SeafloorForces.h

#pragma once
#include "SeafloorForcesInterface.h"
 
#include <marenv/seafloor/BathymetryField.h>
#include <memory>
namespace environment
{
 
class SeafloorForces : public SeafloorForcesInterface
{
public:
   explicit SeafloorForces(std::shared_ptr<marenv::seafloor::BathymetryField> bathymetrybroker);
   void SetDampingHor(double dDampingHor);
   void SetDampingVert(double dDampingVert);
   void SetHardness(double dHardness);
   void SetDensity(double dDensity);
   void SetCableDampingTangential(double dCableDampingTangential);
   void SetCableDampingNormal(double dCableDampingNormal);
   void SetContactDampingRatio(double ratio);
   double GetContactDampingRatio() const;
   double GetDampingHor();
   double GetDampingVert();
   double GetHardness();
   double GetDensity();
   double GetCableDampingTangential();
   double GetCableDampingNormal();
   double GetSubmergence(const double pos[3]) override;
   double GetSubmergence(const double pos[2], const double objectDepth) override;
   void   CalcBottomForceSphere(double diameter, const double pos[3], const double vel[3], double forceOut[3]) override;
   void   CalcBottomForceBeam(double tangent[3], double beamWidth, double beamLength, double beamHeight, const double endAPos_ned[3], const double endBPos_ned[3], const double endAVel_ned[3], const double endBVel_ned[3], double forceOutA[3], double forceOutB[3]) override;
   void   CalcBottomForceBeam(double beamWidth, double beamHeight, const double endAPos_ned[3], const double endBPos_ned[3], const double endAVel_ned[3], const double endBVel_ned[3], double forceOutA[3], double forceOutB[3]) override;
   void   AddBottomForceCylinder(const double diameter, const double endAPos_ned[3], const double endBPos_ned[3], const double endAVel_ned[3], const double endBVel_ned[3], double forceOutA[3], double forceOutB[3]) override;
   void   CoulombNonDirectionalForce(const double pos[3], const double vel[3], double frictionCoeff, double verticalStiffness, double speedFullCoulomb, double touchDistance, double forceOut[3]) override;
 
private:
   void CalcBottomForceBeam(double tangent[3], double beamWidth, double beamLength, double beamHeight, double submergenceA, double submergenceB, const double endAVel_ned[3], const double endBVel_ned[3], double forceOutsA[3], double forceOutsB[3]);
 
   void AddBottomForceCylinderNode(const double submergence, const double diameter, const double dL, const double tangent[3], const double endPos_ned[3], const double endVel_ned[3], double forceOut[3]);
 
   void CalcBottomForceSphere(double diameter, double submergence, const double vel[3], double forceOut[3]);
 
   double m_dSeaFloorDampingHor;         
   double m_dSeaFloorDampingVert;        
   double m_dSeaFloorHardness;           
   double m_dSeaFloorDensity;            
   double m_dCableDampingTangential;     
   double m_dCableDampingNormal;         
   double m_contactDampingRatio;         
 
   std::shared_ptr<marenv::seafloor::BathymetryField> m_bathymetry;
};
 
} // namespace environment