CRBCable.h

#pragma once
#include <SimObject.h>
#ifdef FH_VISUALIZATION
    #include "sfh/ogre/C3DLine.h"
#endif
 
 
namespace RbCable
{
    class CRBCable : public SimObject
    {
    public:
        CRBCable(const string& simObjectName, ISimObjectCreator* const creator); 
        ~CRBCable();
        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* const totalLength(const double T, const double* const X);
        const double* forceB(const double T, const double* const X);
        void calculations(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:
        int     m_numElements;
        int*    m_pos;
        int*    m_vel;
 
        double m_length;
        double m_alpha;
        double m_beta;
        double m_epsilon;
        double m_bendingStiffness;
        double m_linearDamping;
        int counter;
 
        double m_totalLength;
        double m_kineticEnergy;
 
        ISignalPort* m_posA;
        ISignalPort* m_posB;
        ISignalPort* m_velA;
        ISignalPort* m_velB;
 
        ICommonComputation* m_calcDynamics;
        double* m_lambda;
        double* m_accel;
 
        double m_forceB[3];
 
#ifdef FH_VISUALIZATION
        C3DLine*        m_line; 
#endif
    };
}