TestBuoy1.h

#pragma once
 
#include "fhsim_environment/EnvironmentProvider.h"
#include <SimObject.h>
 
namespace testmodels
{
 
class TestBuoy1 : public SimObject
{
 
public:
   TestBuoy1(std::string SimObjectName, ISimObjectCreator* Creator);
 
   void OdeFcn(const double T, const double* const X, double* const XDot, const bool MajorTimeStep);
 
   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);
 
private:
   int m_PosIdx;
   int m_VelIdx;
 
   double m_diameter;
   double m_mass;
   double m_dragCoeff;
   double m_rho;
 
   environment::EnvironmentProvider* m_environment;
   double m_gravityForce[3];
#ifdef FH_VISUALIZATION
public:
   virtual void RenderInit(Ogre::Root* const pOgreRoot, ISimObjectCreator* const pCreator);
 
   virtual 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
};
 
} // namespace testmodels