CCable.h

#pragma once
 
#include <string>
#include "SimObject.h"
#include "cable/subroutines/CCableElDynStiff.h"
#include "cable/subroutines/CInternalCableWithBottomContact.h"
 
#include "sfh/timers/Timer.h"
 
//Class definition
class CCable : public SimObject
{
public:
    CCable(std::string sSimObjectName, ISimObjectCreator* pCreator);
 
    ~CCable();
 
    // Member functions
    void OdeFcn(const double dT, const double* const adX, double* const adXDot, const bool bIsMajorTimeStep);
    void InitialConditionSetup(const double dT, const double *const adCurrentIC, double* const adUpdatedIC, ISimObjectCreator* const  pCreator); 
    void FinalSetup(const double dT, const double *const adX, ISimObjectCreator* const pCreator);
    void CalcOutput(const double dT, const double* const adX);
 
    const double* OutForceA(const double dT, const double* const adX);
    const double* OutForceB(const double dT, const double* const adX);
    const double* OutPosA(const double dT, const double* const adX);
    const double* OutPosB(const double dT, const double* const adX);
 
#ifdef FH_VISUALIZATION
 
    void            RenderInit(Ogre::Root* const pOgreRoot, ISimObjectCreator* const pCreator);
 
    void            RenderUpdate(const double dT, const double* const adX);
#endif
protected:
 
    void UpdateLength(double dNewLength, double dDeltaT);
 
    void UpdateStiffness(const double* const adForceA, const double* const adForceB);
 
    void UpdateInertia();
 
 
    ISignalPort*        m_pInLength;            
    ISignalPort*        m_pInVelA;              
    ISignalPort*        m_pInVelB;              
    ISignalPort*        m_pInPosA;              
    ISignalPort*        m_pInPosB;              
    int                 m_IStates;              
    ICommonComputation* m_pCommonCalc;          
 
    // Member variables
    int                 m_iNumElements;     
    int                 m_iNumNodes;        
 
    double              m_dInertiaA;        
    double              m_dInertiaB;        
    double              m_adForceA[3];          
    double              m_adForceB[3];          
    double*             m_adLengths;        
    std::string         m_sCableName;       
 
    CInternalCableWithBottomContact*    m_pInternalCable;   //< The cable calculations.
    SCableSpec          m_CableSpec;        
 
};