Disk.h

#pragma once
#include "DiskBase.h"
 
#include <fhsim/simobject/SimObject.h>
#include <fhsim_environment/BodyFlowInteraction.h>
#include <fhsim_environment/SeafloorForcesInterface.h>
#include <fhsim_environment/hydrodynamics/DiskHydro.h>
 
#include <optional>
#include <string>
 
class Disk : public SimObject
{
public:
   Disk(const std::string& SimObjectName, ISimObjectCreator* const Creator);
   ~Disk() override;
   void          FinalSetup(const double T, const double* const X, ISimObjectCreator* const Creator);
   void          PreOdeFcn(double T, const double* X) override;
   const double* Position(const double T, const double* const X);
   const double* Velocity(const double T, const double* const X);
   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 environment::wake::BodyWake* Wake() const { return m_flow.Wake(); }
 
private:
   environment::disk_hydro::DragFactors DiskDragFactors() const;
 
   ISignalPort* m_IForce;
 
   int m_PosIdx;
   int m_VelIdx;
 
   double m_DiskD;
   double m_DiskT;
   double m_DiskMass;
   double m_Rho;
   double m_lift;
 
   mutable bool m_onSeabed = false; 
   environment::SeafloorForcesInterface* m_seafloor = nullptr; 
 
   double AxialInertiaShare(double fraction) const;
 
   void ApplyInverseInertia(const double axis[3], double fraction, const double force[3], double acceleration[3]) const;
 
   double m_axialAddedMass = 0.0; 
 
   const environment::disk_hydro::Disk& Shape() const { return m_caster->Shape(); }
 
   std::optional<environment::disk_hydro::DiskCaster> m_caster; 
   environment::wake::BodyFlowInteraction             m_flow;   
 
#ifdef FH_VISUALIZATION
public:
   void RenderInit(Ogre::Root* const ogreRoot, ISimObjectCreator* const creator);
   void RenderUpdate(const double dT, const double* const adX);
 
private:
   Ogre::SceneNode* m_Node;
   Ogre::Entity*    m_Entity;
   Ogre::String     m_Material;
   std::string      m_DiskMesh; 
#endif
};