @param snapshotNo |
729 |
|
*/ |
730 |
< |
double getZangle(int snapshotNo) { |
730 |
> |
RealType getZangle(int snapshotNo) { |
731 |
|
return ((snapshotMan_->getSnapshot(snapshotNo))->*storage_).zAngle[localIndex_]; |
732 |
|
} |
733 |
|
|
736 |
|
* @param angle new z-angle |
737 |
|
* @see #getZangle |
738 |
|
*/ |
739 |
< |
void setPrevZangle(double angle) { |
739 |
> |
void setPrevZangle(RealType angle) { |
740 |
|
((snapshotMan_->getPrevSnapshot())->*storage_).zAngle[localIndex_] = angle; |
741 |
|
} |
742 |
|
|
744 |
|
* Sets the current z-angle of this stuntdouble |
745 |
|
* @param angle new z-angle |
746 |
|
*/ |
747 |
< |
void setZangle(double angle) { |
747 |
> |
void setZangle(RealType angle) { |
748 |
|
((snapshotMan_->getCurrentSnapshot())->*storage_).zAngle[localIndex_] = angle; |
749 |
|
} |
750 |
|
|
754 |
|
* @param snapshotNo |
755 |
|
* @see #getZangle |
756 |
|
*/ |
757 |
< |
void setZangle(double angle, int snapshotNo) { |
757 |
> |
void setZangle(RealType angle, int snapshotNo) { |
758 |
|
((snapshotMan_->getSnapshot(snapshotNo))->*storage_).zAngle[localIndex_] = angle; |
759 |
|
} |
760 |
|
|
763 |
|
* @param angle new z-angle |
764 |
|
* @see #getZangle |
765 |
|
*/ |
766 |
< |
void addPrevZangle(double angle) { |
766 |
> |
void addPrevZangle(RealType angle) { |
767 |
|
((snapshotMan_->getPrevSnapshot())->*storage_).zAngle[localIndex_] += angle; |
768 |
|
} |
769 |
|
|
771 |
|
* Adds z-angle into the current z-angle of this stuntdouble |
772 |
|
* @param angle new z-angle |
773 |
|
*/ |
774 |
< |
void addZangle(double angle) { |
774 |
> |
void addZangle(RealType angle) { |
775 |
|
((snapshotMan_->getCurrentSnapshot())->*storage_).zAngle[localIndex_] += angle; |
776 |
|
} |
777 |
|
|
781 |
|
* @param snapshotNo |
782 |
|
* @see #getZangle |
783 |
|
*/ |
784 |
< |
void addZangle(double angle, int snapshotNo) { |
784 |
> |
void addZangle(RealType angle, int snapshotNo) { |
785 |
|
((snapshotMan_->getSnapshot(snapshotNo))->*storage_).zAngle[localIndex_] += angle; |
786 |
|
} |
787 |
|
|
797 |
|
* Returns the gradient of this stuntdouble |
798 |
|
* @return the gradient of this stuntdouble |
799 |
|
*/ |
800 |
< |
virtual std::vector<double> getGrad() = 0; |
800 |
> |
virtual std::vector<RealType> getGrad() = 0; |
801 |
|
|
802 |
|
/** |
803 |
|
* Tests the if this stuntdouble is a linear rigidbody |
823 |
|
} |
824 |
|
|
825 |
|
/** Returns the mass of this stuntdouble */ |
826 |
< |
double getMass() { |
826 |
> |
RealType getMass() { |
827 |
|
return mass_; |
828 |
|
} |
829 |
|
|
831 |
|
* Sets the mass of this stuntdoulbe |
832 |
|
* @param mass the mass to be set |
833 |
|
*/ |
834 |
< |
void setMass(double mass) { |
834 |
> |
void setMass(RealType mass) { |
835 |
|
mass_ = mass; |
836 |
|
} |
837 |
|
|
838 |
|
/** Returns the name of this stuntdouble */ |
839 |
|
virtual std::string getType() = 0; |
840 |
|
|
841 |
< |
/** Sets the name of this stuntdouble*/ |
841 |
> |
/** Sets the name of this stuntRealType*/ |
842 |
|
virtual void setType(const std::string& name) {} |
843 |
|
|
844 |
|
/** |
935 |
|
int localIndex_; |
936 |
|
|
937 |
|
|
938 |
< |
double mass_; |
938 |
> |
RealType mass_; |
939 |
|
|
940 |
|
private: |
941 |
|
|