Ring.h

#pragma once
#include <Eigen/Eigen>
 
#include <fhsim/simobject/SimObject.h>
#include <fhsim_environment/EnvironmentProvider.h>
#ifdef FH_VISUALIZATION
#   include "sfh/ogre/C3DLine.h"
#endif
 
namespace RbCable
{
class Ring : public SimObject
{
public:
   Ring(const std::string& simObjectName, ISimObjectCreator* const creator); 
   ~Ring();
   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);
   void FinalSetup(const double T, const double* const X, ISimObjectCreator* const creator) override; 
 
 
   // virtual methods (to be overridden by subclasses)
   virtual void GetExternalForces(const double T, const double* const X, double* m_extlForce, int index); 
 
 
   //   const double* const point(const double T, const double* const X, const int index);
   void calculations(const double T, const double* const X);
   void calculationsCommon(const double T, const double* const X) const;
 
   virtual const double* outConnectorPos(const double T, const double* const X, const int index);
   virtual const double* outConnectorVel(const double T, const double* const X, const int index);
 
#ifdef FH_VISUALIZATION
   void RenderInit(Ogre::Root* const ogreRoot, ISimObjectCreator* const creator);
   void RenderUpdate(const double T, const double* const X);
#endif
 
protected:
   typedef Eigen::Matrix<double, 3, 3> mat3;
   typedef Eigen::Matrix<double, 3, 1> vec3;
 
   int    m_numElements;
   double m_totalLength;
   double m_radius;
   double m_weight;
   double m_length;
   double m_mass;
   double m_Ixy;
   double m_Iz;
   double m_C_isAddMassHack; // HACK! Added mass coefficient if hack is used. Set to 0 if it is not to be used. Increases mass in order to give pseudo effect of added mass.
   double m_AddMassHack;     // Added mass dictated by hack.
 
   double m_alphaN;
   double m_betaN;
   double m_epsilonN;
   double m_alphaM;
   double m_betaM;
   double m_epsilonM;
   double m_alphaT;
   double m_betaT;
   double m_epsilonT;
 
   double m_centrePosInit[3]; 
 
   // hydrodynamic parameters
   double m_rho;
   double m_rhoWater;
   environment::EnvironmentProvider* m_environment = nullptr; 
   double m_Ct;         // tangential damping coefficient
   double m_Cn;         // normal damping coefficient
   double m_buoyFactor; // Factor of volume contributing to buoyancy. Default 0.1 for bottom ring.
 
   // Connectors
   bool          m_additionalConnectors;  
   int           m_numConnectors;         
   int           m_ElementsPerConnector;  
   ISignalPort** m_iIForce;               
   double        m_extlForce[3];          
   double**      m_aadConnectorPos;       
   double**      m_aadConnectorVel;       
 
   double m_bending_epsilon[3];
 
   struct element
   {
      int    p;
      int    q;
      int    v;
      int    w;
      mat3   Mi;
      vec3   k;
      mat3   K;
      vec3   eDot;
      double nuDot;
   };
   element* m_el;
 
   /*   ISignalPort* m_posA;
           ISignalPort* m_posB;
           ISignalPort* m_velA;
           ISignalPort* m_velB;*/
 
   ICommonComputation*                      m_calcDynamics;
   Eigen::Matrix<double, Eigen::Dynamic, 1> m_lambda;
   Eigen::Matrix<double, Eigen::Dynamic, 1> m_F_MDotV; // external force F, minus Coriolis term dM/dt*V
   // double* m_lambda;
 
   double m_forceA[3];
   double m_forceB[3];
 
#ifdef FH_VISUALIZATION
 
   Ogre::SceneNode** m_ManualObjectNodes = nullptr; 
/*  Ogre::ManualObject* m_ManualObject;
        double m_scale;
        Ogre::SceneNode* m_ManualObjectNode;*/
#endif
};
} // namespace RbCable