CSimpleRope.h

 
 
#ifndef SimpleRope_H
#define SimpleRope_H
 
#include "SimObject.h"
#include <Eigen/Eigen>
#include "sfh/constants.h"
 
#ifdef FH_VISUALIZATION
#include "sfh/ogre/C3DLine.h"
#endif
 
namespace System {
 
class SimpleRope : public SimObject
{
public:
    typedef Eigen::Matrix<double, 3, 1> dvec3;
 
    SimpleRope(std::string sSimObjectName, ISimObjectCreator* pCreator);
    ~SimpleRope();
 
    void OdeFcn(const double T, const double* const X, double* const XDot, const bool bIsMajorTimeStep);
 
    void InitialConditionSetup(const double T, const double* const X, double* const XDot, ISimObjectCreator* pCreator);
 
    const double * OutForceA(const double T, const double * const X);
    const double * OutForceB(const double T, const double * const X);
 
    void distance_constraint(dvec3& PA, dvec3& PB, dvec3& VA, dvec3& VB, dvec3& F, double L);
 
#ifdef FH_VISUALIZATION
    void RenderInit(Ogre::Root* const ogreRoot, ISimObjectCreator* const creator); 
    void RenderUpdate(const double T, const double* const X); 
#endif
protected:  
    ISignalPort* m_InPosA;
    ISignalPort* m_InPosB;
    ISignalPort* m_InVelA;
    ISignalPort* m_InVelB;
    double m_E;
    double m_D;
    double m_L;
    double m_K;
    double m_Damp;  
 
    Eigen::Matrix<double, 3, 1> m_PosA;
    Eigen::Matrix<double, 3, 1> m_PosB;
    Eigen::Matrix<double, 3, 1> m_ForceA;
    Eigen::Matrix<double, 3, 1> m_ForceB;
 
    double m_DeltaT;
    double m_Tau;
    double m_Gamma;
 
    dvec3 m_PreF;
    double m_DeltaFMax;
 
#ifdef FH_VISUALIZATION
    C3DLine * m_Line;
#endif
};
 
}
#endif