CStaticBuoy.h

#ifndef C_STATIC_BUOY_H
#define C_STATIC_BUOY_H
#include <SimObject.h>
#include "sfh/constants.h"
#include <sfh/text.h>
#include <stdio.h>
#include <math.h>
#include <iostream>
#include <vector>
#include "Eigen/Eigen"
using namespace std;
using std::vector;
typedef Eigen::Matrix<double,3,1> vec3;
 
namespace Netcage {
 
class CStaticBuoy : public SimObject
{
public:
    CStaticBuoy(const string& simObjectName, ISimObjectCreator* const creator);
    virtual void FinalSetup(const double T, const double* const X, ISimObjectCreator* const pCreator);
    virtual ~CStaticBuoy();
    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* Pos(const double T, const double* const X);
    const virtual double* Vel(const double T, const double* const X);
 
protected:
 
    ISignalPort* m_ForceIn;     
    ISignalPort* m_Current;     
 
    int     m_posIndex;         
    int     m_velIndex;         
 
    double  m_pos[3];           
    double  m_vel[3];           
 
    double  m_mass;             
    double  m_radius;           
    double  m_dragArea;         
    double  m_Cd;               
 
    double  m_axy;              
    double  m_az;               
    double  m_bxy;              
    double  m_bz;               
    double  m_rho;              
    double  m_g;                
 
private:
 
#ifdef FH_VISUALIZATION
    Ogre::SceneNode*    m_renderNode;           
    string              m_material;             
    double              m_colour1[3];           
    double              m_colour2[3];           
#endif
};
#endif
} // namespace