TestWakeBody.h

#pragma once
 
#include <fhsim/simobject/SimObject.h>
#include <fhsim_environment/BodyWake.h>
#include <fhsim_environment/hydrodynamics/SphereHydro.h>
#include <memory>
#include <optional>
#include <string>
 
namespace testmodels
{
 
class TestWakeBody : public SimObject
{
public:
   TestWakeBody(std::string SimObjectName, ISimObjectCreator* Creator);
   ~TestWakeBody() override;
 
   void FinalSetup(double T, const double* X, ISimObjectCreator* Creator) override;
 
   void PreOdeFcn(double T, const double* X, IStateUpdater* updater) override;
 
   void OdeFcn(double T, const double* X, double* XDot) const override;
 
   const double* Position(double T, const double* X);
   const double* WaterVelocity(double T, const double* X);
   const double* Force(double T, const double* X);
 
   const environment::wake::BodyWake* Wake() const { return m_wake.get(); }
 
#ifdef FH_VISUALIZATION
   void RenderInit(Ogre::Root* ogreRoot, ISimObjectCreator* creator) override { }
   void RenderUpdate(double T, const double* X) override { }
#endif
 
private:
   int                                                    m_positionIndex = 0;                  
   int                                                    m_velocityIndex = 0;                  
   environment::sphere_hydro::Sphere                      m_sphere;                             
   std::optional<environment::sphere_hydro::SphereCaster> m_caster;                             
   environment::wake::BodyWakeSettings                    m_wakeSettings;                       
   std::unique_ptr<environment::wake::BodyWake>           m_wake;                               
   double                                                 m_waterVelocity[3] = {0.0, 0.0, 0.0}; 
   double                                                 m_force[3]         = {0.0, 0.0, 0.0}; 
};
 
} // namespace testmodels