RBCable.h

#pragma once
#include <fhsim/simobject/SimObject.h>
#ifdef FH_VISUALIZATION
#   include "sfh/ogre/C3DLine.h"
#endif
 
 
namespace RbCable
{
class RBCable : public SimObject
{
public:
   RBCable(const std::string& simObjectName, ISimObjectCreator* const creator); 
   ~RBCable();
   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);
 
   const double* const totalLength(const double T, const double* const X);
   const double*       forceA(const double T, const double* const X);
   const double*       forceB(const double T, const double* const X);
   void                calculations(const double T, const double* const X);
   void                calculationsCommon(const double T, const double* const X) const;
 
#ifdef FH_VISUALIZATION
   void RenderInit(Ogre::Root* const ogreRoot, ISimObjectCreator* const creator);
   void RenderUpdate(const double T, const double* const X);
#endif
 
protected:
   int  m_numElements;
   int* m_pos;
   int* m_vel;
 
   double m_length;
   double m_alpha;
   double m_beta;
   double m_epsilon;
   double m_bendingStiffness;
   double m_linearDamping;
   int    counter;
 
   double m_totalLength;
   double m_kineticEnergy;
 
   ISignalPort* m_posA;
   ISignalPort* m_posB;
   ISignalPort* m_velA;
   ISignalPort* m_velB;
 
   ICommonComputation* m_calcDynamics;
   double*             m_lambda;
   double*             m_accel;
 
   double m_forceA[3];
   double m_forceB[3];
 
#ifdef FH_VISUALIZATION
   C3DLine* m_line; 
#endif
};
} // namespace RbCable