Propeller.h

#ifndef CPropeller_h__
#define CPropeller_h__
 
#include <memory>
 
#include <fhsim/simobject/ISimObjectCreator.h>
#include <fhsim_environment/EnvironmentProvider.h>
 
#ifdef FH_VISUALIZATION
#include "sfh/ogre/CDynamicLines.h"
#endif
#include "./Ship/Actuators/IPropellerCalculator.h"
#include "./Ship/Actuators/OpenWaterPropeller.h"
#include "./Ship/Actuators/TableLookup.h"
#include "PropulsorWakeField.h"
#include <memory>
#include <string>
 
namespace Ship{
 
   struct PropellerWakeState {
      double position[3] = {0,0,0};
      double axis[3]     = {1,0,0};
      double Us          = 0;
      double Rs          = 0;
   };
 
   marenv::Status PropellerJet(const PropellerWakeState& state, double T, const double position[3], double currentVelocity[3]);
 
   using PropellerCurrentField = PropulsorWakeField<PropellerWakeState>;
 
    class Propeller: public SimObject
    {
    public:
        Propeller(const std::string simObjectName, ISimObjectCreator* const creator);
        void FinalSetup( const double T, const double *const X, ISimObjectCreator* const creator );
        void OdeFcn(const double T, const double* const X, double* const XDot) const;
        void AcceptedStep(double T, const double* X) override;
 
    #ifdef FH_VISUALIZATION
        void RenderInit(Ogre::Root* const ogreRoot, ISimObjectCreator* const creator);
        void RenderUpdate( const double T, const double* const X);
    #endif
 
        const double* BladeTopNED(const double T, const double* const X);
        const double* ForceNED(const double T, const double* const X);
        const double* TorqueNED(const double T, const double* const X);
        const double* Us(const double T, const double* const X);
        const double* Rs(const double T, const double* const X);
 
    private:
 
        double Ct( double U, double F);
 
        double Coefficient(double pitchRatio, double J, bool torque);
 
        double  m_Diameter;
        bool m_DummyPropeller;
 
        ISignalPort *m_InForceDirectionNED = nullptr;
        ISignalPort *m_InMyRPS = nullptr;
        ISignalPort *m_InMyPD = nullptr;
        ISignalPort *m_InVelocityNED = nullptr;
        ISignalPort *m_InPositionNED = nullptr;
        ISignalPort *m_InMyPropellerForce = nullptr;
        ISignalPort *m_InMyPropellerTorque = nullptr;
 
        std::vector<double> PDlist;
        double m_BladeTop[3] = {0,0,0};
        double m_Force[3] = {0,0,0};
        double m_MyThrust[3] = {0,0,0};
        double m_MyTorque[3] = {0,0,0};
        double m_MyUs = 0;
        double m_MyRs = 0;
 
        double m_MyDiam;
        double m_MyDiam4;
        double m_MyDiam5;
        std::vector<std::unique_ptr<OpenWaterPropeller> > m_PropellerCalculator;
        WarnOnce m_tableWarning;
        environment::EnvironmentProvider  *m_Environment = nullptr;
                std::shared_ptr<PropellerCurrentField> m_currentField = std::make_shared<PropellerCurrentField>(PropellerJet);
        int  m_RotateAngle = -1;
 
    #ifdef FH_VISUALIZATION
        std::string         m_Material;     
        Ogre::SceneNode*    m_RenderNode;   
        CDynamicLines*      m_lines;        
    #endif
    };
}
 
#endif // CRudder_h__