public override void LoadData(ref AnimatTools.DataObjects.Simulation dsSim, ref AnimatTools.DataObjects.Physical.PhysicalStructure doStructure, ref AnimatTools.Interfaces.StdXml oXml)
{
base.LoadData (ref dsSim, ref doStructure, ref oXml);
oXml.IntoElem();
oXml.IntoChildElement("Constraint");
m_fltMinAngle = oXml.GetAttribFloat("Low");
m_fltMaxAngle = oXml.GetAttribFloat("High");
oXml.OutOfElem(); //out of Constraint
m_snMinAngle.SetFromValue(Util.RadiansToDegrees(m_fltMinAngle), AnimatTools.Framework.ScaledNumber.enumNumericScale.None);
m_snMaxAngle.SetFromValue(Util.RadiansToDegrees(m_fltMaxAngle), AnimatTools.Framework.ScaledNumber.enumNumericScale.None);
m_bEnableMotor = oXml.GetChildBool("EnableMotor");
m_bServoMotor = oXml.GetChildBool("ServoMotor", m_bServoMotor);
m_fltServoGain = oXml.GetChildFloat("ServoGain", m_fltServoGain);
//based on whether this is a servo motor or not the incoming data type will change.
if(m_bServoMotor)
m_thIncomingDataType = new AnimatTools.DataObjects.DataType("Position", "Position", "rad", "rad", -3.142, 3.142, ScaledNumber.enumNumericScale.None, ScaledNumber.enumNumericScale.None);
else
m_thIncomingDataType = new AnimatTools.DataObjects.DataType("DesiredVelocity", "Desired Velocity", "m/s", "m/s", -5, 5, ScaledNumber.enumNumericScale.None, ScaledNumber.enumNumericScale.None);
if(oXml.FindChildElement("MaxTorque", false))
m_snMaxTorque.LoadData(ref oXml, "MaxTorque");
if(oXml.FindChildElement("MaxVelocity", false))
m_snMaxTorque.LoadData(ref oXml, "MaxVelocity");
// if(oXml.FindChildElement("RotationAxis", false))
// {
// Vec3d vTmp = Util.LoadVec3d(ref oXml, "RotationAxis", this);
// m_v3Axis = new Vector3((float)vTmp.X, (float)vTmp.Y, (float)vTmp.Z);
// }
m_v3Axis = new Vector3(0,0,1);
oXml.OutOfElem(); //out of body
}
public override void LoadData(ref AnimatTools.DataObjects.Simulation dsSim, ref AnimatTools.DataObjects.Physical.PhysicalStructure doStructure, ref AnimatTools.Interfaces.StdXml oXml)
{
base.LoadData (ref dsSim, ref doStructure, ref oXml);
oXml.IntoElem();
if(oXml.FindChildElement("Constraint", false))
{
oXml.IntoChildElement("Constraint");
m_fltMinMovement = oXml.GetAttribFloat("Low");
m_fltMaxMovement = oXml.GetAttribFloat("High");
oXml.OutOfElem(); //out of Constraint
}
m_fltLength = oXml.GetChildFloat("Length", m_fltLength);
m_bEnableMotor = oXml.GetChildBool("EnableMotor", false);
m_bServoMotor = oXml.GetChildBool("ServoMotor", m_bServoMotor);
m_fltServoGain = oXml.GetChildFloat("ServoGain", m_fltServoGain);
if(oXml.FindChildElement("MaxForce", false))
m_snMaxForce.LoadData(ref oXml, "MaxForce");
if(oXml.FindChildElement("MaxVelocity", false))
m_snMaxVelocity.LoadData(ref oXml, "MaxVelocity");
oXml.OutOfElem(); //out of body
}
public override void LoadData(ref AnimatTools.DataObjects.Simulation dsSim, ref AnimatTools.DataObjects.Physical.PhysicalStructure doStructure, ref AnimatTools.Interfaces.StdXml oXml)
{
m_aryChildBodies.Clear();
oXml.IntoElem(); //'Into RigidBody Element
m_strID = oXml.GetChildString("ID");
m_strName = oXml.GetChildString("Name", m_strID);
m_strDescription = oXml.GetChildString("Description", "");
if(m_strName.Trim().Length == 0)
m_strName = m_strID;
if(oXml.FindChildElement("Color", false))
{
System.Drawing.Color oColor = Util.LoadColor(ref oXml, "Color");
this.Alpha = oColor.A;
this.Color = oColor;
}
if(oXml.FindChildElement("MuscleAttachments", false))
{
oXml.IntoElem();
oXml.AddChildElement("Description", m_strDescription);
if(oXml.NumberOfChildren() > 2)
throw new System.Exception("The standard spring can not have more than 2 attachment points.");
else if(oXml.NumberOfChildren() == 2)
{
oXml.FindChildByIndex(0);
m_strPrimaryAttachID = oXml.GetChildString();
oXml.FindChildByIndex(1);
m_strSecondaryAttachID = oXml.GetChildString();
}
else if(oXml.NumberOfChildren() == 1)
{
oXml.FindChildByIndex(0);
m_strPrimaryAttachID = oXml.GetChildString();
}
else
{
m_strPrimaryAttachID = "";
m_strSecondaryAttachID = "";
}
oXml.OutOfElem();
}
else
{
if(oXml.FindChildElement("PrimaryAttachmentID", false))
m_strPrimaryAttachID = oXml.GetChildString("PrimaryAttachmentID");
if(oXml.FindChildElement("SecondaryAttachmentID", false))
m_strSecondaryAttachID = oXml.GetChildString("SecondaryAttachmentID");
}
m_snNaturalLength.LoadData(ref oXml, "NaturalLength");
m_snStiffness.LoadData(ref oXml, "Stiffness");
m_snDamping.LoadData(ref oXml, "Damping");
m_bEnabled = oXml.GetChildBool("Enabled", m_bEnabled);
m_bVisible = oXml.GetChildBool("IsVisible", m_bVisible);
oXml.OutOfElem(); //Outof RigidBody Element
}
public override void LoadData(ref AnimatTools.DataObjects.Simulation dsSim, ref AnimatTools.DataObjects.Physical.PhysicalStructure doStructure, ref AnimatTools.Interfaces.StdXml oXml)
{
m_aryChildBodies.Clear();
oXml.IntoElem(); //'Into RigidBody Element
m_strID = oXml.GetChildString("ID");
m_strName = oXml.GetChildString("Name", m_strID);
m_bVisible = oXml.GetChildBool("IsVisible", m_bVisible);
if(m_strID.Trim().Length == 0)
m_strID = System.Guid.NewGuid().ToString();
if(m_strName.Trim().Length == 0)
m_strName = m_strID;
if(oXml.FindChildElement("Color", false))
{
System.Drawing.Color oColor = Util.LoadColor(ref oXml, "Color");
this.Alpha = oColor.A;
this.Color = oColor;
}
m_fRadius = oXml.GetChildFloat("Radius", m_fRadius);
//m_fHeight = oXml.GetChildFloat("Height", m_fHeight);
if(oXml.FindChildElement("Direction",false))
{
this.m_v3Direction = new Vector3();
Vec3d vDirection = Util.LoadVec3d(ref oXml, "Direction", this);
m_v3Direction.X = (float)vDirection.X;
m_v3Direction.Y = (float)vDirection.Y;
m_v3Direction.Z = (float)vDirection.Z;
}
if(oXml.FindChildElement("OrientationMatrix", false))
{
m_mtxOrientation = Util_DX.LoadMatrix(ref oXml, "OrientationMatrix");
m_v3Rotation = Util_DX.DecomposeXYZRotationMatrix(Orientation);
this.Rotation = new Vec3d(null,Geometry.RadianToDegree(m_v3Rotation.X),Geometry.RadianToDegree(m_v3Rotation.Y),Geometry.RadianToDegree(m_v3Rotation.Z));
}
if(oXml.FindChildElement("TranslationMatrix",false))
m_mtxTranslation = Util_DX.LoadMatrix(ref oXml,"TranslationMatrix");
oXml.OutOfElem(); //Outof RigidBody Element
}
public override void LoadData(ref AnimatTools.DataObjects.Simulation dsSim, ref AnimatTools.DataObjects.Physical.PhysicalStructure doStructure, ref AnimatTools.Interfaces.StdXml oXml)
{
base.LoadData(ref dsSim, ref doStructure, ref oXml);
oXml.IntoElem(); //'Into RigidBody Element
m_bApplyTension = oXml.GetChildBool("ApplyTension", false);
m_snIaDischargeConstant.LoadData(ref oXml, "IaDischarge");
m_snIIDischargeConstant.LoadData(ref oXml, "IIDischarge");
oXml.OutOfElem(); //Outof RigidBody Element
}
