FrameCable.h

#pragma once
 
#include "LineStructureGravityHydro.h"
 
class FrameCable: public CoRiBoDynamics::JointConstraint, public CollisionCheckInterface{
public:
    EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
    FrameCable(CoRiBoDynamics::ConstraintSolver* solver, ISimObjectCreator* creator, double beta, string name, int num_plates);
 
    void ComputeConstraints(const double T, const double * const X);
 
    void InitialConditionSetup(double *const states, std::vector<CoRiBoDynamics::RigidElement*>& plates, const Eigen::Quaterniond& plate_null_angle);
 
    void SetAnchorAPos(const Eigen::Vector3d& P){m_anchorA_P = P;}
    void SetAnchorBPos(const Eigen::Vector3d& P){m_anchorB_P = P;}
    std::vector<CoRiBoDynamics::RigidElement*> GetPlateConnections();
 
    void setEnvironment(CEnvironment*e){m_environment = e;}
 
    void SetPlateRadius(double R){m_plate_radius = R;}
 
    virtual CollisionCheckInterface::GeometryVector CheckForContact(CoRiBoDynamics::CollisionManager::ExternalObject& object);
 
#ifdef FH_VISUALIZATION
    virtual void RenderInit(Ogre::Root* const ogreRoot);
    virtual void RenderUpdate(const double T, const double* const X);
#endif
 
protected:
    std::vector<CoRiBoDynamics::RigidElement*> m_elements;
 
    CEnvironment *m_environment;
    
    int m_num_frame_elements;
    double m_frameLineLength;
 
    int m_num_anchor_elements;
    double m_anchorLineLength;
 
    double m_frameDiameter;
    double m_anchorDiameter;
 
    double m_anchorDensity;
    double m_frameDensity;
 
    int m_num_plate_elements;
    double m_plate_radius;
 
    CoRiBoDynamics::JointConstraint::RigidCoupling m_anchor_coupling;
    CoRiBoDynamics::JointConstraint::RigidCoupling m_frame_coupling;
 
    Eigen::Vector3d m_anchorA_P;
    Eigen::Vector3d m_anchorB_P;
 
    //double m_elemVolume;
    //double m_elemArea;
    //double m_elemProjArea;
    //double m_elemDensity; /// Assumption that the line element is made up of nylon (rope)
 
    double m_Cd_n;  
    double m_Cd_t;  
    Eigen::Vector3d m_Ca; 
 
#ifdef FH_VISUALIZATION
    std::unique_ptr<C3DLine> m_line;
#endif
};