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Fix transform usage for Grp_Wheel #412

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Fix transform usage for Grp_Wheel #412

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34 changes: 23 additions & 11 deletions content/07_geometry/object-vehicle/vehicle-structure.adoc
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Original file line number Diff line number Diff line change
Expand Up @@ -1592,17 +1592,20 @@ The coordinate origin of this group is aligned with the ASAM OSI host vehicle co

This group contains all parts of a wheel, which may consist of the tire, rim, brake caliper, and so on.

The groups' transform shall only be used to implement translational movement of the wheel.
Rotational movement of the wheel shall be applied simultaneously to the transforms of both the groups'
child nodes, Grp_Wheel_Steering and Grp_Wheel_Steering_Rotating, whereby the wheels' rolling movement
shall only be taken into account for the latter (see following chapters for details).

Suspension deflection is represented by translation along the z-axis.
Zero translation around all axles is defined under neutral load conditions.

`<axle_idx>` denotes the index of the axle to which the wheel is mounted,
counting from front to rear, starting with 0.

`<wheel_idx>` denotes the index of the wheel on the specified axle, counting from right to left in positive y-direction, starting with 0.
For example, the wheel on the front left of a standard vehicle would be labeled 'Grp_Wheel_0_1'.

Wheel steering is represented by rotation around the z-axis.
Wheel camber is defined by a rotation around the x-axis.
Suspension deflection is represented by translation along the z-axis.
Zero rotation and translation around all axles are defined under neutral load conditions.
In the _3D model_, both caster and camber angles are ignored.

[#fig-wheel]
.Grp_Wheel_<axle_idx>_<wheel_idx>
Expand Down Expand Up @@ -1631,11 +1634,14 @@ image::Grp_Wheel.svg[,600]

== Grp_Wheel_Steering_<axle_idx>_<wheel_idx> (T)

This group contains all parts of a wheel that follow the steering motion but not the wheel's rotation, such as brake calipers.
This group contains all parts of a wheel that follow the steering motion but not the wheels' rolling movement, such as brake calipers.
Therefore, rotational movement due to wheel steering and wheel camber shall be applied to this group.

The indices are the same as in the parent group.
Wheel steering is represented by rotation around the z-axis.
Wheel camber is defined by a rotation around the x-axis.
Zero rotation around all axles is defined under neutral load conditions.

This group typically does not move independently in the simulation, as it moves with the parent transforms.
The indices are the same as in the parent group Grp_Wheel.

[#tab-Grp-Wheel-Steering]
.Grp_Wheel_Steering_<axle_idx>_<wheel_idx>
Expand All @@ -1660,9 +1666,15 @@ This group typically does not move independently in the simulation, as it moves

== Grp_Wheel_Steering_Rotating_<axle_idx>_<wheel_idx> (T)

This group contains all parts of a wheel that follow the steering motion as well as the rotation of the wheel, such as tire and rim.
This group contains all parts of a wheel that follow the steering motion as well as the rolling movement of the wheel, such as tire and rim.
Therefore, rotational movement due to wheel steering, wheel camber and the wheel rolling movement shall be applied to this group.

Wheel steering is represented by rotation around the z-axis.
Wheel camber is defined by a rotation around the x-axis.
The wheels' rolling movement is defined by a rotation around the y-axis.
Zero rotation around all axles is defined under neutral load conditions.

The indices are the same as in the parent group.
The indices are the same as in the parent group Grp_Wheel.

[#tab-Grp-Wheel-Steering-Rotating]
.Grp_Wheel_Steering_Rotating_<axle_idx>_<wheel_idx>
Expand All @@ -1675,7 +1687,7 @@ The indices are the same as in the parent group.
| Geometric center of the wheel

| *x-axis*
| Collinear with the vehicle's longitudinal axis, pointing towards the door
| Collinear with the vehicle's longitudinal axis, pointing forwards

| *y-axis*
| Completes the right-handed coordinate system
Expand Down