CBall.h

 
#ifndef CBALL_H
#define CBALL_H
 
// Includes
#include "sfh/timers/Timer.h"
 
#include <Eigen/Core>
#include <Eigen/Geometry>
 
#include <fhsim/simobject/SimObject.h>
#include <ostream>
#include <string>
#include <vector>
 
class CBall : public SimObject
{
   public:
   CBall(std::string simObjectName, ISimObjectCreator* creator);
 
   ~CBall(); 
 
#ifdef FH_VISUALIZATION
 
   virtual void RenderInit(Ogre::Root* const OgreRoot, ISimObjectCreator* const creator);
 
   virtual void RenderUpdate(const double T, const double* const X);
#endif
 
   void OdeFcn(const double T, const double* const X, double* const XDot) const;
 
   bool HasJacobians() const override;
   void OdeJacobian(double T, const double* X, double* J, int nStates) override;
   int GetJacobianSparsity(int nStates, int* rowPtr, int* colIdx) override;
 
   const double* ForceOut(const double T, const double* const X);
 
   protected:
   void CalcForces(const double T, const double* const X) const;
 
   void ForceInterBall(const double T, const double* const X) const;
 
   void AddWallStiffness(const double T, const double* const X, Eigen::MatrixXd& forceJacobian) const;
 
   void AddInterBallStiffness(const double* const X, Eigen::MatrixXd& forceJacobian) const;
 
   void BoxPlanes(const double T, const double* const X, Eigen::Vector3d norms[6],
       Eigen::Vector3d planePositions[6]) const;
 
   void LatchPlaneSide(int pl, double s) const;
 
   bool IsWallContact(int pl, double s, double dL, double radius) const;
 
   virtual const double* Position(const double T, const double* const X);
 
   virtual const double* Velocity(const double T, const double* const X);
 
   // Member variables
   int m_count; 
   double m_gravity; 
   double* m_mass; 
   double* m_radius; 
   double* m_stiffness; 
   double m_boxDim[3]; 
   Eigen::Vector3d m_norms[6]; 
   mutable int m_planeSide[6]; 
   mutable Eigen::VectorXd m_forces; 
   mutable Eigen::VectorXd m_interForces; 
 
   ISignalPort* m_inBoxPos; 
   ISignalPort* m_inBoxRot; 
   int m_iStatePos; 
   int m_iStateVel; 
 
   int LocalIndex(int globalStateIndex) const { return globalStateIndex - m_iStatePos; }
 
   mutable double m_outForce[3]; 
 
 
#ifdef FH_VISUALIZATION
   std::string m_material; 
   std::string m_meshName; 
   double m_scale; 
   Ogre::SceneManager* m_sceneMgr; 
   std::vector<Ogre::SceneNode*> m_renderNodes; 
   std::vector<Ogre::Entity*> m_renderEntities; 
#endif
};
 
#endif