Clean up wheeled vehicle demos

projectchrono · Dec 7, 2024 · 252a82d · 252a82d
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diff --git a/src/demos/vehicle/WheeledVehicleJSON.h b/src/demos/vehicle/WheeledVehicleJSON.h
@@ -0,0 +1,319 @@
+// =============================================================================
+// PROJECT CHRONO - http://projectchrono.org
+//
+// Copyright (c) 2024 projectchrono.org
+// All rights reserved.
+//
+// Use of this source code is governed by a BSD-style license that can be found
+// in the LICENSE file at the top level of the distribution and at
+// http://projectchrono.org/license-chrono.txt.
+//
+// =============================================================================
+// Authors: Radu Serban
+// =============================================================================
+//
+// Definitions of wheeled vehicle models specified through JSON files
+//
+// =============================================================================
+
+#pragma once
+
+#include "chrono_vehicle/ChConfigVehicle.h"
+#include "chrono_vehicle/ChVehicleModelData.h"
+#include "chrono_vehicle/utils/ChUtilsJSON.h"
+
+#include "chrono_vehicle/wheeled_vehicle/vehicle/WheeledVehicle.h"
+#include "chrono_vehicle/wheeled_vehicle/vehicle/WheeledTrailer.h"
+
+using namespace chrono;
+using namespace chrono::vehicle;
+
+// =============================================================================
+// Specification of a vehicle model from JSON files
+// Available models:
+//    HMMWV       - High Mobility Multipurpose Wheeled Vehicle
+//    Sedan       - Generic sedan vehicle
+//    Audi        - Audia A4
+//    VW microbus - VW T2 microbus
+//    UAZ         - UAZ minibus
+//    G500        - Mercedes-Benz G500
+//    CityBus     - passenger bus
+//    MAN         - MAN 10t truck
+//    MTV         - MTV truck
+//    ACV         - articulated chassis vehicle (skid steer)
+
+class WheeledVehicleJSON {
+  public:
+    virtual std::string ModelName() const = 0;
+    virtual std::string VehicleJSON() const = 0;
+    virtual std::string TireJSON(unsigned int axle) const = 0;
+    virtual std::string EngineJSON() const = 0;
+    virtual std::string TransmissionJSON() const = 0;
+    virtual double CameraDistance() const = 0;
+
+    static std::vector<std::pair<std::shared_ptr<WheeledVehicleJSON>, std::string>> List();
+};
+
+class HMMWV_Model : public WheeledVehicleJSON {
+  public:
+    virtual std::string ModelName() const override { return "HMMWV"; }
+    virtual std::string VehicleJSON() const override {
+        return "hmmwv/vehicle/HMMWV_Vehicle.json";
+        ////return "hmmwv/vehicle/HMMWV_Vehicle_replica.json";
+        ////return "hmmwv/vehicle/HMMWV_Vehicle_mapShock.json";
+        ////return "hmmwv/vehicle/HMMWV_Vehicle_bushings.json";
+        ////return "hmmwv/vehicle/HMMWV_Vehicle_4WD.json";
+    }
+    virtual std::string TireJSON(unsigned int axle) const override {
+        ////return "hmmwv/tire/HMMWV_RigidTire.json";
+        ////return "hmmwv/tire/HMMWV_FialaTire.json";
+        return "hmmwv/tire/HMMWV_TMeasyTire.json";
+        ////return "hmmwv/tire/HMMWV_TMsimpleTire.json";
+        ////return "hmmwv/tire/HMMWV_Pac89Tire.json";
+        ////return "hmmwv/tire/HMMWV_Pac02Tire.json";
+    }
+    virtual std::string EngineJSON() const override {
+        return "hmmwv/powertrain/HMMWV_EngineShafts.json";
+        ////return "hmmwv/powertrain/HMMWV_EngineSimpleMap.json";
+        ////return "hmmwv/powertrain/HMMWV_EngineSimple.json";
+    }
+    virtual std::string TransmissionJSON() const override {
+        return "hmmwv/powertrain/HMMWV_AutomaticTransmissionShafts.json";
+        ////return "hmmwv/powertrain/HMMWV_AutomaticTransmissionSimpleMap.json";
+    }
+    virtual double CameraDistance() const override { return 6.0; }
+};
+
+class Sedan_Model : public WheeledVehicleJSON {
+  public:
+    virtual std::string ModelName() const override { return "Sedan"; }
+    virtual std::string VehicleJSON() const override { return "sedan/vehicle/Sedan_Vehicle.json"; }
+    virtual std::string TireJSON(unsigned int axle) const override {
+        ////return "sedan/tire/Sedan_RigidTire.json";
+        ////return "sedan/tire/Sedan_TMeasyTire.json";
+        return "sedan/tire/Sedan_Pac02Tire.json";
+    }
+    virtual std::string EngineJSON() const override {
+        ////return "sedan/powertrain/Sedan_EngineSimpleMap.json";
+        return "sedan/powertrain/Sedan_EngineShafts.json";
+    }
+    virtual std::string TransmissionJSON() const override {
+        ////return "sedan/powertrain/Sedan_AutomaticTransmissionSimpleMap.json";
+        return "sedan/powertrain/Sedan_ManualTransmissionShafts.json";
+    }
+    virtual double CameraDistance() const override { return 6.0; }
+};
+
+class Audi_Model : public WheeledVehicleJSON {
+  public:
+    virtual std::string ModelName() const override { return "Audi"; }
+    virtual std::string VehicleJSON() const override { return "audi/json/audi_Vehicle.json"; }
+    virtual std::string TireJSON(unsigned int axle) const override {
+        ////return "audi/json/audi_TMeasyTire.json";
+        return "audi/json/audi_Pac02Tire.json";
+        ////return "audi/json/audi_RigidTire.json.json";
+    }
+    virtual std::string EngineJSON() const override { return "audi/json/audi_EngineSimpleMap.json"; }
+    virtual std::string TransmissionJSON() const override {
+        return "audi/json/audi_AutomaticTransmissionSimpleMap.json";
+        ////return "audi/json/audi_ManualTransmissionShafts.json";
+    }
+    virtual double CameraDistance() const override { return 6.0; }
+};
+
+class Polaris_Model : public WheeledVehicleJSON {
+  public:
+    virtual std::string ModelName() const override { return "Polaris"; }
+    virtual std::string VehicleJSON() const override { return "Polaris/Polaris.json"; }
+    virtual std::string TireJSON(unsigned int axle) const override {
+        return "Polaris/Polaris_TMeasyTire.json";
+        ////return "Polaris/Polaris_Pac02Tire.json";
+    }
+    virtual std::string EngineJSON() const override { return "Polaris/Polaris_EngineSimpleMap.json"; }
+    virtual std::string TransmissionJSON() const override {
+        return "Polaris/Polaris_AutomaticTransmissionSimpleMap.json";
+    }
+    virtual double CameraDistance() const override { return 7.0; }
+};
+
+class UAZ_Model : public WheeledVehicleJSON {
+  public:
+    virtual std::string ModelName() const override { return "UAZ"; }
+    virtual std::string VehicleJSON() const override {
+        ////return "uaz/vehicle/UAZBUS_Vehicle.json";
+        return "uaz/vehicle/UAZ469_Vehicle.json";
+        ////return "uaz/vehicle/UAZBUS_VehicleT.json";
+        ////return "uaz/vehicle/UAZBUS_SAEVehicle.json";
+    }
+    virtual std::string TireJSON(unsigned int axle) const override {
+        ////return "uaz/tire/UAZBUS_TMeasyTireFront.json";
+        return "uaz/tire/UAZBUS_Pac02Tire.json";
+    }
+    virtual std::string EngineJSON() const override { return "uaz/powertrain/UAZBUS_EngineSimpleMap.json"; }
+    virtual std::string TransmissionJSON() const override {
+        return "uaz/powertrain/UAZBUS_AutomaticTransmissionSimpleMap.json";
+    }
+    virtual double CameraDistance() const override { return 8.0; }
+};
+
+class G500_Model : public WheeledVehicleJSON {
+  public:
+    virtual std::string ModelName() const override { return "G500"; }
+    virtual std::string VehicleJSON() const override { return "gclass/vehicle/G500_Vehicle.json"; }
+    virtual std::string TireJSON(unsigned int axle) const override { return "gclass/tire/G500_TMeasyTire.json"; }
+    virtual std::string EngineJSON() const override { return "gclass/powertrain/G500_EngineSimpleMap.json"; }
+    virtual std::string TransmissionJSON() const override {
+        return "gclass/powertrain/G500_AutomaticTransmissionSimpleMap.json";
+    }
+    virtual double CameraDistance() const override { return 10.0; }
+};
+
+class VW_Microbus_Model : public WheeledVehicleJSON {
+  public:
+    virtual std::string ModelName() const override { return "VW_Microbus"; }
+    virtual std::string VehicleJSON() const override { return "VW_microbus/json/van_Vehicle.json"; }
+    virtual std::string TireJSON(unsigned int axle) const override {
+        ////return "VW_microbus/json/van_TMsimpleTireFull.json";
+        ////return "VW_microbus/json/van_TMsimpleTire.json";
+        ////return "VW_microbus/json/van_TMeasyTireFull.json";
+        ////return "VW_microbus/json/van_TMeasyTire.json";
+        return "VW_microbus/json/van_Pac02Tire_extTIR.json";
+        ////return "VW_microbus/json/van_Pac02Tire.json";
+    }
+    virtual std::string EngineJSON() const override { return "VW_microbus/json/van_EngineSimpleMap.json"; }
+    virtual std::string TransmissionJSON() const override {
+        return "VW_microbus/json/van_AutomaticTransmissionSimpleMap.json";
+    }
+    virtual double CameraDistance() const override { return 7.0; }
+};
+
+class CityBus_Model : public WheeledVehicleJSON {
+  public:
+    virtual std::string ModelName() const override { return "CityBus"; }
+    virtual std::string VehicleJSON() const override { return "citybus/vehicle/CityBus_Vehicle.json"; }
+    virtual std::string TireJSON(unsigned int axle) const override {
+        ////return "citybus/tire/CityBus_RigidTire.json";
+        ////return "citybus/tire/CityBus_TMeasyTire.json";
+        return "citybus/tire/CityBus_Pac02Tire.json";
+    }
+    virtual std::string EngineJSON() const override { return "citybus/powertrain/CityBus_EngineSimpleMap.json"; }
+    virtual std::string TransmissionJSON() const override {
+        return "citybus/powertrain/CityBus_AutomaticTransmissionSimpleMap.json";
+    }
+
+    virtual double CameraDistance() const override { return 16.0; }
+};
+
+class Duro_Model : public WheeledVehicleJSON {
+  public:
+    virtual std::string ModelName() const override { return "Duro"; }
+    virtual std::string VehicleJSON() const override { return "duro/vehicle/duro_vehicle.json"; }
+    virtual std::string TireJSON(unsigned int axle) const override { return "duro/tires/duro_tmeasy_tire.json"; }
+    virtual std::string EngineJSON() const override { return "duro/powertrain/duro_engine_simple_map.json"; }
+    virtual std::string TransmissionJSON() const override {
+        return "duro/powertrain/duro_automatic_transmission_simple_map.json";
+    }
+
+    virtual double CameraDistance() const override { return 10.0; }
+};
+
+class MAN_Model : public WheeledVehicleJSON {
+  public:
+    virtual std::string ModelName() const override { return "MAN"; }
+    virtual std::string VehicleJSON() const override {
+        ////return "MAN_Kat1/vehicle/MAN_5t_Vehicle_4WD.json";
+        ////return "MAN_Kat1/vehicle/MAN_7t_Vehicle_6WD.json";
+        return "MAN_Kat1/vehicle/MAN_10t_Vehicle_8WD.json";
+    }
+    virtual std::string TireJSON(unsigned int axle) const override { return "MAN_Kat1/tire/MAN_5t_TMeasyTire.json"; }
+    virtual std::string EngineJSON() const override { return "MAN_Kat1/powertrain/MAN_7t_EngineSimpleMap.json"; }
+    virtual std::string TransmissionJSON() const override {
+        return "MAN_Kat1/powertrain/MAN_7t_AutomaticTransmissionSimpleMap.json";
+    }
+
+    virtual double CameraDistance() const override { return 15.0; }
+};
+
+class MTV_Model : public WheeledVehicleJSON {
+  public:
+    virtual std::string ModelName() const override { return "MTV"; }
+    virtual std::string VehicleJSON() const override { return "mtv/vehicle/MTV_Vehicle_WalkingBeam.json"; }
+    virtual std::string TireJSON(unsigned int axle) const override { return "mtv/tire/FMTV_TMeasyTire.json"; }
+    virtual std::string EngineJSON() const override { return "mtv/powertrain/FMTV_EngineShafts.json"; }
+    virtual std::string TransmissionJSON() const override {
+        return "mtv/powertrain/FMTV_AutomaticTransmissionShafts.json";
+    }
+
+    virtual double CameraDistance() const override { return 12.0; }
+};
+
+class Gator_Model : public WheeledVehicleJSON {
+  public:
+    virtual std::string ModelName() const override { return "Gator"; }
+    virtual std::string VehicleJSON() const override { return "gator/json/Gator_Vehicle.json"; }
+    virtual std::string TireJSON(unsigned int axle) const override {
+        return (axle == 0) ? "gator/json/Gator_TMeasyTireFront.json" : "gator/json/Gator_TMeasyTireRear.json";
+    }
+    virtual std::string EngineJSON() const override { return "gator/json/Gator_EngineSimple.json"; }
+    virtual std::string TransmissionJSON() const override {
+        return "gator/json/Gator_AutomaticTransmissionSimpleMap.json";
+    }
+
+    virtual double CameraDistance() const override { return 8.0; }
+};
+
+class ACV_Model : public WheeledVehicleJSON {
+  public:
+    virtual std::string ModelName() const override { return "ACV"; }
+    virtual std::string VehicleJSON() const override { return "articulated_chassis/ACV_Vehicle.json"; }
+    virtual std::string TireJSON(unsigned int axle) const override { return "articulated_chassis/ACV_RigidTire.json"; }
+    virtual std::string EngineJSON() const override { return "articulated_chassis/ACV_EngineSimpleMap.json"; }
+    virtual std::string TransmissionJSON() const override {
+        return "articulated_chassis/ACV_AutomaticTransmissionSimpleMap.json";
+    }
+
+    virtual double CameraDistance() const override { return 8.0; }
+};
+
+// =============================================================================
+// Specification of a trailer model from JSON files
+// Available models:
+//    Ultra_Tow 40in x 48 in
+
+class Trailer_Model {
+  public:
+    virtual std::string ModelName() const = 0;
+    virtual std::string TrailerJSON() const = 0;
+    virtual std::string TireJSON() const = 0;
+};
+
+class UT_Model : public Trailer_Model {
+  public:
+    virtual std::string ModelName() const override { return "Ultra-Tow"; }
+    virtual std::string TrailerJSON() const override { return "ultra_tow/UT_Trailer.json"; }
+    virtual std::string TireJSON() const override {
+        ////return "ultra_tow/UT_RigidTire.json";
+        return "ultra_tow/UT_TMeasyTire.json";
+    }
+};
+
+// =============================================================================
+
+std::vector<std::pair<std::shared_ptr<WheeledVehicleJSON>, std::string>> WheeledVehicleJSON::List() {
+    std::vector<std::pair<std::shared_ptr<WheeledVehicleJSON>, std::string>> models = {
+        {chrono_types::make_shared<HMMWV_Model>(), "HMMWV"},
+        {chrono_types::make_shared<Audi_Model>(), "Audi"},
+        {chrono_types::make_shared<Polaris_Model>(), "Polaris"},
+        {chrono_types::make_shared<VW_Microbus_Model>(), "VW bus"},
+        {chrono_types::make_shared<UAZ_Model>(), "UAZ"},
+        {chrono_types::make_shared<G500_Model>(), "Mercedes G500"},
+        {chrono_types::make_shared<Sedan_Model>(), "Sedan"},
+        {chrono_types::make_shared<CityBus_Model>(), "City bus"},
+        {chrono_types::make_shared<MAN_Model>(), "MAN"},
+        {chrono_types::make_shared<MTV_Model>(), "MTV"},
+        {chrono_types::make_shared<Duro_Model>(), "Duro"},
+        {chrono_types::make_shared<Gator_Model>(), "Gator"},
+        {chrono_types::make_shared<ACV_Model>(), "Skid steer"}};
+
+    return models;
+}
diff --git a/src/demos/vehicle/WheeledVehicleModels.h b/src/demos/vehicle/WheeledVehicleModels.h
@@ -18,6 +18,9 @@
 
 #pragma once
 
+#include "chrono_vehicle/ChConfigVehicle.h"
+#include "chrono_vehicle/ChVehicleModelData.h"
+
 #include "chrono_models/vehicle/artcar/ARTcar.h"
 #include "chrono_models/vehicle/jeep/Cherokee.h"
 #include "chrono_models/vehicle/bmw/BMW_E90.h"

diff --git a/src/demos/vehicle/wheeled_models/CMakeLists.txt b/src/demos/vehicle/wheeled_models/CMakeLists.txt
@@ -72,6 +72,8 @@ foreach(PROGRAM ${DEMOS})
 
     if(PROGRAM STREQUAL "demo_VEH_Wheeled")
       set(MODELS ../WheeledVehicleModels.h)
+    elseif(PROGRAM STREQUAL "demo_VEH_WheeledJSON")
+      set(MODELS ../WheeledVehicleJSON.h)
     else()
       set(MODELS "")
     endif()