Vehicle.h

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#ifndef DW_RIG_VEHICLE_H_
#define DW_RIG_VEHICLE_H_
 
#include <dw/core/base/Types.h>
 
#ifdef __cplusplus
extern "C" {
#endif
 
#define DW_VEHICLE_STEER_MAP_POLY_DEGREE 5U
#define DW_VEHICLE_MAX_NUM_TRAILERS 1U
 
typedef struct dwVehicleBodyProperties
{
    float32_t length;
 
    float32_t width;
 
    float32_t widthWithoutMirrors;
 
    float32_t height;
 
    dwVector3f boundingBoxPosition;
 
    dwVector3f centerOfMass;
 
    dwVector3f inertia;
 
    float32_t mass;
 
} dwVehicleBodyProperties;
 
typedef struct dwVehicleAxleProperties
{
    float32_t position;
 
    float32_t track;
 
    float32_t wheelRadiusLeft;
 
    float32_t wheelRadiusRight;
 
    float32_t corneringStiffness;
 
} dwVehicleAxleProperties;
 
#define DW_VEHICLE_THROTTLE_BRAKE_LUT_SIZE 15U
 
typedef struct dwVehicleTorqueLUT
{
    float32_t throttlePedalInput[DW_VEHICLE_THROTTLE_BRAKE_LUT_SIZE];
 
    float32_t throttleSpeedInput[DW_VEHICLE_THROTTLE_BRAKE_LUT_SIZE];
 
    float32_t throttleTorqueOutput[DW_VEHICLE_THROTTLE_BRAKE_LUT_SIZE][DW_VEHICLE_THROTTLE_BRAKE_LUT_SIZE];
 
    float32_t brakePedalInput[DW_VEHICLE_THROTTLE_BRAKE_LUT_SIZE];
 
    float32_t brakeTorqueOutput[DW_VEHICLE_THROTTLE_BRAKE_LUT_SIZE];
 
} dwVehicleTorqueLUT;
 
typedef struct dwVehicleActuationProperties
{
    dwVehicleTorqueLUT torqueLUT;
 
    float32_t effectiveMass;
 
    float32_t throttleActuatorTimeConstant;
 
    float32_t throttleActuatorTimeDelay;
 
    float32_t brakeActuatorTimeConstant;
 
    float32_t brakeActuatorTimeDelay;
 
    float32_t driveByWireTimeConstant;
 
    float32_t driveByWireTimeDelay;
 
    float32_t driveByWireNaturalFrequency;
 
    float32_t driveByWireDampingRatio;
 
    bool isDriveByWireSecondOrder;
 
    float32_t maxSteeringWheelAngle;
 
    float32_t steeringWheelToSteeringMap[DW_VEHICLE_STEER_MAP_POLY_DEGREE + 1U];
 
} dwVehicleActuationProperties;
 
typedef struct dwVehicleArticulationProperties
{
    dwVector3f leadingVehicleHingePosition;
 
    dwVector3f trailingVehicleHingePosition;
 
} dwVehicleArticulationProperties;
 
typedef enum dwVehicleTrailerType {
    DW_VEHICLE_TRAILER_TYPE_FULL = 0, 
    DW_VEHICLE_TRAILER_TYPE_SEMI = 1  
} dwVehicleTrailerType;
 
typedef struct dwVehicleCabin
{
    dwVehicleBodyProperties body;
 
} dwVehicleCabin;
 
/***
 * Vehicle trailer description.
 */
typedef struct dwVehicleTrailer
{
    dwVehicleBodyProperties body;
 
    dwVehicleAxleProperties axleFront;
 
    dwVehicleAxleProperties axleRear;
 
    dwVehicleTrailerType type;
 
    dwVehicleArticulationProperties articulation;
} dwVehicleTrailer;
 
typedef struct dwGenericVehicle
{
    dwVehicleBodyProperties body;
 
    dwVehicleAxleProperties axleFront;
 
    dwVehicleAxleProperties axleRear;
 
    dwVehicleActuationProperties actuation;
 
    dwVehicleCabin cabin;
 
    bool hasCabin;
 
    dwVehicleTrailer trailers[DW_VEHICLE_MAX_NUM_TRAILERS];
 
    uint32_t numTrailers;
 
} dwGenericVehicle;
 
typedef enum {
    DW_VEHICLE_WHEEL_FRONT_LEFT  = 0,
    DW_VEHICLE_WHEEL_FRONT_RIGHT = 1,
    DW_VEHICLE_WHEEL_REAR_LEFT   = 2,
    DW_VEHICLE_WHEEL_REAR_RIGHT  = 3,
 
    DW_VEHICLE_NUM_WHEELS = 4
} dwVehicleWheels;
 
typedef struct dwVehicle
{
    float32_t height;           
    float32_t length;           
    float32_t width;            
    float32_t widthWithMirrors; 
    float32_t wheelbase;           
    float32_t axlebaseFront;       
    float32_t axlebaseRear;        
    float32_t bumperRear;          
    float32_t bumperFront;         
    float32_t steeringCoefficient; 
    float32_t mass;                
    dwVector3f inertia3D; 
    float32_t effectiveMass; 
    float32_t frontCorneringStiffness; 
    float32_t rearCorneringStiffness;  
    float32_t centerOfMassToRearAxle;  
    float32_t driveByWireTimeDelay;    
    float32_t driveByWireTimeConstant; 
    DW_DEPRECATED("Will be removed, unused")
    float32_t aerodynamicDragCoeff; 
    DW_DEPRECATED("Will be removed, unused")
    float32_t frontalArea; 
    float32_t centerOfMassToFrontAxle; 
    float32_t centerOfMassHeight;      
    DW_DEPRECATED("Will be removed, unused")
    float32_t aeroHeight; 
    DW_DEPRECATED("Will be removed, unused")
    float32_t rollingResistanceCoeff; 
    DW_DEPRECATED("Will be removed, unused")
    float32_t maxEnginePower; 
    float32_t throttleActuatorTimeConstant; 
    float32_t brakeActuatorTimeConstant;    
    dwVehicleTorqueLUT torqueLUT; 
    float32_t wheelRadius[DW_VEHICLE_NUM_WHEELS]; 
    float32_t steeringWheelToSteeringMap[DW_VEHICLE_STEER_MAP_POLY_DEGREE + 1]; 
    float32_t maxSteeringWheelAngle;                                            
    float32_t frontSteeringOffset;                                              
} dwVehicle;
 
#ifdef __cplusplus
}
#endif
 
#endif // DW_RIG_VEHICLE_H_