CLinearSpring.h

 
#ifndef CLINEARSPRING_H
#define CLINEARSPRING_H
 
// Includes
#include <fhsim/simobject/SimObject.h>
 
#include <limits>
#include <string>
 
#ifdef FH_VISUALIZATION
//#include "sfh/ogre/CDynamicLines.h"
#   include "sfh/ogre/C3DLine.h"
#endif
 
//Class definition
class CLinearSpring : public SimObject
{
   public:
   CLinearSpring(std::string sSimObjectName, ISimObjectCreator* pCreator);
 
   ~CLinearSpring();
 
#ifdef FH_VISUALIZATION
   virtual void RenderInit(Ogre::Root* const pOgreRoot, ISimObjectCreator* const pCreator);
 
   virtual void RenderUpdate(const double dT, const double* const adX);
#endif
 
   // Member functions
   void OdeFcn(const double dT, const double* const adX, double* const adXDot) const { }
 
   const double* ForceA(const double dT, const double* const adX);
 
   const double* ForceB(const double dT, const double* const adX);
 
 
   protected:
   // Member functions
   void CalcOutput(const double dT, const double* const adX);
 
   // Member variables
   double m_dStiffness; 
   double m_dRelaxedLength; 
   ISignalPort* m_pInPosA;
   ISignalPort* m_pInPosB;
   double m_adOutForceA[3];
   double m_adOutForceB[3];
 
#ifdef FH_VISUALIZATION
   Ogre::Entity* m_pRenderEntity; 
   Ogre::SceneNode* m_pRenderNode; 
   int m_iNumPoints; 
   C3DLine* m_pLines; 
#endif
};
 
 
#endif