CBottomRing.h

#pragma once
 
#include <stdio.h>
#include <string>
 
#include <ISimObjectCreator.h>
#include <C6DBody.h> // TODO: change to body/C6DBody.h
#include "sfh/math.h"
 
 
namespace Netcage {
 
class CBottomRing : public C6DBody
{
public:
 
    CBottomRing(const string& simobjectname, ISimObjectCreator* const creator);
 
    ~CBottomRing();
 
    virtual void OdeFcn(const double T, const double *const X, double *const XDot, const bool bIsMajorTimeStep);
 
    const double* outCentrePos(const double T, const double* const X);
 
    const double* outConnectorPos(const double T, const double* const X, const int index);
 
    const double* outConnectorVel(const double T, const double* const X, const int index);
 
#ifdef FH_VISUALIZATION
 
    virtual void RenderInit(Ogre::Root* const ogreRoot, ISimObjectCreator* const creator);
 
    virtual void RenderUpdate(const double T, const double* const X);
 
#endif
 
protected:
 
    void CalcConnectorPosGlobal(const double T, const double* const X, const int index);
 
    // Member variables
    int             m_iNumConnectors;       
    ISignalPort**   m_aIINetForce;          
//  unsigned short* m_aIOutConnectorPos;    ///< Array of indices to connector positions in output vector
//  unsigned short*    m_aIOutConnectorVel; ///< Array of indices to connector velocities in output vector
    double **       m_OutConnectorPosGlobal;
    double **       m_OutConnectorVel;      
 
    double **       m_aadNetConnectPos;         
//  double **       m_aadNetConnectPosGlobal;   ///< Global connector coordinates, array of array of double (size m_iNumConnectors x 3)
    double **       m_aadNetForceLocal;         
    double **       m_aadNetMomentLocal;        
 
    double          m_CentrePos[3];         
 
    //  Physical properties
 
    double m_Diameter;              
    double m_dI;                    
    double m_dR;                    
    double m_dWt;                   
    double m_dRr;                   
    double m_dh;                    
    double m_dRho;                  
    double m_dMass;                 
    double m_adInertiaMoment[3];    
    double m_dDamping;              
 
 
#ifdef FH_VISUALIZATION
 
    double                  m_Scale; 
    const Ogre::Root*               m_OgreRoot;
    Ogre::SceneNode* m_renderNode;
//  CTextRenderer *         m_TextRenderer;
//  sfh::filters::StopWatch m_StopWatchRenderUpdate;
//  std::string                 m_DisplayText;
//  CFhCamera*          m_pCamera;  ///< Pointer to the camera
#endif
 
 
};
 
} // namespace