Vehicles/DumpTruck/Articulated.openplx
Articulated

Articulated is DumpTruck.Base:

    initial_angle is Real:   0.0*(Math.PI/180)
    max_angle is Real:      45.0*(Math.PI/180)

    chassis becomes Vehicles.Chassis.Articulated.DualPivot:
        front_frame becomes MachineModeling.Components.Primitive.Base with Vehicles.Chassis.Articulated.Interfaces.DualJoint, Vehicles.Chassis.Articulated.Interfaces.DualSteeringActuators, Vehicles.DumpTruck.Interfaces.Chassis.AFrame:
            observer is Physics3D.Interactions.RedirectedMateConnector:
                redirected_parent: chassis.front_frame.body
                position: {0.0, 0.0, 0.0}
            pos_output is Physics3D.Signals.MateConnector.PositionOutput:
                source: chassis.front_frame.observer
            vel_output is Physics3D.Signals.MateConnector.LinearVelocity3DOutput:
                source: chassis.front_frame.observer
            acc_output is Physics3D.Signals.MateConnector.Acceleration3DOutput:
                source: chassis.front_frame.observer

        rear_frame becomes MachineModeling.Components.Primitive.Base with Vehicles.Chassis.Articulated.Interfaces.DualJoint, Vehicles.Chassis.Articulated.Interfaces.DualSteeringActuators, DumpTruck.Interfaces.Chassis.DualAFrame, DumpTruck.Interfaces.CargoBed.SingleJoint, DumpTruck.Interfaces.CargoBed.DualActuator:
            observer is Physics3D.Interactions.RedirectedMateConnector:
                redirected_parent: chassis.rear_frame.body
                position: {0.0, 0.0, 0.0}
            pos_output is Physics3D.Signals.MateConnector.PositionOutput:
                source: chassis.rear_frame.observer
            vel_output is Physics3D.Signals.MateConnector.LinearVelocity3DOutput:
                source: chassis.rear_frame.observer
            acc_output is Physics3D.Signals.MateConnector.Acceleration3DOutput:
                source: chassis.rear_frame.observer

        frame_connection.upper_pivot becomes MachineModeling.Connections.Pivot.Hinge:
            hinge.initial_angle: initial_angle
            hinge_range is Physics3D.Interactions.RotationalRange:
                connectors: chassis.frame_connection.upper_pivot.hinge.connectors
                start: max_angle
                end: -max_angle

        frame_connection.lower_pivot becomes MachineModeling.Connections.Pivot.Hinge:
            hinge.initial_angle: initial_angle
            hinge_range is Physics3D.Interactions.RotationalRange:
                connectors: chassis.frame_connection.lower_pivot.hinge.connectors
                start: max_angle
                end: -max_angle

    steering is Vehicles.Steering.Articulated.DualCylinder:
        left_front_connector: chassis.front_frame.left_steering_actuator_connector
        right_front_connector: chassis.front_frame.right_steering_actuator_connector
        left_rear_connector: chassis.rear_frame.left_steering_actuator_connector
        right_rear_connector: chassis.rear_frame.right_steering_actuator_connector
        min_length: 1.0
        stroke_length: 1.0
        rod_diameter: 0.1
        barrel_diameter: 0.2

    front_axle_connection is DumpTruck.Connections.Base
    rear_axle_connection is DumpTruck.Connections.Base

    front_axle_connection.chassis_frame: chassis.front_frame
    rear_axle_connection.chassis_frame: chassis.rear_frame

    cargo_bed_connection:
        chassis_frame: chassis.rear_frame
        cargo_bed: cargo_bed

    steering_chassis_group is Simulation.CollisionGroup:
        systems: [steering, chassis]

    disable_steering_chassis_collisions is Simulation.DisableCollisionPair:
        group1: steering_chassis_group
        group2: steering_chassis_group