Vehicle (MAN) does not interact with the deformable terrain

[Jay Sun]

Hi everyone,

The vehicle (MAN) does not interact with the deformable terrain (veh.SCMTerrain) and the wheels do not leave ruts after passing. The possible reason is that the vehicle MAN (https://api.projectchrono.org/vehicle_models.html#vehicle_models_man) has only this type of tire (veh.TireModelType_TMEASY) and not veh.TireModelType_Rigid type. As shown below, please tell me what I should do? Can I replace it with HMMWV Rigid tire? I tried to do so, but there was an error. Looking forward to your reply, thank you very much!

Regard,

Jay

[Radu Serban]

Jay,

Indeed, only tire models that carry a collision shape can interact with SCM deformable terrain.  The handling tire models (Pacejka, TMeasy, TMsimple, Fiala) do not have an associated collision shape.

We will add an option for a rigid tire to the MAN trucks in the Chrono::Vehicle models library. 

Until then, the easiest solution is to create the vehicle from the provided set of JSON files and create your own rigid tire JSON specification file (say, using the HMMWV one as an example).  You seem to be using PyChrono, so you’ll want to use a modified version of demo_VEH_WheeledJSON where you replace the current HMMWV specification files with the corresponding ones for the MAN truck (including that new rigid tire JSON you will be creating).

--Radu

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[Jay Sun]

Thank you very much for your reply. I have one more question. I want to change the radius of the wheel. Is it possible to change the Unload radius parameter in the JSON file?

[Radu Serban]

Jay,

I assume you are talking about the existing TMeasy JSON model, correct? If so, the answer is yes, that’s how you would change the tire radius. However, you may want to change other tire parameters so that you model a reasonable tire.

To view this discussion on the web visit https://groups.google.com/d/msgid/projectchrono/5a2163a8-8bab-4e9f-a3aa-7bd778886552n%40googlegroups.com.

[Jay Sun]

Radu,

Thank you for your reply. Now I want to use the frame of the vehicle MAN and then Rigid of HMMWV, and I can modify the radius of the tire by configuring the Json file, right?