CoriboNet.h

#pragma once
 
#include <memory>
#include <mutex>
#include "eigen_matrix_defs.h"
#include <sfh/constants.h>
#include <Eigen/StdVector>
#include <CEnvironment.h>
 
class FloatingCollar;
class BottomRing;
#include "RingStructureGravityHydro.h"
 
 
#ifdef FH_VISUALIZATION
    #include <sfh/ogre/C3DLine.h>
#endif
 
namespace CoRiBoDynamics{
 
class CoRiBoNet {
public:
    CoRiBoNet(){}
    CoRiBoNet(const CoRiBoNet& copy) { throw std::runtime_error("Illegal copy constructor call on CoRiBoNet"); }
    void Init(ISimObjectCreator* creator, std::string prefix, FloatingCollar * floating_collar, BottomRing * bottom_ring, double diameter, double height);
    void InitStates(double* updatedIC);
    void OdeFcn(double T, const double* X);
    void Kinematics(const double* X, double* XDot, double delta_t);
    void SetEnvironment(CEnvironment* environment);
 
    int cols() { return m_nc; }
    int rows() { return m_nr; }
 
    const Eigen::Matrix<double, Eigen::Dynamic, 1>& GetFloatingCollarReactionForce(double T, const double* X);
    const Eigen::Matrix<double, Eigen::Dynamic, 1>& GetBottomRingReactionForce(double T, const double* X);
    double Gamma() { return m_gamma; }
 
#ifdef FH_VISUALIZATION
    virtual void RenderInit(Ogre::Root *const ogreRoot, ISimObjectCreator *const creator);
    virtual void RenderUpdate(const double T, const double *const X);
    std::unique_ptr<C3DLine> m_net_line;
    std::unique_ptr<C3DLine> m_net_normals;
#endif
 
private:
    void Recompute(double T, const double* X);
 
    void distance_constraint(vec3& PA, vec3& PB, vec3& VA, vec3& VB, vec3& F, mat3& M, double L, double L_dot);
 
    FloatingCollar* m_floating_collar;
    BottomRing* m_bottom_ring;
    int m_element_stride;
 
    std::mutex m_mutex;
    bool m_recompute;
    CoRiBoDynamics::Vector m_FA; // reaction force on upper ring points
    CoRiBoDynamics::Vector m_FB; // reaction force on lower ring points
    CoRiBoDynamics::Vector m_PA; // position of upper points
    CoRiBoDynamics::Vector m_PB; // position of lower points
    CoRiBoDynamics::Vector m_VA; // velocity of upper points
    CoRiBoDynamics::Vector m_VB; // velocity of lower points
 
 
    double m_cage_radius;
    int m_nc;
    int m_nr;
    int m_num_nodes;
 
    double m_Lx;
    double m_Ly;
    double m_ring_connection_bar_length;
 
    double m_node_mass;
    double m_node_added_mass;
    double m_node_projected_area;
    double m_node_submerged_weight;
 
    std::vector<mat3,Eigen::aligned_allocator<mat3>> m_connection_matrices;
    std::vector<mat3,Eigen::aligned_allocator<mat3>> m_node_matrices;
 
    struct ix_pair{ uint16_t i; uint16_t j; ix_pair(uint16_t a, uint16_t b){i=a;j=b;}};
    std::vector<ix_pair> m_connections; // structural connections
 
    std::vector<vec3, Eigen::aligned_allocator<vec3>> m_N; // node normal vector
    std::vector<vec3, Eigen::aligned_allocator<vec3>> m_P; // node position
    std::vector<vec3, Eigen::aligned_allocator<vec3>> m_V; // node velocity
    CoRiBoDynamics::Vector m_A; // node accelerations
 
    double m_tau;
    double m_gamma;
    SparseMat m_system_matrix;
    std::unique_ptr<Eigen::SimplicialLLT<SparseMat,Eigen::Upper>> m_solver;
 
    int m_position_states;
    int m_velocity_states;
 
    CEnvironment* m_environment;
};
};