DualActuator

trait DualActuator:
    chassis_frame becomes MachineModeling.Components.Primitive.Base with DumpTruck.Interfaces.CargoBed.DualActuator reference
    cargo_bed becomes MachineModeling.Components.Primitive.Base with DumpTruck.Interfaces.CargoBed.DualActuator reference

    min_length      is Real
    stroke_length   is Real
    rod_diameter    is Real
    barrel_diameter is Real

    left_lift is MachineModeling.Actuators.Linear.Connections.Cylinder.DualMate:
        from: cargo_bed.left_cargo_bed_actuator_connector
        to: chassis_frame.left_cargo_bed_actuator_connector

        barrel_connection becomes MachineModeling.Connections.BallSocket.Base with MachineModeling.Connections.Properties.AxialRotationLock
        rod_connection becomes MachineModeling.Connections.BallSocket.Base with MachineModeling.Connections.Properties.AxialRotationLock

        actuator:
            min_length: min_length
            stroke_length: stroke_length
            rod.body.diameter: rod_diameter
            barrel.body.diameter: barrel_diameter

            cylindrical.flexibility becomes Physics3D.Interactions.Flexibility.LinearElasticCylindricalFlexibility:
                default_stiffness: 1e16

    left_lift.actuator.barrel.body.axial_rotation_lock_connector is Physics3D.Interactions.MateConnector:
        position: left_lift.actuator.barrel.body.connector.position
        main_axis: left_lift.actuator.barrel.body.internal_connector.main_axis
        normal: left_lift.actuator.barrel.body.connector.normal
    left_lift_barrel_axial_rotation_lock_connector is Physics3D.Interactions.RedirectedMateConnector with Physics3D.Interactions.ConnectorProperties.Adaptive:
        redirected_parent: cargo_bed.body

    left_lift.barrel_connection.direction_connector: left_lift.actuator.barrel.body.axial_rotation_lock_connector
    left_lift.barrel_connection.attached_connector: left_lift_barrel_axial_rotation_lock_connector

    left_lift.actuator.rod.body.axial_rotation_lock_connector is Physics3D.Interactions.MateConnector:
        position: left_lift.actuator.rod.body.connector.position
        main_axis: left_lift.actuator.rod.body.internal_connector.main_axis
        normal: left_lift.actuator.rod.body.connector.normal
    left_lift_rod_axial_rotation_lock_connector is Physics3D.Interactions.RedirectedMateConnector with Physics3D.Interactions.ConnectorProperties.Adaptive:
        redirected_parent: chassis_frame.body

    left_lift.rod_connection.direction_connector: left_lift.actuator.rod.body.axial_rotation_lock_connector
    left_lift.rod_connection.attached_connector: left_lift_rod_axial_rotation_lock_connector

    right_lift is MachineModeling.Actuators.Linear.Connections.Cylinder.DualMate:
        from: cargo_bed.right_cargo_bed_actuator_connector
        to: chassis_frame.right_cargo_bed_actuator_connector

        barrel_connection becomes MachineModeling.Connections.BallSocket.Base with MachineModeling.Connections.Properties.AxialRotationLock
        rod_connection becomes MachineModeling.Connections.BallSocket.Base with MachineModeling.Connections.Properties.AxialRotationLock

        actuator:
            min_length: min_length
            stroke_length: stroke_length
            rod.body.diameter: rod_diameter
            barrel.body.diameter: barrel_diameter

            cylindrical.flexibility becomes Physics3D.Interactions.Flexibility.LinearElasticCylindricalFlexibility:
                default_stiffness: 1e16

    right_lift.actuator.barrel.body.axial_rotation_lock_connector is Physics3D.Interactions.MateConnector:
        position: right_lift.actuator.barrel.body.connector.position
        main_axis: right_lift.actuator.barrel.body.internal_connector.main_axis
        normal: right_lift.actuator.barrel.body.connector.normal
    right_lift_barrel_axial_rotation_lock_connector is Physics3D.Interactions.RedirectedMateConnector with Physics3D.Interactions.ConnectorProperties.Adaptive:
        redirected_parent: cargo_bed.body

    right_lift.barrel_connection.direction_connector: right_lift.actuator.barrel.body.axial_rotation_lock_connector
    right_lift.barrel_connection.attached_connector: right_lift_barrel_axial_rotation_lock_connector

    right_lift.actuator.rod.body.axial_rotation_lock_connector is Physics3D.Interactions.MateConnector:
        position: right_lift.actuator.rod.body.connector.position
        main_axis: right_lift.actuator.rod.body.internal_connector.main_axis
        normal: right_lift.actuator.rod.body.connector.normal
    right_lift_rod_axial_rotation_lock_connector is Physics3D.Interactions.RedirectedMateConnector with Physics3D.Interactions.ConnectorProperties.Adaptive:
        redirected_parent: chassis_frame.body

    right_lift.rod_connection.direction_connector: right_lift.actuator.rod.body.axial_rotation_lock_connector
    right_lift.rod_connection.attached_connector: right_lift_rod_axial_rotation_lock_connector

    no_cargo_bed_actuator_collisions is Simulation.CollisionGroup:
        systems: [left_lift, right_lift, chassis_frame, cargo_bed]

    disable_geometry_pairs is Simulation.DisableCollisionPair:
        group1: no_cargo_bed_actuator_collisions
        group2: no_cargo_bed_actuator_collisions