CCollision.h

#pragma once
//@group{marine_elements,RMCable,CCollision,Cable Collision}
#include <Eigen/Eigen>
#pragma warning(push)
#pragma warning( disable : 4996)
#include <unsupported/Eigen/SparseExtra>
#pragma warning(pop)
 
#include <SimObject.h>
#ifdef FH_VISUALIZATION
    #include "sfh/ogre/C3DLine.h"
#endif
 
namespace RbCable
{
    class CCollision : public SimObject
    {
    public:
        CCollision(const string& simObjectName, ISimObjectCreator* const creator); 
        ~CCollision();
        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* energy(const double T, const double* const X);
        const double* momentum(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);
#endif
 
    protected:
        typedef Eigen::Matrix<double,3,3> mat3;
        typedef Eigen::Matrix<double,3,1> vec3;
 
 
        int m_NUM;
        int m_CON;
 
        double m_radius;
        double m_mass;
        double m_alpha;
        double m_beta;
        double m_epsilon;
 
        double m_spring;
        double m_damping;
 
        struct element {int p;int v;};
        element* m_el;
 
        double m_systemEnergy[3];
        double m_systemMomentum[3];
 
        struct contact {int a; int b; double D;};
 
 
 
#ifdef FH_VISUALIZATION
        Ogre::SceneNode** m_ManualObjectNodes;
#endif
    };
 
}