From 366e771f6f966724eff22b3f99cd33fa1704fef9 Mon Sep 17 00:00:00 2001 From: Anders Backman Date: Mon, 23 Apr 2018 14:01:21 +0200 Subject: [PATCH] Added CableVSWire scene. Added brief documentation with screenshots. --- .gitignore | 3 +- CableVSWire.meta | 10 + CableVSWire/CableVSWire.unity | 13992 +++++++++++++++++++++ CableVSWire/CableVSWire.unity.meta | 9 + CableVSWire/Scripts.meta | 10 + CableVSWire/Scripts/CraneControl.cs | 45 + CableVSWire/Scripts/CraneControl.cs.meta | 13 + README.md | 30 + images/CableVSWire.png | Bin 0 -> 87636 bytes images/TerrainVehicle.png | Bin 0 -> 405186 bytes images/cableRobot.png | Bin 0 -> 328114 bytes images/carOnTerrain.png | Bin 0 -> 263357 bytes 12 files changed, 14111 insertions(+), 1 deletion(-) create mode 100644 CableVSWire.meta create mode 100644 CableVSWire/CableVSWire.unity create mode 100644 CableVSWire/CableVSWire.unity.meta create mode 100644 CableVSWire/Scripts.meta create mode 100644 CableVSWire/Scripts/CraneControl.cs create mode 100644 CableVSWire/Scripts/CraneControl.cs.meta create mode 100644 images/CableVSWire.png create mode 100644 images/TerrainVehicle.png create mode 100644 images/cableRobot.png 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b/CableVSWire/Scripts.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: df31bb903b910ca44b57b36d1d595f0b +folderAsset: yes +timeCreated: 1524477523 +licenseType: Pro +DefaultImporter: + externalObjects: {} + userData: + assetBundleName: + assetBundleVariant: diff --git a/CableVSWire/Scripts/CraneControl.cs b/CableVSWire/Scripts/CraneControl.cs new file mode 100644 index 0000000..a8fd4cb --- /dev/null +++ b/CableVSWire/Scripts/CraneControl.cs @@ -0,0 +1,45 @@ +using System.Collections; +using System.Collections.Generic; +using UnityEngine; +using AGXUnity; + +public class CraneControl : MonoBehaviour { + + + public float ArmCompliance = 1E-07f; + public float WinchSpeed = 0.0f; + + private List m_lockJoints; + private AGXUnity.WireWinch m_winch; + + // Use this for initialization + void Start () { + AGXUnity.Constraint[] constraints = GetComponentsInChildren(); + + m_winch = GetComponentInChildren(); + + m_lockJoints = new List(); + foreach(var c in constraints) + { + if (c.Type == ConstraintType.LockJoint) + m_lockJoints.Add(c); + } + } + + + private void updateCompliance() + { + foreach (var c in m_lockJoints) + c.Native.setCompliance(ArmCompliance); + } + + // Update is called once per frame + void Update () { + updateCompliance(); + + if (m_winch != null) + m_winch.Native.setSpeed(WinchSpeed); + } + + +} diff --git a/CableVSWire/Scripts/CraneControl.cs.meta b/CableVSWire/Scripts/CraneControl.cs.meta new file mode 100644 index 0000000..a4de40e --- /dev/null +++ b/CableVSWire/Scripts/CraneControl.cs.meta @@ -0,0 +1,13 @@ +fileFormatVersion: 2 +guid: 962d645748339f447a06365444727357 +timeCreated: 1524477490 +licenseType: Pro +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/README.md b/README.md index 4d5f3b4..35fd0b6 100644 --- a/README.md +++ b/README.md @@ -12,3 +12,33 @@ To use these scenes you need to do the following: 5. Next, clone/unzip this (AGXUnityScenes) project into the `Assets` directory. Now you should also have the following structure: `\Assets\AGXUnityScenes` 6. When all scripts are compiled, locate the sample scenes in the `Assets\AGXUnityScenes\` sub-directory and drag them from the Project to the Hiearchy. 7. Done. + + +## CableRobot +![](images/cableRobot.png) + +This scene demonstrate the use of `agxCable::Cable` class for simulating a flexible cable attached to two industrial robots. + +## carOnTerrain +![](images/carOnTerrain.png) + +This scene show a vehicle which can be controlled using keyboards (left/right/up/down). + +## TerrainVehicle +![](images/TerrainVehicle.png) + +This scene demonstrates another vehicle, this time powered using the Drivetrain API including Engine, Clutch, GearBox and Differential. +Control the vehicle using the keyboard (left/right/up/down). + +## CableVSWire + +![](images/CableVSWire.png) + +To illustrate the difference between the `agxCable::Cable` class and the `agxWire::Wire` class this scene show two similar scenarios where one is using +the Cable and the other using the Wire class. Notice that the one using a Wire is perfectly stable, even under high loads. +You can change the mass of the WireWeight rigid body to see how the wire reacts even under very high loads. + +Also, the crane arm is flexible, using a number of rigid bodies, locked to each other using LockJoints. The compliance (stiffness) of the LockJoints can +be set using the editor when running the simulation. + +Also, the winch in the wire crane can be operated using the same property editor. diff --git a/images/CableVSWire.png b/images/CableVSWire.png new file mode 100644 index 0000000000000000000000000000000000000000..3caf619732e94f66206d4a8f38f6bfd81823749c GIT binary patch literal 87636 zcmY&{pE`{SXek8v9Pcag!h0e zcr@o8z%OjiH)_wYDo2@jfhV~3%38`;STHE@ttB4toXG8^i6<5oS=YZG>^|4;Ho!%O z4=TnV^jz&e_*i<_V!2s5xO@Ff|EK@20RNHm+{Pmo_|7$bqO-|+by~5ap7%pFkHt)r@jeU0Wo9;h@-vP zuGWsNMhCIbygN`EwV&>6t0t5$@4YrZ(gZE{g3YzKJ6zXz^<9DUL|k`A_)F-XEO~#p zx;`n2s#^BDTpsb%%?a-F=PSUNE#P4I zi{6a;Ir>{y)7YX+S|g^vazw9qWC8BHaaJ-TW_YBSvx*uDTV0qDS_sPJNdg{BDJD~ zW;GWZec$(eg6SP8{UlqFPS5m1Ef>idY3GQU(G4#VbN6az`0wo{ERg3Ns~p08P7bw9 z16>3H@&t6Ul`M@SY^d+2lZQD<|-|<1T=VT4YJ672vO^s>pGY9nL3Wr zIU+%bdyM2XT62%d_-wXMtpx?d=Qkb=k0{91V@c@b$*bp!`khXl+(-(_`|VE5LTXP8 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