ToTrawlDoor.h

#pragma once
 
#include "TrawlDoorBase.h"
 
#include <fhsim_environment/EnvironmentProvider.h>
 
class ToTrawlDoor : public TrawlDoorBase
{
public:
   ToTrawlDoor(std::string simObjectName, ISimObjectCreator* creator);
 
   void FinalSetup(const double dT, const double* const adX, ISimObjectCreator* const creator);
 
   const double* OutRoll(const double dT, const double* const adX);
 
   // Output port returning the pitch angle of the trawl door.
   const double* OutPitch(const double dT, const double* const adX);
 
   // Output port returning the angle of attack of the trawl door.
   const double* OutAngleOfAttack(const double dT, const double* const adX);
 
#ifdef FH_VISUALIZATION
   virtual void RenderInit(Ogre::Root* const ogreRoot, ISimObjectCreator* const creator);
 
   virtual void RenderUpdate(const double dT, const double* const adX);
#endif
 
protected:
   virtual void AddBottomForces();
 
   bool HasJacobians() const override { return false; }
 
   environment::EnvironmentProvider* m_environment = nullptr; 
   double                            m_avgSubmergence;
   double                            m_cornerPos_ned[4][3];
   double                            m_submergence[4];
   double                            m_roll;
   double                            m_pitch;
};