CCable.h

#pragma once
#include <Eigen/Eigen>
 
#include <CPrintDuringExec.h>
#include <SimObject.h>
#include <CEnvironment.h>
#ifdef FH_VISUALIZATION
    #include "sfh/ogre/C3DLine.h"
#endif
 
namespace RbCable
{
    class CCableRM : public SimObject
    {
    public:
        CCableRM(const string& simObjectName, ISimObjectCreator* const creator); 
        ~CCableRM();
        void OdeFcn(const double T, const double* const X, double* const XDot, const bool IsMajorTimeStep);
 
        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);
 
        const double* forceA(const double T, const double* const X);
        const double* forceB(const double T, const double* const X);
        void calculations(const double T, const double* const X);
 
#ifdef FH_VISUALIZATION
        void            RenderInit(Ogre::Root* const ogreRoot, ISimObjectCreator* const creator);
        void            RenderUpdate( const double T, const double* const X);
#endif
 
    protected:
 
        typedef Eigen::Matrix<double,3,3> mat3;
        typedef Eigen::Matrix<double,3,1> vec3;
 
        void DistributeCatenary( Eigen::Matrix<double,3,1> P1, Eigen::Matrix<double,3,1> P2, double L, double* states, int i1, int i2, ISimObjectCreator* creator );
 
        CPrintDuringExec* m_print;
        CEnvironment* m_environment;
 
        int     m_numElements;
        double  m_totalLength;
        double  m_radius;
        double  m_weight;
        double  m_alphaN;
        double  m_betaN;
        double  m_epsilonN;
        double  m_alphaM;
        double  m_betaM;
        double  m_epsilonM;
        double  m_alphaT;
        double  m_betaT;
        double  m_epsilonT;
 
        double m_bending_epsilon[3];
 
        //double  m_rho;
        //double  m_surfacePosZ;
        //double    m_rhoWater;
        //double  m_Ct; // tangential damping coefficient
        //double  m_Cn; // normal damping coefficient
 
        double  m_length;
        double  m_mass;
        double  m_Ixy;
        double  m_Iz;
        //bool TEMP_BOOL_VAR__ISMAJORTIMESTEP;
 
        // Sugar kelp rope application - start
        bool m_kelp; // 1 if used as a kelp rope, 0 otherwise
        double m_wKelp; // Biomass of kelp per meter rope/cable in Newtons
        // Sugar kelp rope application - end
 
        struct element {int p; int q; int v; int w; mat3 Mi; vec3 k; mat3 K; vec3 eDot; double nuDot;};
        element* m_el;
 
        ISignalPort* m_posA;
        ISignalPort* m_posB;
        ISignalPort* m_velA;
        ISignalPort* m_velB;
        ISignalPort* m_retractedLengthA;
        ISignalPort* m_retractedLengthB;
        ISignalPort* m_retractedSpeedA;
        ISignalPort* m_retractedSpeedB;
 
        int m_retractedNodesA;
        int m_retractedNodesB;
        int m_numFreeNodes;
 
        vec3 m_ka;
        vec3 m_kb;
 
        ICommonComputation* m_calcDynamics;
        Eigen::Matrix<double,Eigen::Dynamic,1> m_lambda;
        Eigen::Matrix<double,Eigen::Dynamic,1> m_F_MDotV; //< external force F, minus Coriolis term dM/dt*V
 
        double m_forceA[3];
        double m_forceB[3];
 
#ifdef FH_VISUALIZATION
        double m_scale;
        Ogre::SceneNode** m_ManualObjectNodes;
#endif
    };
}