MooringCable.h

#pragma once
#include "ITrawlCable.h"
 
#include <fhsim/simobject/SimObject.h>
 
 
#ifdef FH_VISUALIZATION
#   include "sfh/ogre/C3DLine.h"
#endif
 
 
class MooringCable : public SimObject
{
public:
   MooringCable(const std::string& simObjectName, ISimObjectCreator* const creator);
   ~MooringCable();
   void OdeFcn(const double T, const double* const X, double* const XDot) const;
   void InitialConditionSetup(const double T, const double* const currentIC, double* const updatedIC, ISimObjectCreator* const creator);
   void FinalSetup(const double T, const double* const X, ISimObjectCreator* const creator);
 
   const double* posBuoy(const double T, const double* const X);
 
#ifdef FH_VISUALIZATION
   void RenderInit(Ogre::Root* const ogreRoot, ISimObjectCreator* const creator);
   void RenderUpdate(const double T, const double* const X);
#endif
 
protected:
   struct element
   {
      int p;
      int q;
      int v;
      int w;
      int n;
   };
   std::vector<element> m_CableElements;
 
   void ValidateSegmentElementCounts(double topChainLength, double bottomChainLength, ISimObjectCreator* creator) const;
   void DistributeCatenary(CoRiBoDynamics::vec3 P1, CoRiBoDynamics::vec3 P2, /*std::vector<element> elements, double L,*/ double* states, /*int i1, int i2,*/ ISimObjectCreator* creator);
 
 
   ICommonComputation* m_MainCalculations;
   void                MainCalculations(const double T, const double* const X);
   void                MainCalculationsCommon(const double T, const double* const X) const;
 
   const double* ForceA(const double T, const double* const X);
   const double* ForceB(const double T, const double* const X);
   double        m_ForceA[3];
   double        m_ForceB[3];
   int           m_indexA;
   int           m_indexB;
 
   int    m_bouyElement;
   double m_bouyElementDistance;
 
   CoRiBoDynamics::TrawlCableCollisionManager* m_collisionManager;
 
   ISignalPort* m_PosA;
   ISignalPort* m_PosB;
   ISignalPort* m_VelA;
   ISignalPort* m_VelB;
 
   double m_TotalLength;
   double m_ElementLength;
 
   int m_Num;
   int m_TopChainNum;
   int m_MidRopeNum;
   int m_BottomChainNum;
 
   double m_frequencyCoefficient;
   double m_TopChainDiameter;
   double m_MidRopeDiameter;
   double m_BottomChainDiameter;
 
 
   ITrawlCable*                               m_TrawlCable;
   CoRiBoDynamics::TrawlCableJointConstraint* m_JointConstraint;
 
#ifdef FH_VISUALIZATION
   // Every pointer below is assigned in RenderInit only, which a headless run never calls.
   bool              m_HQ_Render;
   Ogre::SceneNode** m_CableNodes      = nullptr;
   Ogre::SceneNode*  m_SafetyZoneNode  = nullptr;
   C3DLine*          m_CableLine       = nullptr;
   C3DLine*          m_TopCableLine    = nullptr;
   C3DLine*          m_BottomCableLine = nullptr;
#endif
};