ITrawlCable.h

 
#ifndef ITRAWLCABLE_H
#define ITRAWLCABLE_H
 
#include "ICommonComputation.h"
#include "eigen_matrix_defs.h"
#include "TrawlCableConstraintSets.h"
 
class ITrawlCable
{
public:
    virtual void Compute(const double T, const double *const X) = 0;
    virtual void AddDependency(ICommonComputation* dependecy) = 0;
    virtual double getRegulatorTimeConstant() = 0;
    virtual CoRiBoDynamics::ConstraintSolver*           GetConstraintSolver() = 0; 
    virtual CoRiBoDynamics::TrawlCableCollisionManager* GetCollisionManager() = 0; 
    virtual CoRiBoDynamics::TrawlCableJointConstraint*  GetJointConstraint() = 0; 
    virtual CoRiBoDynamics::EnvironmentForces*          GetEnvironmentForces() = 0; 
 
/*
    virtual int addSphereGeometry(double radius, double gamma, double frictionCoefficient, ICommonComputation* geometryUpdater) = 0;
    virtual int addCapsuleGeometry(double radius, double length, double gamma, double frictionCoefficient, ICommonComputation* geometryUpdater) = 0;
    virtual int addTorusGeometry(double majorRadius, double minorRadius, double gamma, double frictionCoefficient, ICommonComputation* geometryUpdater) = 0;
    virtual int addChamferGeometry(double majorRadius, double minorRadius, double gamma, double frictionCoefficient, ICommonComputation* geometryUpdater) = 0;
    virtual int addPlateGeometry(double lengthX, double lengthY, double thickness, double gamma, double frictionCoefficient, ICommonComputation* geometryUpdater) = 0;
 
    virtual int addSphereGeometry(double radius, double frictionCoefficient, ICommonComputation* geometryUpdater) = 0;
    virtual int addCapsuleGeometry(double radius, double length, double frictionCoefficient, ICommonComputation* geometryUpdater) = 0;
    virtual int addTorusGeometry(double majorRadius, double minorRadius, double frictionCoefficient, ICommonComputation* geometryUpdater) = 0;
    virtual int addChamferGeometry(double majorRadius, double minorRadius, double frictionCoefficient, ICommonComputation* geometryUpdater) = 0;
    virtual int addPlateGeometry(double lengthX, double lengthY, double thickness, double frictionCoefficient, ICommonComputation* geometryUpdater) = 0;
 
    virtual void updateGeometry(int index, const double* Position, const double* Velocity, const double* Orientation, const double* AngularVelocity) = 0;
    virtual CoRiBoDynamics::vec6 getGeometryForce(int index, const double T, const double* const X) = 0;*/
};
#endif