TorpedoAnchor.h

#ifndef CTorpedoAnchor_H
#define CTorpedoAnchor_H
 
#include <fhsim/simobject/ISimObjectCreator.h>
namespace rigidbody
{
class CRigidCompositeBody;
};
namespace environment
{
class EnvironmentProvider;
}
 
class TorpedoAnchor : public SimObject
{
   public:
   TorpedoAnchor(const std::string& simObjectName, ISimObjectCreator* const creator);
   ~TorpedoAnchor();
   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);
 
#ifdef FH_VISUALIZATION
   virtual void RenderInit(Ogre::Root* const ogreRoot, ISimObjectCreator* const creator);
   virtual void RenderUpdate(const double T, const double* const X);
#endif
 
   const double* Position(const double T, const double* const X);
   const double* Velocity(const double T, const double* const X);
   const double* Theta(const double T, const double* const X);
   const double* Omega(const double T, const double* const X);
 
   // Jacobian support (partial: kinematics + quaternion dynamics; force terms omitted)
   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;
 
   protected:
   rigidbody::CRigidCompositeBody* m_rigidBody;
 
   double m_MaterialRho; // Total mass of anchor [kg]
   double m_ShankLength; // Total volume displacement of anchor [m^3]
   double m_ShankDiameter; // Relative added mass (to displaced fluid volume) [-]
   double m_ShankThickness; // Total length of anchor [m]
   double m_ShankFlukeAngle; // Length from anchor-tip to fluke [m]
   double m_FlukeWidth; // Fluke width times fluke height [m^2]
   double m_FlukeSideLength; // Main diameter of shank [m]
   double m_FlukePointLength; // Length of fluke point [m]
   double m_FlukeThickness; // Thickness of fluke [m]
 
   ISignalPort* m_Force;
   int m_PositionIndex;
   int m_VelocityIndex;
   int m_ThetaIndex;
   int m_OmegaIndex;
 
   environment::EnvironmentProvider* m_environment;
 
#ifdef FH_VISUALIZATION
   Ogre::SceneNode* m_RenderNode;
#endif
};
 
#endif