RigidBarCable.h

#pragma once
 
#include <string>
#include <fhsim/simobject/SimObject.h>
#ifdef FH_VISUALIZATION
#include "sfh/ogre/CDynamicLines.h"
#endif
#include <limits>
 
#include "subroutines/RBCEngine.h"
 
 
//Class definition
class RigidBarCable : public SimObject
{
public:
    RigidBarCable(std::string simObjectName, ISimObjectCreator* creator);
 
 
    ~RigidBarCable();
 
#ifdef FH_VISUALIZATION
    void RenderInit(Ogre::Root* const ogreRoot, ISimObjectCreator* const creator);
 
    void RenderUpdate(const double T, const double* const X);
#endif
 
    // Member functions
    void OdeFcn(const double T, const double* const X,
            double* const XDot) const;
 
    // Output port
    const double* const ForceA(const double T, const double* const X);
    const double* const ForceB(const double T, const double* const X);
    const double* const PosR(const double T, const double* const X,
                 const int index);
    const double* const VelR(const double T, const double* const X,
                 const int index);
 
protected:
    void InitialConditionSetup(const double T,
                   const double *const currentIC,
                   double* const updatedIC,
                   ISimObjectCreator* const  creator);
 
 
 
 protected:
     // States
    int m_ISVecR;
    int m_ISVecRdot;
    int m_ISVecB;
    int m_ISVecBdot;
    int m_ISEndNodeSum;
 
#ifdef FH_VISUALIZATION
    Ogre::Entity*    m_RenderSpring;
    Ogre::SceneNode* m_RenderNode;  
    int          m_numPoints;   
    CDynamicLines*   m_lines;       
#endif
 
 private:
    // Input port
    ISignalPort* m_PosA;
    ISignalPort* m_VelA;
    ISignalPort* m_PosB;
    ISignalPort* m_VelB;
    ISignalPort **m_forceBa;
    ISignalPort **m_forceBb;
 
    RBCEngine *m_engine;
 
    double *m_forceOutA;
    double *m_forceOutB;
    double *m_posROut;
    double *m_velROut;
 
    int m_NofBarElements;
};