BottomRingCoRiBo.h

#pragma once
#include <vector>
#include <sfh/text.h>
#include "RingStructureGravityHydro.h"
#include "Cable/NetTensionCable.h"
 
namespace Netcage {
    class BottomRingCoRiBo : public SimObject {
    public:
        typedef struct ExtrnalConstraintData_ {
            int id;
            double pos[3];
            double vel[3];
            double omg[3];
            double quat[4];
            double frc[3];
        } ExternalConstraintData;
        EIGEN_MAKE_ALIGNED_OPERATOR_NEW
        BottomRingCoRiBo(const std::string& name, ISimObjectCreator* const creator);
        ~BottomRingCoRiBo();
 
        virtual void OdeFcn(const double T, const double *const X, double *const XDot, const bool IsMajorTimeStep);
        virtual void InitialConditionSetup(const double, const double *const, double* const updatedIC, ISimObjectCreator* const);
        virtual void FinalSetup(const double T, const double *const X, ISimObjectCreator* const creator);
 
        virtual void compute(const double T, const double * const X);
 
#ifdef FH_VISUALIZATION
        virtual void RenderInit(Ogre::Root* const ogreRoot, ISimObjectCreator* const creator);
        virtual void RenderUpdate(const double T, const double* const X);
#endif
        virtual void PreOdeFcn(const double T, const double *const X, IStateUpdater* updater);
        const double *forceNet(const double T, const double * const X, int index);
 
    protected:
        int m_num_netTension;
        ICommonComputation* m_compute;
        std::unique_ptr<CoRiBoDynamics::ConstraintSolver> m_solver;
 
        ExternalConstraintData *m_netConnectionBuffer;
        ISignalPort **m_netPositions;
        ISignalPort **m_netVelocities;
 
        BottomRing *m_bottomRing;
        std::vector<NetTensionCable*> m_netTensionCable;
    };
}