private void initializeEngine(agxPowerLine.PowerLine drivetrain, agxDriveTrain.PidControlledEngine engine)
{
// set a value for the inertia of the rotational dimension
engine.setInertia(0.4);
drivetrain.setSource(engine);
// Create a rpm/torque table
var rpm_torque_table = new agx.RealPairVector();
foreach (var t in m_rpm_torque)
{
rpm_torque_table.Add(new agx.RealPair(t.First, t.Second));
}
engine.setRPMTorqueTable(rpm_torque_table);
engine.ignition(true);
engine.setThrottle(1.0);
}
protected override bool Initialize()
{
if (!agx.Runtime.instance().isModuleEnabled("AgX-DriveTrain"))
{
Debug.LogWarning("WheelLoader requires a valid license for the AGX Dynamics module: AgX-DriveTrain", this);
}
PowerLine = new agxPowerLine.PowerLine();
PowerLine.setName(name);
Engine = new agxDriveTrain.CombustionEngine(InletVolume);
TorqueConverter = new agxDriveTrain.TorqueConverter();
GearBox = new agxDriveTrain.GearBox();
Differentials[(int)DifferentialLocation.Rear] = new agxDriveTrain.Differential();
Differentials[(int)DifferentialLocation.Center] = new agxDriveTrain.Differential();
Differentials[(int)DifferentialLocation.Front] = new agxDriveTrain.Differential();
m_actuators[(int)WheelLocation.LeftFront] = new agxPowerLine.RotationalActuator(LeftFrontHinge.GetInitialized <Constraint>().Native.asHinge());
m_actuators[(int)WheelLocation.RightFront] = new agxPowerLine.RotationalActuator(RightFrontHinge.GetInitialized <Constraint>().Native.asHinge());
m_actuators[(int)WheelLocation.LeftRear] = new agxPowerLine.RotationalActuator(LeftRearHinge.GetInitialized <Constraint>().Native.asHinge());
m_actuators[(int)WheelLocation.RightRear] = new agxPowerLine.RotationalActuator(RightRearHinge.GetInitialized <Constraint>().Native.asHinge());
foreach (var wheelHinge in WheelHinges)
{
wheelHinge.GetController <TargetSpeedController>().Enable = false;
}
var engineTorqueConverterShaft = new agxDriveTrain.Shaft();
var torqueConverterGearBoxShaft = new agxDriveTrain.Shaft();
var gearBoxCenterDiffShaft = new agxDriveTrain.Shaft();
var centerDiffRearDiffShaft = new agxDriveTrain.Shaft();
var centerDiffFrontDiffShaft = new agxDriveTrain.Shaft();
var frontDiffFrontLeftWheelShaft = new agxDriveTrain.Shaft();
var frontDiffFrontRightWheelShaft = new agxDriveTrain.Shaft();
var rearDiffRearLeftWheelShaft = new agxDriveTrain.Shaft();
var rearDiffRearRightWheelShaft = new agxDriveTrain.Shaft();
PowerLine.setSource(Engine);
Engine.connect(engineTorqueConverterShaft);
engineTorqueConverterShaft.connect(TorqueConverter);
TorqueConverter.connect(torqueConverterGearBoxShaft);
torqueConverterGearBoxShaft.connect(GearBox);
GearBox.connect(gearBoxCenterDiffShaft);
gearBoxCenterDiffShaft.connect(Differentials[(int)DifferentialLocation.Center]);
Differentials[(int)DifferentialLocation.Center].connect(centerDiffFrontDiffShaft);
centerDiffFrontDiffShaft.connect(Differentials[(int)DifferentialLocation.Front]);
Differentials[(int)DifferentialLocation.Front].connect(frontDiffFrontLeftWheelShaft);
Differentials[(int)DifferentialLocation.Front].connect(frontDiffFrontRightWheelShaft);
frontDiffFrontLeftWheelShaft.connect(m_actuators[(int)WheelLocation.LeftFront]);
frontDiffFrontRightWheelShaft.connect(m_actuators[(int)WheelLocation.RightFront]);
Differentials[(int)DifferentialLocation.Center].connect(centerDiffRearDiffShaft);
centerDiffRearDiffShaft.connect(Differentials[(int)DifferentialLocation.Rear]);
Differentials[(int)DifferentialLocation.Rear].connect(rearDiffRearLeftWheelShaft);
Differentials[(int)DifferentialLocation.Rear].connect(rearDiffRearRightWheelShaft);
rearDiffRearLeftWheelShaft.connect(m_actuators[(int)WheelLocation.LeftRear]);
rearDiffRearRightWheelShaft.connect(m_actuators[(int)WheelLocation.RightRear]);
var munu = new agx.RealPairVector(new agx.RealPair[]
{
new agx.RealPair(-0.0001, 0.00),
new agx.RealPair(0.00001, 0.50),
new agx.RealPair(0.00011, 2.00),
new agx.RealPair(0.00100, 2.00),
new agx.RealPair(0.20000, 1.10),
new agx.RealPair(0.40000, 1.15),
new agx.RealPair(0.60000, 1.05),
new agx.RealPair(0.80000, 1.01),
new agx.RealPair(0.90000, 0.99),
new agx.RealPair(1.00000, 0.98),
new agx.RealPair(1.00100, 0.98)
});
TorqueConverter.setMuTable(munu);
TorqueConverter.setMaxMultiplication(2.0);
TorqueConverter.setPumpTorqueReferenceRPM(1000.0);
GearBox.setGearRatios(new agx.RealVector(new double[] { GearRatios.x, GearRatios.y }));
GearBox.gearUp();
GetSimulation().add(PowerLine);
var f1 = new agx.Frame();
var f2 = new agx.Frame();
agx.Constraint.calculateFramesFromBody(new agx.Vec3(),
agx.Vec3.X_AXIS(),
gearBoxCenterDiffShaft.getRotationalDimension().getOrReserveBody(),
f1,
null,
f2);
BrakeHinge = new agx.Hinge(gearBoxCenterDiffShaft.getRotationalDimension().getOrReserveBody(),
f1,
null,
f2);
GetSimulation().add(BrakeHinge);
try {
GetOrCreateTireModelProperties();
foreach (WheelLocation location in Enum.GetValues(typeof(WheelLocation)))
{
GetOrCreateTireModel(location)?.GetInitialized <TwoBodyTire>();
}
}
catch (Exception e) {
Debug.LogWarning("Unable to initialize tire models: " + e.Message);
}
return(true);
}
