Steering.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 <agxVehicle/export.h>
#include <agxVehicle/SteeringParameters.h>
#include <agx/Constraint.h>
 
namespace agxVehicle
{
  AGX_DECLARE_POINTER_TYPES(Steering);
  AGX_DECLARE_POINTER_TYPES(Ackermann);
  AGX_DECLARE_POINTER_TYPES(BellCrank);
  AGX_DECLARE_POINTER_TYPES(RackPinion);
  AGX_DECLARE_POINTER_TYPES(Davis);
 
  class WheelJoint;
 
  class AGXVEHICLE_EXPORT Steering : public agx::Constraint
  {
  public:
 
    void setSteeringAngle(agx::Real angle);
 
    agx::Real getSteeringAngle() const;
 
    agx::Real getMaximumSteeringAngle(agx::UInt side) const;
 
    const agxVehicle::SteeringParameters& getSteeringParameters() const;
 
    agxVehicle::WheelJoint* getLeftWheelJoint() const;
 
    agxVehicle::WheelJoint* getRightWheelJoint() const;
 
    void render(class agxRender::RenderManager* mgr, float scale) const override;
 
    int getNumDOF() const override;
 
    AGXSTREAM_DECLARE_SERIALIZABLE(agxVehicle::Steering);
 
  protected:
    Steering();
    virtual ~Steering();
    class SteeringImplementation* m_impl;
  };
 
 
 
  class AGXVEHICLE_EXPORT BellCrank : public Steering
  {
  public:
    BellCrank(WheelJoint* leftWheel, WheelJoint* rightWheel,
              SteeringParameters params = SteeringParameters::BellCrank());
 
    BellCrank() = default;
    AGXSTREAM_DECLARE_SERIALIZABLE(agxVehicle::BellCrank);
 
  protected:
    virtual ~BellCrank();
  };
 
 
 
  class AGXVEHICLE_EXPORT RackPinion: public Steering
  {
  public:
    RackPinion(WheelJoint* leftWheel, WheelJoint* rightWheel,
               SteeringParameters params = SteeringParameters::RackPinion());
 
    RackPinion() = default;
    AGXSTREAM_DECLARE_SERIALIZABLE(agxVehicle::RackPinion);
 
  protected:
    virtual ~RackPinion();
  };
 
 
 
  class AGXVEHICLE_EXPORT Davis : public Steering
  {
  public:
    Davis(WheelJoint* leftWheel, WheelJoint* rightWheel,
          SteeringParameters params = SteeringParameters::Davis());
 
    Davis() = default;
    AGXSTREAM_DECLARE_SERIALIZABLE(agxVehicle::Davis);
 
  protected:
    virtual ~Davis();
  };
 
 
 
  class AGXVEHICLE_EXPORT Ackermann : public Steering
  {
  public:
    Ackermann(WheelJoint* leftWheel, WheelJoint* rightWheel,
              SteeringParameters params = SteeringParameters::Ackermann());
 
    int getNumDOF() const override;
 
    Ackermann() = default;
    AGXSTREAM_DECLARE_SERIALIZABLE(agxVehicle::Ackermann);
 
  protected:
    virtual ~Ackermann();
  };
}