RingStructure.h

#pragma once
 
#include "JointConstraint.h"
#include "SimObject.h"
 
namespace CoRiBoDynamics {
namespace Structures {
class RingStructure: public JointConstraint {
public:
    struct RingSpec {
        int num;                
        double Beta;            
        double Alpha;           
        double RingDiameter;    
        double TubeDiameter;    
        double EA;              
        vec3 EI;                
        double Inertia[6];      
    };
 
    RingStructure(CoRiBoDynamics::ConstraintSolver* solver, ISimObjectCreator* creator, CoRiBoDynamics::Structures::RingStructure::RingSpec spec, std::string name);
    virtual ~RingStructure(){}
 
    virtual void InitialConditionSetup(double *const UpdatedIC, vec3 CenterPosition );
 
#ifdef FH_VISUALIZATION
   virtual void RenderInit(Ogre::Root* const ogreRoot, double RingDiameter);
   virtual void RenderUpdate(const double T, const double* const X);
#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 GammaN(){return m_GammaN;}
   double GammaMx(){return m_GammaMx;}
   double GammaMy(){return m_GammaMy;}
   double GammaT(){return m_GammaT;}
 
   virtual void ComputeConstraints(const double T, const double * const X);
 
   EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
protected:
    RingStructure(ConstraintSolver* solver);
    virtual void Init(ConstraintSolver* solver, ISimObjectCreator* creator, RingSpec spec, std::string name);
 
    RingSpec m_spec; 
    double m_elemLength;    
 
    std::vector<RigidElement*> m_elements; 
 
    double m_GammaN;    
    double m_GammaMx;   
    double m_GammaMy;   
    double m_GammaT;    
 
 
#ifdef FH_VISUALIZATION
    float m_ring_radius;
    Ogre::ManualObject* m_visual_ring;
    Eigen::Matrix<float,3,15> m_base_circle;
#endif
 
};
} 
}