BuoyCable.h

#pragma once
#include <Eigen/Eigen>
 
#include "SupergridCable.h"
#include "LineStructureGravityHydro.h"
 
class BuoyCable : public LineStructureGravityHydro {
public:
    EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
        BuoyCable(CoRiBoDynamics::ConstraintSolver* solver, ISimObjectCreator* creator, double beta, string name);
 
    virtual void ComputeConstraints(const double T, const double * const X);
 
    virtual void InitialConditionSetup(double *const states, Eigen::Vector3d P0);
 
    CoRiBoDynamics::StandardRigidElement* GetPlate() { return m_plate; }
    CoRiBoDynamics::StandardRigidElement* GetBuoy() { return m_buoy; }
 
    double GetPlateDiameter() { return m_plate_diameter; }
 
    void AttachToPlate(int ix, const CoRiBoDynamics::Quat& null_angle);
 
    virtual CollisionCheckInterface::GeometryVector CheckForContact(CoRiBoDynamics::CollisionManager::ExternalObject& object);
 
#ifdef FH_VISUALIZATION
    virtual void RenderInit(Ogre::Root* const ogreRoot);
    virtual void RenderUpdate(const double T, const double* const X);
#endif
 
protected:
    CoRiBoDynamics::StandardRigidElement* m_plate;
    CoRiBoDynamics::StandardRigidElement* m_buoy;
 
    double m_plate_diameter;
    double m_plate_weight;
 
    double m_buoy_radius;
    double m_buoy_cone_height;
    double m_buoy_total_height;
 
    double m_buoy_weight;
    double m_buoy_max_buoyancy;
    CoRiBoDynamics::vec6 m_buoy_added_mass;
    CoRiBoDynamics::vec6 m_buoy_potential_damping;
    CoRiBoDynamics::vec6 m_buoy_hydro_drag;
    CoRiBoDynamics::vec6 m_buoy_linear_spring;
 
#ifdef FH_VISUALIZATION
    Ogre::SceneNode* m_plate_scene_node;
    Ogre::SceneNode* m_buoy_scene_node;
#endif
};