o3de-extras/Gems/ROS2Controllers/Code/Source/VehicleDynamics/WheelDynamicsData.h

/*
 * Copyright (c) Contributors to the Open 3D Engine Project.
 * For complete copyright and license terms please see the LICENSE at the root of this distribution.
 *
 * SPDX-License-Identifier: Apache-2.0 OR MIT
 *
 */
#pragma once

#include <AzCore/Component/ComponentBus.h>
#include <AzCore/Component/EntityId.h>
#include <PhysX/ArticulationTypes.h>

namespace ROS2Controllers::VehicleDynamics
{
    //! Data structure to pass wheel dynamics data for a single wheel entity.
    struct WheelDynamicsData
    {
        AZ::EntityId m_wheelEntity; //!< An entity which is expected to have a WheelControllerComponent.
        AZ::ComponentId m_wheelJoint{ AZ::InvalidComponentId }; //!< Joint responsible for the wheel.
        float m_wheelRadius{ 0.25f }; //!< Radius of the wheel in meters.
        bool m_isArticulation{ false }; //!< Whether the wheel is an articulation link or a classic joint.
        PhysX::ArticulationJointAxis m_axis =
            PhysX::ArticulationJointAxis::Twist; //!< The movement axis, in case the joint is an articulation.
    };

    //! Data structure to pass steering dynamics data for a single steering entity.
    struct SteeringDynamicsData
    {
        AZ::EntityId m_steeringEntity; //!< Steering entity needs to be connected (directly or indirectly) by a Joint with a wheelEntity.
        AZ::ComponentId m_steeringJoint{ AZ::InvalidComponentId }; //!< Joint responsible for steering.
        float m_steeringScale{ 1.0f }; //!< Scale for direction for the steering element to turn the attached wheel sideways.
        bool m_isArticulation{ false }; //!< Whether the steering is an articulation link or a classic joint.
        PhysX::ArticulationJointAxis m_axis =
            PhysX::ArticulationJointAxis::Twist; //!< The movement axis, in case the joint is an articulation.
    };
} // namespace ROS2Controllers::VehicleDynamics