CMass.cpp

This source file shows how to implement a mass object. This is only a mass point, with three degrees of freedom. It has six states, position and velocity along global x-, y- and z-axis. Its output is basically the same as its states. Most "work" is done in the OdeFcn. See also the class documentation.

 
// Includes
#include "CMass.h"
 
//==================================================================================================
// FUNCTION NAME:           CMass constructor
//==================================================================================================
//
CMass::CMass(std::string sSimObjectName, ISimObjectCreator* pCreator)
:SimObject(sSimObjectName)
{
    //Input ports.
    pCreator->AddInport("Force", 3, &m_pInForce);
 
    // Output ports.
    pCreator->AddOutport    ("Pos"  , 3, PORT_FUNCTION(CMass::Position));
    pCreator->AddOutport    ("Vel"  , 3, PORT_FUNCTION(CMass::Velocity));
 
    // States
    m_IStatePos     = pCreator->AddState("Pos", 3);
    m_IStateVel     = pCreator->AddState("Vel", 3);
 
    // Parameters
    pCreator->GetDoubleParam("Mass", &m_dMass);
    pCreator->GetDoubleParam("g", &m_dg,0.0);
    if(m_dMass <= 0)
        pCreator->ReportParameterError("Mass", "Must be a real number greater than zero.");
 
#ifdef FH_VISUALIZATION
    pCreator->GetStringParam("Material", m_sMaterial, "Simple/Black");
    pCreator->GetStringParam("Mesh", m_sMeshName, "fhSphere.mesh");
    pCreator->GetDoubleParam("Scale",&m_dScale, 1.0);
#endif
}
 
//==================================================================================================
// FUNCTION NAME:           OdeFcn
//==================================================================================================
//
void CMass::OdeFcn(const double dT, const double* const adX,
        double* const adXDot, const bool bIsMajorTimeStep)
{
    const double* const adForceIn = m_pInForce->GetPortValue(dT,adX);
 
    for (int i = 0; i<3 ; i++)
    {
        adXDot[m_IStatePos + i] =  adX[m_IStateVel + i];
        adXDot[m_IStateVel + i] = adForceIn[i] / m_dMass ;
        if (i==2)
            adXDot[m_IStateVel + i] += -m_dg;
    }
}
 
//==================================================================================================
// FUNCTION NAME:       Position
//==================================================================================================
//
const double* CMass::Position( const double dT, const double* const adX )
{
    return adX + m_IStatePos;
}
 
//==================================================================================================
// FUNCTION NAME:       Velocity
//==================================================================================================
//
const double* CMass::Velocity( const double dT, const double* const adX )
{
    return adX + m_IStateVel;
}
 
 
#ifdef FH_VISUALIZATION
 
//==================================================================================================
// FUNCTION NAME:           RenderInit
//==================================================================================================
//
void CMass::RenderInit(Ogre::Root* const pOgreRoot, ISimObjectCreator* const pCreator)
{
    m_pSceneMgr         = pOgreRoot->getSceneManager("main");
    m_pRenderNode   = m_pSceneMgr->getRootSceneNode()->createChildSceneNode( m_SimObjectName + "FollowNode" );
 
 
    m_pRenderEntity = m_pSceneMgr->createEntity( m_SimObjectName + "Entity",  m_sMeshName);
    m_pRenderEntity->setMaterialName(m_sMaterial);
    m_pRenderNode->attachObject( m_pRenderEntity );
    m_pRenderNode->scale(m_dScale,m_dScale,m_dScale);
}
 
//==================================================================================================
// FUNCTION NAME:           RenderUpdate
//==================================================================================================
//
void CMass::RenderUpdate(const double T, const double* const X)
{
    m_pRenderNode->setPosition(
            Ogre::Vector3(X[m_IStatePos + 0],X[m_IStatePos + 1],X[m_IStatePos + 2]));
}
 
#endif