FrictionBase.h

/*+-------------------------------------------------------------------------+
  |                       MultiVehicle simulator (libmvsim)                 |
  |                                                                         |
  | Copyright (C) 2014-2026  Jose Luis Blanco Claraco                       |
  | Copyright (C) 2017  Borys Tymchenko (Odessa Polytechnic University)     |
  | Distributed under 3-clause BSD License                                  |
  |   See COPYING                                                           |
  +-------------------------------------------------------------------------+ */
 
#pragma once
 
#include <mvsim/ClassFactory.h>
#include <mvsim/CsvLogger.h>
#include <mvsim/Wheel.h>
#include <mvsim/basic_types.h>  // fwrd decls.
 
#include <optional>
 
namespace mvsim
{
class FrictionBase
{
   public:
    using Ptr = std::shared_ptr<FrictionBase>;
 
    FrictionBase(VehicleBase& my_vehicle);
    virtual ~FrictionBase();
 
    static FrictionBase::Ptr factory(VehicleBase& parent, const rapidxml::xml_node<char>* xml_node);
 
    struct TFrictionInput
    {
        const TSimulContext& context;
        Wheel& wheel;
 
        double Fz = 0;
 
        double motorTorque = 0;
 
        mrpt::math::TVector2D wheelCogLocalVel{0, 0};
 
        mrpt::math::TVector2D gravSlopeForce{0, 0};
 
        std::optional<double> mu_override;
 
        std::optional<double> C_rr_override;
 
        TFrictionInput(const TSimulContext& _context, Wheel& _wheel)
            : context(_context), wheel(_wheel)
        {
        }
    };
 
    virtual mrpt::math::TVector2D evaluate_friction(
        const FrictionBase::TFrictionInput& input) const = 0;
 
    bool hasLogger() const { return logger_.has_value(); }
    void setLogger(const std::weak_ptr<CSVLogger>& logger);
 
   protected:
    World* world_;
    VehicleBase& myVehicle_;
 
    std::optional<std::weak_ptr<CSVLogger>> logger_;
};
 
// Class factory:
typedef ClassFactory<FrictionBase, VehicleBase&, const rapidxml::xml_node<char>*>
    TClassFactory_friction;
extern TClassFactory_friction classFactory_friction;
 
#define DECLARES_REGISTER_FRICTION(CLASS_NAME) \
    DECLARES_REGISTER_CLASS2(                  \
        CLASS_NAME, FrictionBase, VehicleBase&, const rapidxml::xml_node<char>*)
 
#define REGISTER_FRICTION(TEXTUAL_NAME, CLASS_NAME) \
    REGISTER_CLASS2(TClassFactory_friction, classFactory_friction, TEXTUAL_NAME, CLASS_NAME)
}  // namespace mvsim