public Brake(agx.Hinge hinge, double[] brakeForceRange)
{
// Initialize the brakes on the hinges
m_hinge = hinge;
m_hinge.getLock1D().setEnable(false);
m_hinge.getLock1D().setForceRange(new agx.RangeReal(brakeForceRange[0], brakeForceRange[1]));
m_hinge.getLock1D().setCompliance(1E-12);
update();
}
/// <summary>
/// Initialize the whole vehicle
/// </summary>
private void initializeVehicle()
{
if (m_initialized)
{
return;
}
var sim = GetSimulation();
Assert.IsNotNull(sim);
// Access the hinge used for steering
m_steeringHinge = GetSimulation().getHinge("WaistHingeTurning");
Assert.IsNotNull(m_steeringHinge);
m_steeringHinge.getMotor1D().setEnable(true);
m_steeringHinge.getMotor1D().setSpeed(0.0f);
m_steeringHinge.getMotor1D().setLockedAtZeroSpeed(true);
/// Access all the hinges attached to all the rims
var hingeJointNames = new List <string> {
"RightRearHinge", "LeftRearHinge", "RightFrontHinge", "LeftFrontHinge"
};
foreach (var n in hingeJointNames)
{
var hinge = sim.getHinge(n);
Assert.IsNotNull(hinge, string.Format("Hinge {0} is missing in Simulation", n));
m_wheelHinges.Add(hinge.getName(), hinge);
}
if (m_chassieRigidBody == null)
{
m_chassieRigidBody = sim.getRigidBody("FrontBody");
Assert.IsNotNull(m_chassieRigidBody);
}
//Hinge.GetController<TargetSpeedController>().Enable = true;
// Make sure body exists before I start using it.
//Body.GetInitialized<RigidBody>().Native.setEnable(false);
initializeTires();
// Create the Vehicle class that initializes brakes etc.
m_vehicle = new Vehicle(GetSimulation(), m_wheelHinges);
m_initialized = true;
}
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);
}
protected override bool Initialize()
{
RemoveInvalidRollers();
var tracks = FindTracks();
if (tracks.Length == 0)
{
Debug.LogWarning("Belt: No tracks found.", this);
return(false);
}
if (tracks.Any(track => track.GetInitialized <Track>() == null) ||
// Tracks has zero nodes when the license isn't loaded or
// doesn't include the tracks module.
tracks.Any(Track => Track.Native.getNumNodes() == 0))
{
Debug.LogError("Belt: One or more tracks failed to initialize.", this);
return(false);
}
m_tracks = tracks;
if (m_tracks.Length > 1)
{
ulong numNodes = m_tracks.First().Native.getNumNodes();
ulong stride = System.Math.Min(System.Math.Max((ulong)ConnectingConstraintStride, 1),
numNodes);
while (stride > 1 && (numNodes % stride) != 0)
{
--stride;
}
if ((int)stride != ConnectingConstraintStride)
{
Debug.Log($"Belt: Connecting constraint stride changed from {ConnectingConstraintStride} to {stride} " +
$"to match node count: {m_tracks.First().Native.getNumNodes()}.", this);
}
for (int i = 0; i < m_tracks.Length; ++i)
{
m_tracks[i].Native.addGroup(GetGroupName(i));
}
ConnectingConstraints = new agx.Constraint[m_tracks.Length - 1, (int)(numNodes / stride)];
for (int i = 1; i < m_tracks.Length; ++i)
{
var prev = m_tracks[i - 1];
var curr = m_tracks[i];
GetSimulation().getSpace().setEnablePair(GetGroupName(i - 1),
GetGroupName(i),
false);
var connectingConstraintIndex = 0;
for (ulong nodeIndex = 0; nodeIndex < prev.Native.getNumNodes(); ++nodeIndex)
{
if ((nodeIndex % stride) != 0)
{
continue;
}
var prevTrackNode = prev.Native.getNode(nodeIndex);
var currTrackNode = curr.Native.getNode(nodeIndex);
var constraintCenter = 0.5 * (prevTrackNode.getCenterPosition() +
currTrackNode.getCenterPosition());
var constraintAxis = prevTrackNode.getDirection().normal();
var otherAxis = (constraintCenter - prevTrackNode.getCenterPosition()).normal();
// Constraint frame we're about to create:
// x or TRANSLATIONAL_1: Along otherAxis, i.e., separation of the two nodes.
// y or TRANSLATIONAL_2: Up/down between the two nodes.
// z or TRANSLATIONAL_3: Along the track.
var prevTrackNodeFrame = new agx.Frame();
var currTrackNodeFrame = new agx.Frame();
agx.Constraint.calculateFramesFromWorld(constraintCenter,
constraintAxis,
otherAxis,
prevTrackNode.getRigidBody(),
prevTrackNodeFrame,
currTrackNode.getRigidBody(),
currTrackNodeFrame);
ConnectingConstraints[i - 1, connectingConstraintIndex++] = new agx.Hinge(prevTrackNode.getRigidBody(),
prevTrackNodeFrame,
currTrackNode.getRigidBody(),
currTrackNodeFrame);
}
}
foreach (var constraint in ConnectingConstraints)
{
if (constraint == null)
{
Debug.LogWarning("Unexpected null connecting constraint.", this);
continue;
}
constraint.setName("connecting");
// Properties will be applied during BeltProperties.Register
// when all properties are synchronized for this belt after
// Initialize is done.
GetSimulation().add(constraint);
}
}
return(true);
}
