HydroCable.h

#ifndef HYDRO_CABLE_H
#define HYDRO_CABLE_H
 
#include "sfh/constants.h"
#include "sfh/math.h"
#include "sfh/text.h"
#include "sfh/util.h"
 
#include <Eigen/Dense>
 
#include <fhsim/simobject/SimObject.h>
#include <memory>
 
class HydroCable : public SimObject
{
   public:
   HydroCable(const std::string& simObjectName, ISimObjectCreator* const creator);
   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);
 
   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;
 
#ifdef FH_VISUALIZATION
   void RenderInit(Ogre::Root* const ogreRoot, ISimObjectCreator* const creator);
   void RenderUpdate(const double T, const double* const X);
#endif
 
   protected:
   void SetOutputPortValues(const double T, const double* const X) const;
   Eigen::Vector3d Drag(int k, int l, const double T, const double* const X) const;
   Eigen::Vector3d Spring(int k, int l, const double T, const double* const X) const;
   Eigen::Vector3d Damp(int k, int l, const double T, const double* const X) const;
 
   void computeSegmentJacobian(
       const double* pk, const double* pl,
       const double* vk, const double* vl,
       double* dF_dpk, double* dF_dpl,
       double* dF_dvk, double* dF_dvl) const;
   const double* ForceA(const double T, const double* const X);
   const double* ForceB(const double T, const double* const X);
   const double* PosA(const double T, const double* const X);
   const double* PosB(const double T, const double* const X);
 
   ICommonComputation* m_SetOutputPortValues;
   ISignalPort* m_PositionA;
   ISignalPort* m_PositionB;
   ISignalPort* m_VelocityA;
   ISignalPort* m_VelocityB;
   ISignalPort* m_Current;
 
   std::vector<int> m_PositionIndex, m_VelocityIndex;
   int m_stateBase = 0; 
 
   int LocalIndex(int globalStateIndex) const { return globalStateIndex - m_stateBase; }
 
   int m_NumPoints;
   mutable double m_ForceA[3];
   mutable double m_ForceB[3];
   // NEW START
   mutable double m_PosA[3];
   mutable double m_PosB[3];
   // NEW END
 
   double m_ElementMass, m_ElementLength0;
   double m_SpringCoef, m_DamperCoef, m_GravYancy;
   double m_CrossDragCoef, m_AlongDragCoef, m_RhoWater;
   double m_Mass, m_Length, m_Diameter, m_RhoCable, m_Modulus;
 
#ifdef FH_VISUALIZATION
   Ogre::ManualObject* m_Line;
#endif
};
 
#endif