realvirtual.Drive Class Reference

Controls linear and rotational motion of GameObjects with precise position, speed, and acceleration control for industrial automation. More...

Inheritance diagram for realvirtual.Drive:

Public Member Functions
delegate void	DelegateDriveStartInit (Drive drive)
	value for overwriting speed (transportsurfaces) for replaying recordings or multiplayer
delegate void	OnAtPositionEvent (Drive drive)
	Delegate function for the Drive reaching the destination position.
delegate void	OnJumpToLowerLimitEvent (Drive drive)
	Delegate function for when drive jumps to lower limit.
List< TransportSurface >	GetTransportSurfaces ()
void	AddSubDrive (Drive drive)
void	OnXRInit (GameObject placedobj)
	Initializes the drive for XR/AR placement operations.
void	OnXRStartPlace (GameObject placedobj)
	Stops the drive when XR/AR placement begins to prevent movement during positioning.
void	OnXREndPlace (GameObject placedobj)
	Resumes drive operation after XR/AR placement is completed.
void	Forward ()
	Starts the drive to move forward with the target speed.
void	Backward ()
	Starts the drive to move forward with the target speed.
void	DriveTo (float Target)
	Starts the drive to drive to the given Target with the target speed.
void	DriveTo (float Target, float time)
	Starts the drive to drive to the given Target with a custom time - acceleration (or Speed on no Acceleration) will be calculated to reach time.
float	GetTimeTo (float Target)
	Calculates the time to the target.
void	Accelerate ()
	Starts the drive - it will speed up with sinoide if turned on.
void	Decelerate ()
void	Stop ()
	Stops the drive at the current position.
Vector3	GetLocalDirection ()
	Gets the axis vector of the drive.
void	OnDestroy ()
void	StartEditorMoveMode ()
void	SetPositionEditorMoveMode (float editorposition)
void	EndEditorMoveMode ()
Vector3	GetStartPos ()
	Gets the start position of the drive in local scale.
Vector3	GetStartRot ()
	Gets the start position of the drive in local scale.
void	SetPositionAndSpeed (float Position, float Speed)
void	SetPosition (float Position)
	Gets the current speed of the drive and updates the visual position.
Vector3	GetGlobalDirection ()
void	CalculateVectors ()
void	DriveReset ()
void	OnEditModeFinished ()
	Cleans up references when Unity Editor exits edit mode.
Public Member Functions inherited from realvirtual.realvirtualBehavior
void	PreStartSim ()
	Is called by the realvirtualController before the component is started.
void	StartSim ()
	Is called by the realvirtualController to start or stop the component.
void	StopSim ()
Vector3	DirectionToVector (DIRECTION direction)
	Transfers the direction enumeration to a vector.
DIRECTION	VectorToDirection (bool torotatoin, Vector3 vector)
	Transfers a vector to the direction enumeration.
float	GetLocalScale (Transform thetransform, DIRECTION direction)
List< BehaviorInterfaceConnection >	UpdateConnectionInfo ()
List< Signal >	GetConnectedSignals ()
void	SetVisibility (bool visibility)
	Sets the visibility of this object including all subobjects.
List< BehaviorInterfaceConnection >	GetConnections ()
List< Signal >	GetSignals ()
GameObject	GetChildByName (string name)
	Gets a child by name.
List< GameObject >	GetChildsByName (string name)
	Gets all child by name.
GameObject	GetChildByNameAlsoHidden (string name)
List< GameObject >	GetAllMeshesWithGroup (string group)
List< GameObject >	GetAllWithGroup (string group)
List< GameObject >	GetAllWithGroups (List< string > groups)
List< GameObject >	GetAllMeshesWithGroups (List< string > groups)
List< string >	GetMyGroups ()
List< GameObject >	GetMeshesWithSameGroups ()
List< GameObject >	GetAllWithSameGroups ()
MeshRenderer	GetMeshRenderer ()
	Gets the mesh renderers in the childrens.
void	SetCollider (bool enabled)
	sets the collider in all child objects
void	ErrorMessage (string message)
	Displays an error message.
void	ChangeConnectionMode (bool isconnected)
void	Log (string message)
	Logs a message.
void	Log (string message, object obj)
	Logs a message with a relation to an object.
void	Warning (string message, object obj)
	Logs a warinng with a relation to an object.
void	Error (string message, object obj)
	Logs an error with a relation to an object.
void	Error (string message)
	Logs an error.
GameObject	DebugPosition (string debugname, Vector3 position, Quaternion quaternation, float scale)
	Displays a gizmo for debugging positions.
void	SetFreezePosition (bool enabled)
	Freezes all child components to the current poosition.
void	SetRbConstraints (RigidbodyConstraints constraints)
virtual void	AwakeAlsoDeactivated ()

Public Attributes
DIRECTION	Direction
	The direction in local coordinate system of the GameObject where the drive is attached to.
bool	ReverseDirection
	Set to true if Direction needs to be inverted.
float	Offset
	Start offset of the drive from zero position in millimeters or degrees.
float	StartPosition
	Start Position off the Drive.
float	SpeedOverride
	Factor for locally overriding the speed and acceleration of this drive.
float	SpeedScaleTransportSurface
	Scale of the Speed for radial transportsurfaces to feed in mm/s on radius.
bool	MoveThisRigidBody
	If set to true the RigidBodies are moved (use it if moving) part has attached colliders, if false the transforms are moved.
bool	EditorMoveMode
bool	UseLimits
float	LowerLimit
	Lower Drive Limit, Upper and Lower = 0 if this should not be used.
float	UpperLimit
	Upper Drive Limit, Upper and Lower = 0 if this should not be used.
bool	JumpToLowerLimitOnUpperLimit
Sensor	LimitRayCast
bool	UseAcceleration
	If set to true the drive uses the acceleration.
bool	SmoothAcceleration
	if set to true the drive uses smooth acceleration with a sinoide function
float	Acceleration
	The acceleration in millimeter per second^2.
float	Jerk
bool	JogForward
	A jog bit for jogging forward with the Target Speed.
bool	JogBackward
	A jog bit for jogging backwards with the Target Speed.
float	TargetPosition
	The target position of the Drive.
float	TargetSpeed
	The target speed in millimeter / second of the Drive.
bool	TargetStartMove
	When changing to true the Drive is starting to move to the TargetPosition.
bool	BlockDestination
	If Block Drive is true it will not drive to its Target Positon, Jogging is possible.
bool	ResetDrive
	Resets the Drive to the zero position and stops all movements.
bool	_StopDrive
	Stops the Drive at the current position.
float	CurrentSpeed
	The current speed of the drive.
float	CurrentPosition
float	PositionOverwriteValue
float	IsPosition
	current position, can be overwritten by DriveOverwrite or current position
float	IsSpeed
	current speed, can be overwritten by SpeedOverwrite or current position
bool	IsStopped
	Is true if Drive is stopped.
bool	IsRunning
	Is true if Drive is running.
bool	IsAtTargetSpeed
	Is true if Drive is running.
bool	IsAtTarget
	Is true if Drive is at target position.
bool	IsAtLowerLimit
	Is true if Drive is jogging and reaching lower Limit.
bool	IsSubDrive
DriveEvent	OnBeforeDriveCalculation
	Unity Event before calculating drive.
DriveEvent	OnAfterDriveCalculation
	Unity Event after calculating drive.
bool	IsAtUpperLimit
	Is true if Drive is jogging and reaching upper Limit.
bool	HideGizmos
float	StandardSpeed
float	StandardAcceleration
bool	UseInteract
bool	IsRotation
bool	PositionOverwrite
	true for overwriting position for replaying recordings or multiplayer
bool	SpeedOverwrite
	true for overwriting speed (transportsurfaces) for replaying recordings or multiplayer
float	SpeedOverwriteValue
DelegateDriveStartInit	AfterDriveStartInit
Drive[]	_subdrives
Public Attributes inherited from realvirtual.realvirtualBehavior
string	Name
	The name of the component if it should be different from the GameObject name.
ActiveOnly	Active
GameObject	FromTemplate
realvirtualController	realvirtualController
bool	HideNonG44Components
bool	SceneIsAdditive
bool	ForceStop

Protected Member Functions
override void	OnStartSim ()
Protected Member Functions inherited from realvirtual.realvirtualBehavior
bool	hidename ()
bool	hideactiveonly ()
virtual void	OnStopSim ()
virtual void	OnPreStartSim ()
MU	GetTopOfMu (GameObject obj)
	Gets the top of an MU component (the first MU script going up in the hierarchy)
void	InitGame4Automation ()
	Initialiates the components and gets the reference to the realvirtualController in the scene.
virtual void	AfterAwake ()
void	Awake ()

Events
OnAtPositionEvent	OnAtPosition
	Event triggered when drive reaches the destination position.
OnJumpToLowerLimitEvent	OnJumpToLowerLimit
	Event triggered when drive jumps to lower limit.

Additional Inherited Members
Public Types inherited from realvirtual.realvirtualBehavior
enum	ActiveOnly {   Always , Connected , Disconnected , Never ,   DontChange }
Static Public Member Functions inherited from realvirtual.realvirtualBehavior
static bool	DirectionIsLinear (DIRECTION direction)
	Gets back if the direction is linear or a rotation.

Detailed Description

Controls linear and rotational motion of GameObjects with precise position, speed, and acceleration control for industrial automation.

The Drive is one of the core components in realvirtual for simulating motion in automation systems. It moves components including all sub-components along the local axis of the GameObject. Both rotational and linear movements are possible. A drive can be enhanced by DriveBehaviours which add special behaviors as well as Input and Output signals for PLC integration.

Key Features:

• Precise position and speed control with configurable acceleration and deceleration
• Support for linear movements (X, Y, Z axes) and rotational movements (around X, Y, Z axes)
• Position limits with automatic limit switches and optional cyclic movement
• PLC signal integration for industrial control system connectivity
• Smooth acceleration profiles including S-curve motion for jerk-limited movement
• Speed override capabilities for runtime speed adjustments
• Visual feedback in Unity Editor with gizmos showing movement direction and limits
• Support for both transform-based and physics-based (Rigidbody) movement

Common Applications:

• Conveyor belts and transport systems
• Linear actuators and pneumatic cylinders
• Servo motors and rotational axes
• Robot joints and kinematic chains
• Lifting platforms and elevators
• Sliding doors and gates

The Drive component can be controlled through:

• Direct properties (JogForward, JogBackward, TargetPosition)
• PLC signals via DriveBehavior components
• Unity Events for position reached notifications
• Custom scripts accessing the public API

For detailed documentation see: https://doc.realvirtual.io/components-and-scripts/motion/drive

Member Function Documentation

Accelerate()

void realvirtual.Drive.Accelerate

(

)

Starts the drive - it will speed up with sinoide if turned on.

Backward()

void realvirtual.Drive.Backward

(

)

Starts the drive to move forward with the target speed.

DelegateDriveStartInit()

delegate void realvirtual.Drive.DelegateDriveStartInit

(

Drive

drive

)

value for overwriting speed (transportsurfaces) for replaying recordings or multiplayer

DriveTo() [1/2]

void realvirtual.Drive.DriveTo

(

float

Target

)

Starts the drive to drive to the given Target with the target speed.

DriveTo() [2/2]

void realvirtual.Drive.DriveTo	(	float	Target,
		float	time
	)

Starts the drive to drive to the given Target with a custom time - acceleration (or Speed on no Acceleration) will be calculated to reach time.

Forward()

void realvirtual.Drive.Forward

(

)

Starts the drive to move forward with the target speed.

GetLocalDirection()

Vector3 realvirtual.Drive.GetLocalDirection

(

)

Gets the axis vector of the drive.

GetStartPos()

Vector3 realvirtual.Drive.GetStartPos

(

)

Gets the start position of the drive in local scale.

GetStartRot()

Vector3 realvirtual.Drive.GetStartRot

(

)

Gets the start position of the drive in local scale.

GetTimeTo()

float realvirtual.Drive.GetTimeTo

(

float

Target

)

Calculates the time to the target.

OnAtPositionEvent()

delegate void realvirtual.Drive.OnAtPositionEvent

(

Drive

drive

)

Delegate function for the Drive reaching the destination position.

OnEditModeFinished()

void realvirtual.Drive.OnEditModeFinished

(

)

Cleans up references when Unity Editor exits edit mode.

IMPLEMENTS IEditModeFinished::OnEditModeFinished

Implements realvirtual.IEditModeFinished.

OnJumpToLowerLimitEvent()

delegate void realvirtual.Drive.OnJumpToLowerLimitEvent

(

Drive

drive

)

Delegate function for when drive jumps to lower limit.

OnStartSim()

override void realvirtual.Drive.OnStartSim ( )

protectedvirtual

Reimplemented from realvirtual.realvirtualBehavior.

OnXREndPlace()

void realvirtual.Drive.OnXREndPlace

(

GameObject

placedobj

)

Resumes drive operation after XR/AR placement is completed.

IMPLEMENTS IXRPlaceable::OnXREndPlace

OnXRInit()

void realvirtual.Drive.OnXRInit

(

GameObject

placedobj

)

Initializes the drive for XR/AR placement operations.

IMPLEMENTS IXRPlaceable::OnXRInit

OnXRStartPlace()

void realvirtual.Drive.OnXRStartPlace

(

GameObject

placedobj

)

Stops the drive when XR/AR placement begins to prevent movement during positioning.

IMPLEMENTS IXRPlaceable::OnXRStartPlace

SetPosition()

void realvirtual.Drive.SetPosition

(

float

Position

)

Gets the current speed of the drive and updates the visual position.

Stop()

void realvirtual.Drive.Stop

(

)

Stops the drive at the current position.

Member Data Documentation

_StopDrive

bool realvirtual.Drive._StopDrive

Stops the Drive at the current position.

Acceleration

float realvirtual.Drive.Acceleration

The acceleration in millimeter per second^2.

BlockDestination

bool realvirtual.Drive.BlockDestination

If Block Drive is true it will not drive to its Target Positon, Jogging is possible.

CurrentSpeed

float realvirtual.Drive.CurrentSpeed

The current speed of the drive.

Direction

DIRECTION realvirtual.Drive.Direction

The direction in local coordinate system of the GameObject where the drive is attached to.

IsAtLowerLimit

bool realvirtual.Drive.IsAtLowerLimit

Is true if Drive is jogging and reaching lower Limit.

IsAtTarget

bool realvirtual.Drive.IsAtTarget

Is true if Drive is at target position.

IsAtTargetSpeed

bool realvirtual.Drive.IsAtTargetSpeed

Is true if Drive is running.

IsAtUpperLimit

bool realvirtual.Drive.IsAtUpperLimit

Is true if Drive is jogging and reaching upper Limit.

IsPosition

float realvirtual.Drive.IsPosition

current position, can be overwritten by DriveOverwrite or current position

IsRunning

bool realvirtual.Drive.IsRunning

Is true if Drive is running.

IsSpeed

float realvirtual.Drive.IsSpeed

current speed, can be overwritten by SpeedOverwrite or current position

The current position of the drive

IsStopped

bool realvirtual.Drive.IsStopped

Is true if Drive is stopped.

JogBackward

bool realvirtual.Drive.JogBackward

A jog bit for jogging backwards with the Target Speed.

JogForward

bool realvirtual.Drive.JogForward

A jog bit for jogging forward with the Target Speed.

LowerLimit

float realvirtual.Drive.LowerLimit

Lower Drive Limit, Upper and Lower = 0 if this should not be used.

MoveThisRigidBody

bool realvirtual.Drive.MoveThisRigidBody

If set to true the RigidBodies are moved (use it if moving) part has attached colliders, if false the transforms are moved.

Offset

float realvirtual.Drive.Offset

Start offset of the drive from zero position in millimeters or degrees.

OnAfterDriveCalculation

DriveEvent realvirtual.Drive.OnAfterDriveCalculation

Unity Event after calculating drive.

OnBeforeDriveCalculation

DriveEvent realvirtual.Drive.OnBeforeDriveCalculation

Unity Event before calculating drive.

PositionOverwrite

bool realvirtual.Drive.PositionOverwrite

true for overwriting position for replaying recordings or multiplayer

ResetDrive

bool realvirtual.Drive.ResetDrive

Resets the Drive to the zero position and stops all movements.

ReverseDirection

bool realvirtual.Drive.ReverseDirection

Set to true if Direction needs to be inverted.

SmoothAcceleration

bool realvirtual.Drive.SmoothAcceleration

if set to true the drive uses smooth acceleration with a sinoide function

SpeedOverride

float realvirtual.Drive.SpeedOverride

Factor for locally overriding the speed and acceleration of this drive.

SpeedOverwrite

bool realvirtual.Drive.SpeedOverwrite

true for overwriting speed (transportsurfaces) for replaying recordings or multiplayer

SpeedScaleTransportSurface

float realvirtual.Drive.SpeedScaleTransportSurface

Scale of the Speed for radial transportsurfaces to feed in mm/s on radius.

StartPosition

float realvirtual.Drive.StartPosition

Start Position off the Drive.

TargetPosition

float realvirtual.Drive.TargetPosition

The target position of the Drive.

TargetSpeed

float realvirtual.Drive.TargetSpeed

The target speed in millimeter / second of the Drive.

TargetStartMove

bool realvirtual.Drive.TargetStartMove

When changing to true the Drive is starting to move to the TargetPosition.

UpperLimit

float realvirtual.Drive.UpperLimit

Upper Drive Limit, Upper and Lower = 0 if this should not be used.

UseAcceleration

bool realvirtual.Drive.UseAcceleration

If set to true the drive uses the acceleration.

Event Documentation

OnAtPosition

OnAtPositionEvent realvirtual.Drive.OnAtPosition

Event triggered when drive reaches the destination position.

OnJumpToLowerLimit

OnJumpToLowerLimitEvent realvirtual.Drive.OnJumpToLowerLimit

Event triggered when drive jumps to lower limit.