public Spring(AnimatTools.Framework.DataObject doParent) : base(doParent) { Color = System.Drawing.Color.NavajoWhite; m_snNaturalLength = new AnimatTools.Framework.ScaledNumber(this, "NaturalLength", "meters", "m"); m_snStiffness = new AnimatTools.Framework.ScaledNumber(this, "Stiffness", 50, AnimatTools.Framework.ScaledNumber.enumNumericScale.Kilo, "N/m", "N/m"); m_snDamping = new AnimatTools.Framework.ScaledNumber(this, "Damping", 1, AnimatTools.Framework.ScaledNumber.enumNumericScale.Kilo, "g/s", "g/s"); if(Util.Environment != null) m_snNaturalLength.SetFromValue(1, (int) Util.Environment.DisplayDistanceUnits); AnimatTools.DataObjects.Physical.PhysicalStructure doStruct = null; if(doParent != null && doParent is AnimatTools.DataObjects.Physical.BodyPart) { AnimatTools.DataObjects.Physical.BodyPart bpPart = (AnimatTools.DataObjects.Physical.BodyPart) doParent; doStruct = bpPart.ParentStructure; } m_tpBodyPartType = typeof(VortexAnimatTools.DataObjects.Physical.RigidBodies.MuscleAttachment); m_thPrimaryAttachment = new AnimatTools.TypeHelpers.LinkedBodyPartList(doStruct, null, m_tpBodyPartType); m_thSecondaryAttachment = new AnimatTools.TypeHelpers.LinkedBodyPartList(doStruct, null, m_tpBodyPartType); m_snSpringLength = new AnimatTools.Framework.ScaledNumber(this, "SpringLength", 0, AnimatTools.Framework.ScaledNumber.enumNumericScale.None, "Meters", "m"); m_thDataTypes.DataTypes.Clear(); m_thDataTypes.DataTypes.Add(new AnimatTools.DataObjects.DataType("SpringLength", "Spring Length", "Meters", "m", -10, 10)); m_thDataTypes.DataTypes.Add(new AnimatTools.DataObjects.DataType("Displacement", "Displacement", "Meters", "m", -10, 10)); m_thDataTypes.DataTypes.Add(new AnimatTools.DataObjects.DataType("Tension", "Tension", "Newtons", "N", -1000, 1000)); m_thDataTypes.DataTypes.Add(new AnimatTools.DataObjects.DataType("Energy", "Energy", "Joules", "J", -10, 10)); m_thDataTypes.DataTypes.Add(new AnimatTools.DataObjects.DataType("Enable", "Enable", "", "", 0, 1)); m_thDataTypes.ID = "SpringLength"; m_thIncomingDataType = new AnimatTools.DataObjects.DataType("Enabled", "Enabled", "", "", 0, 1, ScaledNumber.enumNumericScale.None, ScaledNumber.enumNumericScale.None); }
public InverseMuscleDynamics(AnimatTools.Framework.DataObject doParent) : base(doParent) { m_tpBodyPartType = typeof(VortexAnimatTools.DataObjects.Physical.RigidBodies.MuscleBase); m_thMuscle = new AnimatTools.TypeHelpers.LinkedBodyPartList(null, null, m_tpBodyPartType); m_strMuscleLengthData = ""; m_snConductance = new AnimatTools.Framework.ScaledNumber(this, "Conductance", 100, AnimatTools.Framework.ScaledNumber.enumNumericScale.nano, "Siemens", "S"); m_snRestPotential = new AnimatTools.Framework.ScaledNumber(this, "RestPotential", -100, AnimatTools.Framework.ScaledNumber.enumNumericScale.milli, "Volts", "V"); m_thDataTypes.DataTypes.Add(new AnimatTools.DataObjects.DataType("A", "A", "Newtons", "N", 0, 1000)); m_thDataTypes.DataTypes.Add(new AnimatTools.DataObjects.DataType("Vm", "Vm", "Volts", "V", -0.100, 0.100)); m_thDataTypes.DataTypes.Add(new AnimatTools.DataObjects.DataType("Current", "Current", "Amps", "A", -100e-9, 100e-9)); m_thDataTypes.ID = "A"; }
public VelocityClamp(AnimatTools.Framework.DataObject doParent) : base(doParent) { m_thPrimaryAttachment = new AnimatTools.TypeHelpers.LinkedBodyPartList(m_doStructure, null, m_tpBodyPartType); m_thSecondaryAttachment = new AnimatTools.TypeHelpers.LinkedBodyPartList(m_doStructure, null, m_tpBodyPartType); m_tpBodyPartType = typeof(VortexAnimatTools.DataObjects.Physical.RigidBodies.MuscleAttachment); m_snVelocity = new AnimatTools.Framework.ScaledNumber(this, "Velocity", 0, AnimatTools.Framework.ScaledNumber.enumNumericScale.None, "meters/second", "m/s"); m_snMaxForce = new AnimatTools.Framework.ScaledNumber(this, "MaxForce", 1, AnimatTools.Framework.ScaledNumber.enumNumericScale.Kilo, "Newton", "N"); m_thDataTypes.DataTypes.Add(new AnimatTools.DataObjects.DataType("Force", "Force", "Newtons", "N", 0, 1000)); m_thDataTypes.DataTypes.Add(new AnimatTools.DataObjects.DataType("PError", "Proportional Error", "Meters", "m", 0, 1000)); m_thDataTypes.DataTypes.Add(new AnimatTools.DataObjects.DataType("DError", "Derivative Error", "M/s", "m/s", 0, 1)); m_thDataTypes.DataTypes.Add(new AnimatTools.DataObjects.DataType("IError", "Integrator Error", "m^2", "m^2", 0, 1000)); m_thDataTypes.DataTypes.Add(new AnimatTools.DataObjects.DataType("Position", "Velocity", "m/s", "m/s", 0, 1000)); m_thDataTypes.DataTypes.Add(new AnimatTools.DataObjects.DataType("Velocity", "Acceleration", "m/s^2", "m/s^2", 0, 1000)); m_thDataTypes.ID = "Force"; }
protected override void CloneInternal(AnimatTools.Framework.DataObject doOriginal, bool bCutData, AnimatTools.Framework.DataObject doRoot) { base.CloneInternal (doOriginal, bCutData, doRoot); InverseMuscleDynamics doOrigBody = (InverseMuscleDynamics) doOriginal; m_thMuscle = (AnimatTools.TypeHelpers.LinkedBodyPart) doOrigBody.m_thMuscle.Clone(this, bCutData, doRoot); m_strMuscleLengthData = doOrigBody.m_strMuscleLengthData; m_snConductance = (AnimatTools.Framework.ScaledNumber) doOrigBody.m_snConductance.Clone(this, bCutData, doRoot); m_snRestPotential = (AnimatTools.Framework.ScaledNumber) doOrigBody.m_snRestPotential.Clone(this, bCutData, doRoot); }
public override void LoadData(ref AnimatTools.Interfaces.StdXml oXml) { base.LoadData(ref oXml); oXml.IntoElem(); if(oXml.FindChildElement("MuscleID", false)) { string strMuscleID = oXml.GetChildString("MuscleID"); if(m_doOrganism != null && strMuscleID.Trim().Length > 0) { AnimatTools.DataObjects.Physical.BodyPart rbPart = (AnimatTools.DataObjects.Physical.BodyPart) m_doOrganism.FindBodyPart(strMuscleID, false); if(rbPart != null) m_thMuscle = new AnimatTools.TypeHelpers.LinkedBodyPartList(m_doOrganism, rbPart, m_tpBodyPartType); } } else m_thMuscle = new AnimatTools.TypeHelpers.LinkedBodyPartList(m_doOrganism, null, m_tpBodyPartType); m_strMuscleLengthData = oXml.GetChildString("MuscleLengthData", m_strMuscleLengthData); if(oXml.FindChildElement("Conductance", false)) m_snConductance.LoadData(ref oXml, "Conductance"); if(oXml.FindChildElement("RestPotential", false)) m_snRestPotential.LoadData(ref oXml, "RestPotential"); oXml.OutOfElem(); }
protected override void CloneInternal(AnimatTools.Framework.DataObject doOriginal, bool bCutData, AnimatTools.Framework.DataObject doRoot) { base.CloneInternal (doOriginal, bCutData, doRoot); Spring doOrigBody = (Spring) doOriginal; m_thPrimaryAttachment = (AnimatTools.TypeHelpers.LinkedBodyPart) doOrigBody.m_thPrimaryAttachment.Clone(this, bCutData, doRoot); m_thSecondaryAttachment = (AnimatTools.TypeHelpers.LinkedBodyPart) doOrigBody.m_thSecondaryAttachment.Clone(this, bCutData, doRoot); m_snNaturalLength = (AnimatTools.Framework.ScaledNumber) doOrigBody.m_snNaturalLength.Clone(this, bCutData, doRoot); m_snStiffness = (AnimatTools.Framework.ScaledNumber) doOrigBody.m_snStiffness.Clone(this, bCutData, doRoot); m_snDamping = (AnimatTools.Framework.ScaledNumber) doOrigBody.m_snDamping.Clone(this, bCutData, doRoot); m_fRadius = doOrigBody.m_fRadius; m_bEnabled = doOrigBody.m_bEnabled; }
public override void SwapBodyPartCopy(AnimatTools.DataObjects.Physical.BodyPart doOriginal) { base.SwapBodyPartCopy(doOriginal); if(Util.IsTypeOf(doOriginal.GetType(), typeof(VortexAnimatTools.DataObjects.Physical.RigidBodies.Spring), false)) { VortexAnimatTools.DataObjects.Physical.RigidBodies.Spring msOrig = (VortexAnimatTools.DataObjects.Physical.RigidBodies.Spring) doOriginal; m_thPrimaryAttachment = msOrig.m_thPrimaryAttachment; m_thSecondaryAttachment = msOrig.m_thSecondaryAttachment; m_snNaturalLength = msOrig.m_snNaturalLength; m_snStiffness = msOrig.m_snStiffness; m_snDamping = msOrig.m_snDamping; m_snSpringLength = msOrig.m_snSpringLength; m_fRadius = msOrig.m_fRadius; } else if(Util.IsTypeOf(doOriginal.GetType(), typeof(VortexAnimatTools.DataObjects.Physical.RigidBodies.MuscleBase), false)) { VortexAnimatTools.DataObjects.Physical.RigidBodies.MuscleBase msOrig = (VortexAnimatTools.DataObjects.Physical.RigidBodies.MuscleBase) doOriginal; if(msOrig.AttachmentPoints.Count > 0 && m_thPrimaryAttachment != null) m_thPrimaryAttachment.BodyPart = msOrig.AttachmentPoints[0]; if(msOrig.AttachmentPoints.Count > 1 && m_thSecondaryAttachment != null) m_thSecondaryAttachment.BodyPart = msOrig.AttachmentPoints[1]; } }
public override void InitializeAfterLoad(ref AnimatTools.DataObjects.Simulation dsSim, ref AnimatTools.DataObjects.Physical.PhysicalStructure doStructure) { if(m_strPrimaryAttachID.Trim().Length > 0) { AnimatTools.DataObjects.Physical.BodyPart rbPart = (AnimatTools.DataObjects.Physical.BodyPart) doStructure.FindBodyPart(m_strPrimaryAttachID, true); m_thPrimaryAttachment = new AnimatTools.TypeHelpers.LinkedBodyPartList(doStructure, rbPart, m_tpBodyPartType); } if(m_strSecondaryAttachID.Trim().Length > 0) { AnimatTools.DataObjects.Physical.BodyPart rbPart = (AnimatTools.DataObjects.Physical.BodyPart) doStructure.FindBodyPart(m_strSecondaryAttachID, true); m_thSecondaryAttachment = new AnimatTools.TypeHelpers.LinkedBodyPartList(doStructure, rbPart, m_tpBodyPartType); } }
protected override void CloneInternal(AnimatTools.Framework.DataObject doOriginal, bool bCutData, AnimatTools.Framework.DataObject doRoot) { base.CloneInternal (doOriginal, bCutData, doRoot); VelocityClamp doOrigBody = (VelocityClamp) doOriginal; m_thPrimaryAttachment = (AnimatTools.TypeHelpers.LinkedBodyPart) doOrigBody.m_thPrimaryAttachment.Clone(this, bCutData, doRoot); m_thSecondaryAttachment = (AnimatTools.TypeHelpers.LinkedBodyPart) doOrigBody.m_thSecondaryAttachment.Clone(this, bCutData, doRoot); m_snVelocity = (AnimatTools.Framework.ScaledNumber) doOrigBody.m_snVelocity.Clone(this, bCutData, doRoot); m_snMaxForce = (AnimatTools.Framework.ScaledNumber) doOrigBody.m_snMaxForce.Clone(this, bCutData, doRoot); m_fltProportionalGain = doOrigBody.m_fltProportionalGain; m_fltDerivativeGain = doOrigBody.m_fltDerivativeGain; m_fltIntegratorGain = doOrigBody.m_fltIntegratorGain; m_fltMaxIntegratorValue = doOrigBody.m_fltMaxIntegratorValue; }
public override void LoadData(ref AnimatTools.Interfaces.StdXml oXml) { base.LoadData(ref oXml); oXml.IntoElem(); if(oXml.FindChildElement("PrimaryAttachmentID", false)) { string strAttachID = oXml.GetChildString("PrimaryAttachmentID"); if(m_doStructure != null && strAttachID.Trim().Length > 0) { AnimatTools.DataObjects.Physical.BodyPart rbPart = (AnimatTools.DataObjects.Physical.BodyPart) m_doStructure.FindBodyPart(strAttachID, false); if(rbPart != null) m_thPrimaryAttachment = new AnimatTools.TypeHelpers.LinkedBodyPartList(m_doStructure, rbPart, m_tpBodyPartType); } } else m_thPrimaryAttachment = new AnimatTools.TypeHelpers.LinkedBodyPartList(m_doStructure, null, m_tpBodyPartType); if(oXml.FindChildElement("SecondaryAttachmentID", false)) { string strAttachID = oXml.GetChildString("SecondaryAttachmentID"); if(m_doStructure != null && strAttachID.Trim().Length > 0) { AnimatTools.DataObjects.Physical.BodyPart rbPart = (AnimatTools.DataObjects.Physical.BodyPart) m_doStructure.FindBodyPart(strAttachID, false); if(rbPart != null) m_thSecondaryAttachment = new AnimatTools.TypeHelpers.LinkedBodyPartList(m_doStructure, rbPart, m_tpBodyPartType); } } else m_thSecondaryAttachment = new AnimatTools.TypeHelpers.LinkedBodyPartList(m_doStructure, null, m_tpBodyPartType); m_fltProportionalGain = oXml.GetChildFloat("PGain", m_fltProportionalGain); m_fltDerivativeGain = oXml.GetChildFloat("DGain", m_fltDerivativeGain); m_fltIntegratorGain = oXml.GetChildFloat("IGain", m_fltIntegratorGain); m_fltMaxIntegratorValue = oXml.GetChildFloat("MaxIValue", m_fltMaxIntegratorValue); m_snVelocity.LoadData(ref oXml, "Velocity"); m_snMaxForce.LoadData(ref oXml, "MaxForce"); SetPositionUnits(); oXml.OutOfElem(); }