MooringSystemCoRiBo.h

#ifndef MooringSystemCoRiBo_h__
#define MooringSystemCoRiBo_h__
 
#include <string>
#include <cmath>
#include <SimObject.h>
 
#include "./Cable/BridleCable.h"
#include "./Cable/BuoyCable.h"
#include "./Cable/CollarChain.h"
#include "./Cable/FrameCable.h"
#include "./Cable/LineStructureGravityHydro.h"
#include "./RingStructureGravityHydro.h"
#include "./Contact/ShipContact.h"
#include "./Net_unsupported/ParametricNet.h"
#include "./Net_unsupported/CoriboNet.h"
 
namespace Netcage{
    class MooringSystemCoRiBo: public SimObject{
    public:
        EIGEN_MAKE_ALIGNED_OPERATOR_NEW
        MooringSystemCoRiBo(const std::string& name, ISimObjectCreator* const creator );
        ~MooringSystemCoRiBo();
 
        void OdeFcn(const double T, const double *const X, double *const XDot, const bool IsMajorTimeStep);
        void InitialConditionSetup( const double, const double *const, double* const updatedIC, ISimObjectCreator* const);
        void FinalSetup(const double T, const double *const X, ISimObjectCreator* const creator);
 
        const double* ShipReactionTorqueNED( const double T, const double* const X );
        const double* ShipReactionForceNED( const double T, const double* const X );
        void compute( 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
 
        virtual void PreOdeFcn(const double T, const double *const X, IStateUpdater* updater);
 
    private:
        ICommonComputation* m_compute;
        std::unique_ptr<CoRiBoDynamics::ConstraintSolver> m_solver;
 
        int m_numU;
        int m_numV;
        int m_numLineU;
        int m_numLineV;
 
        static const int num_collar_chains = 24;
        struct Cell {
            FloatingCollar* floating_collar;
            BottomRing*     bottom_ring;
            BridleCable*    bridle[12];
            CollarChain*    collar_chain[num_collar_chains];
            CoRiBoDynamics::CoRiBoNet net;
        };
 
        std::vector<FrameCable*> m_U_cables;
        std::vector<FrameCable*> m_V_cables;
        std::vector<BuoyCable*> m_buoy_cables;
        std::vector<Cell> m_cell;
 
        ShipContact* m_ship_contact;
        ISignalPort* m_inShipPosition;
        ISignalPort* m_inShipVelocity;
        ISignalPort* m_inShipOmega;
        ISignalPort* m_inShipOrientation;
 
      double m_prev_time = 0.0;   
    };
}
#endif