Cable6Dof.h

#pragma once
 
#include <Eigen/Eigen>
 
#include <fhsim/simobject/SimObject.h>
#include <fhsim_environment/EnvironmentProvider.h>
#include <fhsim_environment/WakeReceiver.h>
 
#ifdef FH_VISUALIZATION
#   include "sfh/ogre/C3DLine.h"
#endif
 
namespace RbCable
{
class Cable6Dof : public SimObject
{
public:
   Cable6Dof(const std::string& simObjectName, ISimObjectCreator* const creator); 
   ~Cable6Dof();
   void OdeFcn(const double T, const double* const X, double* const XDot) const; 
   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) override; 
   void PreOdeFcn(const double T, const double* const X, IStateUpdater* const updater) override;      
 
   const double* forceA(const double T, const double* const X);
   const double* forceB(const double T, const double* const X);
 
   //   const double* const energy(const double T, const double* const X);
 
   void calculations(const double T, const double* const X);
   void calculationsCommon(const double T, const double* const X) const;
 
#ifdef FH_VISUALIZATION
   void              RenderInit(Ogre::Root* const ogreRoot, ISimObjectCreator* const creator);
   void              RenderUpdate(const double T, const double* const X);
   Ogre::ColourValue tensionColor(double N);
#endif
 
protected:
   typedef Eigen::Matrix<double, 3, 3> mat3;
   typedef Eigen::Matrix<double, 3, 1> vec3;
 
   //   double m_energy[3];
 
   int    m_numElements;
   double m_totalLength;
   double m_radius;
   double m_alpha;
   double m_beta;
   double m_epsilon;
   double m_weight;
   double m_rho;
   double m_rhoWater;
   environment::EnvironmentProvider* m_environment = nullptr; 
   environment::wake::WakeReceiver   m_wakes;                  
   std::vector<double>               m_elementCentres;         
   double m_Ct; // tangential damping coefficient
   double m_Cn; // normal damping coefficient
 
   double m_L;
   double m_M;
   double m_Ixy;
   double m_Iz;
   mat3   m_baseM;
 
   struct element
   {
      vec3 k;
      vec3 LkXw;
      mat3 Mi;
      mat3 JMiJt;
      int  p;
      int  q;
      int  v;
      int  w;
   };
   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;
   // double* m_lambda;
 
   double m_forceA[3];
   double m_forceB[3];
 
#ifdef FH_VISUALIZATION
   Ogre::ManualObject* m_ManualObject;
   // Ogre::SceneManager* m_SceneMgr;
   double           m_scale;
   Ogre::SceneNode* m_ManualObjectNode;
   // C3DLine*      m_line; ///< white linestrip visualization object
#endif
};
} // namespace RbCable