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); }