DtEntityWheelData.h

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/*****************************************************************************
 * Copyright (c) 2024 MAK Technologies, Inc.
 * All rights reserved.
 *****************************************************************************/

#pragma once

#include <vrvOsg/vrvOsg.h>
#include <matrix/vlTaitBryan.h>

#include <vlutil/vlTime.h>
#include <matrix/vlVector.h>

#include <vector>

namespace makVrv
{  
   struct WheelInfo
   {
      enum WheelSide { WHEEL_UNKNOWN, WHEEL_LEFT, WHEEL_RIGHT };

   public:
      WheelInfo();
   public:
      bool steerable;
      int partNum;
      int wheelSet;
      WheelSide wheelSide;
      double wheelRadius;
      double angVel;
   };

   struct DtEntityWheelDataCommon
   {
   public:
      DtEntityWheelDataCommon();
   public:
      bool headingValid; 

      DtTime lastUpdateTime;
      DtVector lastPos;

      DtVector currentVelocity;
      DtVector currentTopoVelocity;

      DtTaitBryan currentHeading;
      DtTaitBryan lastHeading;
      DtTime lastSteeringUpdateTime;

      // These 3 are used for ackerman steering
      int numOfSetsOfWheels;

      double distanceBetweenFirstAndRearAxles;

      double distanceBetweenSecondAndRearAxles;

      // These are used for skid steering
      double trackWidth;
   };

   struct DtEntityWheelData
   {
   public:
      DtEntityWheelDataCommon commonData;
      std::vector<WheelInfo> wheels;
   };
}