.. include:: definitions.rstinc

.. _steering-label:

========
Steering
========

.. figure:: images/steering/rack_pinion_with_tire.jpg
  :alt: Steering mechanism with Wheel Joints and Two Body Tire.
  :target: _images/rack_pinion_with_tire.jpg

  Steering mechanism with Wheel Joints and Two Body Tire.

The |AGXUnreal| Steering Component provides several steering mechanisms used in ground vehicles.
These mechanisms control the steering angle of two :ref:`wheel-joint-label` so that the wheels follow the proper geometric relationship when turning.

The available steering types correspond to those implemented in `AGX Dynamics <https://www.algoryx.se/documentation/complete/agx/tags/latest/doc/UserManual/source/constraints.html?highlight=steering#steering>`_.

* ``Ackermann steering``
* ``Bell-crank steering``
* ``Rack-and-pinion steering``
* ``Davis steering``

Each mechanism is configured using a dedicated ``SteeringParameters`` Asset that defines the
geometric properties of the linkage.


*************************************
Creating and Using Steering Component
*************************************

Creating and configuring a Steering Component consists of the following basic steps:

1. Select the left and right :ref:`wheel-joint-label` from the Steering Components Details Panel.

.. figure:: images/steering/steering_select_wheeljoints.jpg
  :alt: Selecting Wheel Joints from Steering Components Details Panel.
  :target: _images/steering_select_wheeljoints.jpg

2. Create and assign a ``SteeringParameters`` Asset of the appropriate type. The type will determine the type of the Steering Mechanism.

.. figure:: images/steering/steering_parameters_creation.jpg
  :alt: Creating Steering Parameters Asset.
  :target: _images/steering_parameters_creation.jpg

To control the Steering, the ``Set Steering Angle`` function can be called from Blueprint or C++.

.. figure:: images/steering/steering_set_angle.jpg
  :alt: Calling the Set Steering Angle function.
  :target: _images/steering_set_angle.jpg

  Calling the Set Steering Angle function.