TrawlRig.h

#pragma once
 
#include "DoorAndClumpWakeBodies.h"
#include "TrawlCableConstraintSets.h"
 
#include <fhsim/simobject/ISimObjectCreator.h>
#include <fhsim_coribo/ConstraintSolver.h>
#include <fhsim_environment/BodyWake.h>
#include <fhsim_environment/EnvironmentProvider.h>
#include <memory>
#include <optional>
#include <string>
 
class ITrawlCable;
 
namespace trawl_mooring
{
inline bool TakesSymplecticStep(const std::string& method)
{
   return method == "Euler_i" || method == "Heun_i";
}
 
struct RigParts
{
   CoRiBoDynamics::ConstraintSolver*           solver               = nullptr; 
   CoRiBoDynamics::TrawlCableJointConstraint*  joints               = nullptr; 
   CoRiBoDynamics::TrawlCableCollisionManager* collisions           = nullptr; 
   CoRiBoDynamics::EnvironmentForces*          environmentForces    = nullptr; 
   double                                      frequencyCoefficient = 0.0;     
};
 
class TrawlRig
{
public:
   TrawlRig(const std::string& ownerName, double frequencyCoefficient, std::optional<double> collisionFrequencyCoefficient, ISimObjectCreator& creator);
 
   TrawlRig(const std::string& ownerName, CoRiBoDynamics::ConstraintSolver& solver, double frequencyCoefficient, std::optional<double> collisionFrequencyCoefficient, ISimObjectCreator& creator);
 
   ~TrawlRig();
   TrawlRig(const TrawlRig&)            = delete;
   TrawlRig& operator=(const TrawlRig&) = delete;
 
   const RigParts& Parts() const { return m_parts; }
 
   void Register(ISimObjectCreator& creator);
 
   void Register(environment::EnvironmentProvider& environment, ISimObjectCreator& creator);
 
   void Step(double T, const double* X);
 
   environment::wake::SourceSetBodyWake& BodyWake() { return *m_bodyWake; }
 
   CoRiBoDynamics::DoorAndClumpWakeBodies& WakeBodies() { return *m_wakeBodies; }
 
private:
   void Build(CoRiBoDynamics::ConstraintSolver& solver, std::optional<double> collisionFrequencyCoefficient, ISimObjectCreator& creator);
 
   std::string                                             m_ownerName;
   RigParts                                                m_parts;
   std::unique_ptr<environment::wake::SourceSetBodyWake>   m_bodyWake;
   std::unique_ptr<CoRiBoDynamics::DoorAndClumpWakeBodies> m_wakeBodies;
   bool                                                    m_ownsSolver = false;
};
 
bool OwnsRig(ISimObjectCreator& creator);
 
ITrawlCable& JoinedRig(ISimObjectCreator& creator);
} // namespace trawl_mooring