NetStructureArray.h

#pragma once
#include "CommonTypes.h"
 
// Includes
#include <string>
#include <utility>
#include <vector>
 
 
#include "NetBottomContactFilter.h"
#include "NetCableElement.h"
#include "NetElementDef.h"
#include "NormalForceCalc.h"
 
#include <fhsim/InputReader.h>
#include <fhsim/simobject/SimObject.h>
#include <fhsim_environment/EnvironmentProvider.h>
 
#ifdef FH_VISUALIZATION
#   include <sfh/ogre/NMeshGenerators.h>
#endif
 
// Class definition
class NetStructureArray : public SimObject
{
public:
   NetStructureArray(std::string simObjectName, ISimObjectCreator* creator);
   virtual ~NetStructureArray();
   virtual void OdeFcn(const double dT, const double* const adX, double* const adXDot) const;
   virtual void InitialConditionSetup(const double dT, const double* const adCurrentIC, double* const adUpdatedIC, ISimObjectCreator* const creator);
   virtual void FinalSetup(const double dT, const double* const adX, ISimObjectCreator* const creator);
#ifdef FH_VISUALIZATION
   virtual void RenderInit(Ogre::Root* const ogreRoot, ISimObjectCreator* const creator);
   virtual void RenderUpdate(const double dT, const double* const adX);
#endif
 
   void                  SetAddedDragPerMPS(double AddedDragPerMPS);
   virtual const double* NumExternalPos(const double dT, const double* const adX);
   virtual const double* NodePos(const double dT, const double* const adX, int extNode);
   virtual const double* NodeVel(const double dT, const double* const adX, int extNode);
   virtual const double* BottomContact(const double dT, const double* const adX);
 
protected:
   virtual void   CalcStateDerivatives(const double* const adX, double* const adXDot) const;
   virtual void   AddExternalForces(const double dT, const double* const adX) const;
   virtual void   DeleteAllNodeForces() const;
   virtual void   ReadInputFile(ISimObjectCreator* creator);
   virtual void   AddNetForces(const double dT, const double* const adX) const;
   virtual void   AddCableForces(const double dT, const double* const adX) const;
   void           FindNodesToDivide(int nodesToDivide[2], double* length, double* lengthFactor);
   void           RefineMesh();
   void           CheckNodeNumber(int nodeNumber, ISimObjectCreator* const creator, std::string nodeDescription = "");
   void           CheckNodes(ISimObjectCreator* creator);
   unsigned short AddCalcNode(int aiNodes[2]);
   virtual double AddNodeBottomForce(const double* const adX, int node, double diam, double adForceInOut[3]) const;
   virtual void   AddBottomForces(const double* const adX) const;
   virtual void   AddInputPorts(ISimObjectCreator* creator);
 
   mutable sfh::timers::StopWatch m_OdeTimer;
 
   // Node indices
   int m_numNodeInputsUsed;  
   int m_numNodeOutputsUsed; 
 
   int*  m_iExternalConn; 
   long* m_externalNodes; 
 
   // Input ports
   ISignalPort** m_inExternalForces; 
 
   // Output ports
   double m_numExternalPos; 
 
   // States
   int* m_iStatePos; 
   int* m_iStateVel; 
 
   // Calculation variables
   int                           m_numPanelsCalc;    
   int                           m_numPanelsGlobal;  
   int                           m_numCablesCalc;    
   int                           m_numCablesGlobal;  
   int                           m_numNodesOriginal; 
   int                           m_numNodesCalc;     
   double                        m_fluidRho;         
   std::vector<NetElementDef>    m_VSPanelData;      
   std::vector<NetCableElement*> m_VCableElements;   
   NetBottomContactFilter        m_BottomContactFilter;
   double                        m_bottomContact[6];
   // Variables for controlling the calculation mesh refinement.
   double                            m_maxSideLengthFactor; 
   double                            m_minSideLength;       
   int                               m_maxNumNodes;         
   int                               m_maxNumPanels;        
   int                               m_maxNumCables;        
   double                            m_scale;               
   NetCableElement**                 m_cableElements;       
   double*                           m_inertia;             
   double*                           m_nodeForce;           
   std::string                       m_netName;             
   environment::EnvironmentProvider* m_environment;         
                                                            // Net element properties.
   int* m_netConn;
   // Cable properties.
   int** m_aaiCableConn;
   // Variables controlling the simulation performance and adaptation.
   double m_maxStepLength;    
   double m_adaptationPeriod; 
   double m_stepSafetyFactor; 
   double m_minCableLength;   
   double m_meanCableTension; 
   double m_maxCableTension;  
   double m_massFactor;       
   double m_maxAcceleration;  
   double m_maxVelocity;      
   double m_addedDragPerMPS;  
 
   int          m_numNodeOutputs;
   VSPairStrInt m_VsNodesOutput;    
   VSPairStrInt m_VsNodesInput;     
   VSPairStrInt m_VsNodesAvailable; 
 
   bool m_useTagForExternalNodes;
   int  CreateExternalNodeMap(VSPairStrInt& VsNodes, std::string tag, ISimObjectCreator* creator);
   void CreateNetPanels(ISimObjectCreator* creator);
   void CreateNetCables(ISimObjectCreator* creator);
   void CreateDataStructures();
   void CreateOutputPorts(ISimObjectCreator* creator);
 
 
   // Net element data structures
   // double*       m_netElementNodeForces;
   double* adNodesDistMesh;
   double* adMesdDet;
   double* adEATwine;
   double* adMeshBarLength_unstretched;
   double* adKnotDiameter;
   double* adKnotMomStiff_contact;
   double* adKKnot;
   double* adTwineDragNormal;
   double* adTwineDiameter;
   double* adElementWaterVel;
   double* adDampingCoeff;
   double* adElementNodeWeight;
 
   void PRINTALLNODEFORCES(std::string spec, double dT);
};