TrawlCable.h

#pragma once
 
#include "ITrawlCable.h"
//#include "ICollidableObject.h"
//#include "ConstraintCableInterface.h"
 
 
#ifdef FH_VISUALIZATION
#include "sfh/ogre/C3DLine.h"
#endif
 
class TrawlCable : public SimObject, public ITrawlCable
{
public:
    TrawlCable(const string& simObjectName, ISimObjectCreator* const creator);
 
    ~TrawlCable();
 
    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
 
    void Compute( const double T, const double *const X );
    void AddDependency( ICommonComputation* dependecy );
    CoRiBoDynamics::ConstraintSolver*           GetConstraintSolver();
    CoRiBoDynamics::TrawlCableCollisionManager* GetCollisionManager();
    CoRiBoDynamics::TrawlCableJointConstraint*  GetJointConstraint();
    CoRiBoDynamics::EnvironmentForces*          GetEnvironmentForces();
    double getRegulatorTimeConstant();
 
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;
 
    double m_TrawlDoorMass;
    double m_TrawlDoorArea;
    double m_TrawlDoorLx;
    double m_TrawlDoorLy;
    double m_TrawlDoorLz;
    CoRiBoDynamics::vec3 m_TrawlDoorWarpConnection;
    CoRiBoDynamics::vec3 m_TrawlDoorTopBridleConnection;
    CoRiBoDynamics::vec3 m_TrawlDoorBottomBridleConnection;
 
    double m_ClumpWeightMass;
    double m_ClumpWeightLength;
    double m_ClumpWeightRadius;
 
    int m_NumTopWarp;
    double m_TopWarpLength;
    double m_TopWarpElementLength;
 
    int m_NumWarp; 
    int m_NumTopBridle; 
    int m_NumBottomBridle; 
 
    double m_WarpDiameter; 
    double m_TopBridleDiameter; 
    double m_BottomBridleDiameter; 
 
    double m_WarpLength; 
    double m_TopBridleLength; 
    double m_BottomBridleLength; 
 
    double m_frequencyCoefficient; 
    double m_CollisionFrequencyCoefficient; 
 
    double m_WarpElementLength; 
    double m_TopBridleElementLength; 
    double m_BottomBridleElementLength; 
 
    double m_collisionDampingFactor; 
    //double m_collisionStiffness; /// Gamma value of contact constraint.
 
    CoRiBoDynamics::ConstraintSolver*   m_ConstraintSolver; 
    CoRiBoDynamics::TrawlCableCollisionManager* m_CollisionManager; 
    CoRiBoDynamics::TrawlCableJointConstraint*  m_JointConstraint; 
    CoRiBoDynamics::EnvironmentForces* m_environmentForces; 
 
    std::set<ICommonComputation*> m_ExternalDependencies; 
 
    ICommonComputation* m_MainCalculations; 
    ITrawlCable*        m_ExtTrawlCable;
 
    vector<element> m_TopWarpElements;
    vector<element> m_WarpElements;
    vector<element> m_TopBridleElements;
    vector<element> m_BottomBridleElements;
    element m_TrawlDoorElement;
    element m_TrawlDoorWeightElement;
 
    element m_ClumpWeightElement;
 
    const double*  winchForce(const double T, const double* const X);
    double m_winchForce[3];
    int m_WinchPointConnectionIndex;
 
    const double*  TopBridleEndForce( const double T, const double* const X );
    double m_TopBridleEndForce[3];
    int m_TopBridleEndPointConnectionIndex;
 
    const double*  BottomBridleEndForce( const double T, const double* const X );
    double m_BottomBridleEndForce[3];
    int m_BottomBridleEndPointConnectionIndex;
 
    const double* trawlDoorPosition(const double T, const double* const X);
 
 
    ICommonComputation* m_ContactForceCalculations;
    void ContactForceCalculations(const double T, const double* const X);
    const double* normalForceTrawlDoor(const double T, const double* const X);
    const double* normalForceClumpWeight(const double T, const double* const X);
    const double* normalForceTopBridle(const double T, const double* const X);
    const double* normalForceBottomBridle(const double T, const double* const X);
    const double* normalForceWarp(const double T, const double* const X);
    const double* contactPositionTopBridle(const double T, const double* const X);
    const double* contactPositionBottomBridle(const double T, const double* const X);
    const double* contactPositionWarp(const double T, const double* const X);
    double m_normalForceTrawlDoor[1];
    double m_normalForceClumpWeight[1];
    double m_normalForceTopBridle[3];
    double m_normalForceBottomBridle[3];
    double m_normalForceWarp[3];
 
    ISignalPort* m_WinchPosition;
    ISignalPort* m_WinchVelocity;
 
    ISignalPort* m_TopBridleEndPosition;
    ISignalPort* m_TopBridleEndVelocity;
 
    ISignalPort* m_BottomBridleEndPosition;
    ISignalPort* m_BottomBridleEndVelocity;
 
#ifdef FH_VISUALIZATION
    bool m_HQ_Render;
    Ogre::SceneNode** m_TopWarpNodes;
    Ogre::SceneNode** m_WarpNodes;
    Ogre::SceneNode** m_TopBridleNodes;
    Ogre::SceneNode** m_BottomBridleNodes;
    Ogre::SceneNode* m_TrawlDoorNode;
    Ogre::SceneNode* m_ClumpWeightNode;
    C3DLine* m_TopWarpLine;
    C3DLine* m_WarpLine;
    C3DLine* m_TopBridleLine;
    C3DLine* m_BottomBridleLine;
#endif
};