TrawlDoorWarpControl.h

#pragma once
 
#include "ToTrawlDoor.h"
 
class TrawlDoorWarpControl : public ToTrawlDoor
{
public:
   TrawlDoorWarpControl(std::string simObjectName, ISimObjectCreator* creator);
 
   const double* OutControlLineTension(const double T, const double* const X);
 
   const double* OutCollectingPoint(const double T, const double* const X);
 
protected:
   struct Crowfoot
   {
      double point_d[3];
      double controlLineTension;
   };
 
   Crowfoot SolveCrowfoot(const double T, const double* const X) const;
 
   void AddExternalForces(double T, const double* X, const hydro_body::FlowFrame& frame, hydro_body::Wrench& wrench) const override;
 
   double       m_controlLinePos_d[3];             
   double       m_warpBaseLineLength;              
   double       m_outControlLineTension = 0;       
   double       m_outCollectingPoint[3] = {0, 0, 0}; 
   ISignalPort* m_inControlLineLength;
};