CRing.h

#pragma once
#include <Eigen/Eigen>
 
#include <SimObject.h>
#ifdef FH_VISUALIZATION
    #include "sfh/ogre/C3DLine.h"
#endif
 
namespace RbCable
{
    class CRing : public SimObject
    {
    public:
        CRing(const string& simObjectName, ISimObjectCreator* const creator); 
        ~CRing();
        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);
 
 
        // virtual methods (to be overridden by subclasses)
        virtual void GetExternalForces(const double T, const double* const X, double* m_extlForce, int index); 
 
 
 
    //  const double* const point(const double T, const double* const X, const int index);
        void calculations(const double T, const double* const X);
 
        virtual const double* outConnectorPos(const double T, const double* const X, const int index);
        virtual const double* outConnectorVel(const double T, const double* const X, const int index);
 
    #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;
 
        int     m_numElements;
        double  m_totalLength;
        double  m_radius;
        double  m_weight;
        double  m_length;
        double  m_mass;
        double  m_Ixy;
        double  m_Iz;
        double  m_C_isAddMassHack;  // HACK! Added mass coefficient if hack is used. Set to 0 if it is not to be used. Increases mass in order to give pseudo effect of added mass.
        double  m_AddMassHack;      // Added mass dictated by hack.
 
        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_centrePosInit[3]; 
 
        // hydrodynamic parameters
        double  m_rho;
        double  m_surfacePosZ;
        double  m_rhoWater;
        double  m_Ct; // tangential damping coefficient
        double  m_Cn; // normal damping coefficient
        double  m_bouyFactor; // Factor of volume contributing to bouyancy. Default 0.1 for bottom ring.
 
        // Connectors
        bool    m_additionalConnectors;     
        int     m_numConnectors;            
        int     m_numInputsPerConnector;        
        int     m_ElementsPerConnector;     
        ISignalPort**   m_aIIForce;     
        double  m_extlForce[3];         
        double **   m_aadConnectorPos;  
        double **   m_aadConnectorVel;  
 
        double m_bending_epsilon[3];
 
        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;*/
 
        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_lambda;
 
        double m_forceA[3];
        double m_forceB[3];
 
    #ifdef FH_VISUALIZATION
 
        Ogre::SceneNode** m_ManualObjectNodes;
    /*  Ogre::ManualObject* m_ManualObject;
        double m_scale;
        Ogre::SceneNode* m_ManualObjectNode;*/
    #endif
    };
}