RingStructureGravityHydro.h

#pragma once
 
#include <RingStructure.h>
#include <CollisionManager.h>
#include <CEnvironment.h>
#include <cmath>
 
#include <environment/DeepSeaGravityWaves.h>
#include "Contact/ShipContact.h"
 
namespace CoRiBoDynamics { class CoRiBoNet; }
#include "Net_unsupported/CoriboNet.h"
 
class RingStructureGravityHydro: public CoRiBoDynamics::Structures::RingStructure, public CollisionCheckInterface{
public:
    RingStructureGravityHydro(CoRiBoDynamics::ConstraintSolver* solver, ISimObjectCreator* creator, RingStructure::RingSpec spec, double unit_weight, std::string name);
 
    void setEnvironment(CEnvironment*e);
    virtual void ComputeConstraints(const double T, const double * const X);
 
    CollisionCheckInterface::GeometryVector CheckForContact(CoRiBoDynamics::CollisionManager::ExternalObject& object);
 
    double Diameter() { return m_spec.RingDiameter; }
    double TubeDiameter() { return m_spec.TubeDiameter; }
    int ringElementIndex( double angle );
    double ringElementOffset(double angle);
    Eigen::Vector3d relativePosition(double angle);
 
 
 
#ifdef FH_VISUALIZATION
    virtual void RenderInit(Ogre::Root* const ogreRoot);
    //virtual void RenderUpdate(const double T, const double* const X);
#endif
 
    void SetCoRiBoNet(CoRiBoDynamics::CoRiBoNet* net) { m_net = net; }
    //virtual const CoRiBoDynamics::Vector& GetNetForces(double T, const double* X) = 0;
 
protected:
    RingStructureGravityHydro(CoRiBoDynamics::ConstraintSolver* solver);
    virtual void Init(CoRiBoDynamics::ConstraintSolver* solver, ISimObjectCreator* creator, RingStructure::RingSpec spec, double unit_weight, std::string name);
 
    CoRiBoDynamics::CoRiBoNet* m_net;
 
    CEnvironment *m_environment;
    double m_elemMass;
    double m_elemArea;  
    double m_elemProjArea;
    double m_elemRadius;
    double m_elemVolume;
    double m_Cd_n;
    double m_Cd_t;
 
    Eigen::Vector3d m_Ca;
    Eigen::Vector3d m_Cb;
};
 
 
class FloatingCollar : public RingStructureGravityHydro
{
public:
    FloatingCollar(CoRiBoDynamics::ConstraintSolver* solver, ISimObjectCreator* creator, double beta, std::string name);
    //const CoRiBoDynamics::Vector& GetNetForces(double T, const double* X);
};
 
class BottomRing : public RingStructureGravityHydro
{
public:
    BottomRing(CoRiBoDynamics::ConstraintSolver* solver, ISimObjectCreator* creator, double beta, std::string name);
    //const CoRiBoDynamics::Vector& GetNetForces(double T, const double* X);
};