BottomRingCollarConnectionCoRiBo.h

#pragma once
#include <sfh/text.h>
 
#include "BottomRingCoRiBo.h"
#include "Cable/CollarChain.h"
namespace Netcage {
    class BottomRingCollarConnectionCoRiBo : public BottomRingCoRiBo {
    public:
        EIGEN_MAKE_ALIGNED_OPERATOR_NEW;
        BottomRingCollarConnectionCoRiBo(const std::string& name, ISimObjectCreator* const creator);
        ~BottomRingCollarConnectionCoRiBo();
 
        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 compute2(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 *forceFloater(const double T, const double * const X, int index);
 
    protected:
        ICommonComputation *m_compute2;
        int m_numCollarChain;
        double **m_forceFloater;
        std::vector<CollarChain*> m_chains;
        ISignalPort **m_floaterPosition;
        ISignalPort **m_floaterVelocity;
    };
}