fsi/motion-amroc/WindTurbine_Terrain/src/Terrain.h

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// -*- C++ -*-

#ifndef Terrain_H
#define Terrain_H

#define MAXFEATURES 10
//#define TERRAIN_DEBUG_ON

#include "Assembly.h"
#include "DH_Chain.h"
#include "Scene.h"
#include "Point.h"

class TerrainControl : public controlable {
public:
  TerrainControl() {}

  ~TerrainControl() {}

  virtual void register_at(ControlDevice& Ctrl) {}

  virtual void register_at(ControlDevice& Ctrl, const std::string& prefix) {//, int num) {
    char VariableName[32];

    std::sprintf(VariableName,"Terrain");
#ifdef TERRAIN_DEBUG_ON
    std::cout << "Registering " << VariableName << std::endl;
#endif
    TLocCtrl = Ctrl.getSubDevice(std::string(VariableName));
    RegisterAt(TLocCtrl,"Terrain_name",terrain_name);
    RegisterAt(TLocCtrl,"Terrain_file",terrain_file);
    RegisterAt(TLocCtrl,"Terrain_filetype",terrain_filetype);

    RegisterAt(TLocCtrl,"n(0)",normal(0));
    RegisterAt(TLocCtrl,"n(1)",normal(1));
    RegisterAt(TLocCtrl,"n(2)",normal(2));
  }

  void print() {
    std::cout << " -=-=-=-= Terrain CONTROL DEVICE\n\n"
              << " terrain_name = " << terrain_name << std::endl;
  }

public:

  PType normal;

  std::string terrain_name, terrain_file;

  int terrain_filetype;

  ControlDevice TLocCtrl;
};

class Terrain {
  typedef Assembly<DataType,3> AssemblyType;
  typedef Scene<DataType,3> SceneType;
  typedef Loft<DataType> LoftType;
  typedef Joint<DataType,3> JointType;
  typedef DH_Link<DataType,3> LinkType;
  typedef DH_Chain<DataType,3> ChainType;
public:
  friend class Turbine;

  Terrain() {}

  ~Terrain() {}

  bool build(int i, std::string name, std::string file, int type) {
    Terrain0->GetNthPart(i)->read(type,file);
    Terrain0->GetNthPart(i)->setName(name);
    return true;
  }

  virtual bool specificSetup(SceneType& ThisScene, TerrainControl * TerrainCtrl) {
#ifdef TERRAIN_DEBUG_ON
    ( mklog() << "\n\n*********\t Terrain specificSetup \tBegin\n*********" << std::endl ).flush();
#endif
    Terrain0 = new AssemblyType;
    std::string nameTmp;
    nameTmp = "hills";
    Terrain0->setName(TerrainCtrl->terrain_name);

    ThisScene.AddAssembly(*Terrain0);

    Terrain0 = ThisScene.GetNthAssembly(ThisScene.GetNumAssemblies()-1);

    LoftType * Ground;
    Ground = new LoftType;
    Terrain0->AddPart(Ground);
    Terrain0->GetNthPart(0)->read(TerrainCtrl->terrain_filetype,TerrainCtrl->terrain_file);
    nameTmp = "ground_loft";
    Terrain0->GetNthPart(0)->setName(TerrainCtrl->terrain_name);
    Ground = (LoftType *) Terrain0->GetNthPart(0);
#ifdef TERRAIN_DEBUG_ON
    ( mklog() << "Terrain:= " << Ground->Name()  << " stringID = " << stringID( Ground->IdTag() ) << std::endl ).flush();
#endif

    MType groundMat(4,4);
    PType groundNormal(0.);
    groundNormal(0) = 180;  groundNormal(1) = -90;  groundNormal(2) = 0;
    groundMat = rotMat3D(TerrainCtrl->normal);
    Ground->setDHMat(groundMat);
    Ground->setDHMat_old(groundMat);
    Ground->setMobility(0);
    Ground->setDeformation(0);

    Terrain0->updateAssembly(1,0,groundMat,0);
#ifdef TERRAIN_DEBUG_ON
    ( mklog() << "\t Ground Mat \n\t" << Ground->GetDHMat()
              << " Ground->GetNumVelocities() = " << Ground->GetNumVelocities() << std::endl ).flush();
#endif
    return true;
  }

  virtual PType surfacePoint(PType I_A, DataType zmin, int& flag) {
    PType I_B(I_A);
    I_B(2) = zmin;
    int nump = 0, numc = 0;
    Terrain0->GetNumPC(nump,numc);
#ifdef TERRAIN_DEBUG_ON
    ( mklog() << " I_A " << I_A << " I_B " << I_B << std::endl
            << "SurfacePoint nump = " << nump << " numc = " << numc << std::endl ).flush();
#endif

    Terrain0->makeVerticies(nump);
    Terrain0->makeConnections(numc);

    DataType scale = 1.;
    nump = 0;
    numc = 0;
    Terrain0->send2CPT(nump, numc, Terrain0->GetVerticies(), Terrain0->GetConnections(), scale);
    I_B = intersection_line2facet(I_A, I_B, nump, numc, Terrain0->GetVerticies(), Terrain0->GetConnections(),flag );
    return I_B;
  }

  virtual PType surfacePoint(PType I_A, DataType zmin, int flag, DataType off ) {
    PType I_B(I_A);
    I_B(2) = zmin;
    int nump = 0, numc = 0;
    Terrain0->GetNumPC(nump,numc);
#ifdef TERRAIN_DEBUG_ON
    ( mklog() << "TERRAIN I_A " << I_A << " I_B " << I_B << std::endl
            << "SurfacePoint nump = " << nump << " numc = " << numc << std::endl ).flush();
#endif

    Terrain0->makeVerticies(nump);
    Terrain0->makeConnections(numc);

    DataType scale = 1.;
    nump = 0;
    numc = 0;
    Terrain0->send2CPT(nump, numc, Terrain0->GetVerticies(), Terrain0->GetConnections(), scale);
    I_B = intersection_line2facet(I_A, I_B, nump, numc, Terrain0->GetVerticies(), Terrain0->GetConnections(),flag );
    I_A =(I_A-I_B);
    I_B = I_B + off*normalize(I_A);

    return I_B;
  }

  DataType height(PType& I_A, DataType zmin, int& flag) {
    DataType h=0.;
    PType surfPt;

    surfPt = surfacePoint(I_A, zmin, flag);
    h = norm_2(surfPt-I_A);
    I_A = surfPt;
    return h;
  }

  virtual void Restart(std::ifstream& ifs, int& pos, double& t, double& dt) {
    ( mklog() << "\nRestarting Terrain " << Terrain0->Name() << " time= "<< t << " dt = " << dt << std::endl ).flush();
    Terrain0->Restart(ifs,pos,t,dt);
    pos = ifs.tellg();
  }

  virtual void Checkpointing(std::ofstream& ofs) {
#ifdef CHECKRESTART_DEBUG_ON
    ( mklog() << "\nCHECKPOINTING Terrain " << std::endl ).flush();
#endif
    Terrain0->Checkpointing(ofs);
  }

protected:

  AssemblyType * Terrain0;

};

#endif

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