Cable.h

#pragma once
#include "cable/subroutines/CableElDynStiff.h"
#include "cable/subroutines/InternalCableWithBottomContact.h"
 
#include "sfh/timers/Timer.h"
 
#include <fhsim/simobject/SimObject.h>
#include <memory>
#include <mutex>
#include <string>
 
// Class definition
class Cable : public SimObject
{
public:
   Cable(std::string simObjectName, ISimObjectCreator* creator);
 
   ~Cable();
 
   // Member functions
   void OdeFcn(const double dT, const double* const adX, double* const adXDot) const;
   void PreOdeFcn(double T, const double* X) override;
   void InitialConditionSetup(const double dT, const double* const adCurrentIC, double* const adUpdatedIC, ISimObjectCreator* const creator); 
   void FinalSetup(const double dT, const double* const adX, ISimObjectCreator* const creator);
   void CalcOutput(const double dT, const double* const adX) const;
 
   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;
 
   const double* OutForceA(const double dT, const double* const adX);
   const double* OutForceB(const double dT, const double* const adX);
   const double* OutPosA(const double dT, const double* const adX);
   const double* OutPosB(const double dT, const double* const adX);
 
#ifdef FH_VISUALIZATION
 
   void RenderInit(Ogre::Root* const ogreRoot, ISimObjectCreator* const creator);
 
   void RenderUpdate(const double dT, const double* const adX);
#endif
protected:
   void UpdateLength(double newLength, double deltaT);
 
   void UpdateStiffness(const double* const adForceA, const double* const adForceB);
 
   void UpdateInertia();
 
 
   ISignalPort*        m_inLength;   
   ISignalPort*        m_inVelA;     
   ISignalPort*        m_inVelB;     
   ISignalPort*        m_inPosA;     
   ISignalPort*        m_inPosB;     
   int                 m_IStates;    
   ICommonComputation* m_commonCalc; 
   mutable std::mutex m_cableMutex;
 
   // Member variables
   int m_numElements; 
   int m_numNodes;    
 
   double         m_inertiaA;  
   double         m_inertiaB;  
   mutable double m_forceA[3]; 
   mutable double m_forceB[3]; 
   double*        m_lengths;   
   std::string    m_cableName; 
 
   std::unique_ptr<InternalCableWithBottomContact> m_internalCable; 
   SCableSpec                      m_CableSpec;     
};