FloeDetectRegion.h

#pragma once
 
#include <Eigen/Eigen>
#include <SimObject.h>
 
#ifdef FH_VISUALIZATION
    #include <sfh/ogre/C3DLine.h>
#endif
namespace ice {
    class FloeDetectRegion : public SimObject {
 
    public:
        EIGEN_MAKE_ALIGNED_OPERATOR_NEW;
        FloeDetectRegion(std::string simObjectName, ISimObjectCreator* creator);
        const double * regionVerticesNED(const double T, const double * const X);
 
        void OdeFcn(const double T, const double* const X, double* const XDot, const bool isMajorTimeStep) {}
 
#ifdef FH_VISUALIZATION
        virtual void RenderInit(Ogre::Root* const ogreRoot, ISimObjectCreator* const creator) {
            Ogre::SceneManager* sceneMgr = ogreRoot->getSceneManager("main");
 
            double trackColor[3] = { 1,0,0 };
 
            line = new C3DLine(sceneMgr, Ogre::RenderOperation::OT_LINE_STRIP, 5, Ogre::ColourValue::Red);
 
        }
        virtual  void RenderUpdate(const double T, const double* const X) {
            const double * vert = regionVerticesNED(T, X);
 
            for (int i = 0; i < 4; i++)
                line->SetPoint(i, vert[i * 3 + 0], vert[i * 3 + 1], 0, Ogre::ColourValue::Red);
            line->SetPoint(4, vert[0], vert[1], 0, Ogre::ColourValue::Red);
            line->Update();
        }
#endif
    private:
        ISignalPort * m_inRegionParentPoint;
        ISignalPort * m_inRegionParentRotation;
 
        //Eigen::Vector3d m_offset;
        Eigen::Vector3d m_p0, m_p1, m_p2, m_p3;
 
        double m_output[12];
#ifdef FH_VISUALIZATION
        C3DLine *line;
#endif
 
    };
}