NetElement3NWithConstraints.h

 
 
#ifndef C_NET_ELEMENT_3N_WITH_CONSTRAINTS
#define C_NET_ELEMENT_3N_WITH_CONSTRAINTS
 
#include <math.h>
#include "NetElementDef.h"
#include "NetElement3NForces.h"
#include <fhsim_environment/hydrodynamics/NetSolidity.h>
#include <fhsim/PrintDuringExec.h>
 
#ifdef FH_VISUALIZATION
//#define USE_DYNAMIC_LINES
#ifdef USE_DYNAMIC_LINES
    #include "sfh/ogre/CDynamicLines.h"
#else
    #include "sfh/ogre/C3DLine.h"
#endif
#endif
 
//#define RENDER_OUTLINE
#define RENDER_MESH
//#define ATTACH_SPHERE
//#define RENDER_MATERIAL
//#define FILTER_FORCES
//#define NetElement3NWithConstraints_TRANSPARENT
 
class CDynamicLines; // forward declaration
 
class NetElement3NWithConstraints
{
public:
    NetElement3NWithConstraints(
        const std::string       netName,
        const unsigned long     iID,
        const NetElementDef*    netPanel,
        const double            dRho_water,
        const double            knotDiameter,
        const net_solidity::PanelSolidity& solidity);
 
    ~NetElement3NWithConstraints(void);
 
    // Owns raw buffers (freed in the destructor), so it must not be copied (MARE-0318).
    NetElement3NWithConstraints(const NetElement3NWithConstraints&) = delete;
    NetElement3NWithConstraints& operator=(const NetElement3NWithConstraints&) = delete;
 
    void AddNodeForces(const hydrodynamics::PanelLoadLaw& law, const hydrodynamics::Fluid& fluid,
        const double* const posA_ned, const double* const posB_ned, const double* const posC_ned,
        const double* const velA_ned, const double* const velB_ned, const double* const velC_ned,
        const double* const waterVel_ned,
        double* const nodeAforce_ned, double* const nodeBforce_ned, double* const nodeCforce_ned,
        const hydrodynamics::PanelClampLog* clampLog = nullptr) const;
 
    hydrodynamics::PanelLoad<double> EvaluatePanelLoad(const hydrodynamics::PanelLoadLaw& law, const hydrodynamics::Fluid& fluid,
        const double* const posA_ned, const double* const posB_ned, const double* const posC_ned,
        const double elementVel[3], const double waterVel_ned[3], double& area) const;
 
    bool HasBarDirections() const { return m_meshDet != 0; }
 
    double Solidity(const double* const posA_ned, const double* const posB_ned, const double* const posC_ned) const;
 
    double WakeSolidity(const double* const posA_ned, const double* const posB_ned, const double* const posC_ned) const;
 
    double CalcNodeInertia(int node);
 
    double GetNumberOfTwineLengthsU();
 
    double GetTwineDiameter();
 
#ifdef FH_VISUALIZATION
    void RenderInit(Ogre::Root* ogreRoot);
 
    void RenderUpdate( const double* const adPosA, const double* const adPosB, 
        const double* const adPosC );
#endif
 
 
private:
    void FillPanelForceParams();
 
    //****NEW STUFF FOR WAKE EFFECT INCLUSION****//
 
    void SortPanelNodes(int index, const double * aadNodes[3], double adNodePosA_mesh[2], double adNodePosB_mesh[2], double adNodePosC_mesh[2], unsigned short* aiSort);
    void FindTwineCrossings(unsigned short index, unsigned short kiNumMeshPerLine, double* CoeffA, double* CoeffB, const double* aadNodes[3]);
 
    //****END NEW STUFF FOR WAKE EFFECT INCLUSION****//
 
    // Input 
    unsigned long  m_iD;                    
    std::string m_netName;              
    double m_nodeInertia[3];            
    //double m_rho_water;                   ///< Density of water.
    //double m_rho_twines;              ///< Material density of twines.
    //double m_EModulus;                    ///< E-modulus of twine material.
    double m_barD;                  
    double m_knotD;             
    double m_barL0;                 
    double m_nodeAPos_mesh[2];          
    double m_nodeBPos_mesh[2];          
    double m_nodeCPos_mesh[2];          
 
    // Calculated element properties
    //double m_twineCrossSecArea;           ///< The cross sectional area of each twine.
    double m_nodesDistAB_mesh[2];       
    double m_nodesDistAC_mesh[2];       
    double m_nodesDistBC_mesh[2];       
    double m_meshDet;                   
    double m_numMeshes;                 
    double m_numUBars;                  
    double m_numVBars;                  
    double m_numKnots;                  
    double m_weight;                    
    double m_NodeWeight;                
 
    net_solidity::PanelSolidity m_solidity;             
    net_element_forces::PanelParams m_panelForceParams; 
    double m_nodeAforce_ned[3];         
    double m_nodeBforce_ned[3];         
    double m_nodeCforce_ned[3];         
#ifdef FILTER_FORCES
    double m_nodeAforce_ned_last[3];            
    double m_nodeBforce_ned_last[3];            
    double m_nodeCforce_ned_last[3];            
#endif
 
#ifdef FH_VISUALIZATION
    // Visualization specifics
    Ogre::Root*             m_ogreRoot;                 
    Ogre::SceneManager*     m_sceneMgr;                 
    Ogre::Entity*           m_renderElement[3];         
    Ogre::Entity*           m_renderSphere[3];
    Ogre::SceneNode*        m_renderNodeMesh;           
    Ogre::SceneNode*        m_renderNodeSphere[3];      
    Ogre::SceneNode*        m_renderNodeOutline;        
    Ogre::SceneNode*        m_renderNodeMaterial;       
#ifdef USE_DYNAMIC_LINES
    CDynamicLines*          m_lines = nullptr;                  
#else
    C3DLine*                m_lines = nullptr;                  
#endif
    CDynamicLines*          m_lineOutline;              
    Ogre::ManualObject *    m_netRenderObj;             
 
    // Visualization variables
    unsigned short*         m_sortU = nullptr;                  
    unsigned short*         m_sortV = nullptr;                  
    unsigned long               m_numTwines;                
    unsigned long               m_numUTwines;               
    unsigned long               m_numVTwines;               
    double*                 m_interpCoeffAu = nullptr;          
    double*                 m_interpCoeffAv = nullptr;          
    double*                 m_interpCoeffBu = nullptr;          
    double*                 m_interpCoeffBv = nullptr;          
#endif
 
};
 
 
#endif