Vortex® Studio Demo Scene package is here to guide you through the diverse features of Vortex Toolkit in a straightforward and practical way.

Inside the Demo Scene package, you'll find a range of scenes and mechanisms that showcase the capabilities of Vortex Toolkit. These scenes are designed to provide you with a hands-on experience, allowing you to explore and understand the toolkit's functionalities.

The package also includes Unity projects demonstrating the seamless integration of Vortex with Unity. These projects serve as practical examples, showing you how Vortex enhances Unity-based projects.

The Demo Scenes folder can be found under the CM Labs installation, in the C:\CM Labs\Vortex Studio Content <version>\Demo Scenes folder for the appropriate Vortex version.

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How to explore Demo Scenes content

Open and edit content in Vortex Studio Editor

You can use Vortex Studio Editor to explore the Demo Scene content, learn how it works, and modify it for your purpose. See https://vortexstudio.atlassian.net/wiki/spaces/VSD2311/pages/3409974416 for more information.

1. Double-click on the Vortex Studio Editor icon on your desktop.

2. Open files using the menu in the editor.

   1. Any Vortex file (*.vxscene, *.vxmechanism) can be dragged and dropped from a file browser directly inside Vortex Editor.

3. Once the file is loaded, you can navigate the content and see how it was done.

Human Machine Interface (HMI) in Vortex Editor

Human Machines Interfaces are UI elements with custom controls. When a scenario is launched from the Vortex Studio Player, new tabs are created for each HMI.

As explained in the previous section, the Vortex Editor has a different behaviour when it comes to roles. In this case, the Vortex Editor won't open an extra window for the HMI when the simulation starts. Instead, the HMI can be interacted with through the Console tab. This tab appears under the 3D View whenever a Console Page is in a mechanism.

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Some mechanisms in the Demo Scenes such as the Excavator in the Vortex Studio Content Starting Guide#Excavator-Dump-Truck-Section scenario have a HMI.

For more information, a tutorial on how to create an HMI is also available.

Simulate Content in Vortex Studio Player

Vortex Studio Player is a distributed simulator that can be used to load Vortex content and simulate it. See https://vortexstudio.atlassian.net/wiki/spaces/VSD2311/pages/3409975480 for more information.

1. Double-click on the Vortex Studio Player icon on your desktop.

2. This main window is the interface used to load content and get information about your simulation:
   
   

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3. Any Vortex file (*.vxscene, *.vxmechanism) can be dragged and dropped from a file browser directly inside the browser tab of the window:
   
   

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4. Double-click on an object in the browser list to load it in memory. It will then be ready for simulation
   Scenes have different cameras and roles — usually a default, free-fly camera and additional cameras attached to vehicles. Select a role to enable the controls associated with that role, and select the camera associated with the role to get the correct viewpoint (respectively "r" and "c" keyboard keys in the graphics 3D window)
   Alternatively, use the Roles and Seats tab in the Player to activate a specific role (click on the "Roles" column entry and select a role from the drop-down menu).

Use Vortex Launcher

Vortex® Launcher is a desktop-based launcher tool that simplifies the user workflow when launching a Simulation. See https://vortexstudio.atlassian.net/wiki/spaces/VSD2311/pages/3409985130 for more information.

Start the Vortex Launcher with the shortcut on the desktop. This will give you access to simulations created from the three Unity integration packages. On the login page, type your name and log in.

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Unity Integration Demo has been created with https://vortexstudio.atlassian.net/wiki/spaces/VSD2311/pages/3409981878

We still support our older Unity integration

Unity Standalone Project has been created with https://vortexstudio.atlassian.net/wiki/spaces/VSD2311/pages/3409983488

Unity Asset Bundle Integration Demo has been created with https://vortexstudio.atlassian.net/wiki/spaces/VSD2311/pages/3409983671

Unity Integration Demo Projects

The Unity integration Demo Projects show the possibilities of combining Unity and Vortex. See https://vortexstudio.atlassian.net/wiki/spaces/VSD2311/pages/3409981863 for more information about Unity integration packages.

How to use the Unity demo projects

Before opening the Unity Hub, make sure Vortex Studio is installed, along with the Vortex Studio Demo Scene.

1. Open the Unity Hub and click ADD on the Projects tab.

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2. There is a sample Unity project in the Vortex Demo Scene package. Navigate to C:\CM Labs\Vortex Studio Content 2022.X\Demo Scenes\UnityProjects and add a project to Unity Hub. You can then open the project by clicking it in the list.

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UnityIntegrationDemoProject

This Unity project uses com.cmlabs.vortex.integation.unity. The full integration of Unity with Vortex Studio offers the advantage of the standalone integration - full Unity workflow, two-way communication between Vortex and Unity (through VHL interfaces), etc. - in addition to the advantage of the integration for distributed simulation - distributed simulation, cable system, earthworks, etc. The integration can be added to any HDRP Unity project by installing the package com.cm-labs.vortex.integration.unity.

For more information, see https://vortexstudio.atlassian.net/wiki/spaces/VSD2311/pages/3409981878.

IntegrationDemoProject

This Unity project uses com.cmlabs.vortex.integration.

For more information about this integration, based on using Asset Bundles prefab, see https://vortexstudio.atlassian.net/wiki/spaces/VSD2311/pages/3409983671

StandaloneDemoProject

This Unity project uses com.cmlabs.vortex.integration.standalone.

The standalone integration gives all the control to Unity, but requires extensive scripting for communication between Vortex and Unity. More details at https://vortexstudio.atlassian.net/wiki/spaces/VSD2311/pages/3409983488

Vortex Demo Scenes content

The assets/Scenario folder contains the actual scene files, which link to the required mechanisms and objects in the other folders.

The Vortex Demo scenes require a gamepad device to control the different vehicles. If you have a different type of control device, you might need to adjust the connections and mapping using the Vortex Studio Editor. However, you can navigate through the 3D space using the mouse in combination with the Q, W, E, A, S, and D keyboard keys. Navigation is also possible when the simulation is running.

Defense Vehicles

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This scene provides a number of simulated combat units: Two eight-wheeled Light Armoured Vehicle (LAV), with and without Hull Protection Kit (HPK, heavy armor which reduces maneuverability), and MATV wheeled transport and an M1A2 main battle tank.

Highlights

• The LAV features a semi-automatic transmission with 14 gears (6 reverse and 8 forward speeds).

• The LAV driver can engage the 8x8 mode by locking all differentials for increased all-terrain performance.

• Flat tire faults can be triggered by the Instructor VHL Interface of the LAV.

• Both the LAV and M-ATV include tire models for hard and soft surfaces.

• The M-ATV has an automatic transmission that can be overridden by the driver.

• The M-ATV has multiple driving modes: 2WD, 4WD, and 4WD with locked differentials.

• The M1A2 features an automatic transmission with a pivot gear to turn on the spot.

• The turrets can be controlled via the D-pad. It is possible to fire the main gun with blank ammunition, with a recoil effect.

• All vehicles of the scene use the multi-texturing feature. The LAV has textures for different levels of dirt and mud, which can be linked to the odometer (the vehicle gradually gets dirtier).

• The LAVs and M-ATV leave a dust trail when moving across certain types of terrain.

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Operation Notes

• Before starting the simulation, you can activate a mechanical configuration to remove the LAV's turret.

• The vehicles can be driven from either position (driver or gunner), only the viewpoint changes.

• Put the vehicle in gear and use the throttle to start moving.

• Flat tire faults can be triggered from the Instructor VHL Interface for the LAV.

Simulation Notes

• The Scene Configurations panel includes several different starting points for the vehicles.

• The antenna's graphic model is divided in five pieces. Parts connected with hinge constraints are used to create the flexible antenna.

• The wheels of the LAV and M-ATV have specific Tire Models for a simulated response on different terrain types.

• Two cameras are placed in the mechanisms to provide independent points of view for the operators (driver and gunner).

• A viewpoint extension is placed in the mechanisms for use with multiple displays (refer to the documentation under the Displays and Viewpoints topic).

• The Vehicle Systems use braking and engine torque tables that are suitable for heavy equipment. Additional tables are available in the Equipment/Resources folder.

• Each wheel of a vehicle can be defined as 'steerable'. The LAV's four front wheels are configured as such.

• The models use the latest Vehicle Systems features: transition time between the gears, maximum torque on differential locks, and minimum and maximum travel of the suspension.

• The HPK Armor is a separate mechanism that is attached, at the scene level, to another instance of the base LAV model. Note that both armor and vehicle have corresponding attachment points set up at the mechanism level.

• The LAV also has four Attachment Points on the chassis corners that can be used to hook towing cables and other equipment.

• The LAV and M-ATV have a script and particle emitters that use the "Material in Contact" wheel output to drive the emission of dust particles of a color matching the ground material.

• The LAV model uses the multi-texturing feature to present both a clean and dirty appearance. By modifying the alpha value of the layers, it's possible to progressively dirty up the vehicle (either by manual control or via a script).

Python Scripts

• Differential Lock handles which differential components are locked. Note that the two rear axles are locked permanently on the LAV (this can be changed in the differential script).

• Gear Value returns the exact gear mode and number for the VHL output interface.

• LAV Controller handles the gear (Park, Gear Up, and Gear Down) and engine state of the vehicle. It takes various inputs such as current gear, throttle, and brake signals (either from the VHL or another script), and returns values to the Vehicle Systems to put the LAV in motion.

• Recoil applies forces similar to the ones generated when firing the gun if the "fire" button is pushed on the gamepad.

• Turret Controller controls the turret's motions using switch inputs rather than analog since the turret is controlled from the digital D-Pad instead of an analog joystick.

• Inline Help manages the display of the joystick control diagram in the lower-left corner of the screen.

• Dust and Splash Logic looks at the vehicle's speed and the wheels' Material in Contact output, and use the two to control a pair of particle emitters attached to the rear wheels. The particles are emitted at a rate proportional to the vehicle's speed and with a color matching the ground currently in contact with the wheels.

• M1A2 Controller handles the gear (Park, Gear Up, and Gear Down) and engine state of the vehicle. It takes various inputs such as current gear, throttle, and brake signals (either from the VHL or another script), and returns values to the Vehicle Systems to get the tank in motion. Pivot Steer is available to turn the tank on the spot.

• Tire Pressure Logic controls the pressure in the tires depending on the driver's selected mode.

• ABS and TC Logic simulates the presence of anti-lock brakes and a traction control system.

• Spring Compression Display Logic is used to visually deform and compress the spring models in the suspension of the M-ATV.

Mobile Crane

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This sample provides an example of a typical rigging scenario: a mobile crane has been set up in a suburban construction field where it is used to unload and move sections of concrete pipes. The model combines Vehicle Systems with Cable Systems and advanced logic.

Highlights

• Cable Systems for both the mobile crane and the spreader bar.

• Rigging is simulated via a Hooking extension to attach the hooks and loops as needed.

• The hydraulic systems are simulated via a Python script with a low-pass filter to provide a feel similar to the real vehicle.

• The Vortex Studio Human library is used for all avatars present in the scene, including the slingers and supervisor.

• The trees and other vegetation come from the Vortex Studio Vegetation library.

• Configurations at the Scene level are used to model three different starting situations: unloading a transport truck, using a spreader to lift a wide load, and dangerous over-extension.

• All components of the scene use the multi-texturing feature. The terrain is a Graphics Gallery.

Operation Notes

• While the featured model includes the crane's normal driving capabilities, the scene's scenario locks the crane in operation mode for simplicity.

Note: The crane will not accept commands until the outriggers are fully deployed.

• The engine throttle must be used in combination with the respective hoist, boom, and turret commands.

• The D-pad can be used to control the point of view of the operator.

• The scene uses color-coding to indicate the state of the rigging. The hook and slings must be brought close to one another to allow them to be attached.

  • If the hook is red, the Anti-Two Block is activated; the hook is too close to the boom's pulley. You must lower the hoist.

  • If the hook is green, you are in range to attach the load's sling to the hook. Make sure the hook is properly positioned above the load.

  • If the hook is yellow, the load is being attached. Do not move the crane or hook.

  • A blue hook means that the load is properly attached.

• The truck and trailer can be backed up to get them closer to the crane for unloading. Make sure the truck driver's Role is active or you will not be able to drive it!

Simulation Notes

• The mobile crane assembly includes some features to increase the fidelity of the model, such as:

  • The hydraulic controls (turret, boom elevation, and extension) are matched with a low pass filter to add inertia.

  • The turret and booms have some relaxation in their constraints to provide torsion under heavy lifting. o The weighted hook contains a hinge constraint with friction to avoid torsion when the load is rotating. ^ Cable Systems has the Enable Breakage parameter turned on.

  • When the maximum tension (50,000N) is exceeded for more than 120 steps (approx. 2 seconds), the crane's cable is cut.

• The Hooking extension adds a constraint between each sling cable attachment point and the hook attachment point. This operation is performed when the simulation is started. When the hook is within the attraction distance and the "attach" command is triggered, the Max Force value is applied to attract the sling attachment point onto the hook progressively.

Python Scripts

• Anti-Two Block measures the distance between the hook and the pulley and locks the drum if they are too close.

• Drum takes inputs from the throttle and joystick and combines them to drive the drum, up to the maximum length of the cable (which is set as a parameter).

• Gear Value returns the exact gear mode and number for the VHL output interface. In this case, the script is inactive since the crane will not be driven.

• Hydraulic Boom takes inputs from the throttle and joystick and combines them to drive the boom, acting on the constraint linking the boom's hydraulic cylinders. The signal is processed via a low-pass filter to give a similar feeling to real hydraulics.

• Mobile Crane Controller is the main control scrip of the vehicle. It handles the gear (Park, Gear Up, and Down) and engine state of the vehicle. It takes various inputs (either from the VHL or other scripts), and returns values to the Vehicle Systems and constraints to get the crane in motion. Since the crane is locked in place, not all functions are used.

• Outriggers handle the movements of the crane's stabilizers. It takes inputs from the Controller script and deploys the outriggers as needed.

• Telescopic Boom takes inputs from the throttle and joystick and combines them to drive the telescopic boom, acting on the constraint linking the boom's hydraulic sections. Like for the main boom, the signal is processed via a low-pass filter to give a similar feeling to real hydraulics. There's input from the Anti-Two Block script that locks the boom if the hook and pulley get too close.

• Turret takes inputs from the throttle and joystick and combines them to rotate the turret, acting on the constraint linking the latter to the crane body. Again, the signal is processed via a lowpass filter.

• Inline Help manages the display of the joystick control diagram in the lower-left corner of the screen.

• HUD Controller manages the display of the speed, RPM, and current gear at the bottom right of the screen.

• Hook Colorization handles the color of the hook. The hook's color comes from the VHL input, depending on the conditions in the scene. Note that this script is placed at the scene level, not in the mechanism, since it involves data interaction from several elements (the crane, the hook, the spreader, and the concrete pipe).

Offshore Top Side – Vessel with Knuckle-Boom Crane

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This scene features an offshore scenario to demonstrate the use of Vortex Studio in a marine environment. It includes a controllable knuckle boom crane mounted on a vessel to transfer equipment from the vessel to the seabed.

Highlights

• This scene illustrates how Vortex Studio can be used to perform lift planning and validation in an offshore environment.

• The ocean simulation includes wave modeling, water surface reflections, and propeller effects. It is possible to change the waves' size and the wind force during the simulation.

• The Vortex Studio Human library is used for all avatars present in the scene, including the slingers and supervisor.

• The Hooking of equipment is controlled via Python scripting.

• Vessel operations can be simulated using crew avatars on the vessel deck (the signaler role is controllable with a gamepad to walk around the ship).

• All components of the scene use the multi-texturing feature. o Texture masks allow the ships' windows to reflect light differently than the hull o The equipment has a "used" appearance, with scratches and dents

• The moving support vessel uses scripting to combine particle effects with the Buoy extension to create a bow wave/splash.

• The environment uses the Skydome and Ocean features to add detailed cloud layers as well as wind streaks on the water surface.

• The crane operator position has a Viewpoint set for multiple-display use.

Operation Notes

• Use the crane control to hoist up the subsea module and land it on the vessel deck.

• Unhook the subsea module using the gamepad.

• During the simulation, a script can control the motion of the knuckle-boom crane drum to compensate for the heave motion of the vessel.

• Select the Signaler Role to walk around the vessel deck in the first-person view using the gamepad controller.

Simulation Notes

• The scene includes two intervention vessels with equipment on deck, a Floating Production Storage and Offloading (FPSO) ship, and a subsea module (EDP) hooked to a knuckle-boom crane.

• The observation intervention vessel is used to illustrate the bow wave and thruster wash effects.

The former automatically move in wide circles around the scene.

• Ocean properties are defined in the Ocean Dynamics extension under the Environment Properties. By changing the inputs and parameters of this extension in the Vortex Studio Editor, it is possible to alter the sea state and sea current.

• Under the Ocean Dynamics, the Ocean Graphics extension can be used to tune ocean visibility (fog, silt) and ocean reflection/color.

• Environment controls (such as the time of the day and weather conditions) can be changed under Environment/SkyDome.

• You can also change the shape and properties of the cloud cover via the Custom Cloud extension. Python Scripts

• Underwater Visibility Control lets the user toggle between topside and subsea visibility levels directly from the gamepad.

• Inline Help manages the display of the gamepad control diagram in the lower-left corner of the screen.

• Propeller Speed returns a propeller speed based on the vessel's own speed. This is used to set the propeller wash effect.

• Crane Controller takes inputs from the VHL (and thus gamepad) and combines them to drive the boom and stick, acting on the constraint linking the crane together. The signals are processed via a low-pass filter to give a similar feeling to real hydraulics.

Offshore Sea Bed – Subsea Field with ROV

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This scene provides an offshore scenario to demonstrate the use of Vortex Studio in a marine environment. It includes a Remotely Operated Vehicle (ROV) with robotic manipulators and tooling to perform subsea interventions.

Highlights

• Vortex Marine is used to simulating the hydrodynamics of an underwater vehicle (ROV).

• This scene showcases the three types of cables available in Vortex Studio:

  • Generic Cable: flexible cables used to model the tether cable connecting the ROV to the Tether Management System (TMS) and to model the umbilical connecting the TMS to the LARS system on the offshore vessel.

  • Catenary: used to model the flexible risers connecting the FPSO to the subsea modules on the seabed.

  • Pipeline: used to model fixed pipelines on the seabed.

• The scene is also a good example of modeling and control of robotic manipulators using joint-by-joint control or inverse kinematics using Python scripting.

• Ocean modeling including sea current and underwater visibility.

• ROV features an automatic station-keeping feature to facilitate the use of the arms.

• A configuration allows the simulation to generate silt in the water if the ROV comes close to the sandy seabed.

• All components of the scene use the multi-texturing feature. o The sub-sea terrain has a natural look with no tiling visible up close o The equipment has a "worn out" appearance, with scratches and dents

• The sub-sea terrain is a Graphics Gallery, which allows the use of multi-texturing.

Operation Notes

• Before launching the simulation, you can select whether the ROV will carry arms or not via a scene configuration.

• When piloting the ROV, make sure you spool out enough tether to properly operate the remote vehicle.

• Different cameras can be used to monitor ROV interventions:

• Docking Camera: the docking camera is used to assist the ROV operator during the latching of the ROV into the TMS.

• ROV Camera: camera located in front of the ROV during normal ROV interventions. Allows the operator to navigate the ROV and perform manipulations using the robotic manipulators on the ROV.

• Titan4 Camera: this camera is installed on the wrist of the Titan4 robotic manipulator. It can be used for better visibility when grasping objects.

• Third-Person View Camera: this is a camera to monitor ROV operations from an observer point of view. You can control the view of this camera by clicking on the left mouse button and using the mouse to position the camera.

• Use the gamepad buttons to toggle between the ROV and the robotic manipulators. If the ROV Operator role is active, the HUD/image in the down-right corner of the screen will highlight which equipment is currently being controlled.

• You can toggle between clear or realistic underwater visibility.

• This scene also illustrates how simulation can be used to perform subsea accessibility studies.

The torque tool installed on the ROV can only be partly inserted into the AAV Bucket on the
Christmas Tree due to contact between the top of the ROV and the top of the Christmas Tree (see picture below). Using the Vortex Studio Editor, the torque tool can be repositioned lower on the ROV in order to be able to fully insert it into the AAV bucket.

Simulation Notes

• Ocean properties are defined in the Ocean Dynamics extension under the Environment Properties. By changing the inputs and parameters of this extension in the Vortex Studio Editor, you will be able to alter the sea state and sea current. ^ Under Ocean Dynamics, you will also find the Ocean Graphics extension which can be used to tune ocean visibility (fog, silt) and ocean reflection/color.

• Control of the ROV thrusters is achieved using seven thrusters extensions located in the ROV mechanism (see below).

• The arms are equipped with cable grabbing and cutting extensions – activate the Configurations as needed. You will need to manually match the extensions' contact material with a cable, in order to grab or cut the latter.

Python Scripts

• ROV Multiple Device Selection lets the user toggle between the various controls and tools attached to the ROV.

• ROV Controller checks the desired ROV velocity coming from the gamepad and computes the required thruster speeds necessary to create that motion. It then outputs the control signals to the thruster extensions.

• Thruster Joystick Command checks the signals coming from the gamepad and computes a direction signal to feed to the ROV Controller script.

• Camera Controller checks the joystick inputs for the camera and turns them into a tilt velocity for the constraint that attaches the camera to the ROV.

• Torque Tool Display checks the number of rotations made by the tool and converts them into the text to be displayed.

• Titan4 Joystick Mapping takes the various joystick inputs and converts them into velocities suitable for use by the Inverse Kinematic script.

• IK – Titan4 takes the current and desired positions of the arm, and computes the required joint motions required to complete the command.

• Rig Master Joystick Mapping takes the various joystick inputs and converts them into velocities suitable for use by the Inverse Kinematic script.

• TMS Drum Control takes the gamepad input and converts it into an angular velocity for the drum constraint. It also imposes a limit to that speed via a set parameter.

Excavator and Dump Truck

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This scene provides a digging scenario on loam soil with a 36-ton excavator and a three-axle construction truck vehicle. The excavator features both a bucket and a dozing blade to move soil around with. The truck combines a Vehicle Systems model with simple logic to drive it; in addition, it provides a control for both brake and retarder combined.

Highlights

• The excavator mechanism provides a hydrostatic Vehicle Systems model with rigid tracks. The logic provides hydraulic controls for all actuators with a low pass filter to simulate inertia.

• The entire area between the orange cones can be dug into, including the loose soil pile to the left. Soil can be excavated using the bucket or pushed with the dozer blade. Excavated soil can be dumped in the truck or added to the pile. The SSM soil graphic feature is enabled.

• The Vortex Studio Human library is used for all avatars present in the scene, including the operator and supervisor.

• The trees and other vegetation come from the Vortex Studio Vegetation library. ^ Via a configuration, a concrete pipe can be buried in front of the starting position of the excavator. It cannot be dug out of the ground, but it can be uncovered and re-buried.

• All components of the scene use the multi-texturing feature.

• The terrain is a Graphics Gallery.

• Both the excavator operator and truck driver positions have a Viewpoint for multiple display use.

Operation Notes

• The Excavator comes with two control modes, digging or driving.

  • To dig with the excavator, use the controls to operate the turret and the hydraulic actuators of the boom and arm.

  • To drive the excavator, switch to Drive mode, and use coordinated left and right track commands to move forward, backward, or turn. The excavator can pivot in place.

  • The excavator's dozer blade can be lowered or raised in either mode.

• The truck can be driven and its bed emptied.

• The excavator can use either a standard or a narrow bucket. Activate the associated mechanical configuration to equip the desired one.

• Some of the excavator controls are managed by a Vortex Studio Content Starting Guide#Vortex-Editor-HMI-Information. More information about the HMI is presented in the Vortex Studio Content Starting Guide#excavator-dump-truck-console-feature-section section. 

Simulation Notes

• Scene configurations include several different starting points and options for the simulation.

• Boom and arm have some relaxation in their constraints to provide torsion under heavy forces. ^ The visuals of the dug soil use the Screen Space Mesh (SSM) feature. This fills the space between soil particles and helps create the illusion of loose earth.

• The Soil Layer tool, combined with empty collision geometries, is used to generate the loose soil pile. Adjusting the Relative Density field will change the pile's shape as it settles. The starting shape can also be modified by changing the collision geometries in the Soil Pile mechanism.

• The Soil Layer tool is also used to create the buried concrete pipe (it is set to 'non dig-able'). Note that the collision geometry of the latter is slightly smaller than the graphic to ensure good visual interaction with the soil flowing around it.

• A VHL interface is used to change the bucket soil material configuration from the scene to avoid changing the mechanism file for each soil type. In the Player, this is accessed via the Content Debugger tab: open the Content folder, then the Scene folder, then the Excavator folder, and locate the Earthwork Bucket entry. ^ A simple Cable system is used to model the flexible sections of the excavator's hydraulic lines. The forces of the lines are prevented from affecting the parts of the vehicle. They are attached in order to optimize the simulation.

• The Mirror extension is used to create a reflective surface in the cab's left-side mirror. Since the right-side mirror cannot be seen without changing the point of view, it has been left bare to improve performance.