SwingJoint

trait SwingJoint:
    .doc: """
    Adds the `undercarriage` and `swing_connection` which will allow for the
    upper structure of the excavator to freely rotate around the vertical axis.
    """
    undercarriage is MachineModeling.Components.Primitive.Base
    swing_connection is Excavator.Connections.SwingJoint.Base

    no_undercarriage_chassis_collisions is Simulation.CollisionGroup:
        systems: [chassis, undercarriage]

    disable_chassis_undercarriage_pairs is Simulation.DisableCollisionPair:
        group1: no_undercarriage_chassis_collisions
        group2: no_undercarriage_chassis_collisions