/// <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;
}
void updateForceRange()
{
var steering_range = new agx.RangeReal(-SteeringForce, SteeringForce);
m_steeringHinge.getMotor1D().setForceRange(steering_range);
}
