VisualFlowPlane.h

#pragma once
 
#include <fhsim/simobject/SimObject.h>
#include <memory>
#include <string>
 
namespace environment
{
class EnvironmentProvider;
}
 
#ifdef FH_VISUALIZATION
#   include "visual/FlowPlane.h"
#endif
 
namespace environmentmodels
{
 
class VisualFlowPlane : public SimObject
{
public:
   VisualFlowPlane(std::string SimObjectName, ISimObjectCreator* Creator);
 
   void FinalSetup(const double T, const double* const X, ISimObjectCreator* Creator) override;
 
   void OdeFcn(const double T, const double* const X, double* const XDot) const override;
 
#ifdef FH_VISUALIZATION
   void RenderInit(Ogre::Root* const ogreRoot, ISimObjectCreator* Creator) override;
 
   void RenderUpdate(const double T, const double* const X) override;
#endif
 
private:
   environment::EnvironmentProvider* m_pEnvironment;
 
   int m_computeFunctionType;
#ifdef FH_VISUALIZATION
   std::shared_ptr<visual::FlowPlane> m_flowPlane;
   visual::FlowPlaneSettings m_settings;
   visual::ComputeFunction m_computeFunction;
#endif
 
   // Initial (static) position and orientation
   double m_position0[3]; 
   double m_localX0[3];   
   double m_localY0[3];   
 
   // Optional second position for linear back-and-forth motion
   double m_position1[3];   
   bool   m_hasPosition2;   
   double m_positionPeriod; 
 
   // Optional continuous rotation around the plane’s own axes
   double m_rotationPeriodX; 
   double m_rotationPeriodY; 
};
 
} // namespace environmentmodels