CVisualRBQuat.h

/*
*  Class CVisualRBQuat (SimObject)
*  Author: Biao Su
 
*  This class enables visualization of a rigid body with triangular mesh.
*/
 
#ifndef CVisualRBQuat_H
#define CVisualRBQuat_H
 
#include <string>
#include <Eigen/Eigen>
#include <iostream>
#include <iomanip>
#include <fstream>
#include <algorithm>
#include <vector>
#include <valarray>
 
#include "SimObject.h"
 
#include "sfh/text.h"
#include "sfh/math/math.h"
#include "sfh/sim/kinematics.h"
#include "sfh/constants.h"
 
 
namespace Visualization {
 
typedef Eigen::Matrix<double, 3, 1>     vec3;
typedef Eigen::Matrix<int, 3, 1>        vec3i;
typedef Eigen::Quaternion<double>       quat;
 
class CVisualRBQuat : public SimObject
{
public:
    EIGEN_MAKE_ALIGNED_OPERATOR_NEW
    
    // Constructor
    CVisualRBQuat(std::string sSimObjectName, ISimObjectCreator* pCreator); 
    virtual ~CVisualRBQuat() {};
    virtual void InitialConditionSetup(const double T, const double* const X, double* const XDot, ISimObjectCreator* pCreator);
    virtual void OdeFcn(const double T, const double* const X, double* const XDot, const bool bIsMajorTimeStep);
 
#ifdef FH_VISUALIZATION
    // Initial specification of the simObject geometry for rendering.
    virtual void RenderInit(Ogre::Root* const ogreRoot, ISimObjectCreator* const pCreator);
 
    // Updating the simObject for rendering the next frame.
    virtual void RenderUpdate(const double T, const double* const X);
#endif
 
protected:
    
    // DOF
    int                 m_DOFModes[6];
    int                 m_DOFNum;
    std::vector<int>    m_DOFIndex;
    double              m_Scale;
    vec3                m_RelPos;
    
    // Input ports
    ISignalPort*        m_InPos;
    bool                m_InForce;
    ISignalPort*        m_ForceIn;
    ISignalPort*        m_InQuat;
    ISignalPort*        m_InVel;
    ISignalPort*        m_InOmega;
 
    // Output ports
    double              m_DOFDirections[6];
    double              m_PosNED[3];
    const double*       PositionNED(const double T, const double* const X);
    double              m_QuatNED[4];
    const double*       QuaternionNED(const double T, const double* const X);
    double              m_ForceCoeffs[6];
    double              m_ForceOut[6];
    const double*       ForceOut(const double T, const double* const X);
    double              m_VelNED[3];
    const double*       VelocityNED(const double T, const double* const X);
 
#ifdef FH_VISUALIZATION 
    Ogre::SceneNode*            m_RenderNode;               
    Ogre::SceneManager*         m_SceneMgr;
#endif
    
};
 
};
 
#endif