CenterWeight.h

#pragma once
 
#include <fhsim/simobject/SimObject.h>
#include <fhsim_environment/BodyFlowInteraction.h>
#include <fhsim_environment/EnvironmentProvider.h>
#include <fhsim_environment/SeafloorForcesInterface.h>
#include <fhsim_environment/hydrodynamics/SphereHydro.h>
#include <optional>
 
class CenterWeight : public SimObject
{
public:
   CenterWeight(std::string simObjectName, ISimObjectCreator* creator);
 
   virtual void OdeFcn(const double dT, const double* const adX,
         double* const adXDot) 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;
   bool HasPortJacobians() const override;
   void InputPortJacobian(const std::string& portName, double T, const double* X,
         double* dF_dInput, int portSize, int nStates) override;
#ifdef FH_VISUALIZATION
   void RenderInit(Ogre::Root* const ogreRoot, ISimObjectCreator* const creator);
   void RenderUpdate(const double T, const double* const X);
#endif
   void FinalSetup(const double dT, const double* const adX, ISimObjectCreator* const creator);
   void                  PreOdeFcn(double T, const double* X) override;
   virtual const double* Position(const double dT, const double* const adX);
   virtual const double* Velocity(const double dT, const double* const adX);
 
protected:
   void waterVelocity(double T, const double* X, double velocity[3]) const;
 
   ISignalPort* m_inForce1;  
   ISignalPort* m_inForce2;  
   ISignalPort* m_inForce3;  
   int          m_IStatePos; 
   int          m_IStateVel; 
 
   double m_mass;
   double m_density;
   double m_visualizationScale;
   double m_radius;
   double m_weight;
   double m_rhoWater; 
 
   environment::sphere_hydro::Sphere                      m_sphere; 
   std::optional<environment::sphere_hydro::SphereCaster> m_caster; 
   environment::wake::BodyFlowInteraction                 m_flow;   
 
   environment::SeafloorForcesInterface* m_seafloor;
   mutable bool                          m_inBottomContact = false; 
 
#ifdef FH_VISUALIZATION
   std::string         m_material;     
   std::string         m_meshName;     
   double              m_scale;        
   Ogre::Entity*       m_renderEntity; 
   Ogre::SceneNode*    m_renderNode;   
   Ogre::SceneManager* m_sceneMgr;     
#endif
};