| 8 |
|
objType = OT_RIGIDBODY; |
| 9 |
|
is_linear = false; |
| 10 |
|
linear_axis = -1; |
| 11 |
+ |
momIntTol = 1e-6; |
| 12 |
|
} |
| 13 |
|
|
| 14 |
|
RigidBody::~RigidBody() { |
| 259 |
|
r[0] = (A[0][0] * rb[0]) + (A[1][0] * rb[1]) + (A[2][0] * rb[2]); |
| 260 |
|
r[1] = (A[0][1] * rb[0]) + (A[1][1] * rb[1]) + (A[2][1] * rb[2]); |
| 261 |
|
r[2] = (A[0][2] * rb[0]) + (A[1][2] * rb[1]) + (A[2][2] * rb[2]); |
| 262 |
+ |
|
| 263 |
+ |
} |
| 264 |
+ |
|
| 265 |
+ |
double RigidBody::getZangle( ){ |
| 266 |
+ |
return zAngle; |
| 267 |
+ |
} |
| 268 |
+ |
|
| 269 |
+ |
void RigidBody::setZangle( double zAng ){ |
| 270 |
+ |
zAngle = zAng; |
| 271 |
+ |
} |
| 272 |
|
|
| 273 |
+ |
void RigidBody::addZangle( double zAng ){ |
| 274 |
+ |
zAngle += zAng; |
| 275 |
|
} |
| 276 |
|
|
| 277 |
|
void RigidBody::calcRefCoords( ) { |
| 643 |
|
vector<Atom*>::iterator atomIter; |
| 644 |
|
v->visit(this); |
| 645 |
|
|
| 646 |
< |
for(atomIter = myAtoms.begin(); atomIter != myAtoms.end(); ++atomIter) |
| 647 |
< |
(*atomIter)->accept(v); |
| 648 |
< |
} |
| 646 |
> |
//for(atomIter = myAtoms.begin(); atomIter != myAtoms.end(); ++atomIter) |
| 647 |
> |
// (*atomIter)->accept(v); |
| 648 |
> |
} |
| 649 |
> |
void RigidBody::getAtomRefCoor(double pos[3], int index){ |
| 650 |
> |
vec3 ref; |
| 651 |
> |
|
| 652 |
> |
ref = refCoords[index]; |
| 653 |
> |
pos[0] = ref[0]; |
| 654 |
> |
pos[1] = ref[1]; |
| 655 |
> |
pos[2] = ref[2]; |
| 656 |
> |
|
| 657 |
> |
} |
| 658 |
> |
|
| 659 |
> |
|
| 660 |
> |
void RigidBody::getAtomPos(double theP[3], int index){ |
| 661 |
> |
vec3 ref; |
| 662 |
> |
|
| 663 |
> |
if (index >= myAtoms.size()) |
| 664 |
> |
cerr << index << " is an invalid index, current rigid body contains " << myAtoms.size() << "atoms" << endl; |
| 665 |
> |
|
| 666 |
> |
ref = refCoords[index]; |
| 667 |
> |
body2Lab(ref.vec); |
| 668 |
> |
|
| 669 |
> |
theP[0] = pos[0] + ref[0]; |
| 670 |
> |
theP[1] = pos[1] + ref[1]; |
| 671 |
> |
theP[2] = pos[2] + ref[2]; |
| 672 |
> |
} |
| 673 |
> |
|
| 674 |
> |
|
| 675 |
> |
void RigidBody::getAtomVel(double theV[3], int index){ |
| 676 |
> |
vec3 ref; |
| 677 |
> |
double velRot[3]; |
| 678 |
> |
double skewMat[3][3]; |
| 679 |
> |
double aSkewMat[3][3]; |
| 680 |
> |
double aSkewTransMat[3][3]; |
| 681 |
> |
|
| 682 |
> |
//velRot = $(A\cdot skew(I^{-1}j))^{T}refCoor$ |
| 683 |
> |
|
| 684 |
> |
if (index >= myAtoms.size()) |
| 685 |
> |
cerr << index << " is an invalid index, current rigid body contains " << myAtoms.size() << "atoms" << endl; |
| 686 |
> |
|
| 687 |
> |
ref = refCoords[index]; |
| 688 |
> |
|
| 689 |
> |
skewMat[0][0] =0; |
| 690 |
> |
skewMat[0][1] = ji[2] /I[2][2]; |
| 691 |
> |
skewMat[0][2] = -ji[1] /I[1][1]; |
| 692 |
> |
|
| 693 |
> |
skewMat[1][0] = -ji[2] /I[2][2]; |
| 694 |
> |
skewMat[1][1] = 0; |
| 695 |
> |
skewMat[1][2] = ji[0]/I[0][0]; |
| 696 |
> |
|
| 697 |
> |
skewMat[2][0] =ji[1] /I[1][1]; |
| 698 |
> |
skewMat[2][1] = -ji[0]/I[0][0]; |
| 699 |
> |
skewMat[2][2] = 0; |
| 700 |
> |
|
| 701 |
> |
matMul3(A, skewMat, aSkewMat); |
| 702 |
> |
|
| 703 |
> |
transposeMat3(aSkewMat, aSkewTransMat); |
| 704 |
> |
|
| 705 |
> |
matVecMul3(aSkewTransMat, ref.vec, velRot); |
| 706 |
> |
theV[0] = vel[0] + velRot[0]; |
| 707 |
> |
theV[1] = vel[1] + velRot[1]; |
| 708 |
> |
theV[2] = vel[2] + velRot[2]; |
| 709 |
> |
} |
| 710 |
> |
|
| 711 |
> |
|
