C6DofCable.h

#pragma once
 
#include <Eigen/Eigen>
#include <SimObject.h>
 
#ifdef FH_VISUALIZATION
    #include "sfh/ogre/C3DLine.h"
#endif
 
namespace RbCable
{
    class C6DofCable : public SimObject
    {
    public:
        C6DofCable(const string& simObjectName, ISimObjectCreator* const creator); 
        ~C6DofCable();
        void OdeFcn(const double T, const double* const X, double* const XDot, const bool bIsMajorTimeStep); 
        void InitialConditionSetup(const double T, const double *const currentIC, double* const updatedIC, ISimObjectCreator* const  creator);
 
        const double* forceA(const double T, const double* const X);
        const double* forceB(const double T, const double* const X);
 
        //  const double* const energy(const double T, const double* const X);
 
        void calculations(const double T, const double* const X);
 
#ifdef FH_VISUALIZATION
        void            RenderInit(Ogre::Root* const ogreRoot, ISimObjectCreator* const creator);
        void            RenderUpdate( const double T, const double* const X);
        Ogre::ColourValue tensionColor(double N);
#endif
 
    protected:
 
        typedef Eigen::Matrix<double,3,3> mat3;
        typedef Eigen::Matrix<double,3,1> vec3;
 
        //  double m_energy[3];
 
        int     m_numElements;
        double  m_totalLength;
        double  m_radius;
        double  m_alpha;
        double  m_beta;
        double  m_epsilon;
        double  m_weight;
        double  m_rho;
        double  m_surfacePosZ;
        double  m_rhoWater;
        double  m_Ct; // tangential damping coefficient
        double  m_Cn; // normal damping coefficient
 
        double  m_L;
        double  m_M;
        double  m_Ixy;
        double  m_Iz;
        mat3    m_baseM;
 
        struct element {vec3 k; vec3 LkXw; mat3 Mi; mat3 JMiJt; int p; int q; int v; int w;};
        element* m_el;
 
        ISignalPort* m_posA;
        ISignalPort* m_posB;
        ISignalPort* m_velA;
        ISignalPort* m_velB;
 
        ICommonComputation* m_calcDynamics;
        Eigen::Matrix<double,Eigen::Dynamic,1> m_lambda;
        Eigen::Matrix<double,Eigen::Dynamic,1> m_F;
        //double* m_lambda;
 
        double m_forceA[3];
        double m_forceB[3];
 
#ifdef FH_VISUALIZATION
        Ogre::ManualObject* m_ManualObject;
        //Ogre::SceneManager* m_SceneMgr;
        double m_scale;
        Ogre::SceneNode* m_ManualObjectNode;
        // C3DLine*     m_line; ///< white linestrip visualization object
#endif
    };
}