text: // =============================================================================
  // PROJECT CHRONO - http://projectchrono.org
  //
  // Copyright (c) 2014 projectchrono.org
  // All rights reserved.
  //
  // Use of this source code is governed by a BSD-style license that can be found
  // in the LICENSE file at the top level of the distribution and at
  // http://projectchrono.org/license-chrono.txt.
  //
  // =============================================================================
  // Authors: Radu Serban
  // =============================================================================
  //
  // HMMWV 4WD driveline model based on ChShaft objects.
  //
  // =============================================================================
  
  #include "chrono_models/vehicle/hmmwv/HMMWV_Driveline4WD.h"
  
  namespace chrono {
  namespace vehicle {
  namespace hmmwv {
  
  // -----------------------------------------------------------------------------
  // Static variables
  // -----------------------------------------------------------------------------
  const double HMMWV_Driveline4WD::m_central_differentialbox_inertia = 0.6;
  const double HMMWV_Driveline4WD::m_front_differentialbox_inertia = 0.6;
  const double HMMWV_Driveline4WD::m_rear_differentialbox_inertia = 0.6;
  const double HMMWV_Driveline4WD::m_driveshaft_inertia = 0.5;
  const double HMMWV_Driveline4WD::m_frontshaft_inertia = 0.5;
  const double HMMWV_Driveline4WD::m_rearshaft_inertia = 0.5;
  
  const double HMMWV_Driveline4WD::m_central_differential_ratio = -1;
  const double HMMWV_Driveline4WD::m_front_differential_ratio = -1;
  const double HMMWV_Driveline4WD::m_rear_differential_ratio = -1;
  const double HMMWV_Driveline4WD::m_front_conicalgear_ratio = -0.2;
  const double HMMWV_Driveline4WD::m_rear_conicalgear_ratio = -0.2;
  
  const double HMMWV_Driveline4WD::m_axle_differential_locking_limit = 100;
  const double HMMWV_Driveline4WD::m_central_differential_locking_limit = 100;
  
  // -----------------------------------------------------------------------------
  // Constructor of the HMMWV_Driveline4WD.
  // The direction of the motor block is along the X axis, while the directions of
  // the axles is along the Y axis (relative to the chassis coordinate frame),
  // -----------------------------------------------------------------------------
  HMMWV_Driveline4WD::HMMWV_Driveline4WD(const std::string& name) : ChShaftsDriveline4WD(name) {
      SetMotorBlockDirection(ChVector<>(1, 0, 0));
      SetAxleDirection(ChVector<>(0, 1, 0));
  }
  
  }  // end namespace hmmwv
  }  // end namespace vehicle
  }  // end namespace chrono
  