FsaiVehicle.proto

#VRML_SIM R2019b utf8
# license: Copyright Cyberbotics Ltd. Licensed for use only with Webots.
# license url: https://cyberbotics.com/webots_assets_license
# documentation url: https://www.cyberbotics.com/doc/guide/altino
# The "ALTINO System" is a robot platform designed for education. It is a four-wheeled robot based on an Ackermann vehicle frame.

PROTO FsaiVehicle [
  field SFVec3f    translation     0 0 0               # Is `Transform.translation`.
  field SFRotation rotation        0 0 0 0            # Is `Transform.rotation`.
  field SFString   name            "fsaivehicle"       # Is `Solid.name`.
  field SFString   controller      ""                      # Is `Robot.controller`.
  field MFString     controllerArgs           [ ]
  field SFBool     synchronization TRUE                    # Is `Robot.synchronization`.
  field SFColor    color           0.3 0.3 0.7             # Is `Material.diffuseColor`.
  field SFFloat    wheelbase 1.545
  field MFNode     addons   []
  
  field SFBool     supervisor FALSE
  field SFBool     bodyShell TRUE
]
{
  Car 
  {
    supervisor IS supervisor
  
    translation IS translation
    rotation IS rotation
    name IS name
    model "Futura"
    controller IS controller
    controllerArgs IS controllerArgs
    synchronization IS synchronization
    trackFront                     1.255
    trackRear                      1.255
    wheelbase IS wheelbase
    minSteeringAngle               -0.418879
    maxSteeringAngle               0.418879
    suspensionFrontSpringConstant  100000 #900 #100000
    suspensionFrontDampingConstant 4000 #50 #4000
    suspensionRearSpringConstant   100000
    suspensionRearDampingConstant  4000
    wheelsDampingConstant          5
       
    extensionSlot 
    [   
      Group
      {
        children IS addons
      }
            
      Accelerometer 
      {
        name "accelerometer"
        xAxis TRUE
        yAxis TRUE
        zAxis TRUE
      }
      
      InertialUnit 
      {
        name "inertial"
        xAxis TRUE 
        zAxis TRUE 
        yAxis TRUE  
      }
      
      # body
      %{ if fields.bodyShell.value then }%
      Transform 
      {
        translation 0 0 0.75
        rotation 0 0 0 1.5708
        children 
        [
          DEF FSAI_BODY Shape 
          {
            appearance PBRAppearance 
            {
              baseColor IS color
              roughness 0.2
              metalness 0
            }
            geometry FsaiVehicleMesh { }
          }
        ]
      }
      %{ end }%
    ]
    boundingObject Group 
    {
      children [
        Transform {
          translation 0 0.02 0.85
          children [
            Box {
              size 0.6 0.44 2.830
            }
          ]
        }
      
      ]
    }
    physics                 Physics { density -1 mass 50 }
    #radarCrossSection       100
    wheelFrontRight         FsaiWheel { name "front right wheel" }
    wheelFrontLeft          FsaiWheel { name "front left wheel"}
    wheelRearRight          FsaiWheel { name "rear right wheel"}
    wheelRearLeft           FsaiWheel { name "rear left wheel"}
    type                    "4x4"
    engineType              "electric"
    #engineSound             ""
    #brakeCoefficient        700
    #time0To100              2
    #engineMaxTorque         1
    engineMaxPower          34000
    #engineMinRPM            1
    #engineMaxRPM            250
    #gearRatio               [1 1] #[-30 30]
    #maxWheelVelocity         29.8

  }
}