CCableConnector.h

 
#ifndef RBCABLE__CCableConnector_h__
#define RBCABLE__CCableConnector_h__
 
#include <SimObject.h>
 
namespace RbCable
{
    class CCableConnector : public SimObject
    {
    public:
        CCableConnector(const string& simObjectName, ISimObjectCreator* const creator); 
        // ~CCableConnector();
        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* PositionA(const double dT, const double* const adX);
        const double* VelocityA(const double dT, const double* const adX);
        const double* PositionB(const double dT, const double* const adX);
        const double* VelocityB(const double dT, const double* const adX);
 
 
 
#ifdef FH_VISUALIZATION
        virtual void            RenderInit(Ogre::Root* const pOgreRoot, ISimObjectCreator* const pCreator);
 
        virtual void            RenderUpdate(const double dT, const double* const adX);
#endif
 
    protected:
 
        double          m_dMass;        
        double          m_dGravity;     
        double          m_adLength[3];      
        ISignalPort*    m_pInForceA;        
        ISignalPort*    m_pInForceB;        
        int             m_IStatePos;        
        int             m_IStateVel;        
 
        double          m_posA[3];          
        double          m_posB[3];          
 
 
#ifdef FH_VISUALIZATION
        std::string             m_sMaterial;    
        std::string             m_sMeshName;    
        double                  m_dScale;       
        Ogre::Entity*           m_pRenderEntity;    
        Ogre::SceneNode*        m_pRenderNode;  
        Ogre::SceneManager*     m_pSceneMgr;    
#endif
    };
}
#endif // CCableConnector_h__