SeafloorForces.h

#pragma once
#include "SeafloorForcesInterface.h"
 
#include <fhsim_environment/seabed/SeabedContact.h>
 
#include <atomic>
#include <functional>
#include <marenv/seafloor/BathymetryField.h>
#include <memory>
#include <string>
namespace environment
{
 
class SeafloorForces : public SeafloorForcesInterface
{
public:
   explicit SeafloorForces(std::shared_ptr<marenv::seafloor::BathymetryField> bathymetrybroker);
 
   using WarningSink = std::function<void(const std::string&)>;
 
   SeafloorForces(std::shared_ptr<marenv::seafloor::BathymetryField> bathymetrybroker, WarningSink warn);
   seabed::ContactLoad<double> Sphere(const seabed::Sphere& sphere, const double pos[3], const double vel[3]) override;
   seabed::NodePairLoad<double> CableElement(double diameter, const double posA[3], const double posB[3], const double velA[3], const double velB[3]) override;
   seabed::ContactLoad<double> RigidCylinder(const seabed::Cylinder& cylinder, const seabed::RigidMotion<double>& motion) override;
   seabed::ContactLoad<double> Plate(const seabed::Polygon& polygon, const seabed::RigidMotion<double>& motion) override;
   seabed::ContactLoad<double> TrawlDoor(const seabed::TrawlDoorShape& door, const seabed::RigidMotion<double>& motion) override;
   seabed::ContactLoad<double> AnchorShank(const seabed::AnchorShank& shank, const seabed::RigidMotion<double>& motion) override;
 
private:
   template<class Law>
   auto Evaluate(const double pos[3], const Law& law);
 
   void WarnOnceNoSeabedDepth(const double pos[3], marenv::Status status);
 
   seabed::SeabedModel m_model; 
   WarningSink         m_warn;
   std::atomic<bool>   m_warned{false}; 
 
   std::shared_ptr<marenv::seafloor::BathymetryField> m_bathymetry;
};
 
} // namespace environment