Propeller.h

#ifndef CPropeller_h__
#define CPropeller_h__
 
#include <ISimObjectCreator.h>
#include <CEnvironment.h>
 
#ifdef FH_VISUALIZATION
#include "sfh/ogre/CDynamicLines.h"
#endif
#include "./Ship/Actuators/IPropellerCalculator.h"
 
namespace Ship{
    class Propeller: public SimObject,ICurrentField
    {
    public:
        Propeller(const string simObjectName, ISimObjectCreator* const creator);
 
        void FinalSetup( const double T, const double *const X, ISimObjectCreator* const creator );
        void GetCurrent(const double T, const double* const X, const double position[3], double* currentVelocity);
        void OdeFcn(const double T, const double* const X, double* const XDot, const bool bIsMajorTimeStep);
 
    #ifdef FH_VISUALIZATION
        void RenderInit(Ogre::Root* const ogreRoot, ISimObjectCreator* const creator);
        void RenderUpdate( const double T, const double* const X);
    #endif
 
        const double* BladeTopNED(const double T, const double* const X);
        const double* ForceNED(const double T, const double* const X);
        const double* TorqueNED(const double T, const double* const X);
        const double* Us(const double T, const double* const X);
        const double* Rs(const double T, const double* const X);
 
    private:
 
        double Ct( double U, double F);
 
        double  m_Diameter;
        bool m_DummyPropeller;
 
        ISignalPort *m_InForceDirectionNED;
        ISignalPort *m_InMyRPS;
        ISignalPort *m_InMyPD;
        ISignalPort *m_InVelocityNED;
        ISignalPort *m_InPositionNED;
        ISignalPort *m_InMyPropellerForce;
        ISignalPort *m_InMyPropellerTorque;
 
        std::vector<double> PDlist;
        double m_BladeTop[3];
        double m_Force[3];
        double m_MyThrust[3];
        double m_MyTorque[3];
 
        double m_MyUs;
        double m_MyRs;
 
        double m_MyDiam;
        double m_MyDiam4;
        double m_MyDiam5;
        IPropellerCalculator **m_PropellerCalculator;
        CEnvironment  *m_Environment;
        int  m_RotateAngle;
 
    #ifdef FH_VISUALIZATION
        std::string         m_Material;     
        Ogre::SceneNode*    m_RenderNode;   
        CDynamicLines*      m_lines;        
    #endif
    };
}
 
#endif // CRudder_h__