RotationalDimension.h

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/*
Copyright 2007-2024. Algoryx Simulation AB.
 
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tutorials, scene files and technical white papers, are copyrighted, proprietary
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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.
*/
 
#ifndef AGXPOWERLINE_ROTATIONAL_DIMENSION_H
#define AGXPOWERLINE_ROTATIONAL_DIMENSION_H
 
#include <agxModel/export.h>
#include <agxPowerLine/PhysicalDimension.h>
#include <agxPowerLine/Connector.h>
#include <agxPowerLine/DirectionReference.h>
 
#include <agxSDK/StepEventListener.h>
 
#include <agxUtil/agxUtil.h>
 
#include <agx/RigidBody.h>
#include <agx/ElementaryConstraint.h>
#include <agx/Attachment.h>
 
namespace agxPowerLine
{
  #define DEFAULT_ROTATIONAL_DIRECTION agx::Vec3(0,1,0)
 
  class RotationalUnit;
  class AGXMODEL_EXPORT RotationalDimension : public agxPowerLine::PhysicalDimension
  {
    public:
      RotationalDimension(Unit *unit);
 
      RotationalDimension(
          agxPowerLine::Unit* unit,
          agx::RigidBody* body,
          agx::UInt8 slot);
 
      RotationalDimension(
          agxPowerLine::Unit* unit,
          agx::RigidBody* body,
          const agx::Vec3& direction,
          agxPowerLine::DirectionReference directionReference,
          bool externalBody = false);
 
 
      virtual void renderDebug() override;
 
      void setAngularVelocity(agx::Real);
      agx::Real getAngularVelocity() const;
 
      virtual agx::Real getOutputLoad() const override;
      agx::Real getOutputTorque() const;
      agx::Real getInputTorque() const;
 
 
      virtual agx::Real getPowerIn() const override;
      virtual agx::Real getPowerOut() const override;
 
      virtual agx::Real getMassProperty() const override;
      agx::Real getInertia() const;
 
      virtual bool setInertia( agx::Real value );
 
      virtual void setAngularVelocityDamping( agx::Real damping );
 
      virtual bool store(agxStream::StorageStream& out) const override;
 
      virtual bool restore(agxStream::StorageStream& in) override;
 
      AGXSTREAM_DECLARE_SERIALIZABLE(agxPowerLine::RotationalDimension);
 
      virtual std::string getTypeName() const override;
 
      static std::string getStaticTypeName();
 
      static agxPowerLine::PhysicalDimension::Type getStaticType();
 
 
 
    protected:
      friend class RotationalUnit;
      void postUpdate(agx::Real timeStep);
 
    protected:
      RotationalDimension();
      virtual ~RotationalDimension();
  };
 
  typedef agx::ref_ptr<RotationalDimension> RotationalDimensionRef;
 
 
 
  class AGXMODEL_EXPORT RotationalConnector : public agxPowerLine::Connector
  {
  public:
    RotationalConnector();
 
    virtual PhysicalDimensionMultiBodyConstraintImplementation* createConstraint() override;
 
    virtual agx::RegularizationParameters::VariableType calculateComplianceAndDamping( const agx::Real timeStep, agx::Real& compliance, agx::Real& damping) override;
 
    virtual bool store(agxStream::StorageStream& str) const override;
 
    virtual bool restore(agxStream::StorageStream& str) override;
 
    AGXSTREAM_DECLARE_SERIALIZABLE(agxPowerLine::RotationalConnector);
 
  protected:
    virtual ~RotationalConnector();
 
  };
 
  typedef agx::ref_ptr<RotationalConnector> RotationalConnectorRef;
 
 
 
 
  class AGXMODEL_EXPORT TorqueGenerator : public agxPowerLine::PowerGenerator
  {
  public:
    TorqueGenerator(agxPowerLine::RotationalDimension* dimension);
 
    virtual agx::Real variableLookupFunction( ) const override;
 
    virtual agx::Real resultScalerFunction( ) const override;
 
    virtual bool store(agxStream::StorageStream& str) const override;
 
    virtual bool restore(agxStream::StorageStream& str) override;
 
    AGXSTREAM_DECLARE_SERIALIZABLE(agxPowerLine::TorqueGenerator);
 
  protected:
    TorqueGenerator();
    virtual ~TorqueGenerator();
    virtual void applyPower() override;
    agx::observer_ptr<RotationalDimension> m_rotationalDimension;
 
  };
 
}
 
#endif // AGXMODEL_ROTATIONAL_DIMENSION_H