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("GearConstraint requires a valid license for the AGX Dynamics module: AgX-DriveTrain", this);
return(false);
}
if (BeginActuatorConstraint?.GetInitialized <Constraint>() == null)
{
Debug.LogError("Invalid GearConstraint: Begin actuator constraint is invalid or null.", this);
return(false);
}
if (EndActuatorConstraint?.GetInitialized <Constraint>() == null)
{
Debug.LogError("Invalid GearConstraint: End actuator constraint is invalid or null.", this);
return(false);
}
if (BeginActuatorConstraint == EndActuatorConstraint)
{
Debug.LogError("Invalid GearConstraint: Begin actuator constraint is the same instance as the end actuator constraint.", this);
return(false);
}
if (!IsValidConstraintType(BeginActuatorConstraint.Type))
{
Debug.LogError($"Invalid GearConstraint: Begin actuator constraint type {BeginActuatorConstraint.Type} isn't supported.", this);
return(false);
}
if (!IsValidConstraintType(EndActuatorConstraint.Type))
{
Debug.LogError($"Invalid GearConstraint: End actuator constraint type {EndActuatorConstraint.Type} isn't supported.", this);
return(false);
}
// Rotational -> Rotational:
// Begin Actuator -> shaft -> Gear -> shaft -> End Actuator
// Rotational -> Translational
// Begin Actuator -> shaft -> Gear -> shaft -> Converter (Rotational to Translational) -> End Actuator
// Translational -> Translational
// Begin Actuator -> Converter -> shaft -> Gear -> shaft -> Converter -> End Actuator
// Translational -> Rotational (Inverted)
// End Actuator -> shaft -> Gear -> shaft -> Converter -> Begin Actuator
BeginActuator = CreateActuator(BeginActuatorConstraint);
EndActuator = CreateActuator(EndActuatorConstraint);
IsInverted = BeginActuator.GetType() != EndActuator.GetType() &&
BeginActuator is agxPowerLine.TranslationalActuator &&
EndActuator is agxPowerLine.RotationalActuator;
PowerLine = new agxPowerLine.PowerLine();
Gear = new agxDriveTrain.Gear(GearRatio);
PowerLine.add(Gear);
PowerLine.setName(name);
var beginShaft = new agxDriveTrain.Shaft();
var endShaft = new agxDriveTrain.Shaft();
Gear.connect(agxPowerLine.Side.INPUT, agxPowerLine.Side.OUTPUT, beginShaft);
Gear.connect(agxPowerLine.Side.OUTPUT, agxPowerLine.Side.INPUT, endShaft);
// Translational -> Rotational.
if (IsInverted)
{
EndActuator.connect(endShaft);
var converter = new agxPowerLine.RotationalTranslationalConnector();
converter.connect((BeginActuator as agxPowerLine.TranslationalActuator).getInputRod());
beginShaft.connect(converter);
}
// Rotational -> Translational.
else if (BeginActuator is agxPowerLine.RotationalActuator &&
EndActuator is agxPowerLine.TranslationalActuator)
{
BeginActuator.connect(beginShaft);
var converter = new agxPowerLine.RotationalTranslationalConnector();
converter.connect((EndActuator as agxPowerLine.TranslationalActuator).getInputRod());
endShaft.connect(converter);
}
// Translational -> Translational.
else if (BeginActuator is agxPowerLine.TranslationalActuator &&
EndActuator is agxPowerLine.TranslationalActuator)
{
var beginConverter = new agxPowerLine.RotationalTranslationalConnector();
var endConverter = new agxPowerLine.RotationalTranslationalConnector();
beginConverter.connect((BeginActuator as agxPowerLine.TranslationalActuator).getInputRod());
endConverter.connect((EndActuator as agxPowerLine.TranslationalActuator).getInputRod());
beginShaft.connect(beginConverter);
endShaft.connect(endConverter);
}
// Rotational -> Rotational.
else
{
BeginActuator.connect(beginShaft);
EndActuator.connect(endShaft);
}
GetSimulation().add(PowerLine);
return(true);
}
private void initializeDrivetrain()
{
// Create a drive train
var driveTrain = new agxPowerLine.PowerLine();
m_simulation.add(driveTrain);
// Create an engine.
m_engine = new agxDriveTrain.PidControlledEngine();
// Initialize the engine parameters
initializeEngine(driveTrain, m_engine);
//
// Engine
// ^
// |
// |
// Clutch
// ^
// |
// |
// FrontRightWheelActuator GearBox RearRightWheelActuator
// ^ ^ ^
// | | |
// | | |
// FrontDifferential < ------- CenterDifferential -----> RearDifferential
// | |
// | |
// FrontLeftWheelActuator RearLeftWheelActuator
var engineShaft = new agxDriveTrain.Shaft();
engineShaft.getRotationalDimension().setName("engineShaft");
m_clutch = new agxDriveTrain.Clutch(0.0);
var clutchShaft = new agxDriveTrain.Shaft();
clutchShaft.getRotationalDimension().setName("clutchShaft");
m_gearbox = new agxDriveTrain.GearBox();
/// Initialize the gear box parameters
initializeGearBox(m_gearbox);
var gearBoxShaft = new agxDriveTrain.Shaft();
gearBoxShaft.getRotationalDimension().setName("gearBoxShaft");
bool status = false;
status = m_engine.connect(agxPowerLine.UnitSide.UNIT_OUTPUT, agxPowerLine.UnitSide.UNIT_INPUT, engineShaft);
Debug.Assert(status);
status = m_clutch.connect(engineShaft, agxPowerLine.ConnectorSide.CONNECTOR_INPUT, agxPowerLine.UnitSide.UNIT_OUTPUT);
Debug.Assert(status);
status = m_clutch.connect(clutchShaft, agxPowerLine.ConnectorSide.CONNECTOR_OUTPUT, agxPowerLine.UnitSide.UNIT_INPUT);
Debug.Assert(status);
status = m_gearbox.connect(clutchShaft, agxPowerLine.ConnectorSide.CONNECTOR_INPUT, agxPowerLine.UnitSide.UNIT_OUTPUT);
Debug.Assert(status);
status = m_gearbox.connect(gearBoxShaft, agxPowerLine.ConnectorSide.CONNECTOR_OUTPUT, agxPowerLine.UnitSide.UNIT_INPUT);
Debug.Assert(status);
var centerDifferential = new agxDriveTrain.Differential();
var frontDifferential = new agxDriveTrain.Differential();
frontDifferential.setLock(true);
var rearDifferential = new agxDriveTrain.Differential();
rearDifferential.setLock(true);
var frontDifferentialShaft = new agxDriveTrain.Shaft();
frontDifferentialShaft.getRotationalDimension().setName("frontDifferentialShaft");
var rearDifferentialShaft = new agxDriveTrain.Shaft();
rearDifferentialShaft.getRotationalDimension().setName("rearDifferentialShaft");
var frontRightWheelShaft = new agxDriveTrain.Shaft();
var rearRightWheelShaft = new agxDriveTrain.Shaft();
var frontLeftWheelShaft = new agxDriveTrain.Shaft();
var rearLeftWheelShaft = new agxDriveTrain.Shaft();
status = centerDifferential.connect(gearBoxShaft, agxPowerLine.ConnectorSide.CONNECTOR_INPUT, agxPowerLine.UnitSide.UNIT_OUTPUT);
Debug.Assert(status);
status = centerDifferential.connect(frontDifferentialShaft, agxPowerLine.ConnectorSide.CONNECTOR_OUTPUT, agxPowerLine.UnitSide.UNIT_INPUT);
Debug.Assert(status);
status = centerDifferential.connect(rearDifferentialShaft, agxPowerLine.ConnectorSide.CONNECTOR_OUTPUT, agxPowerLine.UnitSide.UNIT_INPUT);
Debug.Assert(status);
status = frontDifferential.connect(frontDifferentialShaft, agxPowerLine.ConnectorSide.CONNECTOR_INPUT, agxPowerLine.UnitSide.UNIT_OUTPUT);
Debug.Assert(status);
status = rearDifferential.connect(rearDifferentialShaft, agxPowerLine.ConnectorSide.CONNECTOR_INPUT, agxPowerLine.UnitSide.UNIT_OUTPUT);
Debug.Assert(status);
status = frontDifferential.connect(frontRightWheelShaft, agxPowerLine.ConnectorSide.CONNECTOR_OUTPUT, agxPowerLine.UnitSide.UNIT_INPUT);
Debug.Assert(status);
status = rearDifferential.connect(rearRightWheelShaft, agxPowerLine.ConnectorSide.CONNECTOR_OUTPUT, agxPowerLine.UnitSide.UNIT_INPUT);
Debug.Assert(status);
status = frontDifferential.connect(frontLeftWheelShaft, agxPowerLine.ConnectorSide.CONNECTOR_OUTPUT, agxPowerLine.UnitSide.UNIT_INPUT);
Debug.Assert(status);
status = rearDifferential.connect(rearLeftWheelShaft, agxPowerLine.ConnectorSide.CONNECTOR_OUTPUT, agxPowerLine.UnitSide.UNIT_INPUT);
Debug.Assert(status);
// Now connect wheel shafts to constraints.
var frontRightWheelActuator = new agxPowerLine.RotationalActuator(m_wheelHinges["RightFrontHinge"]);
var frontLeftWheelActuator = new agxPowerLine.RotationalActuator(m_wheelHinges["LeftFrontHinge"]);
var rearRightWheelActuator = new agxPowerLine.RotationalActuator(m_wheelHinges["RightRearHinge"]);
var rearLeftWheelActuator = new agxPowerLine.RotationalActuator(m_wheelHinges["LeftRearHinge"]);
status = frontRightWheelShaft.connect(frontRightWheelActuator);
Debug.Assert(status);
status = frontLeftWheelShaft.connect(frontLeftWheelActuator);
Debug.Assert(status);
status = rearRightWheelShaft.connect(rearRightWheelActuator);
Debug.Assert(status);
status = rearLeftWheelShaft.connect(rearLeftWheelActuator);
Debug.Assert(status);
}
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);
}