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;
 
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; 
    double m_dg; 
    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