Wheel.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 <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, bool isPhysicalScene);
    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