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#include <iostream> |
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#include "ConstraintElement.hpp" |
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#include "GenericData.hpp" |
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#include "DirectionalAtom.hpp" |
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|
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using namespace std; |
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|
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//////////////////////////////////////////////////////////////////////////////// |
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//Implementation of ConstraintElement |
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//////////////////////////////////////////////////////////////////////////////// |
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ConstraintElement::ConstraintElement(StuntDouble* rhs) : refSd(rhs){ |
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GenericData* gdata; |
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|
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gdata = refSd->getProperty("Moved"); |
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if (gdata == NULL){ |
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movedData = new BoolData(); |
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if(movedData == NULL) |
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cerr << "Memory Allocation Error in ConstraintElement::ConstraintElement()" << endl; |
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|
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movedData->setID("Moved"); |
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refSd->addProperty(movedData); |
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} |
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else{ |
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movedData = dynamic_cast<BoolData*>(gdata); |
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if (movedData == NULL) |
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cerr << "Dynamic casting to movedData Error in ConstraintElement::ConstraintElement()"<< endl; |
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} |
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|
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gdata = refSd->getProperty("Moving"); |
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if (gdata == NULL){ |
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movingData = new BoolData(); |
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if(movingData == NULL) |
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cerr << "Memory Allocation Error in ConstraintElement::ConstraintElement()" << endl; |
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|
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movingData->setID("Moving"); |
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refSd->addProperty(movingData); |
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} |
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else{ |
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movingData = dynamic_cast<BoolData*>(gdata); |
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if (movingData == NULL) |
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cerr << "Dynamic casting to movingData Error in ConstraintElement::ConstraintElement()"<< endl; |
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} |
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|
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|
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gdata = refSd->getProperty("ConsForce"); |
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if (gdata == NULL){ |
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consForceData= new Vector3dData(); |
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if(consForceData == NULL) |
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cerr << "Memory Allocation Error in ConstraintElement::ConstraintElement()" << endl; |
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|
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consForceData->setID("ConsForce"); |
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refSd->addProperty(consForceData); |
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} |
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else{ |
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consForceData = dynamic_cast<Vector3dData*>(gdata); |
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if (consForceData == NULL) |
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cerr << "Dynamic casting to ConsForceData Error in ConstraintElement::ConstraintElement()"<< endl; |
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} |
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|
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gdata = refSd->getProperty("ConsTorque"); |
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if (gdata == NULL){ |
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consTorqueData= new Vector3dData(); |
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if(consTorqueData == NULL) |
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cerr << "Memory Allocation Error in ConstraintElement::ConstraintElement()" << endl; |
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|
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consTorqueData->setID("ConsForce"); |
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refSd->addProperty(consTorqueData); |
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} |
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else{ |
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consTorqueData = dynamic_cast<Vector3dData*>(gdata); |
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if (consTorqueData == NULL) |
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cerr << "Dynamic casting to ConsTorqueData Error in ConstraintElement::ConstraintElement()"<< endl; |
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} |
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} |
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|
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|
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//////////////////////////////////////////////////////////////////////////////// |
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//Implementation of ConstraintAtom |
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//////////////////////////////////////////////////////////////////////////////// |
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ConstraintAtom::ConstraintAtom(Atom* rhs) : ConstraintElement(rhs){ |
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GenericData* gdata; |
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ConsAtomData* atomData; |
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|
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gdata = refSd->getProperty("OldState"); |
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|
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if(gdata ==NULL){ |
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oldConsAtomInfo = new ConsAtomInfo; |
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atomData = new ConsAtomData(); |
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atomData->setData (oldConsAtomInfo); |
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atomData->setID("OldState"); |
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|
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rhs->addProperty(atomData); |
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} |
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else{ |
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atomData = dynamic_cast<ConsAtomData*>(gdata); |
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if(atomData == NULL) |
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cerr << "dynamic_cast to ConsAtomData Error in ConstraintRigidBody::ConstraintRigidBody()" << endl; |
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else |
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oldConsAtomInfo = atomData->getData(); |
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} |
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|
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} |
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|
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void ConstraintAtom::getOldPos(double pos[3]){ |
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pos[0] = oldConsAtomInfo->pos[0]; |
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pos[1] = oldConsAtomInfo->pos[1]; |
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pos[2] = oldConsAtomInfo->pos[2]; |
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} |
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|
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void ConstraintAtom::getOldVel(double vel[3]){ |
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vel[0] = oldConsAtomInfo->vel[0]; |
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vel[1] = oldConsAtomInfo->vel[1]; |
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vel[2] = oldConsAtomInfo->vel[2]; |
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} |
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|
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void ConstraintAtom::getOldJ(double j[3]){ |
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if (refSd->isDirectional()){ |
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j[0] = oldConsAtomInfo->j[0]; |
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j[1] = oldConsAtomInfo->j[1]; |
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j[2] = oldConsAtomInfo->j[2]; |
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} |
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else |
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cerr << "Regular Atom don't have angular velocity" << endl; |
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} |
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|
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void ConstraintAtom::getOldA(double a[3][3]){ |
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if (refSd->isDirectional()){ |
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a[0][0] = oldConsAtomInfo->a[0][0]; |
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a[0][1] = oldConsAtomInfo->a[0][1]; |
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a[0][2] = oldConsAtomInfo->a[0][2]; |
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|
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a[1][0] = oldConsAtomInfo->a[1][0]; |
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a[1][1] = oldConsAtomInfo->a[1][1]; |
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a[1][2] = oldConsAtomInfo->a[1][2]; |
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|
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a[2][0] = oldConsAtomInfo->a[2][0]; |
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a[2][1] = oldConsAtomInfo->a[2][1]; |
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a[2][2] = oldConsAtomInfo->a[2][2]; |
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} |
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else |
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cerr << "Regular Atom don't have rotation matrix" << endl; |
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} |
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|
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void ConstraintAtom::getOldQ(double q[4]){ |
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if (refSd->isDirectional()){ |
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q[0] = oldConsAtomInfo->q[0]; |
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q[1] = oldConsAtomInfo->q[1]; |
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q[2] = oldConsAtomInfo->q[2]; |
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q[3] = oldConsAtomInfo->q[3]; |
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} |
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else |
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cerr << "Regular Atom don't have quaternion" << endl; |
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|
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} |
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|
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void ConstraintAtom::saveOldState(){ |
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Atom* atom; |
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DirectionalAtom* datom; |
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atom = (Atom*)refSd; |
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atom->getPos(oldConsAtomInfo->pos); |
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atom->getVel(oldConsAtomInfo->vel); |
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atom->getFrc(oldConsAtomInfo->frc); |
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//don't forget torque |
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|
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if(atom->isDirectional()){ |
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datom = (DirectionalAtom*) atom; |
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datom->getA(oldConsAtomInfo->a); |
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datom->getJ(oldConsAtomInfo->j); |
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datom->getQ(oldConsAtomInfo->q); |
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} |
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} |
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|
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//////////////////////////////////////////////////////////////////////////////// |
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//Implementation of ConstraintRigidBody |
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//////////////////////////////////////////////////////////////////////////////// |
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ConstraintRigidBody::ConstraintRigidBody(RigidBody* rhs, int index) |
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: ConstraintElement(rhs), consAtomIndex(index){ |
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GenericData* gdata; |
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ConsRbData* rbData; |
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|
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gdata = refSd->getProperty("OldState"); |
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if(gdata == NULL){ |
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rbData = new ConsRbData(); |
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oldRb = new RigidBody(*rhs); |
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|
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rbData->setID("OldState"); |
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rbData->setData(oldRb); |
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rhs->addProperty(rbData); |
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} |
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else{ |
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rbData = dynamic_cast<ConsRbData*>(gdata); |
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if(rbData == NULL) |
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cerr << "dynamic_cast to ConsRbData Error in ConstraintRigidBody::ConstraintRigidBody()" << endl; |
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else |
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oldRb = rbData->getData(); |
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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 ConstraintRigidBody::saveOldState(){ |
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double pos[3]; |
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double vel[3]; |
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double a[3][3]; |
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double j[3]; |
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double q[3]; |
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double frc[3]; |
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double trq[3]; |
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|
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refSd->getFrc(frc); |
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oldRb->setFrc(frc); |
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|
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refSd->getTrq(trq); |
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oldRb->setTrq(trq); |
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|
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refSd->getPos(pos); |
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oldRb->setPos(pos); |
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|
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refSd->getVel(vel); |
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oldRb->setVel(vel); |
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|
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refSd->getA(a); |
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oldRb->setA(a); |
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|
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refSd->getJ(j); |
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oldRb->setJ(j); |
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|
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//refSd->getQ(q); |
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//oldRb->setQ(q); |
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|
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} |
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|
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void ConstraintRigidBody::restoreUnconsStatus(){ |
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double pos[3]; |
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double vel[3]; |
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double a[3][3]; |
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double j[3]; |
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double q[3]; |
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double frc[3]; |
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double trq[3]; |
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|
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oldRb->getFrc(frc); |
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refSd->setFrc(frc); |
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|
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oldRb->getTrq(trq); |
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refSd->setTrq(trq); |
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|
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oldRb->getPos(pos); |
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refSd->setPos(pos); |
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|
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oldRb->getVel(vel); |
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refSd->setVel(vel); |
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|
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oldRb->getA(a); |
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refSd->setA(a); |
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|
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oldRb->getJ(j); |
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refSd->setJ(j); |
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} |
