FloatingCollarCoRiBo.h

#pragma once
 
#include <CEnvironment.h>
#include <RingStructure.h>
#include <RigidElement.h>
 
namespace Netcage {
 
class FloatingCollarCoRiBo : public SimObject {
public:
 
    FloatingCollarCoRiBo(const string& simobjectname, ISimObjectCreator* const creator);
 
    ~FloatingCollarCoRiBo();
 
    void OdeFcn(const double T, const double *const X, double *const XDot, const bool IsMajorTimeStep);
 
    void InitialConditionSetup(const double T, const double *const CurrentIC, double *const UpdatedIC, ISimObjectCreator *const Creator);
 
    virtual void FinalSetup(const double T, const double* const X, ISimObjectCreator* const pCreator);
 
    const double*  GetElementPosition(const double T, const double* const X, int iElem); 
    const double*  GetElementVelocity(const double T, const double* const X, int iElem); 
 
    struct forceCoefficients {
        double  elemMass;           
        double* Ca;                 
        double* Cb;                 
        double  elemVolume;         
        double  elemRadius;         
        double  elemLength;         
        double  elemArea;           
        double  elemProjArea;       
        double  elemCrossSectArea;  
        double  Cd_n;               
        double  Cd_t;               
        double  rhoWater;           
        double  g;                  
 
        int     numBridles;         
        int*    BridleElemIndex;    
        double* BridleForces;       
 
        int     numNetConnectors;   
        int*    NetElemIndex;       
        double* NetForces;          
    } m_forceCoeffs;
 
#ifdef FH_VISUALIZATION
    virtual void RenderInit(Ogre::Root* const ogreRoot, ISimObjectCreator* const creator);
    virtual void RenderUpdate(const double T, const double* const X);
#endif
 
protected:
    int     m_Num;              
    double  m_Beta;             
 
    int     m_numBridles;       
    int*    m_BridleElemIndex;  
    double* m_BridleForces;     
 
    int     m_numNetConnectors; 
    int*    m_NetElemIndex;     
    double* m_NetForces;        
 
    void GetExternalForces(const double T, const double* X, ISignalPort** forcesIn, double* forces, int numForces); 
 
    CoRiBoDynamics::ConstraintSolver* m_ConstraintSolver;       
    CoRiBoDynamics::JointConstraint* m_ConstraintSet;
    CoRiBoDynamics::Structures::RingStructure* m_RingStructure; 
 
    ISignalPort** m_BridleForcesIn; 
    ISignalPort** m_NetForcesIn;    
 
    // Structural
    double m_CollarRingDiameter;    
    double m_CollarTubeDiameter;    
    double m_CollarTubeThickness;   
    double m_CollarTubeUnitMass;    
    bool   m_isDoubleTubeCollar;    
    double m_CollarTubeDistance;    
    double m_InitPos[3];    
    double m_doubleSwitch;  
    double m_multiply;      
 
    // Hydrodynamics
    double  m_Cd_t;     
    double  m_Cd_n;     
    double  m_Ca[3];    
    double  m_Cb[3];    
    double  m_rhoWater; 
    double  m_g;        
 
    CEnvironment* m_Environment;    
};
 
class RingEnvironmentForces: public CoRiBoDynamics::ConstraintSet{
public:
    RingEnvironmentForces(CoRiBoDynamics::ConstraintSolver* solver, CEnvironment* environment, double timeConstant, vector<CoRiBoDynamics::RigidElement*> &elements, Netcage::FloatingCollarCoRiBo::forceCoefficients *coefficients);
 
    void ComputeConstraints(const double T, const double * const X);
protected:
    vector<CoRiBoDynamics::RigidElement*> m_elements;
    double m_timeConstant;
    CEnvironment* m_environment;
 
    double  m_elemMass;         
    double* m_Ca;               
    double* m_Cb;               
    double  m_elemVolume;       
    double  m_elemArea;         
    double  m_elemProjArea;     
    double  m_elemCrossSectArea;
    double  m_elemRadius;       
    double  m_elemLength;       
    double  m_Cd_n;             
    double  m_Cd_t;             
    double  m_rhoWater;         
    double  m_g;                
 
    int     m_numBridles;       
    int*    m_BridleElemIndex;  
    double* m_BridleForces;     
 
    int     m_numNetConnectors; 
    int*    m_NetElemIndex;     
    double* m_NetForces;        
};
}