CCrowfootMath.h

#ifndef C_CROWFOOT_MATH_H
#define C_CROWFOOT_MATH_H
 
#include <Eigen/Dense>
#include <vector>
#ifdef FH_VISUALIZATION
#pragma warning(push)
#pragma warning( disable : 4251)
#include <Ogre.h>
#pragma warning(pop)
#   include "cable/subroutines/CInternalCable.h"
#endif
 
//#define CROWFOOTMATH_DEBUG_RENDERING
 
class CCrowfootMath
{
public:
 
    struct LineDef
    {
        Eigen::Vector3d fasteningPos;
        double length;
    };
 
    struct VisualSpec{
        int             numFaces;
        int             numElements;
        double          drawDiameter;
        std::string     materialName;
        VisualSpec(){
            numFaces        = 5;
            numElements     = 1;
            drawDiameter    = 0.1;
            materialName    = "Trawl/SteelWire";
        }
 
    };
 
    //CCrowfootMath(double m_maxLineForce = 1.0e7);
 
    CCrowfootMath(double maxLineForce = 1.0e7, const VisualSpec& visualSpec = VisualSpec());
 
    int AddLine(double length, const double * const fasteningpos);
 
    void Update(const double * const F, double * const posOut);
 
    void CalcIterativePos(const double * const F, double * const posOut, int maxNumIter = 500, double expectedLengthToGo = 3.0,
        double tolerance = 0.00001);
 
    void GetLineForce(double* F, int lineIndex);
 
    double GetLineTension(int lineIndex);
 
    void UpdateLineLength(double length, int lineIndex);
 
    void UpdateLineFasteningPos(const double * const fasteningpos, int lineIndex);
 
    int NumLines();
 
 
#ifdef FH_VISUALIZATION
    // Initial specification of the simObject geometry for rendering.
    virtual void            RenderInit(Ogre::Root* const pOgreRoot, Ogre::SceneManager* m_pSceneMgr, std::string m_SimObjectName);
 
    // Updating the simObject for rendering the next frame.
    virtual void            RenderUpdate(std::vector<const double*>& aadPos, const double adPosCollectingPoint[3]);
#endif
 
protected:
    void CalcForOneLine(const Eigen::Vector3d& Force, const Eigen::Vector3d& ForceDir, double * const posOut);
 
    void CalcForTwoLines(const Eigen::Vector3d& Force, const Eigen::Vector3d& ForceDir, double * const posOut);
 
    void CalcForThreeLines(const Eigen::Vector3d&, const Eigen::Vector3d& ForceDir, double * const posOut);
 
    Eigen::Vector3d CalcPosForOneStretched(int index, const Eigen::Vector3d& ForceDir);
 
    Eigen::Vector3d CalcPosForTwoStretched( int index1, int index2, const Eigen::Vector3d &ForceDir);
 
    void CalcForOneActive(int index, const Eigen::Vector3d&, const Eigen::Vector3d& pos,double * const posOut);
 
    void CalcForTwoActive(int index1, int index2, const Eigen::Vector3d& Force, Eigen::Vector3d pos, double * const posOut);
 
    void SetPosition( double * const posOut, const Eigen::Vector3d &pos );
 
    bool EnsureLineIndexOk(int lineIndex);
 
    bool PointIsWithinLineReach(int index, const Eigen::Vector3d& connPos);
 
    std::vector<LineDef>            m_lines;
    std::vector<Eigen::Vector3d>    m_lineForces;
    //Eigen::Vector3d                   m_lineTensions;
    double                          m_maxLineForce;
    VisualSpec                      m_visualSpec;
 
    // DEBUGGING
#    ifdef CROWFOOTMATH_DEBUG_RENDERING
    Eigen::Vector3f DEBUG_poss0;
    Eigen::Vector3f DEBUG_poss1;
    Eigen::Vector3f DEBUG_ForceDir;
#    endif
 
#  ifdef FH_VISUALIZATION
    std::vector<SCableRenderSpec*>      m_RenderSpecs;
    std::vector<Ogre::ManualObject*>    m_RenderObjects;
    double                              m_dDrawDiam;        
    Ogre::SceneNode*                    m_lineSceneNode;
 
    // DEBUGGING
#    ifdef CROWFOOTMATH_DEBUG_RENDERING
    Ogre::Entity*           m_pRenderSphere[2];
    Ogre::SceneNode*        m_pRenderNodeSphere[2];
    CDynamicLines*          m_pLines;
    Ogre::SceneNode*        m_debugLineSceneNode;
#    endif
#  endif
};
 
 
#endif