WinchableCable.h

#pragma once
 
#include "LineStructure.h"
#include "SupergridCable.h"
#include "SupergridWinchCable.h"
#include "ConstraintSolver.h"
#include "SimObject.h"
 
class WinchableCable : public SimObject{
public:
    WinchableCable(const string& simObjectName, ISimObjectCreator* const creator);
    ~WinchableCable();
    void OdeFcn(const double T, const double* const X, double* const XDot, const bool bIsMajorTimeStep);
 
    void setWinchOrientation(const double T);
 
    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:
    double m_Beta;
    CoRiBoDynamics::ConstraintSolver* m_Solver;
 
    struct cable_segment {double weight; double length; double diameter; double EA; double EI; double length_position;};
    std::vector<cable_segment> m_cable_spec;
 
    CoRiBoDynamics::Structures::SupergridWinchCable* m_cable;
 
    const double* EndForce(const double T, const double* const X );
    double m_EndForce[6];
 
    double m_winch_P[3];
    double m_winch_Q[4];
    double m_winch_V[3];
    double m_winch_W[3];
 
 
    class EnvironmentWrapper: public CoRiBoDynamics::Environment_Interface{
    public:
        virtual CoRiBoDynamics::vec3 Current(double T, const double* X, const double* Position)
        {
            return CoRiBoDynamics::vec3(0,1.5,0);
        }
 
        virtual double OceanSurfaceElevation(double T, const double* X, const double* Position)
        {
            return 0;
        }
 
        virtual double SeaDepth(const double* Position)
        {
            return 500;
        }
 
        virtual void CurrentQuery(double T, const double* X, const CoRiBoDynamics::vec3& Position, CoRiBoDynamics::vec3& current, double& surface_elevation, double& density){
            current = CoRiBoDynamics::vec3(0,1.5,0);
            surface_elevation = 0;
            density = 1025 * (Position.z()>0);
        }
 
    };
    EnvironmentWrapper m_environment;
};