CollarChain.h

#pragma once
#include <Eigen/Eigen>
 
#include "SupergridCable.h"
#include "LineStructureGravityHydro.h"
 
 
 
 
class CollarChain : public CoRiBoDynamics::Structures::PointRetractableCable {
public:
    CollarChain(CoRiBoDynamics::ConstraintSolver* solver, ISimObjectCreator* creator, double beta, string name);
 
    void setEnvironment(environment::EnvironmentProvider*e) { env_wrapper = EnvironmentWrapper(e); }
 
    virtual void ComputeConstraints(const double T, const double * const X);
 
protected:
    static int GetElementNum(ISimObjectCreator* creator);
 
    class EnvironmentWrapper : public CoRiBoDynamics::Environment_Interface
    {
    public:
        EnvironmentWrapper(environment::EnvironmentProvider* environment) { m_environment = environment; }
 
        Eigen::Vector3d Current(double T, const double* X, const double* Position) {
                   Eigen::Vector3d C;
                   m_environment->GetCurrentVelocity(T, Position, C.data());
                   return C; }
        double OceanSurfaceElevation(double T, const double* X, const double* Position) {
                   double elev;
                   m_environment->GetSurfaceElevation(T, Position, elev);
                   return elev;
                   }
 
        void CurrentQuery(double T, const double* X, const Eigen::Vector3d& Position, Eigen::Vector3d& current, double& surface_elevation, double& density) {
                   marenv::Environment::EnvironmentQuery result;
                   m_environment->PointEnvironmentQuery(T, Position.data(), result);
                   current = Eigen::Vector3d(result.current_velocity);
                   surface_elevation = result.surface_elevation;
                   density = result.density;
                }
 
        double SeaDepth(const double* Position) {
                   double ret;
                   m_environment->GetSeaDepth(Position, ret);
                   return ret;
                }
 
    private:
        environment::EnvironmentProvider* m_environment;
    };
    EnvironmentWrapper env_wrapper;
};