Sphere.h

#ifndef CSphere_h__
#define CSphere_h__
 
#include "SphereBase.h"
 
#include <fhsim/simobject/SimObject.h>
#include <fhsim_environment/EnvironmentProvider.h>
 
class Sphere : public SimObject
{
 
public:
   Sphere(std::string SimObjectName, ISimObjectCreator* Creator);
   void          OdeFcn(const double T, const double* const X, double* const XDot) const;
   void          FinalSetup(const double T, const double* const X, ISimObjectCreator* const Creator);
   const double* Position(const double T, const double* const X);
   const double* Velocity(const double T, const double* const X);
 
   bool HasJacobians() const override;
   void OdeJacobian(double T, const double* X, double* J, int nStates) override;
   int  GetJacobianSparsity(int nStates, int* rowPtr, int* colIdx) override;
 
private:
   ISignalPort* m_IForce;
 
   int m_PosIdx;
   int m_VelIdx;
 
   double m_sphereD;         
   double m_sphereMass;      
   double m_dragCoeffSphere; 
   double m_Rho;
   double m_cableD;
   double m_lift;
 
   environment::EnvironmentProvider* m_Environment;
 
#ifdef FH_VISUALIZATION
public:
   void RenderInit(Ogre::Root* const ogreRoot, ISimObjectCreator* const creator);
   void RenderUpdate(const double dT, const double* const adX);
 
private:
   Ogre::SceneNode* m_Node;
   Ogre::Entity*    m_Entity;
   Ogre::String     m_Material;
   std::string      m_SphereMesh;
#endif
};
#endif // CSphere_h__