CCircularBuoy.h

 
 
#ifndef C_CIRCULAR_BUOY_H
#define C_CIRCULAR_BUOY_H
#include <SimObject.h>
#include <CEnvironment.h>
#include <environment/DeepSeaGravityWaves.h>
#include "sfh/constants.h"
#include <sfh/text.h>
#include <stdio.h>
#include <math.h>
#include <iostream>
#include <vector>
#include "Eigen/Eigen"
using namespace std;
using std::vector;
typedef Eigen::Matrix<double,3,1> vec3;
 
namespace Netcage {
class CCircularBuoy : public SimObject
{
public:
    CCircularBuoy(const string& simObjectName, ISimObjectCreator* const creator);
    virtual void FinalSetup(const double T, const double* const X, ISimObjectCreator* const pCreator);
    virtual ~CCircularBuoy();
 
    void OdeFcn(const double T , const double* const X, double* const XDot, const bool IsMajorTimeStep);
 
 
#ifdef FH_VISUALIZATION
    void RenderInit(Ogre::Root* const ogreRoot, ISimObjectCreator* const creator);
 
    void RenderUpdate(const double T, const double* const X);
#endif
 
    const virtual double* PosCables (const double T, const double* const X);
    const virtual double* VelCables (const double T, const double* const X);
 
 
    const virtual double* WaveElev (const double T, const double* const X);
 
    //const double* const Velocity(const double T, const double* const X);
    /*
    const virtual double* const PosChainConnect(const double T, const double* const X);
    const virtual double* const PosBridleConnect(const double T, const double* const X);
    const virtual double* const VelChainConnect(const double T, const double* const X);
    const virtual double* const VelBridleConnect(const double T, const double* const X);
    */
 
protected:
 
    ISignalPort* m_ForceCables; 
 
    int     m_PositionIndex;    
    int     m_VelocityIndex;    
 
    double  m_posCables[3];     
    double  m_velCables[3];     
    double  m_waveElev;         
    double  m_waveElevPos[2];   
    double  m_qVec[4];          
 
    double  m_mass;             
    double  m_radius;           
    double  m_heightTotal;      
    double  m_heightCone;       
    double  m_offsetCables;     
    double  m_Cd_xy;            
    double  m_Cd_z;             
    double  m_K3D;              
    bool    m_isLinEq;          
    double  m_linEqSwitch;      
    double  m_cog;              
 
    double  m_a11;              
    double  m_a33;              
    double  m_a44;              
    double  m_b11;              
    double  m_b33;              
    double  m_b44;              
    double  m_c33;              
    double  m_c44;              
    double  m_I4;               
    double  m_rho;              
    double  m_g;                
 
    CEnvironment*        m_Environment; 
    DeepSeaGravityWaves* m_EnvironmentDSG;  
 
    double m_F_FK[5];           
    double m_F_D[5];            
    double m_F_visc[5];         
    double m_F_hydTot[5];       
    double m_F_SumPress[5];     
 
    void ForcesHydrodynamic(const double T, const double* const X); 
    void ForcesPressureInt (const double T, const double* const X); 
    void RotationVector    (const double T, const double* const X); 
 
private:
 
#ifdef FH_VISUALIZATION
    Ogre::SceneNode*    m_RenderNode;           
    double              m_RVis;                 
    double              m_HVis;                 
    string              m_Material;             
    double              m_Color[3];             
#endif
};
#endif
} // namespace