public ChLinkEngine()
{
mot_rot = 0;
mot_rot_dt = 0;
mot_rot_dtdt = 0;
mot_rerot = 0;
mot_rerot_dt = 0;
mot_rerot_dtdt = 0;
mot_torque = 0;
mot_retorque = 0;
last_r3mot_rot = 0;
last_r3mot_rot_dt = 0;
last_r3relm_rot = ChQuaternion.QUNIT;
last_r3relm_rot_dt = ChQuaternion.QNULL;
last_r3time = 0;
keyed_polar_rotation = ChQuaternion.QNULL;
impose_reducer = false;
mot_tau = 1;
mot_eta = 1;
mot_inertia = 0;
torque_react2 = 0;
eng_mode = eCh_eng_mode.ENG_MODE_ROTATION;
learn = false;
rot_funct = new ChFunction_Const(0);
spe_funct = new ChFunction_Const(0);
tor_funct = new ChFunction_Const(0);
torque_w = new ChFunction_Const(1);
rot_funct_x = new ChFunction_Const(0);
rot_funct_y = new ChFunction_Const(0);
// Mask: initialize our LinkMaskLF (lock formulation mask)
// to E3 only.
ChLinkMaskLF masklf = new ChLinkMaskLF();
mask = masklf;
((ChLinkMaskLF)mask).SetLockMask(true, false, false, false, false, false, true);
ChangedLinkMask();
// Mask: initialize remaining LinkMaskLF (lock formulation mask) for the engine.
// All shaft modes at least are setting the lock on E3 (z-rotation) coordinate.
Set_shaft_mode(eCh_shaft_mode.ENG_SHAFT_LOCK);
}
public void Set_eng_mode(eCh_eng_mode mset)
{
if (Get_learn())
{
Set_learn(false); // reset learn state when changing mode
}
if (eng_mode != mset)
{
eng_mode = mset;
switch (eng_mode)
{
case eCh_eng_mode.ENG_MODE_ROTATION:
case eCh_eng_mode.ENG_MODE_SPEED:
case eCh_eng_mode.ENG_MODE_KEY_ROTATION:
((ChLinkMaskLF)mask).Constr_E3().SetMode(eChConstraintMode.CONSTRAINT_LOCK);
break;
case eCh_eng_mode.ENG_MODE_KEY_POLAR:
((ChLinkMaskLF)mask).Constr_E1().SetMode(eChConstraintMode.CONSTRAINT_LOCK);
((ChLinkMaskLF)mask).Constr_E2().SetMode(eChConstraintMode.CONSTRAINT_LOCK);
((ChLinkMaskLF)mask).Constr_E3().SetMode(eChConstraintMode.CONSTRAINT_LOCK);
break;
case eCh_eng_mode.ENG_MODE_TORQUE:
((ChLinkMaskLF)mask).Constr_E3().SetMode(eChConstraintMode.CONSTRAINT_FREE);
break;
case eCh_eng_mode.ENG_MODE_TO_POWERTRAIN_SHAFT:
((ChLinkMaskLF)mask).Constr_E3().SetMode(eChConstraintMode.CONSTRAINT_FREE);
innerconstraint1 = gameObject.AddComponent <ChShaftsBody>();
innerconstraint2 = gameObject.AddComponent <ChShaftsBody>();
innershaft1 = gameObject.AddComponent <ChShaft>();
innershaft2 = gameObject.AddComponent <ChShaft>();
SetUpMarkers(marker1, marker2); // to initialize innerconstraint1 innerconstraint2
break;
}
ChangedLinkMask(); // update all from new mask
}
if (eng_mode == eCh_eng_mode.ENG_MODE_KEY_ROTATION && rot_funct.Get_Type() != ChFunction.FunctionType.FUNCT_CONST)
{
rot_funct = new ChFunction_Const();
}
if (eng_mode == eCh_eng_mode.ENG_MODE_KEY_POLAR)
{
if (rot_funct.Get_Type() != ChFunction.FunctionType.FUNCT_CONST)
{
rot_funct = new ChFunction_Const();
}
if (rot_funct_x.Get_Type() != ChFunction.FunctionType.FUNCT_CONST)
{
rot_funct_x = new ChFunction_Const();
}
if (rot_funct_y.Get_Type() != ChFunction.FunctionType.FUNCT_CONST)
{
rot_funct_y = new ChFunction_Const();
}
}
}
