AddedMassRigidElement.h

#pragma once
 
#include "CableSegmentWaterForce.h"
 
#include <fhsim_coribo/RigidElement.h>
#include <fhsim_environment/EnvironmentProvider.h>
 
namespace CoRiBoDynamics
{
class AddedMassRigidElement : public StandardRigidElement
{
public:
   AddedMassRigidElement(const vec6& dryInertia, int ix_P, int ix_Q, int ix_V, int ix_W,
         const trawl_cable_water::Segment& segment, environment::EnvironmentProvider* const* environment)
       : StandardRigidElement(dryInertia, ix_P, ix_Q, ix_V, ix_W)
       , m_dryMass(dryInertia(0))
       , m_segment(segment)
       , m_environment(environment)
   {
   }
 
   void Setup(double T, const double* const X) override
   {
      RigidElement::Setup(T, X); // the position and the axis, for the wet fraction
      double addedMass = 0.0;
      if (m_environment && *m_environment && !InSediment()) {
         const vec3 axis = m_RotationMatrix.col(2);
         addedMass       = trawl_cable_water::kAddedMassCoefficient * trawl_cable_water::kRhoWater * m_segment.displacementVolume * trawl_cable_water::WetFraction(**m_environment, T, m_P, axis, m_segment);
      }
      m_Inertia(0) = m_Inertia(1) = m_dryMass + addedMass;
      StandardRigidElement::Setup(T, X);
   }
 
   EIGEN_MAKE_ALIGNED_OPERATOR_NEW
private:
   bool InSediment() const
   {
      double seaDepth = 0.0;
      (*m_environment)->GetSeaDepth(m_P.data(), seaDepth);
      return m_P.z() >= seaDepth;
   }
 
   double                                   m_dryMass;
   trawl_cable_water::Segment               m_segment;
   environment::EnvironmentProvider* const* m_environment;
};
} // namespace CoRiBoDynamics