// -----------------------------------------------------------------------------
// -----------------------------------------------------------------------------
UAZBUS_RigidTire::UAZBUS_RigidTire(const std::string& name, bool use_mesh) : ChRigidTire(name) {
SetContactFrictionCoefficient(0.9f);
SetContactRestitutionCoefficient(0.1f);
SetContactMaterialProperties(2e7f, 0.3f);
SetContactMaterialCoefficients(2e5f, 40.0f, 2e5f, 20.0f);
if (use_mesh) {
SetMeshFilename(GetDataFile("uaz/uazbus_tire.obj"), 0.005);
}
}
void RigidTire::Create(const rapidjson::Document& d) {
// Read top-level data
assert(d.HasMember("Type"));
assert(d.HasMember("Template"));
assert(d.HasMember("Name"));
SetName(d["Name"].GetString());
m_radius = d["Radius"].GetDouble();
m_width = d["Width"].GetDouble();
// Read contact material data
assert(d.HasMember("Contact Material"));
float mu = d["Contact Material"]["Coefficient of Friction"].GetFloat();
float cr = d["Contact Material"]["Coefficient of Restitution"].GetFloat();
SetContactFrictionCoefficient(mu);
SetContactRestitutionCoefficient(cr);
if (d["Contact Material"].HasMember("Properties")) {
float ym = d["Contact Material"]["Properties"]["Young Modulus"].GetFloat();
float pr = d["Contact Material"]["Properties"]["Poisson Ratio"].GetFloat();
SetContactMaterialProperties(ym, pr);
}
if (d["Contact Material"].HasMember("Coefficients")) {
float kn = d["Contact Material"]["Coefficients"]["Normal Stiffness"].GetFloat();
float gn = d["Contact Material"]["Coefficients"]["Normal Damping"].GetFloat();
float kt = d["Contact Material"]["Coefficients"]["Tangential Stiffness"].GetFloat();
float gt = d["Contact Material"]["Coefficients"]["Tangential Damping"].GetFloat();
SetContactMaterialCoefficients(kn, gn, kt, gt);
}
// Check if using contact mesh.
if (d.HasMember("Contact Mesh")) {
std::string mesh_file = d["Contact Mesh"]["Mesh Filename"].GetString();
double sweep_radius = d["Contact Mesh"]["Sweep Sphere Radius"].GetDouble();
SetMeshFilename(vehicle::GetDataFile(mesh_file), sweep_radius);
}
// Check how to visualize this tire.
if (d.HasMember("Visualization")) {
if (d["Visualization"].HasMember("Mesh Filename")) {
m_meshFile = d["Visualization"]["Mesh Filename"].GetString();
m_meshName = d["Visualization"]["Mesh Name"].GetString();
m_has_mesh = true;
}
}
}
