RundDorg.h

#pragma once
//#include "ITrawlCable.h"
//#include "ICollidableObject.h"
//#include "ConstraintCableInterface.h"
#include "SimObject.h"
#include "eigen_matrix_defs.h"
#include "TrawlCableConstraintSets.h"
 
#ifdef FH_VISUALIZATION
#include "sfh/ogre/C3DLine.h"
#endif
 
class RundDorg : public SimObject//, public ITrawlCable
{
public:
    RundDorg(const string& simObjectName, ISimObjectCreator* const creator);
 
    ~RundDorg();
 
    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);
 
 
#ifdef FH_VISUALIZATION
    void    RenderInit(Ogre::Root* const ogreRoot, ISimObjectCreator* const creator);
    void    RenderUpdate( const double T, const double* const X);
#endif
 
protected:
    void MainCalculations(const double T, const double* const X);
 
    struct element{int p; int q; int v; int w; int n;};
    void DistributeCatenary(CoRiBoDynamics::vec3 P1, CoRiBoDynamics::vec3 P2, vector<element> elements, double L, double* states, int i1, int i2, ISimObjectCreator* creator);
 
    CEnvironment* m_environment;
 
    enum Chirality {PORT, STARBOARD};
    Chirality m_Chirality;
 
    enum WeightType {FOIL, CLUMP};
    WeightType m_WeightType;
 
    double m_FoilMass;
    double m_FoilArea;
    double m_FoilLx;
    double m_FoilLy;
    double m_FoilLz;
    CoRiBoDynamics::vec3 m_WeightMainConnection;
    CoRiBoDynamics::vec3 m_WeightFishLine1Connection;
    CoRiBoDynamics::vec3 m_WeightFishLine2Connection;
 
    double m_ClumpWeightMass;
    double m_ClumpWeightLength;
    double m_ClumpWeightRadius;
 
    int m_NumMain; 
    int m_NumLine1; 
    int m_NumLine2; 
 
    double m_MainDiameter; 
    double m_Line1Diameter; 
    double m_Line2Diameter; 
 
    double m_MainLength; 
    double m_Line1Length; 
    double m_Line2Length; 
 
    double m_frequencyCoefficient; 
 
    double m_MainElementLength; 
    double m_Line1ElementLength; 
    double m_Line2ElementLength; 
 
    CoRiBoDynamics::ConstraintSolver*   m_ConstraintSolver; 
    CoRiBoDynamics::TrawlCableJointConstraint*  m_JointConstraint; 
    CoRiBoDynamics::EnvironmentForces* m_environmentForces; 
 
    ICommonComputation* m_MainCalculations; 
 
    vector<element> m_MainElements;
    vector<element> m_Line1Elements;
    vector<element> m_Line2Elements;
    element m_FoilElement;
    element m_FoilWeightElement;
    element m_ClumpWeightElement;
 
    const double*  MainForce(const double T, const double* const X);
    double m_MainForce[3];
    int m_MainForceConnectionIndex;
 
    const double*  Line1Force( const double T, const double* const X );
    double m_Line1Force[3];
    int m_Line1ConnectionIndex;
 
    const double*  Line2Force( const double T, const double* const X );
    double m_Line2Force[3];
    int m_Line2ConnectionIndex;
 
    const double*  WeightPosition(const double T, const double* const X);
 
    /*const double*  WeightMainForce( const double T, const double* const X );
    double m_WeightMainForce[3];
    const double*  WeightLine1Force( const double T, const double* const X );
    double m_WeightLine1Force[3];
    const double*  WeightLine2Force( const double T, const double* const X );
    double m_WeightLine2Force[3];*/
 
    ISignalPort* MainPosition;
    ISignalPort* m_MainVelocity;
 
    ISignalPort* m_Line1Position;
    ISignalPort* m_Line1Velocity;
 
    ISignalPort* m_Line2Position;
    ISignalPort* m_Line2Velocity;
 
#ifdef FH_VISUALIZATION
    bool m_HQ_Render;
    Ogre::SceneNode** m_MainNodes;
    Ogre::SceneNode** m_Line1Nodes;
    Ogre::SceneNode** m_Line2Nodes;
    Ogre::SceneNode* m_WeightNode;
    C3DLine* m_MainLine;
    C3DLine* m_Line1Line;
    C3DLine* m_Line2Line;
#endif
};