internal Arm(ConstantSet constants, ArmSpec spec)
{
IList <NodePairSpec> nodePairs = spec.NodePair;
NodeSpec upperFirstSpec = nodePairs[0].Upper;
NodeSpec lowerFirstSpec = nodePairs[0].Lower;
DominatedNode lowerFirst = new DominatedNode(lowerFirstSpec.Mass, Vector2D.FromDuple(lowerFirstSpec.Position), Vector2D.FromDuple(lowerFirstSpec.Velocity));
Node upperFirst = new RotationDominantNode(upperFirstSpec.Mass, Vector2D.FromDuple(upperFirstSpec.Position), Vector2D.FromDuple(upperFirstSpec.Velocity), lowerFirst);
UpperNodes = Enumerable
.Repeat(upperFirst, 1)
.Concat(nodePairs.Skip(1).Select(np => new Node(np.Upper)))
.ToArray();
LowerNodes = Enumerable
.Repeat(lowerFirst as Node, 1)
.Concat(nodePairs.Skip(1).Select(np => new Node(np.Lower)))
.ToArray();
Nodes = UpperNodes.Concat(LowerNodes).ToArray();
Compartments = UpperNodes
.Select((node, index)
=> (index == 0) ? null : new Compartment(constants, UpperNodes[index - 1], UpperNodes[index], LowerNodes[index], LowerNodes[index - 1]))
.Skip(1)
.ToArray();
}
public EnvironmentSimulator(ConstantSet constants, Arm arm, HashSet <Food> food)
{
this.arm = arm;
nodes = arm.Nodes.Concat(food.Cast <Node>()).ToArray();
IInfluence gravity = new GravityInfluence(constants);
IInfluence buoyancy = new BuoyancyInfluence(constants);
IInfluence friction = new SphericalFrictionInfluence(constants);
// The spherical friction is added to food particles only
foreach (Food f in food)
{
f.AddInfluence(friction);
AddPart(f);
}
foreach (Node node in arm.Nodes)
{
node.AddInfluence(gravity);
node.AddInfluence(buoyancy);
IInfluence repulsion = new RepulsionInfluence(constants, node);
foreach (Node j in nodes)
{
if (node != j)
{
j.AddInfluence(repulsion);
}
}
// We add all of the ODE parts to this aggregate
AddPart(node);
}
}
protected MuscleInfluence(ConstantSet constants, Node n1, Node n2, double width)
{
this.constants = constants;
this.N1 = n1;
this.N2 = n2;
this.Width = width;
this.action = 0;
this.InitialLength = n1.Position.Subtract(n2.Position).Norm;
this.Forces = new Dictionary <Node, Vector2D>();
// The constants are not set here, override this class to set the constants to the proper value
this.ActiveConstant = 0;
this.PassiveConstant = 0;
this.DampingConstant = 0;
}
/// <summary>
/// Constructs a new compartment from four nodes </summary>
/// <param name="dorsalNode"> Dorsal node </param>
/// <param name="dorsalTransversalNode"> Dorsal transversal Node </param>
/// <param name="ventralTransversalNode"> Ventral transversal node </param>
/// <param name="ventralNode"> Ventral node </param>
internal Compartment(ConstantSet constants, Node dorsalNode, Node dorsalTransversalNode, Node ventralTransversalNode, Node ventralNode)
{
this.constants = constants;
this.d = dorsalNode;
this.dt = dorsalTransversalNode;
this.tv = ventralTransversalNode;
this.v = ventralNode;
nodes = new Node[] { dorsalNode, dorsalTransversalNode, ventralTransversalNode, ventralNode };
// Internal pressures
pressure = new PressureInfluence(this.constants, this);
foreach (Node n in nodes)
{
n.AddInfluence(pressure);
}
// Muscles
dorsal = new LongitudinalMuscleInfluence(this.constants, dorsalNode, dorsalTransversalNode, dorsalTransversalNode.Position.Subtract(ventralTransversalNode.Position).Norm);
dorsalNode.AddInfluence(dorsal);
dorsalTransversalNode.AddInfluence(dorsal);
transversal = new TransversalMuscleInfluence(this.constants, dorsalTransversalNode, ventralTransversalNode, dorsalTransversalNode.Position.Subtract(dorsalNode.Position).Norm);
dorsalTransversalNode.AddInfluence(transversal);
ventralTransversalNode.AddInfluence(transversal);
ventral = new LongitudinalMuscleInfluence(this.constants, ventralTransversalNode, ventralNode, dorsalTransversalNode.Position.Subtract(ventralTransversalNode.Position).Norm);
ventralTransversalNode.AddInfluence(ventral);
ventralNode.AddInfluence(ventral);
// Friction
dorsalFriction = new AxialFrictionInfluence(this.constants, dorsalTransversalNode, dorsalNode);
dorsalTransversalNode.AddInfluence(dorsalFriction);
ventralFriction = new AxialFrictionInfluence(this.constants, ventralTransversalNode, ventralNode);
ventralTransversalNode.AddInfluence(ventralFriction);
pressureShapes = new List <object>();
ComputeArea();
desiredArea = area;
}
/// <summary>
/// The friction influence will only influence the target, the axial
/// node serves only to give the orientation of the segment that
/// gives the tangential direction for friction computation. </summary>
/// <param name="target"> The node on which the friction will be computed. </param>
/// <param name="axialNode"> A node that serves only to determine the orientation of the axis. </param>
public AxialFrictionInfluence(ConstantSet constants, Node target, Node axialNode)
{
this.constants = constants;
this.target = target;
this.axialNode = axialNode;
}
public BuoyancyInfluence(ConstantSet constants)
{
this.constants = constants;
}
public SphericalFrictionInfluence(ConstantSet constants)
{
this.constants = constants;
}
public GravityInfluence(ConstantSet constants)
{
this.constants = constants;
}
public RepulsionInfluence(ConstantSet constants, Node source)
{
this.constants = constants;
this.source = source;
}
public PressureInfluence(ConstantSet constants, Compartment parent)
{
this.constants = constants;
this.parent = parent;
forces = new Dictionary <Node, Vector2D>();
}
