RotationalDimension.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
and confidential material of Algoryx Simulation AB. You may not download, read,
store, distribute, publish, copy or otherwise disseminate, use or expose this
material unless having a written signed agreement with Algoryx Simulation AB, or having been
advised so by Algoryx Simulation AB for a time limited evaluation, 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 <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;
 
  };
 
}