CTrawlDoor_base.h

#ifndef CTrawlDoor_base_H
#define CTrawlDoor_base_H
 
#include <string>
#include <math.h>
 
#include <SimObject.h>
#include "sfh/sim/kinematics.h"
 
#include <EnvironmentProvider.h>
 
 
 
#ifdef FH_VISUALIZATION
#include "OgreParticleSystem.h"
#ifdef USE_BILLBOARD_LABELS
#include "sfh/ogre/CMovableText.h"
#endif
#endif
 
//#define TD_AR 1.45
//#define TD_C_X 0.11
//#define TD_C_Z 0.22
//#define TD_OUT_OF_BOUND_COEFF {0.2, 1.2, 0.4, 1.0, 1.0, 1.0}
 
class CTrawlDoor_base : public SimObject
{
public:
    CTrawlDoor_base(std::string sSimObjectName, ISimObjectCreator* pCreator);
 
    virtual void OdeFcn(const double dT, const double* const adX, double* const adXDot, const bool bIsMajorTimeStep);
 
 
#ifdef FH_VISUALIZATION
    virtual void            RenderInit(Ogre::Root* const pOgreRoot, ISimObjectCreator* const pCreator);
 
    virtual void            RenderUpdate(const double dT, const double* const adX);
#endif
 
protected:
    virtual void TD_HydroForces(const double pRelVel[], double *pAlpha, double *pBeta, double *pU, double pForceSS[]);
    //virtual void TD_AngularDamping(double rho, double TD_ARea, const double pRelVel[], double pAngDamp[]);
    virtual void TD_HydroForces_SS(double TD_Area, double rho, const double pRelVel[], double alpha, double beta, double U, double* pCoeffSS, double* pForceSS);
    virtual void TD_HydroCoeff_SS(double alpha, double beta, double pCoeffSS[]);
    virtual void TD_vel2HydroAng(const double pRelVel[], double* pAlpha, double* pBeta, double* pU);
    virtual void AddExternalForces(double dT, const double* const adX);
    virtual void AddInternalForces();
    virtual void AddHydroForces();
    virtual void AddDampingForces();
    virtual void AddBottomForces(){};
    virtual void CalcDerivatives(double dT, double* const adXDot, const double* const adX);
    virtual void CalcFoundation(const double dT, const double* const adX, double* const adXDot, bool bIsMajorTimeStep);
    virtual void AddExternalForce(const double adPos_d[3], const double adForceExternal_n[3]);
    virtual void CalcOutput(const double dT, const double* const adX);
    void FinalSetup(const double dT, const double *const adX, ISimObjectCreator* const pCreator);
    // Geometry and properties
    bool            m_bIsPort;          
    double          m_adCOG[3];         
    double          m_dArea;            
    double          m_dHeight;
    double          m_dLength;
    double          m_dAR;
    double          m_dCurvature;
    double          m_dMass;            
    double          m_dMassInverse[6][6];
    double          m_mdCornerPos_body[4][3];
    double          m_dRhoDoor;     
 
    // Hydrodynamic forces
    double          m_adOutOfBoundCoeff[6];
    double          m_adHydrodynamicCorrections[6];
 
    // Fastening points
    double          m_adWarpPos_d[3];   
    double          m_adLBPos_d[3];     
    double          m_adUBPos_d[3];     
 
    // External
    double          m_dRhoWater;        
    double          m_adForce_warp[3];  
    double          m_adForce_LB[3];    
    double          m_adForce_UB[3];    
    double          m_adWaterVel_n[3];  
    ICommonComputation* m_pCommonCalc;          
 
        environment::EnvironmentProvider*   m_pEnvironment;
 
    // Input ports
    ISignalPort*        m_pInWarp_F;                
    ISignalPort*        m_pInLB_F;                  
    ISignalPort*        m_pInUB_F;                  
 
    // Output ports
    const double* OutPos1(const double dT, const double* const adX);
    const double* OutPos3(const double dT, const double* const adX);
    const double* OutPos2(const double dT, const double* const adX);
    const double* OutVel1(const double dT, const double* const adX);
    const double* OutVel3(const double dT, const double* const adX);
    const double* OutVel2(const double dT, const double* const adX);
 
    double m_adOutPos1[3];
    double m_adOutPos3[3];
    double m_adOutPos2[3];
    double m_adOutVel1[3];
    double m_adOutVel3[3];
    double m_adOutVel2[3];
 
    unsigned long       m_IStatePos;        
    unsigned long       m_IStateQuater;     
    unsigned long       m_IStateLocalVel;   
    unsigned long       m_IStateOmega;      
    unsigned long       m_IStateHydroForce; 
 
    // For computational efficiency
    double ma_adSumForces[6];
    double ma_dAlpha;
    double ma_dBeta;
    double ma_dU;
 
    const double* ma_adXPos_n;
    const double* ma_adXQuater;
    const double* ma_adXVel_d;
    const double* ma_adXOmega;
 
    double ma_mdR[3][3];
    double ma_adXVel_n[3];
    double ma_adHydroForceSS[6];
    double ma_adRelVel_d[6];
    double ma_adWaterVel_d[3];
 
#ifdef FH_VISUALIZATION
    void BottomContactRenderInit();
    void RenderBottomContact(double depth, double m_aCornerPos_ned[4][3], double m_adSubmergence[4]);
    Ogre::ParticleSystem*   m_particleSystem;
    Ogre::SceneNode*        m_particleNode;
    Ogre::ParticleEmitter*  m_particleEmitter;
    Ogre::Vector3           m_visualizationScale;
 
    std::string         m_sMeshName;            
    double              m_dVisScale;
    double              m_dLengthScale;
    double              m_dHeightScale;
    double              m_dCurvatureScale;
    Ogre::Entity*       m_pRenderEntity;
    Ogre::SceneNode*    m_pRenderNode;
    Ogre::Quaternion    m_InitOrientation;
    Ogre::SceneManager* m_pSceneMgr;
 
#ifdef USE_BILLBOARD_LABELS
    Ogre::SceneNode*        m_BBRenderNode;
    Ogre::CMovableText*     m_BBTxt;
    double                  m_dBBTxtSize;
#endif
#endif
 
};
 
 
#endif