TrawlCableInterface.h

 
#ifndef CONSTRAINTCABLE_INTERFACE_H
#define CONSTRAINTCABLE_INTERFACE_H
 
#include <fhsim_coribo/JointConstraint.h>
#include <fhsim_coribo/CollisionManager.h>
 
namespace CoRiBoDynamics{
 
class ConstraintCableInterface: public JointConstraint {
public:
    ConstraintCableInterface(ConstraintSolver* solver, CollisionManager*    collisionManager, int finalElement, double frequencyCoefficient, double Gamma, double elementLength);
 
    virtual void ComputeConstraints(const double T, const double * const X);
 
    double GetTimeConstant();
    ConstraintSolver*   GetConstraintSolver();
    CollisionManager*   GetCollisionManager();
    size_t ConnectElement(int index, const vec3& vector, const Quat& orientation);
    void SetConnectedUnit(int index, double strength);
 
protected:
    ConstraintSolver*   m_ConstraintSolver;
    CollisionManager*   m_CollisionManager;
    double m_frequencyCoefficient;
    double m_Gamma;
    int m_finalElement;
    double m_elementLength;
    std::vector<RigidCoupling,Eigen::aligned_allocator<RigidCoupling>> m_coupling;
    std::vector<double> m_strength;
};
 
}
#endif