ForceReceiver.h

#ifndef ForceReceiver_h__
#define ForceReceiver_h__
 
#include <string>
 
#include <fhsim/simobject/ISimObjectCreator.h>
#include <Eigen/Eigen>
#ifdef FH_VISUALIZATION
#include "sfh/ogre/CMovableText.h"
#include "sfh/ogre/C3DArrow.h"
#endif
 
class FhSimMgr;
 
namespace Ship{
    class ForceReceiver: public SimObject
    {
    public:
        ForceReceiver(const std::string simObjectName, ISimObjectCreator* const creator);
        ~ForceReceiver();
 
        virtual void OdeFcn(const double T, const double* const X, double* const XDot) const;
 
    #ifdef FH_VISUALIZATION
 
        virtual void RenderInit(Ogre::Root* const ogreRoot, ISimObjectCreator* const creator);
 
        virtual void RenderUpdate( const double T, const double* const X);
    #endif
 
        const double* Force(const double T, const double* const X);
        const double* Torque(const double T, const double* const X);
 
 
    private:
 
        ISignalPort *m_InTargetPosition;
        ISignalPort *m_InForcePosition;
        ISignalPort *m_InForce;
 
        double m_Force[3];
        double m_Torque[3];
 
 
        Eigen::Matrix<double,3,1> m_TargetPosition;
        Eigen::Matrix<double,3,1> m_ForcePosition;
 
 
    #ifdef FH_VISUALIZATION
        std::string             m_sMaterial;    
        std::string             m_sMesh;        
        double                  m_dScale;       
        Ogre::Entity*           m_RenderMass;   
        Ogre::SceneNode*        m_RenderNode;   
 
        C3DArrow *m_ForceArrow;
        Ogre::CMovableText *m_TextDisplay;
 
    #endif
    };
}
#endif // ForceReceiver_h__