DefaultFriction.h

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/*+-------------------------------------------------------------------------+
  |                       MultiVehicle simulator (libmvsim)                 |
  |                                                                         |
  | Copyright (C) 2014-2023  Jose Luis Blanco Claraco                       |
  | Copyright (C) 2017  Borys Tymchenko (Odessa Polytechnic University)     |
  | Distributed under 3-clause BSD License                                  |
  |   See COPYING                                                           |
  +-------------------------------------------------------------------------+ */

#pragma once

#include <box2d/b2_friction_joint.h>
#include <mvsim/FrictionModels/FrictionBase.h>
#include <mvsim/TParameterDefinitions.h>

#include <vector>

namespace mvsim
{
class DefaultFriction : public FrictionBase
{
        DECLARES_REGISTER_FRICTION(DefaultFriction)
   public:
        DefaultFriction(
                VehicleBase& my_vehicle, const rapidxml::xml_node<char>* node);

        // See docs in base class.
        virtual mrpt::math::TVector2D evaluate_friction(
                const FrictionBase::TFrictionInput& input) const override;

   private:
        double mu_;      
        double C_damping_;      

   public:
        const TParameterDefinitions params_ = {
                {"mu", {"%lf", &mu_}}, {"C_damping", {"%lf", &C_damping_}}};
};
}  // namespace mvsim