// -----------------------------------------------------------------------------
double ChShaftsDriveline4WD::GetWheelTorque(const WheelID& wheel_id) const {
if (wheel_id.axle() == m_driven_axles[0]) {
switch (wheel_id.side()) {
case LEFT:
return -m_front_differential->GetTorqueReactionOn2() - m_front_clutch->GetTorqueReactionOn1();
case RIGHT:
return -m_front_differential->GetTorqueReactionOn3() - m_front_clutch->GetTorqueReactionOn2();
}
}
if (wheel_id.axle() == m_driven_axles[1]) {
switch (wheel_id.side()) {
case LEFT:
return -m_rear_differential->GetTorqueReactionOn2() - m_rear_clutch->GetTorqueReactionOn1();
case RIGHT:
return -m_rear_differential->GetTorqueReactionOn3() - m_rear_clutch->GetTorqueReactionOn2();
}
}
return 0;
}
double Generic_Vehicle::GetShockVelocity(const WheelID& wheel_id) const {
switch (m_suspType) {
case SuspensionType::SOLID_AXLE:
return std::static_pointer_cast<ChSolidAxle>(m_suspensions[wheel_id.axle()])
->GetShockVelocity(wheel_id.side());
case SuspensionType::MULTI_LINK:
return std::static_pointer_cast<ChMultiLink>(m_suspensions[wheel_id.axle()])
->GetShockVelocity(wheel_id.side());
case SuspensionType::DOUBLE_WISHBONE:
return std::static_pointer_cast<ChDoubleWishbone>(m_suspensions[wheel_id.axle()])
->GetShockVelocity(wheel_id.side());
case SuspensionType::MACPHERSON_STRUT:
return std::static_pointer_cast<ChMacPhersonStrut>(m_suspensions[wheel_id.axle()])
->GetShockVelocity(wheel_id.side());
default:
return -1;
}
}