CableSegment.h

#pragma once
 
#include "CableSegmentWaterForce.h"
#include "TrawlCableConstraintSets.h"
 
#include <array>
#include <fhsim/simobject/ISimObjectCreator.h>
#include <fhsim_coribo/ConstraintSolver.h>
#include <string>
#include <vector>
 
namespace trawl_mooring
{
struct ElementStates
{
   int p; 
   int q; 
   int v; 
   int w; 
   int n; 
};
 
struct CableMaterial
{
   double                diameter;            
   double                tensileArea;         
   double                secondAreaMoment;    
   double                torsionalAreaMoment; 
   double                youngsModulus;       
   double                shearModulus;        
   double                displacementArea;    
   double                massPerLength;       
   double                structuralDamping;   
   std::array<double, 2> tensionStability;    
};
 
std::array<double, 2> ReadTensionStabilityFactors(ISimObjectCreator& creator, const std::string& name, double defaultFactor = 1.0);
 
class CableSegment
{
public:
   CableSegment(const CableMaterial& material, double elementLength, double frequencyCoefficient);
 
   double ElementLength() const { return m_elementLength; }
   double ElementMass() const;
   double ElementDisplacedVolume() const;
   double ElementWeightInWater() const;
   CoRiBoDynamics::vec6 ElementInertia() const;
   trawl_cable_water::Segment WaterSegment() const;
 
   CoRiBoDynamics::TrawlCableJointConstraint::CableProperties JointProperties(const std::vector<int>& elements) const;
 
   CoRiBoDynamics::TrawlCableCollisionManager::CableCollisionManagerProperties CollisionProperties(const std::vector<int>& elements, double stiffnessFactor, double collisionFrequencyCoefficient) const;
 
   CoRiBoDynamics::EnvironmentForces::CableSegment EnvironmentSegment(const std::vector<int>& elements) const;
 
   int AddElement(CoRiBoDynamics::ConstraintSolver& solver, ElementStates& element, const CoRiBoDynamics::EnvironmentForces& forces) const;
 
   std::vector<int> AddElements(CoRiBoDynamics::ConstraintSolver& solver, std::vector<ElementStates>::iterator first, std::vector<ElementStates>::iterator last, const CoRiBoDynamics::EnvironmentForces& forces) const;
 
private:
   CableMaterial m_material;
   double        m_elementLength;
   double        m_frequencyCoefficient;
};
 
std::vector<double> ElementCentres(double length, int numElements);
 
void LayOnCatenary(const CoRiBoDynamics::vec3& P1, const CoRiBoDynamics::vec3& P2, double A, double D, const std::vector<double>& coordinates, const std::vector<ElementStates>& elements, double* states);
 
constexpr double kStraightLineTolerance = 1e-9;
 
void LayOutLine(ISimObjectCreator& creator, const std::string& lengthParameter, const CoRiBoDynamics::vec3& P1, const CoRiBoDynamics::vec3& P2, double length, double unstretchedLength, const std::vector<double>& coordinates, const std::vector<ElementStates>& elements, double* states);
 
void LayOutLine(ISimObjectCreator& creator, const std::string& lengthParameter, const CoRiBoDynamics::vec3& P1, const CoRiBoDynamics::vec3& P2, double length, const std::vector<ElementStates>& elements, double* states);
} // namespace trawl_mooring