LineStructure.h

#pragma once
 
#include "JointConstraint.h"
 
#include "SimObject.h"
 
#ifdef FH_VISUALIZATION
#include "sfh/ogre/C3DLine.h"
#endif
 
 
namespace CoRiBoDynamics {
namespace Structures {
 
class LineStructure : public JointConstraint {
public:
    EIGEN_MAKE_ALIGNED_OPERATOR_NEW
    struct LineSpec {
        int num;                
        double Beta;            
        double Alpha;           
        double Length;          
        double Diameter;        
        double EA;              
        vec3 EI;                
        double Inertia[6];      
    };
 
    LineStructure(ConstraintSolver* solver, ISimObjectCreator* creator, LineSpec spec, string name);
    virtual ~LineStructure();
 
    virtual void ComputeConstraints(const double T, const double * const X);
 
    virtual void InitialConditionSetup(double *const states, const vec3& P1, const vec3& P2 );
 
#ifdef FH_VISUALIZATION
    virtual void RenderInit(Ogre::Root* const ogreRoot);
    virtual void RenderUpdate(const double T, const double* const X);
    void visualizationDetailed(bool val);
    bool visualizationDetailed();
#endif
 
    RigidElement* getElement(int i){return m_elements[i];}
    std::vector<RigidElement*> getElements(){return m_elements;}
    RigidElement* getFirstElement(){return m_elements.front();} 
    RigidElement* getLastElement() {return m_elements.back();} 
    int getNumElements(){return (int)m_elements.size();}
 
 
    double getLength(){return m_Length;}
    double GammaN() {return m_base_coupling.GammaN;}
    double GammaMx(){return m_base_coupling.GammaM.x();}
    double GammaMy(){return m_base_coupling.GammaM.y();}
    double GammaT() {return m_base_coupling.GammaM.z();}
 
 
protected:
    LineStructure(ConstraintSolver* solver);
    virtual void Init(ConstraintSolver* solver, ISimObjectCreator* creator, LineSpec spec, std::string name);
 
    double m_Length;
    double m_elemLength;    
    double m_elemDiameter;
    std::vector<RigidElement*> m_elements;
 
    RigidCoupling m_base_coupling;
 
#ifdef FH_VISUALIZATION
    bool m_visualizeNice;
    C3DLine* m_line;
    std::vector<Ogre::SceneNode*> m_Nodes;
#endif
 
};
 
 
void ComputeInertiaMatrix(LineStructure::LineSpec& linespec, double mass_per_meter);
 
} 
}