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_