Marine systems simulation
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CNetStructureWithConstraints.h
1#pragma once
2
9//#define CNetStructureWithConstraints_DO_PROFILE
10
11// Includes
12#include <string>
13#include <SimObject.h>
14#include <EnvironmentProvider.h>
15#include <SeafloorForcesInterface.h>
16
17#include "sfh/timers/ProfilerWallclock.h"
18#include <JointConstraint.h>
19
20#include "CNetElement3NWithConstraints.h"
21#include "CNetCableElementSpec.h"
22#include "CNetCableElementWithConstraints.h"
23#include "CNetElementDef.h"
24#include "CNetBottomContactFilter.h"
25#include "CNetStructureSpec.h"
26
27
28
29#ifdef FH_VISUALIZATION
30 #include "sfh/ogre/NMeshGenerators.h"
31 #include "sfh/ogre/C3DLine.h"
32 #include <CTextRenderer.h>
33#endif
34
35//Class definition
36class CNetStructureWithConstraints : public SimObject
37{
38public:
40 CNetStructureWithConstraints(std::string sSimObjectName, ISimObjectCreator *pCreator);
42 virtual ~CNetStructureWithConstraints();
43 virtual void OdeFcn(const double dT, const double *const adX, double *const adXDot, const bool bIsMajorTimeStep);
44 virtual void InitialConditionSetup(const double dT, const double *const adCurrentIC, double *const adUpdatedIC, ISimObjectCreator *const pCreator);
45 virtual void FinalSetup(const double dT, const double *const adX, ISimObjectCreator *const pCreator);
46 const double *const outExternalNodeForce(const double dT, const double *const adX, int iExtNode);
47
48#ifdef FH_VISUALIZATION
50 virtual void RenderInit(Ogre::Root *const pOgreRoot, ISimObjectCreator *const pCreator);
52 virtual void RenderUpdate(const double dT, const double *const adX);
53
54 void CreateCapsule( Ogre::ManualObject *capsule_manual);
55 C3DLine *myline;
56#endif
57 const virtual double *const NodePos(const double dT, const double *const adX, int iExtNode);
58 const virtual double *const NodeVel(const double dT, const double *const adX, int iExtNode);
59 const virtual double *const BottomContact(const double dT, const double *const adX);
60 void SetAddedDragPerMPS(double AddedDragPerMPS);
61 const virtual double *const NodeForce(const double dT, const double *const adX, int iExtNode); // NEW: added to test new approach where pos and vel for selected nodes are set by external objects
62protected:
63 virtual void CalcStateDerivatives(const double *const adX, double *const adXDot);
64 virtual void AddExternalForces(const double dT, const double *const adX);
65 virtual void AddNetForces(const double dT, const double *const adX);
66 virtual void AddCableForces(const double dT, const double *const adX);
67 virtual double AddNodeBottomForce(const double *const adX, int iNode, double dDiam, double adForceInOut[3]);
68 virtual void AddBottomForces(const double *const adX);
69 virtual void AddInputPorts(ISimObjectCreator *pCreator);
70 virtual void CreateNetPanels(std::vector<const CNetElementDef*> VNetElementDefs, ISimObjectCreator *pCreator);
71 virtual void CreateNetCables(std::vector<const CNetCableElementSpec*> VCableElements, ISimObjectCreator *pCreator);
72 virtual void CreateDataStructures();
73 virtual void CreateOutputPorts(ISimObjectCreator *pCreator);
74 VSPairStrInt CreateExternalNodeMap( std::string sTag, int* piUsed, CNetStructureSpec & NetSpec, ISimObjectCreator *pCreator);
75 void PRINTALLNODEFORCES(std::string spec, double dT);
76
77 void SetExternalPos(const double dT, const double *const adX); // NEW: added to test new approach where pos and vel for selected nodes are set by external objects
78 void SetExternalVel(const double dT, const double *const adX); // NEW: added to test new approach where pos and vel for selected nodes are set by external objects
79
81
82 //ISignalPort **m_apInExternalForces;
83 /*ISignalPort **m_InConstraintsPos; // NEW: added to test new approach where pos and vel for selected nodes are set by external objects
84 ISignalPort **m_InConstraintsVel; // NEW: added to test new approach where pos and vel for selected nodes are set by external objects*/
85 ISignalPort **m_InTopConstraintsPos;
86 ISignalPort **m_InTopConstraintsVel;
87 int *m_aIStatePos;
88 int *m_aIStateVel;
90 double* m_NodeExternalForces;
91 double* m_NodeConstraintsPos; // NEW: added to test new approach where pos and vel for selected nodes are set by external objects
92 double* m_NodeConstraintsVel; // NEW: added to test new approach where pos and vel for selected nodes are set by external objects
94
95 int m_iNumNodesInputForce;
96 int m_iNumNodesOutputPosAndVel;
97 int m_iNumPanelsCalc;
98 int m_iNumCablesCalc;
99 int m_iNumNodesOriginal;
100 int m_iNumNodesCalc;
101 int m_iNumNodeOutputs;
103
104 double* m_NodeInternalForces; // NEW: added to test new approach where pos and vel for selected nodes are set by external objects
105
106 int(* m_hasPosAndVelStates)[2]; // NEW: added to test new approach where pos and vel for selected nodes are set by external objects
107
108 int m_NumNodesInputPosAndVel; // NEW: added to test new approach where pos and vel for selected nodes are set by external objects
109 int m_NumNodesOutputForce; // NEW: added to test new approach where pos and vel for selected nodes are set by external objects
110
111 VSPairStrInt m_VsNodesInputPosAndVel; // NEW: added to test new approach where pos and vel for selected nodes are set by external objects
112 VSPairStrInt m_VsNodesOutputForce; // NEW: added to test new approach where pos and vel for selected nodes are set by external objects
113 //VSPairStrInt m_VsNodesTopConstraintsInputPos;
114
115
117
118 CNetBottomContactFilter m_BottomContactFilter;
119 double m_adBottomContact[6];
120
121 environment::EnvironmentProvider* m_pEnvironment;
122 environment::SeafloorForcesInterface *m_seafloor;
124
126
127 std::vector<CNetCableElementWithConstraints*> m_VpCableElements;
128 std::vector<CNetElement3NWithConstraints*> m_VpNetElements;
129 float* m_afInertia;
130 int* m_aiNetConn;
131 int** m_aaiCableConn;
132 SAdaptationSpec_t m_SAdaptations;
133 bool m_bFoldingPointRefinementUsed;
135
136
138
139 VSPairStrInt m_VsNodesOutputPosAndVel;
140 VSPairStrInt m_VsNodesInputForce;
141 bool m_bUseTagForExternalNodes;
143
144 double* m_adNodeForce;
145 sfh::timers::StopWatch m_OdeTimer;
146
147 bool m_CageWakeEffectsActive;
148
149 // CONSTRAINTS (NB LOTS OF HARD CODING HERE NOW)
150 CoRiBoDynamics::ConstraintSolver* m_constraintSolver;
151 struct states {int p; int q; int w; int v;};
152 std::vector<states> m_stateVector;
153 CoRiBoDynamics::JointConstraint* m_jointConstr;
154 // Coordinates for attachment of the constraints chains
155 double m_topPosition1[3];
156 double m_topVelocity1[3];
157 double m_topOrientation1[4];
158 double m_topangularVel1[3];
159 double m_topPosition2[3];
160 double m_topVelocity2[3];
161 double m_topOrientation2[4];
162
163 double m_topangularVel2[3];
164 double* m_nodeWeight;
165
166 double m_YoungsModulus;
167 int m_numConstraintsElements;
168 double m_depthOfConstraintsCable;
169#ifdef FH_VISUALIZATION
170 Ogre::SceneNode** m_pRenderNodes;
171 //Ogre::SceneNode* m_pRenderNode2; ///< The node to which the rendered entity is attached.
172#endif
173
174#ifdef CNetStructureWithConstraints_DO_PROFILE
175 sfh::timers::ProfilerWallclock m_Profiler;
176#endif
177
178
179};
CNetBottomContactFilter
Definition CNetBottomContactFilter.h:7
CNetStructureSpec
Definition CNetStructureSpec.h:38
CNetStructureWithConstraints
Definition CNetStructureWithConstraints.h:37
CNetStructureWithConstraints::m_BottomContactFilter
CNetBottomContactFilter m_BottomContactFilter
Environment.
Definition CNetStructureWithConstraints.h:118
CNetStructureWithConstraints::~CNetStructureWithConstraints
virtual ~CNetStructureWithConstraints()
The destructor deletes dynamically allocated memory.
CNetStructureWithConstraints::m_InTopConstraintsPos
ISignalPort ** m_InTopConstraintsPos
Interface member variables.
Definition CNetStructureWithConstraints.h:85
CNetStructureWithConstraints::m_VsNodesOutputPosAndVel
VSPairStrInt m_VsNodesOutputPosAndVel
Nodes reachable directly through input or output ports.
Definition CNetStructureWithConstraints.h:139
CNetStructureWithConstraints::CNetStructureWithConstraints
CNetStructureWithConstraints(std::string sSimObjectName, ISimObjectCreator *pCreator)
The constructor sets the pointer to the output object and the parser object.
CNetStructureWithConstraints::m_iNumNodesInputForce
int m_iNumNodesInputForce
Node counts.
Definition CNetStructureWithConstraints.h:95
CNetStructureWithConstraints::m_VpCableElements
std::vector< CNetCableElementWithConstraints * > m_VpCableElements
Element properties.
Definition CNetStructureWithConstraints.h:127
CoRiBoDynamics::ConstraintSolver
Definition ConstraintSolver.h:31
CoRiBoDynamics::JointConstraint
Definition JointConstraint.h:17
CNetStructureWithConstraints::states
Definition CNetStructureWithConstraints.h:151
SAdaptationSpec_t
Class containing the specification for a net object.
Definition CNetStructureSpec.h:22