ActuatorConnector.h

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/*
Copyright 2007-2025. Algoryx Simulation AB.
 
All AGX source code, intellectual property, documentation, sample code,
tutorials, scene files and technical white papers, are copyrighted, proprietary
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valid commercial license from Algoryx Simulation AB.
 
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from using this software, unless otherwise stated in written agreements with
Algoryx Simulation AB.
*/
 
 
#ifndef AGXPOWERLINE_ACTUATOR_CONNECTOR_H
#define AGXPOWERLINE_ACTUATOR_CONNECTOR_H
 
#include <agxPowerLine/Actuator.h>
#include <agxPowerLine/PowerLineUtils.h>
#include <agxPowerLine/detail/ActuatorConstraints.h>
 
namespace agx
{
  class RigidBody;
}
 
namespace agxPowerLine
{
  class PhysicalDimension;
}
 
namespace agxPowerLine
{
 
  AGX_DECLARE_POINTER_TYPES(ActuatorConnector);
 
  class AGXMODEL_EXPORT ActuatorConnector : public agxPowerLine::Connector
  {
  public:
    ActuatorConnector( agxPowerLine::Actuator* actuator );
 
    agxPowerLine::Actuator* getActuator();
    const agxPowerLine::Actuator* getActuator() const;
 
    // The Actuator could connect its two units in normal or reversed order
    // This function is to find if this specific connector is connected in reversed order
    virtual bool getReverseOrder() const = 0;
 
    Side getRelativeIndex( Side index ) const;
 
    ActuatorConstraintImplementation* getActuatorConstraint();
 
    virtual bool store(agxStream::StorageStream& str) const override;
 
    virtual bool restore(agxStream::StorageStream& str) override;
 
    AGXSTREAM_DECLARE_ABSTRACT_SERIALIZABLE(agxPowerLine::ActuatorConnector);
    void store(agxStream::OutputArchive& out) const override;
    void restore(agxStream::InputArchive& in) override;
 
  protected:
    ActuatorConnector();
    virtual ~ActuatorConnector();
 
  protected:
    agx::observer_ptr<agxPowerLine::Actuator> m_actuator;
  };
}
 
#endif