NetStructure.h

#pragma once
 
#include <limits>
#include <vector>
#include "CommonTypes.h"
 
// #define CNetStructure_DO_PROFILE
 
// Includes
#include "NetCableElement.h"
#include "NetCableElementSpec.h"
#include "NetCore.h"
#include "NetElement3N.h"
#include "NetElementDef.h"
#include "NetNodeStates.h"
#include "NetStructureSpec.h"
 
#include "sfh/math/math.h"
#include "sfh/timers/ProfilerWallclock.h"
 
#include <fhsim/simobject/SimObject.h>
#include <fhsim_environment/EnvironmentProvider.h>
#include <fhsim_environment/SeafloorForcesInterface.h>
#include <memory>
#include <string>
 
 
#ifdef FH_VISUALIZATION
#   include "sfh/ogre/C3DLine.h"
#   include "sfh/ogre/NMeshGenerators.h"
#endif
 
 
// Class definition
class NetStructure : public SimObject, private NetNodeStates
{
public:
   NetStructure(std::string simObjectName, ISimObjectCreator* creator);
   virtual ~NetStructure();
   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);
   void          PreOdeFcn(double T, const double* X) override;
   void          AcceptedStep(const double T, const double* const X) override;
   const double* outExternalNodeForce(const double dT, const double* const adX, int extNode);
 
 
   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;
   void OutputPortJacobian(const std::string& portName, double T, const double* X,
         double* dPort_dX, int portSize, int nStates, int index) override;
 
#ifdef FH_VISUALIZATION
   virtual void RenderInit(Ogre::Root* const ogreRoot, ISimObjectCreator* const creator);
   virtual void RenderUpdate(const double dT, const double* const adX);
#endif
   const virtual double* NodePos(const double dT, const double* const adX, int extNode);
   const virtual double* NodeVel(const double dT, const double* const adX, int extNode);
   const virtual double* BottomContact(const double dT, const double* const adX);
 
   const virtual double* StrainEnergy(const double dT, const double* const adX);
   const virtual double* VelNorm(const double dT, const double* const adX);
   double                m_velNorm;
 
   void SetAddedDragPerMPS(double AddedDragPerMPS);
 
protected:
 
   NetNodeLayout Layout() const override;
   void AddExternalForces(double T, const double* X, double* nodeForce) const override;
   void TakeNodeForces(double T, const double* X, const double* nodeForce, double* XDot) const override;
 
   bool           HasJacobianConfiguration() const;
   virtual void   AddInputPorts(ISimObjectCreator* creator);
   virtual void   CreateOutputPorts(ISimObjectCreator* creator);
   std::string    PosPortName(int extNode) const;
   std::string    VelPortName(int extNode) const;
   void           VelNormJacobian(const double* X, double* dPort_dX) const;
   void           StrainEnergyJacobian(const double* X, double* dPort_dX) const;
   VSPairStrInt   CreateExternalNodeMap(std::string tag, int* piUsed, const NetStructureSpec& NetSpec, ISimObjectCreator* creator);
 
   void ComputeCableStructuralJacobian(
         const NetCableElement* cable,
         const double pA[3], const double pB[3],
         const double vA[3], const double vB[3],
         double dFA_dpA[9], double dFA_dpB[9],
         double dFA_dvA[9], double dFA_dvB[9]) const;
 
   double m_StrainEnergy;
 
   std::unique_ptr<NetCore> m_core;
 
 
   ISignalPort** m_inExternalForces;
   int*          m_iStatePos;
   int*          m_iStateVel;
   int           m_iStateBase = 0; 
 
   int LocalIndex(int globalStateIndex) const { return globalStateIndex - m_iStateBase; }
   // double*           m_NodeExternalForces;
 
   int m_numNodesInputForce;
   int m_numNodesOutputPosAndVel;
 
 
 
   VSPairStrInt m_VsNodesOutputPosAndVel;
   VSPairStrInt m_VsNodesInputForce;
   bool         m_useTagForExternalNodes;
 
 
#ifdef CNetStructure_DO_PROFILE
   sfh::timers::ProfilerWallclock m_Profiler;
#endif
 
#ifdef FH_VISUALIZATION
   bool     m_lineVisualization;
   C3DLine* m_LineVisualizationPressure;
   C3DLine* m_LineVisualizationStrain;
#endif
 
private:
   void FillAnalyticalJacobian(double T, const double* X, double* J, int nStates);
   friend class NetStructureTestAccess;
};