CMass.h

#ifndef CMass_H
#define CMass_H
 
#include <fhsim/simobject/SimObject.h>
#include <string>
 
 
class CMass : public SimObject
{
   public:
   CMass(std::string sSimObjectName, ISimObjectCreator* pCreator);
 
#ifdef FH_VISUALIZATION
   virtual void RenderInit(Ogre::Root* const ogreRoot, ISimObjectCreator* const creator);
 
   virtual void RenderUpdate(const double T, const double* const X);
#endif
 
   virtual void OdeFcn(const double dT, const double* const adX,
       double* const adXDot) const;
 
   virtual bool HasJacobians() const override;
   virtual void OdeJacobian(double T, const double* X, double* J, int nStates) override;
   virtual int GetJacobianSparsity(int nStates, int* rowPtr, int* colIdx) override;
 
   virtual bool HasPortJacobians() const override;
   virtual void OutputPortJacobian(const std::string& portName, double T, const double* X,
       double* dPort_dX, int portSize, int nStates, int index = -1) override;
   virtual void InputPortJacobian(const std::string& portName, double T, const double* X,
       double* dF_dInput, int portSize, int nStates) override;
 
   protected:
   virtual const double* Position(const double dT, const double* const adX);
   virtual const double* Velocity(const double dT, const double* const adX);
 
   double m_dMass; 
   ISignalPort* m_pInForce; 
   int m_IStatePos; 
   int m_IStateVel; 
 
 
#ifdef FH_VISUALIZATION
   std::string m_sMaterial; 
   std::string m_sMeshName; 
   double m_dScale; 
   Ogre::Entity* m_pRenderEntity; 
   Ogre::SceneNode* m_pRenderNode; 
   Ogre::SceneManager* m_pSceneMgr; 
#endif
};
 
 
#endif