protected override void OnDestroy()
{
PowerLine = null;
Gear = null;
BeginActuator = null;
EndActuator = null;
base.OnDestroy();
}
protected override bool Initialize()
{
if (!agx.Runtime.instance().isModuleEnabled("AgX-DriveTrain"))
{
Debug.LogWarning("GearConstraint requires a valid license for the AGX Dynamics module: AgX-DriveTrain", this);
return(false);
}
if (BeginActuatorConstraint?.GetInitialized <Constraint>() == null)
{
Debug.LogError("Invalid GearConstraint: Begin actuator constraint is invalid or null.", this);
return(false);
}
if (EndActuatorConstraint?.GetInitialized <Constraint>() == null)
{
Debug.LogError("Invalid GearConstraint: End actuator constraint is invalid or null.", this);
return(false);
}
if (BeginActuatorConstraint == EndActuatorConstraint)
{
Debug.LogError("Invalid GearConstraint: Begin actuator constraint is the same instance as the end actuator constraint.", this);
return(false);
}
if (!IsValidConstraintType(BeginActuatorConstraint.Type))
{
Debug.LogError($"Invalid GearConstraint: Begin actuator constraint type {BeginActuatorConstraint.Type} isn't supported.", this);
return(false);
}
if (!IsValidConstraintType(EndActuatorConstraint.Type))
{
Debug.LogError($"Invalid GearConstraint: End actuator constraint type {EndActuatorConstraint.Type} isn't supported.", this);
return(false);
}
// Rotational -> Rotational:
// Begin Actuator -> shaft -> Gear -> shaft -> End Actuator
// Rotational -> Translational
// Begin Actuator -> shaft -> Gear -> shaft -> Converter (Rotational to Translational) -> End Actuator
// Translational -> Translational
// Begin Actuator -> Converter -> shaft -> Gear -> shaft -> Converter -> End Actuator
// Translational -> Rotational (Inverted)
// End Actuator -> shaft -> Gear -> shaft -> Converter -> Begin Actuator
BeginActuator = CreateActuator(BeginActuatorConstraint);
EndActuator = CreateActuator(EndActuatorConstraint);
IsInverted = BeginActuator.GetType() != EndActuator.GetType() &&
BeginActuator is agxPowerLine.TranslationalActuator &&
EndActuator is agxPowerLine.RotationalActuator;
PowerLine = new agxPowerLine.PowerLine();
Gear = new agxDriveTrain.Gear(GearRatio);
PowerLine.add(Gear);
PowerLine.setName(name);
var beginShaft = new agxDriveTrain.Shaft();
var endShaft = new agxDriveTrain.Shaft();
Gear.connect(agxPowerLine.Side.INPUT, agxPowerLine.Side.OUTPUT, beginShaft);
Gear.connect(agxPowerLine.Side.OUTPUT, agxPowerLine.Side.INPUT, endShaft);
// Translational -> Rotational.
if (IsInverted)
{
EndActuator.connect(endShaft);
var converter = new agxPowerLine.RotationalTranslationalConnector();
converter.connect((BeginActuator as agxPowerLine.TranslationalActuator).getInputRod());
beginShaft.connect(converter);
}
// Rotational -> Translational.
else if (BeginActuator is agxPowerLine.RotationalActuator &&
EndActuator is agxPowerLine.TranslationalActuator)
{
BeginActuator.connect(beginShaft);
var converter = new agxPowerLine.RotationalTranslationalConnector();
converter.connect((EndActuator as agxPowerLine.TranslationalActuator).getInputRod());
endShaft.connect(converter);
}
// Translational -> Translational.
else if (BeginActuator is agxPowerLine.TranslationalActuator &&
EndActuator is agxPowerLine.TranslationalActuator)
{
var beginConverter = new agxPowerLine.RotationalTranslationalConnector();
var endConverter = new agxPowerLine.RotationalTranslationalConnector();
beginConverter.connect((BeginActuator as agxPowerLine.TranslationalActuator).getInputRod());
endConverter.connect((EndActuator as agxPowerLine.TranslationalActuator).getInputRod());
beginShaft.connect(beginConverter);
endShaft.connect(endConverter);
}
// Rotational -> Rotational.
else
{
BeginActuator.connect(beginShaft);
EndActuator.connect(endShaft);
}
GetSimulation().add(PowerLine);
return(true);
}
