CSimpleBuoy.h

#ifndef C_SIMPLE_BUOY_H
#define C_SIMPLE_BUOY_H
#include <SimObject.h>
#include "CEnvironment.h"
#include "sfh/constants.h"
#include <sfh/text.h>
#include <stdio.h>
#include <math.h>
#include <iostream>
#include <vector>
#include "Eigen/Eigen"
 
#ifdef FH_VISUALIZATION
#include "sfh/ogre/C3DLine.h"
#endif
 
namespace System {
 
class SimpleBuoy : public SimObject
{
public:
    SimpleBuoy(const string& simObjectName, ISimObjectCreator* const creator);
    virtual void FinalSetup(const double T, const double* const X, ISimObjectCreator* const pCreator);
    virtual ~SimpleBuoy();
 
    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* ConnectForce (const double T, const double* const X); 
 
    const virtual double* WaveElev (const double T, const double* const X); 
 
protected:
 
    ISignalPort* m_inPos;       
    ISignalPort* m_inForce;     
 
    double  m_connectForce[3];  
    double  m_waveElev;         
 
    double  m_buoyPos[3];   
    double  m_connPos[3];
    double  m_connLength;
 
    double  m_rho;              
    double  m_g;                
    double  m_c33;              
    
    double  m_K3D;              
    double  m_Cd_h;             
    double  m_Cd_v;             
 
    double  m_radius;           
    double  m_heightTotal;      
    double  m_heightCone;       
    double  m_offsetCables;     
    double  m_cog;              
    double  m_freeBoard;        
 
    bool    m_solODE;
    Eigen::Quaternion<double> m_QuatL2G;
    double  m_Mass;             
    double  m_addMass;          
    double  m_damp;             
    int     m_IStatePos;        
    int     m_IStateVel;        
    double  m_Tau;              
    virtual const double* Position(const double dT, const double* const adX);
    virtual const double* Velocity(const double dT, const double* const adX);
    double  m_outPos[3];
    double  m_outVel[3];
 
    CEnvironment*        m_Environment; 
 
    double  m_maxBuoyancy;
    double  m_heightDrag;
    double  m_rampTime; 
    
    double  m_Cm_h;
    double  m_Cm_v;
 
private:
 
#ifdef FH_VISUALIZATION
    Ogre::SceneNode*    m_RenderNode;           
    double              m_RVis;                 
    double              m_HVis;                 
    string              m_Material;             
    double              m_Color[3];             
    
    C3DLine * m_Line;
#endif
};
#endif
} // namespace