/// Use this function after torque converter creation, to initialize it, given
/// input and output shafts to join (plus the stator shaft, that should be fixed).
/// Each shaft must belong to the same ChSystem.
public bool Initialize(ChShaft mshaft1, //< input shaft
ChShaft mshaft2, //< output shaft
ChShaft mshaft_stator //< stator shaft (often fixed)
)
{
return(false);
}
public ChShaftsBody(ChShaftsBody other)
{
torque_react = other.torque_react;
shaft_dir = other.shaft_dir;
shaft = null;
body = null;
}
/// Use this function after planetary gear creation, to initialize it, given
/// three shafts to join.
/// Although there's no special requirement, you may think of the three
/// typical moving parts of an epicycloidal reducer: the carrier, the
/// input gear, and the gear with inner teeth that usually is kept fixed (but the
/// ChShaftsPlanetary does not require that one shaft is fixed - it's up to you)
/// Each shaft must belong to the same ChSystem.
public bool Initialize(ChShaft mshaft1, //< first shaft to join (carrier wheel)
ChShaft mshaft2, //< second shaft to join (wheel)
ChShaft mshaft3 //< third shaft to join (wheel)
)
{
return(false);
}
/// Use this function after gear creation, to initialize it, given two shafts to join.
/// Each shaft must belong to the same ChSystem.
/// Derived classes might overload this (here, basically it only sets the two pointers)
public virtual bool Initialize(ChShaft mshaft1, //< first shaft to join
ChShaft mshaft2 //< second shaft to join
)
{
ChShaft mm1 = mshaft1;
ChShaft mm2 = mshaft2;
// assert(mm1 && mm2);
// assert(mm1 != mm2);
// assert(mm1->GetSystem() == mm2->GetSystem());
shaft1 = mm1;
shaft2 = mm2;
SetSystem(shaft1.GetSystem());
return(true);
}
/// Use this function after gear creation, to initialize it, given
/// two shafts to join. The first shaft is the 'output' shaft of the motor,
/// the second is the 'truss', often fixed and not rotating.
/// The torque is applied to the output shaft, while the truss shafts
/// gets the same torque but with opposite sign.
/// Each shaft must belong to the same ChSystem.
public override bool Initialize(ChShaft mshaft1, //< first shaft to join (motor output shaft)
ChShaft mshaft2 //< second shaft to join (motor truss)
)
{
// Parent class initialize
if (!base.Initialize(mshaft1, mshaft2))
{
return(false);
}
ChShaft mm1 = mshaft1;
ChShaft mm2 = mshaft2;
constraint.SetVariables(mm1.Variables(), mm2.Variables());
SetSystem(shaft1.GetSystem());
return(true);
}
/// Use this function after object creation, to initialize it, given
/// the 1D shaft and 3D body to join.
/// Each item must belong to the same ChSystem.
/// Direction is expressed in the local coordinates of the body.
public bool Initialize(ChShaft mshaft, //< shaft to join
ChBodyFrame mbody, //< body to join
ChVector mdir //< the direction of the shaft on 3D body (applied on COG: pure torque)
)
{
ChShaft mm1 = mshaft;
ChBodyFrame mm2 = mbody;
//Debug.Assert(mm1 == null && mm2 == null);
shaft = mm1;
body.BodyFrame = mm2;
shaft_dir = ChVector.Vnorm(mdir);
constraint.SetVariables(mm1.Variables(), mm2.Variables());
SetSystem(shaft.GetSystem());
return(true);
}
public ChShaft(ChShaft other)
{
torque = other.torque;
// system = other.system;
pos = other.pos;
pos_dt = other.pos_dt;
pos_dtdt = other.pos_dtdt;
inertia = other.inertia;
mfixed = other.mfixed;
sleeping = other.sleeping;
limitspeed = other.limitspeed;
variables = other.variables;
max_speed = other.max_speed;
sleep_time = other.sleep_time;
sleep_starttime = other.sleep_starttime;
sleep_minspeed = other.sleep_minspeed;
sleep_minwvel = other.sleep_minwvel;
}
public ChShaft shaft2; //< second shaft
protected ChShaftsCouple()
{
shaft1 = null;
shaft2 = 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();
}
}
}
public void SetShaft(ChShaft shaft)
{
m_shaft = shaft;
}
private double m_inv_inertia; //< inverse of shaft inertia value
public ChVariablesShaft() : base(1)
{
m_shaft = null;
m_inertia = 1;
m_inv_inertia = 1;
}
