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spin.cc

Go to the documentation of this file.

#include "spin.hh"
#include "register.hh"

namespace anoid {
    namespace plugin {

        using namespace simple;
        using namespace config;

        void Spin::init(Configuration &c) {
            spin[1] = spin[2] = spin[3] =
                spin[4] = spin[6] = spin[7] =
                spin[8] = spin[9] = spin[11] =
                spin[12] = spin[13] = spin[14] = 0.0;
            spin[0] = spin[5] = spin[10] = spin[15] = 1.0; 
            /* spin = c.getMatrix("spin"); */
            Rotation::init(c);
            registerName("Spin");
        }

        double *Spin::getSpin() {
            return spin;
        }

        void Spin::setRotation(double *r) {
            copyMatrix(rotation, r);
        }

        void Spin::setSpin(double *s) {
            copyMatrix(spin, s);
        }

        void Spin::update() {
            copyMatrix(oldRotation, rotation);
            matAdd(rotation, spin);

            Vector X(rotation[0], rotation[4], rotation[8]);
            Vector Y(rotation[1], rotation[5], rotation[9]);

            X.setNorm(1.0);
            Vector Z(X % Y);

            Z.setNorm(1.0);
            Y = Z % X;

            Y.setNorm(1.0); // Not really needed

            rotation[0] = X.getX();
            rotation[4] = X.getY();
            rotation[8] = X.getZ();

            rotation[1] = Y.getX();
            rotation[5] = Y.getY();
            rotation[9] = Y.getZ();

            rotation[2] = Z.getX();
            rotation[6] = Z.getY();
            rotation[10] = Z.getZ();

            Rotation::update();
        }

        Register(Spin)

    };
};

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Anoid NG © Michael Westergaard, Martin Stig Stissing, Ronni Michael Laursen, and Kristian Bisgaard Lassen