ElectricMotorConstraint.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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or having purchased a valid commercial license from Algoryx Simulation AB.
 
Algoryx Simulation AB disclaims all responsibilities for loss or damage caused
from using this software, unless otherwise stated in written agreements with
Algoryx Simulation AB.
*/
 
 
#pragma once
 
#include <agx/Constraint.h>
#include <agx/ConstraintImplementation.h>
 
#include <agxPowerLine/RotationalUnit.h>
 
namespace agxDriveTrain {
  class ElectricMotorConstraintImplementation : public agx::HighLevelConstraintImplementation
  {
    public:
      ElectricMotorConstraintImplementation(agxPowerLine::RotationalDimensionRef rotationalDimension);
 
      virtual void storeLightData(agxStream::StorageStream& str) const override;
 
      virtual void restoreLightData(agxStream::StorageStream& str) override;
 
      AGXSTREAM_DECLARE_SERIALIZABLE(agxDriveTrain::ElectricMotorConstraintImplementation);
 
    protected:
      ElectricMotorConstraintImplementation();
 
    private:
      ~ElectricMotorConstraintImplementation();
      agx::TargetSpeedController* m_electricMotorConstraint;
      agxPowerLine::RotationalDimension* m_rotationalDimension;
  };
 
 
  class ElectricMotorConstraint : public agx::Constraint
  {
    public:
      ElectricMotorConstraint(agxPowerLine::RotationalDimensionRef rotationalDimension);
 
      void setSpeed(agx::Real speed);
 
      void setCompliance(agx::Real compliance);
      using agx::Constraint::setCompliance;
 
      virtual void render(agxRender::RenderManager* /*canvas*/, float /*scale*/) const override {}
 
      AGXSTREAM_DECLARE_SERIALIZABLE(agxDriveTrain::ElectricMotorConstraint);
 
    protected:
      ElectricMotorConstraint();
      virtual ~ElectricMotorConstraint();
      virtual int getNumDOF() const override;
 
    private:
      ElectricMotorConstraintImplementation* m_electricMotorConstraint;
  };
 
  AGX_DECLARE_POINTER_TYPES(ElectricMotorConstraint);
}