Wheel.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 <mrpt/img/TColor.h>
#include <mrpt/math/TPoint2D.h>
#include <mrpt/math/TPolygon2D.h>
#include <mrpt/math/TPose3D.h>
#include <mrpt/poses/CPose2D.h>
#include <mvsim/TParameterDefinitions.h>
#include <mvsim/VisualObject.h>
#include <mvsim/basic_types.h>

namespace mvsim
{
class DefaultFriction;
class VehicleBase;
class DynamicsDifferential;
class World;

class Wheel : public VisualObject
{
   public:
        Wheel(World* world);

        double x = 0, y = -0.5, yaw = 0;

        mrpt::math::TPose3D pose() const { return {x, y, 0, yaw, 0, 0}; }

        double diameter = .4, width = .2;
        double mass = 2.0;      

        double Iyy = 1.0;

        mrpt::img::TColor color{0xff323232};

        std::string linked_yaw_object_name;
        double linked_yaw_offset = .0;

        const TParameterDefinitions params_ = {
                {"mass", {"%lf", &mass}},
                {"width", {"%lf", &width}},
                {"diameter", {"%lf", &diameter}},
                {"color", {"%color", &color}},
                {"inertia", {"%lf", &Iyy}},
                {"linked_yaw", {"%s", &linked_yaw_object_name}},
                {"linked_yaw_offset_deg", {"%lf_deg", &linked_yaw_offset}}};

        std::string asString() const;

        // methods ----

        void getAs3DObject(mrpt::opengl::CSetOfObjects& obj);
        void loadFromXML(const rapidxml::xml_node<char>* xml_node);

        void internalGuiUpdate(
                const mrpt::optional_ref<mrpt::opengl::COpenGLScene>& viz,
                const mrpt::optional_ref<mrpt::opengl::COpenGLScene>& physical,
                bool childrenOnly) override;

        double getPhi() const
        {
                return phi;
        }  
        void setPhi(double val)
        {
                phi = val;
        }  
        double getW() const { return w; }  
        void setW(double val) { w = val; }      
        void recalcInertia();  
   protected:
        double phi = 0, w = 0;
};
}  // namespace mvsim