Cable.h

 
#ifndef CABLE_H
#define CABLE_H
#include <fhsim/simobject/SimObject.h>
namespace environment
{
class EnvironmentProvider;
}
class C3DLine;
 
class CCable : public SimObject
{
   public:
   CCable(const std::string& simObjectName, ISimObjectCreator* const creator);
 
   ~CCable(); 
 
   void OdeFcn(const double T, const double* const X, double* const XDot) const;
 
 
   void InitialConditionSetup(const double T, const double* const currentIC, double* const updatedIC, ISimObjectCreator* const creator);
 
   void FinalSetup(const double T, const double* const X, ISimObjectCreator* const creator); 
 
   const double* ForceA(const double T, const double* const X); 
   const double* ForceB(const double T, const double* const X); 
 
   void computeEndForces(const double T, const double* const X) const; 
 
#ifdef FH_VISUALIZATION
   void RenderInit(Ogre::Root* const ogreRoot, ISimObjectCreator* const creator); 
   void RenderUpdate(const double T, const double* const X); 
#endif
 
   protected:
   void computeSegmentForces(const double T, const double* X, const double* pA, const double* pB, const double* vA, const double* vB, double* FA, double* FB) const;
 
 
   void computeVirtualPoint(const double* const target, const double* const point, const double* const targetVel, const double* const pointVel, double* virtualPoint, double* virtualPointVel, double residual, double dResidual) const;
 
   void testPositiveParam(double value, ISimObjectCreator* creator, std::string valueName); 
   void computeElementTension(const double* prev, const double* curr, double* force); 
 
   void computeSegmentStructuralJacobian(const double* pA, const double* pB, const double* vA, const double* vB,
       double* dFA_dpA, double* dFA_dpB, double* dFA_dvA, double* dFA_dvB) const;
 
   double m_cableLength; 
   double m_cableWeight; 
   double m_Emodulus; 
   double m_tensileCrossSectionArea; 
   double m_displacementCrossSectionArea; 
   double m_diameter; 
   double m_hydrodynamicDiameter; 
   double m_submergedWeight; 
   double m_internalDamping; 
   int m_numElements; 
   double m_elementMass; 
 
   double m_elementMassInverse; 
   double m_segmentMass; 
   double m_segmentSubmergedMass; 
   double m_segmentLength; 
   double m_segmentStiffness; 
   int* m_elementPositionIndex; 
   int* m_elementVelocityIndex; 
 
   ISignalPort* m_PositionA; 
   ISignalPort* m_PositionB; 
   ISignalPort* m_VelocityA; 
   ISignalPort* m_VelocityB; 
   ISignalPort* m_retractedLengthPortA; 
   ISignalPort* m_retractedLengthPortB; 
   ISignalPort* m_retractedSpeedPortA; 
   ISignalPort* m_retractedSpeedPortB; 
 
   mutable double m_endForceA[3]; 
   mutable double m_endForceB[3]; 
   mutable double m_nodeForceA[3]; 
   mutable double m_nodeForceB[3]; 
   mutable double m_retractedLengthA; 
   mutable double m_retractedLengthB; 
   mutable int m_retractedNodesA; 
   mutable int m_retractedNodesB; 
   mutable double m_virtualPointA[3]; 
   mutable double m_virtualPointB[3]; 
   mutable double m_virtualPointVelocityA[3]; 
   mutable double m_virtualPointVelocityB[3]; 
   mutable double m_residualA; 
   mutable double m_residualB; 
   ICommonComputation* m_computeEndForces; 
 
   mutable const double* m_posA; 
   mutable const double* m_posB; 
   mutable const double* m_velA; 
   mutable const double* m_velB; 
 
   environment::EnvironmentProvider* m_environment; 
 
   public:
   bool HasJacobians() const override;
   void OdeJacobian(double T, const double* X, double* J, int nStates) override;
   int GetJacobianSparsity(int nStates, int* rowPtr, int* colIdx) override;
 
#ifdef FH_VISUALIZATION
   C3DLine* m_lines1 = nullptr; 
   C3DLine* m_lines2 = nullptr; 
#endif
};
#endif