InternalCableWithAttractor.h

 
 
#pragma once
 
// Includes
#include "AttractorBase.h"
 
#include <cable/subroutines/InternalCableWithBottomContact.h>
 
// Class definition
class InternalCableWithAttractor : public InternalCableWithBottomContact
{
public:
   InternalCableWithAttractor(ISimObjectCreator* creator, const SCableSpec& CableSpec, std::string attractorName);
   virtual void FinalSetup(const double dT, const double* const adX, ISimObjectCreator* const creator);
 
   void SetAttractor(AttractorBase* attractor);
 
   void UpdateAttractorMotion(double dT, const double* adX) const;
 
   virtual void OdeFcn(const double* const adPosA,
         const double* const               adVelA,
         const double* const               adPosB,
         const double* const               adVelB,
         const double* const               adX,
         double* const                     adXDot,
         double                            dT) const;
 
protected:
   void AddAttractorForces(const double* const adX) const;
 
   void AddElementForce(int cableElement,
         const double       adPosA[3],
         const double       adVelA[3],
         const double       adPosB[3],
         const double       adVelB[3],
         double             adForceA[3],
         double             adForceB[3],
         double             dT) const override;
 
 
   std::string    m_attractorName;
   AttractorBase*                m_attractor; 
   mutable AttractorBase::Motion m_attractorMotion; 
};