public ChShaftsBody(ChShaftsBody other)
{
torque_react = other.torque_react;
shaft_dir = other.shaft_dir;
shaft = null;
body = null;
}
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();
}
}
}
