Base

Base is MachineModeling.Components.Composite.Base:
    .doc: """
A Track System for vehicles. With this component you may add tracks to your vehicle.

A Track System is defined to have one tracks component, track properties, and tension initialization.
The tracks component defines the repeated link geometry through link_description,
the number of links through link_count, and optionally a material for the track links.
If tracks.material is set, it overrides materials defined on geometries in the link nodes.

The Track System also needs a a connection with N number of wheels where both the Connections.Base
and the Components.Tracks.Base have the same number of wheels. In your behicle you then connect
each connector in the connection to whereever your track wheels are lookated.

The routing of the tracks around the track wheels is solved in runtime.

If the set of track wheels contain a Sprocket the rotation axis of the first defined Sprocket
defines the tracks transversal axis. It is expected that all track wheel have the rotation
axis in the same or almost the same direction.

    properties              - The track flexibility and energy dissipation parameters. This defines properties
                              such as the track stiffness.
    tracks                  - The tracks, defines number of shoes, width and thickness.
    tension_initialization  - How the track is initialized with respect to track tension, e.g. by defining the
                              track rest length.
    track_wheel_1           - The first TrackWheel in the tracks. Preferrably this is a Sprocket that has a direct
                              connection with the vehicle chassis.
    track_wheel_2           - The second TrackWheel in the tracks. If you have more TrackWheels in your track system
                              you could extend this system with as many TrackWheels as you like using this parameter
                              naming syntax.
    chassis_body            - This body is the chassis or simular which the Track System is connected to. Note
                              that it is optional and if this isn't given the body of track_wheel_1 connection is choosed
                              as the chassis body for this Track System.

Example:

TrackedVehicle is Physics3D.System:
    chassis is Physics3D.Bodies.RigidBody

    track_material is Physics.Geometries.Material

    sprocket is Vehicles.TrackSystem.Components.TrackWheels.Sprocket with Vehicles.TrackSystem.Components.TrackWheels.Traits.CylindricalShape, Vehicles.TrackSystem.Components.TrackWheels.Traits.CylindricalVisual:
        radius: 0.15
        width: 0.5

    idler is Vehicles.TrackSystem.Components.TrackWheels.Idler with Vehicles.TrackSystem.Components.TrackWheels.Traits.CylindricalShape:
        radius: 0.15
        width: 0.5

    road_wheel is Vehicles.TrackSystem.Components.TrackWheels.RoadWheel with Vehicles.TrackSystem.Components.TrackWheels.Traits.CylindricalShape:
        radius: 0.15
        width: 0.5

    sprocket_connector is Physics3D.Interactions.StructuralPlanarConnector:
        x: 2.1
        y: 1.1
        redirected_parent: chassis

    idler_connector is Physics3D.Interactions.StructuralPlanarConnector:
        x: -1.1
        y: 1.1
        redirected_parent: chassis

    road_wheel_connector is Physics3D.Interactions.StructuralPlanarConnector:
        x: -1.1
        y: -1.1
        redirected_parent: chassis

    track_system is Vehicles.TrackSystem.Base:
        tracks.link_count: 100
        tracks.material: track_material
        tracks.link_description.width: 0.5
        tracks.link_description.height: 0.05
        track_wheels:  [sprocket,
                        idler,
                        road_wheel]

    tracks_connection is Vehicles.TrackSystem.Connections.Base with Vehicles.TrackSystem.Connections.Traits.ThreeWheels:
        track_system : track_system
        connectors: [sprocket_connector,
                     idler_connector,
                     road_wheel_connector]
"""

    properties is TrackSystem.Properties

    tracks is TrackSystem.Components.Tracks.Base

    tension_initialization is TrackSystem.TensionInitialisation

    track_wheels is TrackSystem.Components.TrackWheels.Base[]

    optional chassis_body is Physics3D.Bodies.RigidBody reference