SupergridWinchCable.h

#pragma once
 
#include "SupergridCable.h"
#include <Eigen/StdVector>
#include "InitializerTools3DCurve.h"
#include <fstream> 
#include "Winch.h"
 
#ifdef FH_VISUALIZATION
#include "sfh/ogre/C3DArrow.h"
#endif
 
namespace CoRiBoDynamics {
 
namespace Structures {
 
 
class SupergridWinchCableCollisionManager;
 
class SupergridWinchCable : public SupergridLineStructure {
public:
    SupergridWinchCable(ConstraintSolver* solver, ISimObjectCreator* creator, Environment_Interface* environment, int rigid_element_buffer_size, double beta, std::string name, Winch* winch);
    ~SupergridWinchCable();
 
    Winch* GetWinch();
 
    TowingBlock* GetTowingBlock();
 
    void GetFirstFreeDiscreteElementIndex(int& super_ix, int& sub_ix);
 
    double GetPaidOutLength();
 
 
    virtual void AllocateElementBuffer(const double T, double* const X);
 
    virtual bool InitialConditionSetup(const double T, double* const updatedIC, const vec3& PB, Winch::InitialStatesLoader winch_init_states);
 
 
    /*
        Extends SuperGridLineStructure with connection to winch, and straightening of subelements that are about to be merged to superelement
    */
    virtual void ComputeConstraints(const double T, const double * const X); 
 
    SupergridWinchCableCollisionManager* GetCollisionManager();
 
    void SetTowingBlock(TowingBlock* towing_block);
 
    virtual const std::vector<CollisionManager::ExternalObject*> GetTowingBlockGeometry();
 
#ifdef FH_VISUALIZATION
    virtual void RenderInit(Ogre::Root* const ogreRoot);
    virtual void RenderUpdate(const double T, const double* const X);
#endif
 
    virtual void XmlInfo(TiXmlElement& xml_node);
 
protected:
    void InitializeElementAllocation(); 
    void InitializeFreespanCurve(Utilities::CurveSegment* curve_initializer, double T, double* const updatedIC); 
    
    void ComputeDiscreteCableLength(size_t& super_ix, size_t& sub_ix, double &length);
 
    size_t m_num_retracted_super;
    size_t m_num_retracted_sub;
    size_t m_sub_super_threshold_ix;
    double m_sub_super_threshold_strength;
    size_t m_num_free_rigid_elements; 
 
    Winch* m_winch;
    TowingBlock* m_towing_block;
 
    SupergridWinchCableCollisionManager* m_collision_manager;
};
 
 
class SupergridWinchCableCollisionManager : public SupergridCableCollisionManager{
public:
    SupergridWinchCableCollisionManager(ConstraintSolver* solver, SupergridWinchCable* cable, double timeConstant);
 
    /* 
        Extends SupergridCableCollisionManager to check contact between cable elements and elements on winch.
        Skips contact between first element and most recent element on winch
    */
    virtual void ComputeConstraints(const double T, const double * const X);
 
 
    /*
        Check contact between cable elements and base geometry of winch and block
    */
    void DrumAndBlock(const double * const X);
 
protected:
    SupergridWinchCable* m_winch_cable;
};
 
 
} 
}