MooringCable.h

#pragma once
#include "ITrawlCable.h"
#include "SimObject.h"
 
 
#ifdef FH_VISUALIZATION
    #include "sfh/ogre/C3DLine.h"
#endif
 
 
class MooringCable : public SimObject{
public:
    MooringCable(const string& simObjectName, ISimObjectCreator* const creator);
    ~MooringCable();
    void OdeFcn(const double T, const double* const X, double* const XDot, const bool bIsMajorTimeStep);
    void InitialConditionSetup(const double T, const double *const currentIC, double* const updatedIC, ISimObjectCreator* const  creator);
    void FinalSetup(const double T, const double *const X, ISimObjectCreator* const creator);
 
    const double* posBuoy(const double T, const double* const X);
 
#ifdef FH_VISUALIZATION
    void    RenderInit(Ogre::Root* const ogreRoot, ISimObjectCreator* const creator);
    void    RenderUpdate( const double T, const double* const X);
#endif
 
protected:
    struct element{int p; int q; int v; int w; int n;};
    vector<element> m_CableElements;
 
    void DistributeCatenary(CoRiBoDynamics::vec3 P1, CoRiBoDynamics::vec3 P2, /*vector<element> elements, double L,*/ double* states, /*int i1, int i2,*/ ISimObjectCreator* creator);
 
 
    ICommonComputation* m_MainCalculations;
    void MainCalculations(const double T, const double* const X);
 
    const double* ForceA(const double T, const double* const X);
    const double* ForceB(const double T, const double* const X);
    double m_ForceA[3];
    double m_ForceB[3];
    int m_cIndexA;
    int m_cIndexB;
 
    int m_bouyElement;
    double m_bouyElementDistance;
 
    CoRiBoDynamics::TrawlCableCollisionManager* m_collisionManager;
 
    ISignalPort* m_PosA;
    ISignalPort* m_PosB;
    ISignalPort* m_VelA;
    ISignalPort* m_VelB;
 
    double m_TotalLength;
    double m_ElementLength;
 
    int m_Num;
    int m_TopChainNum;
    int m_MidRopeNum;
    int m_BottomChainNum;
 
    double m_frequencyCoefficient;
    double m_TopChainDiameter;
    double m_MidRopeDiameter;
    double m_BottomChainDiameter;
 
 
    ITrawlCable* m_TrawlCable;
    CoRiBoDynamics::TrawlCableJointConstraint*  m_JointConstraint;
 
#ifdef FH_VISUALIZATION
    bool m_HQ_Render;
    Ogre::SceneNode** m_CableNodes;
    Ogre::SceneNode *m_SafetyZoneNode;
    C3DLine* m_CableLine;
    C3DLine* m_TopCableLine;
    C3DLine* m_BottomCableLine;
#endif
};