CCableElDynStiff.h

 
 
#ifndef CCableElDynStiff_H
#define CCableElDynStiff_H
 
// Includes
//#include <string>
#include "cable/subroutines/CCableElBasics.h"
 
 
//#define USE_OLD_MEAN_TENSION_CALC
#define CCableElDynStiff_USE_PID
#ifdef CCableElDynStiff_USE_PID
#include "sfh/filters/PID.h"
#endif
 
#ifdef FH_VISUALIZATION
#include "Ogre.h"
#include "sfh/ogre/CDynamicLines.h"
 
#endif
 
//Class definition
class CCableElDynStiff : public CCableElBasics
{
public:
    CCableElDynStiff();
 
    ~CCableElDynStiff();
 
    virtual bool CheckAndInitialize();
 
    virtual void UpdateLength(double dNewLength, double dStep, bool bForceUpdate = false);
 
    void UpdateMeanTension(double dStep);
 
    double m_dMaxStep;          
    double m_dMeanTension;      
    double m_dEAdaptationPeriod;
    double m_dStepSafetyFactor; 
//protected: HACK kga
    virtual void AddStructuralForces( double adForceA[3], double adForceB[3]);
protected:
    double ma_dEps;             
    double m_dEFactor;          
    double m_dMeanTensionDamp;  
    //double m_dMeanTensionProp;    ///< The mean tension of the cable element.
 
    double ma_adMeanTensionForceA[3];
    double ma_dAdaptationDamping;
 
#ifdef CCableElDynStiff_USE_PID
    sfh::filters::PID       m_MeanTensionController;
#endif
};
 
 
#endif