private void initializeGearBox(agxDriveTrain.GearBox gearBox) { agx.RealVector gears = new agx.RealVector(); foreach (var g in m_gears) { gears.Add(g); } gearBox.setGearRatios(gears); gearBox.setGear(1); }
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); }