CMultiIceFloe.h

 
 
#ifndef CMultiIceFloe_H
#define CMultiIceFloe_H
 
#include <string>
#include <Eigen/Eigen>
 
#include "SimObject.h"
#include "CEnvironment.h"
#include <CIntegratorOptions.h>
#include <CPrintDuringExec.h>
#include "Subroutines.h"
 
 
namespace ice {
 
#define MaxNumFL 5010
 
class CMultiIceFloe : public SimObject
{
public:
    EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
    CMultiIceFloe(std::string sSimObjectName, ISimObjectCreator* pCreator);
    virtual void FinalSetup(const double dT, const double* const adX, ISimObjectCreator* const pCreator);
    virtual ~CMultiIceFloe();
 
#ifdef FH_VISUALIZATION
    virtual void RenderInit(Ogre::Root* const ogreRoot, ISimObjectCreator* const creator);
 
    virtual  void RenderUpdate(const double dT, const double* const adX);
 
    void DrawBody(Ogre::SceneNode* renderNode, Ogre::SceneManager* sceneMgr, const int& pi);
#endif
 
    virtual void OdeFcn(const double dT, const double* const adX, double* const adXDot, const bool bIsMajorTimeStep);
    virtual void PreOdeFcn(const double dT, const double *const adX, IStateUpdater* updater);
 
    virtual void ContactDetection(const double dT, const double* const adX);
 
    // r: global
    // q: global
    // dX: bodylocal
    // return: forcelocal
    virtual vec6 GetInternalForces(const int& pi, const vec6& dX, const vec3& r, const quat& ql2g, const quat& qg2l, double time, const double* const states);
 
    // return: bodylocal
    virtual mat6 GetInertiaMatrix(const int& pi, const vec3& r, const quat& q, const double dT, const double* const adX);
 
    // all global coords
    virtual vec13 GetSecondDerivative(const int& pi, const vec3& r, const quat& ql2g, const quat& qg2l, const vec3& v, const vec3& w, const vec6& externalForces, const double time, const double* const states);
 
    // bodylocal coords
    static vec6 GetCoriolisForce(const vec6& dX, const mat6& Inertia);
 
    virtual vec3 CalRollPitchYaw(const quat& ql2g);
 
    virtual vec6 CalcHydroforces(const int& pi, const vec6& dX, const vec3& r, const quat& ql2g, const quat& qg2l, double time, const double* const states);
    virtual vec6 CalcHydroforcesPolyplate(const int& pi, const vec6& dX, const vec3& r, const quat& ql2g, const quat& qg2l, double time, const double* const states);
 
    virtual vec6 CalContactForce(const int& pi, const vec3& r, const quat& ql2g, const quat& qg2l, const double dT, const double* const adX);
 
    // Connections =============================================================================
    virtual vec6 CalConnectForce(const vec3& r, const vec6& dX, const quat& ql2g, const quat& qg2l, const double dT, const double* const adX);
    // Connections =============================================================================
 
protected:
 
    // Input ports.
 
    // Output ports.
    virtual const double* Test(const double dT, const double* const adX);
    virtual const double* ContactForce(const double dT, const double* const adX);
    virtual const double* FloeState(const double dT, const double* const adX);
    virtual const double* ConnectForce(const double dT, const double* const adX);
 
    double numIcePresent[2];
    const double * icePresenceTest(const double T, const double* const X);
    const double * iceCriticalTest(const double T, const double* const X);
    ISignalPort * m_inIcePresenceRegion;
    ISignalPort * m_inIcePresenceCritical;
 
    // States
    int         m_IStatePos;                
    int         m_IStateQuater;             
    int         m_IStateVel;                
    int         m_IStateOmega;              
 
    // Parameters
    double          m_iField[4];            
    int             m_numFloe;              
    vec3**          m_FloeV;                
    vec3**          m_xyzFloeV;             
 
    int             m_numStruct;            
    double          m_locStruct[3];         
    double          m_risStruct[3];         
 
    mat6*           m_AddedMass;            
    mat6*           m_DampMatrix;           
 
    Particle        m_Particle[MaxNumFL];   
    PolyplateSpec   m_PolyPlate[MaxNumFL];  
 
    AABB*           m_AABB;                 
 
    double          m_iDensity;             
    double          m_sDensity;             
 
    double          m_wDragCoeff[2];        
 
    double          m_iSpeed[3];            
 
    double          m_iConcentration;       
 
    CEnvironment*   m_Environment;          
 
    vec3*           m_ContactForce;         
    vec3*           m_ContactMoment;        
    double          m_StructContactForce[8];    
 
    int             m_iFloePos;             
    double          m_FloeState[19];        
 
   struct time_step_info {
      double current_time = 0.0;
      double previous_time = 0.0;
      double step_size = 0.0;
      bool   variable_steps = false;   
   };
    //double            m_StepSize[2];          /// Integration step size
   time_step_info m_time_step_info;    
    double          m_ElasticM;             
    double          m_PoissonR;             
    double          m_K;                    
    double          m_CR;                   
    double          m_DampingR;             
    double          m_Kne;                  
    double          m_Kte;                  
    double          m_Knv;                  
    double          m_CStrength;            
    double          m_Mui[2];               
    vec3**          m_Ftp;                  
 
    // Connections =============================================================================
    int         m_ConnectNum;               
    int         m_ConnectPA;                
    double*     m_ConnectLoc;               
    double*     m_ConnectPos;               
    double*     m_ConnectVel;               
    virtual const double* ConnectPos(const double dT, const double* const adX, int iConnect);
    virtual const double* ConnectVel(const double dT, const double* const adX, int iConnect);
    ISignalPort ** m_ConnectForce;
 
    double      m_StructConnectForce[8];    
    // Connections =============================================================================
 
    // Interconnecting structures ==============================================================
    int             m_conStruct;            
    int             m_conRender;            
 
    ISignalPort*    m_pInStructPos;
    ISignalPort*    m_pInStructVel;
    ISignalPort*    m_pInStructOmega;
    ISignalPort*    m_pInStructQuat;
 
    double          m_StructPos[3];
    double          m_StructVel[3];
    double          m_StructOmega[3];
    double          m_StructQuat[4];
 
    virtual const double* StructForceNED(const double dT, const double* const adX);
    virtual const double* StructTorqueNED(const double dT, const double* const adX);
    // Interconnecting structures ==============================================================
 
    // State-space implementation ==============================================================
    int         m_StateSpace;
    int         m_IStateSSpace;             
    int         m_ModeNum;
    int         m_StateNum;
 
    Eigen::Matrix<double,8,8>*  m_SSpaceA;
    Eigen::Matrix<double,8,1>*  m_SSpaceB;
    Eigen::Matrix<double,1,8>*  m_SSpaceC;
    Eigen::Matrix<double,1,1>*  m_SSpaceD;
    double*                     m_SSpaceSDot;
 
    virtual vec6 CalStateSpace(const int& pi, const double dT, const double* const adX, const vec6& VS);
    // State-space implementation ==============================================================
 
    // Options =================================================================================
    double      m_CPTOL[2];                 
 
    int         m_ContactMesh;              
    int         m_BoundaryCondition;        
 
    double      m_ComAreaN[2];              
    double      m_CurrentVel[3];            
 
    int         m_ACP;                      
    int**       m_CP_P;                     
    vec3**      m_P0_P;                     
    vec3**      m_PN_P;                     
    vec3**      m_PB0_P;                    
    vec3**      m_PB1_P;                    
    vec3**      m_PB2_P;                    
    // Options =================================================================================
 
   CPrintDuringExec* m_Printer;         
 
    // Test
    double          m_test[100];            
 
#ifdef FH_VISUALIZATION
    string                      m_Material;                 
    Ogre::SceneNode**           m_RenderNodes;              
    Ogre::SceneManager*         m_SceneMgr;
    vector<Ogre::ManualObject*> m_Manual;
 
    double      m_CameraPos[3];                             
    virtual const double* CameraPosition(const double dT, const double* const adX);
#endif
 
};
 
};
#endif