VesselOBJ.h

 
 
#ifndef VesselOBJ_H
#define VesselOBJ_H
 
#include <stdio.h>
#include <string>
 
#include "SimObject.h"
 
//#include "supplement/NewMOC.h" // collision detection
 
namespace Visualization
{
 
class VesselOBJ : public SimObject
{
  public:
  VesselOBJ(std::string sSimObjectName, ISimObjectCreator* pCreator);
 
  //~VesselOBJ();
 
 
  virtual void OdeFcn(const double dT, const double* const adX, double* const adXDot, const bool bIsMajorTimeStep);
 
#  ifdef FH_VISUALIZATION
  virtual void RenderInit(Ogre::Root* const pOgreRoot, ISimObjectCreator* const pCreator);
 
  virtual void RenderUpdate(const double dT, const double* const adX);
#  endif
 
  protected:
  ISignalPort*  m_pInSurge;          
  ISignalPort*  m_pInSway;           
  ISignalPort*  m_pInHeave;          
  ISignalPort*  m_pInRoll;           
  ISignalPort*  m_pInPitch;          
  ISignalPort*  m_pInYaw;            
  ISignalPort** m_pInContactPoints;  
  ISignalPort** m_pInContactNormals; 
 
  const double* OutHeading(const double dT, const double* const adX);
  const double* OutPos(const double dT, const double* const adX);
  const double* OutThrusterPos(const double dT, const double* const adX, int iThruster);
  const double* OutContactForcePos(const double dT, const double* const adX, int iContact);
 
  void CalcOutput(const double dT, const double* const adX);
  //void DetectCollisions(const double dT, const double* const adX);
 
  double m_adOut_Pos[3];
  double m_adOut_Heading;
  double m_OutThrusterPos[3];
  double m_OutContactForces[3];
 
  ICommonComputation* m_pCommonCalc; 
 
  double m_dSurge;
  double m_dSway;
  double m_dHeave;
  double m_dPitch;
  double m_dRoll;
  double m_dYaw;
 
 
  int                        m_NumThrusters;    
  std::vector<Ogre::Vector3> m_aThrusterPos;    
  std::vector<Ogre::Vector3> m_aOutThrusterPos; 
 
  std::vector<Ogre::Vector3> m_aContactForces;  
  std::vector<Ogre::Vector3> m_aContactPointsA; 
  std::vector<Ogre::Vector3> m_aContactPointsB; 
 
  /*bool   m_CollisionDetection;
  int    m_NumCollisionPoints;
  double m_dMaxContactDistance; /// if within this distnance, then contact force F=k*dx, where dx = closest_distance - m_dMaxContactDistance
  double m_dContactStiffness;   /// coefficient k [N/m] such that contact force F=k*dx
  double m_dConstContactForce;  /// constant component F0 [N] added to the contact force F=F0+k*dx*/
 
 
  // initial orientation of the mesh and thrusters
  Ogre::Quaternion m_InitOrientation;
  Ogre::Matrix3    m_InitMeshRot;
 
  double m_dInitialPos[3];
 
#  ifdef FH_VISUALIZATION
  Ogre::Entity*     m_RenderMass;
  Ogre::SceneNode*  m_RenderNode;
  Ogre::SceneNode** m_SpheresRenderNodes; 
  double            m_LengthScale;
  double            m_BreadthScale;
  double            m_DepthScale;
  std::string       m_MeshName;
 
  // collision detection
  //Collision::CollisionTools* m_Collision;
#  endif
};
 
 
#endif
};