public MultiSegmentSpring(AnimatTools.Framework.DataObject doParent)
: base(doParent)
{
m_thDataTypes.DataTypes.Clear();
m_thDataTypes.DataTypes.Add(new AnimatTools.DataObjects.DataType("Tension", "Tension", "Newtons", "N", 0, 1000));
m_thDataTypes.DataTypes.Add(new AnimatTools.DataObjects.DataType("SpringTension", "Spring Tension", "Newtons", "N", 0, 1000));
m_thDataTypes.DataTypes.Add(new AnimatTools.DataObjects.DataType("DampingTension", "Damping Tension", "Newtons", "N", 0, 1000));
m_thDataTypes.DataTypes.Add(new AnimatTools.DataObjects.DataType("SpringLength", "Spring Length", "Meters", "m", 0, 1));
m_thDataTypes.DataTypes.Add(new AnimatTools.DataObjects.DataType("Vspring", "Spring Velocity", "m/s", "m/s", -3, 3));
m_thDataTypes.DataTypes.Add(new AnimatTools.DataObjects.DataType("Displacement", "Muscle Displacement", "Meters", "m", 0, 1));
m_thDataTypes.DataTypes.Add(new AnimatTools.DataObjects.DataType("DisplacementRatio", "Muscle Displacement Ratio", "", "", -1, 1));
m_thDataTypes.DataTypes.Add(new AnimatTools.DataObjects.DataType("Enable", "Enable", "", "", 0, 1));
m_thDataTypes.DataTypes.Add(new AnimatTools.DataObjects.DataType("Aspring", "Acceleration", "m/s^2", "m/s^2", -100, 100));
m_thDataTypes.DataTypes.Add(new AnimatTools.DataObjects.DataType("PotEnergy", "Potential Energy", "J", "J", -10, 10));
m_thDataTypes.ID = "Tension";
//Holdover stuff from using the muscle base class
m_StimTension = new AnimatTools.DataObjects.Gains.MuscleGains.StimulusTension(this);
m_LengthTension = new AnimatTools.DataObjects.Gains.MuscleGains.LengthTension(this);
m_LengthTension.ShowLcePercentage = false;
m_snNaturalLength = new AnimatTools.Framework.ScaledNumber(this, "NaturalLength", 1, AnimatTools.Framework.ScaledNumber.enumNumericScale.None, "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");
m_thIncomingDataType = new AnimatTools.DataObjects.DataType("Enabled", "Enabled", "", "", 0, 1, ScaledNumber.enumNumericScale.None, ScaledNumber.enumNumericScale.None);
}
public override void Initialize(ref AnimatTools.Forms.AnimatApplication frmApplication, AnimatTools.Forms.MdiChild frmMdiParent, AnimatTools.Forms.AnimatForm frmParent)
{
base.Initialize (ref frmApplication, frmMdiParent, frmParent);
System.Reflection.Assembly oAssembly = System.Reflection.Assembly.LoadFrom(Util.GetFilePath(frmApplication.ApplicationDirectory, "LicensedAnimatTools.dll"));
m_chartFieldGain = (AnimatTools.Forms.Gain.GainControl) oAssembly.CreateInstance("LicensedAnimatTools.Forms.Charts.GainControl");
this.tpFieldGain.Controls.Add(this.m_chartFieldGain);
this.m_chartFieldGain.Location = new System.Drawing.Point(128, 8);
this.m_chartFieldGain.Name = "m_chartFieldGain";
this.m_chartFieldGain.Size = new System.Drawing.Size(208, 160);
this.m_chartFieldGain.TabIndex = 5;
this.m_chartFieldGain.Text = "m_chartFieldGain";
m_chartCurrentGain = (AnimatTools.Forms.Gain.GainControl) oAssembly.CreateInstance("LicensedAnimatTools.Forms.Charts.GainControl");
this.tpCurrentGain.Controls.Add(this.m_chartCurrentGain);
this.m_chartCurrentGain.Location = new System.Drawing.Point(128, 8);
this.m_chartCurrentGain.Name = "m_chartCurrentGain";
this.m_chartCurrentGain.Size = new System.Drawing.Size(208, 160);
this.m_chartCurrentGain.TabIndex = 5;
this.m_chartCurrentGain.Text = "m_chartCurrentGain";
PopulateForm();
}
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);
}
private Texture texZ = null; //Texture for the z axis label
#endregion Fields
#region Constructors
public RigidBody_DX(AnimatTools.Framework.DataObject doParent)
: base(doParent)
{
m_vrLocation = new DxLocationRef(this);
m_vrRotation = new DxRotationRef(this);
m_snXLocalLocation = new AnimatTools.Framework.ScaledNumber(this, "XLocalLocationScaled", "meters", "m");
m_snYLocalLocation = new AnimatTools.Framework.ScaledNumber(this, "YLocalLocationScaled", "meters", "m");
m_snZLocalLocation = new AnimatTools.Framework.ScaledNumber(this, "ZLocalLocationScaled", "meters", "m");
m_snXWorldLocation = new AnimatTools.Framework.ScaledNumber(this, "XWorldLocationScaled", "meters", "m");
m_snYWorldLocation = new AnimatTools.Framework.ScaledNumber(this, "YWorldLocationScaled", "meters", "m");
m_snZWorldLocation = new AnimatTools.Framework.ScaledNumber(this, "ZWorldLocationScaled", "meters", "m");
m_snXRotation = new AnimatTools.Framework.ScaledNumber(this, "XRotationScaled", "Degrees", "Deg");
m_snYRotation = new AnimatTools.Framework.ScaledNumber(this, "YRotationScaled", "Degrees", "Deg");
m_snZRotation = new AnimatTools.Framework.ScaledNumber(this, "ZRotationScaled", "Degrees", "Deg");
this.m_matTransparentSelectedMaterial = new Material();
this.m_matTransparentSelectedMaterial.Diffuse = Color.FromArgb(128,Color.FloralWhite);
this.m_matTransparentSelectedMaterial.Ambient = Color.FromArgb(128,Color.FloralWhite);
Alpha = 255;
Color = Color.Red;
m_d3dRFPointMaterial = new Material();
m_d3dRFPointMaterial.Ambient = Color.Green;
m_d3dRFPointMaterial.Diffuse = Color.Green;
m_d3dSelRFPointMaterial = new Material();
m_d3dSelRFPointMaterial.Ambient = Color.DarkRed;
m_d3dSelRFPointMaterial.Diffuse = Color.DarkRed;
}
public override AnimatTools.Framework.DataObject Clone(AnimatTools.Framework.DataObject doParent, bool bCutData, AnimatTools.Framework.DataObject doRoot)
{
Static bnPart = new Static(doParent);
bnPart.CloneInternal(this, bCutData, doRoot);
if(doRoot != null && doRoot == this) bnPart.AfterClone(this, bCutData, doRoot, bnPart);
return bnPart;
}
public Stomach(AnimatTools.Framework.DataObject doParent)
: base(doParent)
{
try
{
m_thLinkedPart = new AnimatTools.TypeHelpers.LinkedBodyPartList(this);
System.Reflection.Assembly myAssembly = System.Reflection.Assembly.Load("VortexAnimatTools");
this.Size = new System.Drawing.SizeF(36, 40);
this.Image = AnimatTools.Framework.ImageManager.LoadImage(ref myAssembly, "VortexAnimatTools.Graphics.Stomach_Button.gif", false);
this.DragImage = AnimatTools.Framework.ImageManager.LoadImage(ref myAssembly, "VortexAnimatTools.Graphics.Stomach_Button.gif", false);
this.Name = "Stomach";
this.Description = "This node allows the user to collect interact with the Stomach object.";
//Now lets try and find the image for this node.
this.ImageIndex = FindDiagramImageIndex(this.GetType().FullName);
m_tpBodyPartType = typeof(VortexAnimatTools.DataObjects.Physical.RigidBodies.Stomach);
}
catch(System.Exception ex)
{
AnimatTools.Framework.Util.DisplayError(ex);
}
}
public override AnimatTools.Framework.DataObject Clone(AnimatTools.Framework.DataObject doParent, bool bCutData, AnimatTools.Framework.DataObject doRoot)
{
OdorSensor bnPart = new OdorSensor(doParent);
bnPart.CloneInternal(this, bCutData, doRoot);
bnPart.m_thOdorType = m_thOdorType;
if(doRoot != null && doRoot == this) bnPart.AfterClone(this, bCutData, doRoot, bnPart);
return bnPart;
}
public OdorSensor(AnimatTools.Framework.DataObject doParent)
: base(doParent)
{
m_thOdorType = new AnimatTools.TypeHelpers.LinkedOdorTypeList(null);
m_thDataTypes.DataTypes.Add(new AnimatTools.DataObjects.DataType("OdorValue", "Odor Value", "", "", -1000, 1000));
m_thDataTypes.ID = "OdorValue";
}
public LinearHillStretchReceptor(AnimatTools.Framework.DataObject doParent)
: base(doParent)
{
m_thDataTypes.DataTypes.Add(new AnimatTools.DataObjects.DataType("Ia", "Ia Discharge Rate" , "Spikes/s", "Spikes/s", 0, 1000));
m_thDataTypes.DataTypes.Add(new AnimatTools.DataObjects.DataType("II", "II Discharge Rate", "Spikes/s", "Spikes/s", 0, 1000));
m_thDataTypes.ID = "Ia";
m_snIaDischargeConstant = new AnimatTools.Framework.ScaledNumber(this, "Ia Discharge Constant", 100, AnimatTools.Framework.ScaledNumber.enumNumericScale.None, "Spikes/sm", "Spikes/sm");
m_snIIDischargeConstant = new AnimatTools.Framework.ScaledNumber(this, "II Discharge Constant", 100, AnimatTools.Framework.ScaledNumber.enumNumericScale.None, "Spikes/sm", "Spikes/sm");
}
public BoxContactSensor(AnimatTools.Framework.DataObject doParent)
: base(doParent)
{
m_thDataTypes.DataTypes.Clear();
m_thDataTypes.DataTypes.Add(new AnimatTools.DataObjects.DataType("ContactCount", "Contact Count", "", "", 0, 1));
m_thDataTypes.DataTypes.Add(new AnimatTools.DataObjects.DataType("BodyPositionX", "Position X Axis", "Meters", "m", -10, 10));
m_thDataTypes.DataTypes.Add(new AnimatTools.DataObjects.DataType("BodyPositionY", "Position Y Axis", "Meters", "m", -10, 10));
m_thDataTypes.DataTypes.Add(new AnimatTools.DataObjects.DataType("BodyPositionZ", "Position Z Axis", "Meters", "m", -10, 10));
m_thDataTypes.ID = "ContactCount";
}
public override void AddChildBody(AnimatTools.DataObjects.Physical.RigidBody rbChildBody)
{
//If you try and add a body to a muscle attachment then you really need to add it to the attachment parent.
if(this.Parent != null)
{
AnimatTools.DataObjects.Physical.RigidBody rbParent = (AnimatTools.DataObjects.Physical.RigidBody) this.Parent;
rbChildBody.Parent = rbParent;
rbParent.AddChildBody(rbChildBody);
}
}
public Cylinder(AnimatTools.Framework.DataObject doParent)
: base(doParent)
{
m_fRadius = 0.5f;
m_fHeight = 1;
m_snRadius = new AnimatTools.Framework.ScaledNumber(this, "RadiusScaled", "meters", "m");
m_snHeight = new AnimatTools.Framework.ScaledNumber(this, "HeightScaled", "meters", "m");
m_vrSize = new DxCylinderSizeRef(this);
}
public Box(AnimatTools.Framework.DataObject doParent)
: base(doParent)
{
m_vGraphicsBoxSize = new Vec3d(this);
m_vGraphicsBoxSize.X = m_vGraphicsBoxSize.Y = m_vGraphicsBoxSize.Z = 1;
m_snWidth = new AnimatTools.Framework.ScaledNumber(this, "WidthScaled", "meters", "m");
m_snHeight = new AnimatTools.Framework.ScaledNumber(this, "HeightScaled", "meters", "m");
m_snLength = new AnimatTools.Framework.ScaledNumber(this, "LengthScaled", "meters", "m");
m_vrSize = new DxBoxSizeRef(this);
}
public MuscleAttachment(AnimatTools.Framework.DataObject doParent)
: base(doParent)
{
Alpha = 128;
Color = Color.Orange;
this.m_fRadius = 0.1f;
m_thDataTypes.DataTypes.Clear();
m_thDataTypes.DataTypes.Add(new AnimatTools.DataObjects.DataType("BodyPositionX", "Position X Axis", "Meters", "m", -10, 10));
m_thDataTypes.DataTypes.Add(new AnimatTools.DataObjects.DataType("BodyPositionY", "Position Y Axis", "Meters", "m", -10, 10));
m_thDataTypes.DataTypes.Add(new AnimatTools.DataObjects.DataType("BodyPositionZ", "Position Z Axis", "Meters", "m", -10, 10));
m_thDataTypes.ID = "BodyPositionX";
}
public Cone(AnimatTools.Framework.DataObject doParent)
: base(doParent)
{
m_vrSize = new DxConeSizeRef(this);
m_snUpperRadius = new AnimatTools.Framework.ScaledNumber(this, "UpperRadiusScaled", "meters", "m");
m_snLowerRadius = new AnimatTools.Framework.ScaledNumber(this, "LowerRadiusScaled", "meters", "m");
m_snHeight = new AnimatTools.Framework.ScaledNumber(this, "HeightScaled", "meters", "m");
m_fLowerRadius = 0.5f;
m_fUpperRadius = 0;
m_fHeight = 1;
}
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";
}
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);
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 Mouth(AnimatTools.Framework.DataObject doParent)
: base(doParent)
{
Alpha = 128;
Color = Color.LightBlue;
this.m_fRadius = 0.1f;
m_snMinimumFoodRadius = new ScaledNumber(this, "MinimumFoodRadius", 10, ScaledNumber.enumNumericScale.centi, "meters", "m");
m_thDataTypes.DataTypes.Clear();
m_thDataTypes.DataTypes.Add(new AnimatTools.DataObjects.DataType("BodyPositionX", "Position X Axis", "Meters", "m", -10, 10));
m_thDataTypes.DataTypes.Add(new AnimatTools.DataObjects.DataType("BodyPositionY", "Position Y Axis", "Meters", "m", -10, 10));
m_thDataTypes.DataTypes.Add(new AnimatTools.DataObjects.DataType("BodyPositionZ", "Position Z Axis", "Meters", "m", -10, 10));
m_thDataTypes.DataTypes.Add(new AnimatTools.DataObjects.DataType("EatingRate", "Eating Rate", "", "", 0, 100));
m_thDataTypes.ID = "EatingRate";
this.ID = "MOUTH";
}
public LinearHillMuscle(AnimatTools.Framework.DataObject doParent)
: base(doParent)
{
m_thDataTypes.DataTypes.Clear();
m_thDataTypes.DataTypes.Add(new AnimatTools.DataObjects.DataType("Tension", "Tension", "Newtons", "N", 0, 1000));
m_thDataTypes.DataTypes.Add(new AnimatTools.DataObjects.DataType("Tdot", "Change in Tension", "Newtons per second", "N/s", 0, 1000));
m_thDataTypes.DataTypes.Add(new AnimatTools.DataObjects.DataType("MuscleLength", "Muscle Length", "Meters", "m", 0, 1));
m_thDataTypes.DataTypes.Add(new AnimatTools.DataObjects.DataType("SeLength", "Se Length", "Meters", "m", 0, 1));
m_thDataTypes.DataTypes.Add(new AnimatTools.DataObjects.DataType("SeDisplacement", "Se Displacement", "Meters", "m", 0, 1));
m_thDataTypes.DataTypes.Add(new AnimatTools.DataObjects.DataType("PeLength", "Pe Length", "Meters", "m", 0, 1));
m_thDataTypes.DataTypes.Add(new AnimatTools.DataObjects.DataType("A", "A", "Newtons", "N", 0, 1000));
m_thDataTypes.DataTypes.Add(new AnimatTools.DataObjects.DataType("Activation", "Activation", "", "", 0, 1000));
m_thDataTypes.DataTypes.Add(new AnimatTools.DataObjects.DataType("Vmuscle", "Muscle Velocity", "m/s", "m/s", -3, 3));
m_thDataTypes.DataTypes.Add(new AnimatTools.DataObjects.DataType("Vse", "Se Velocity", "m/s", "m/s", -3, 3));
m_thDataTypes.DataTypes.Add(new AnimatTools.DataObjects.DataType("Vpe", "Pe Velocity", "m/s", "m/s", -3, 3));
m_thDataTypes.DataTypes.Add(new AnimatTools.DataObjects.DataType("AvgVmuscle", "Averaged Muscle Velocity", "m/s", "m/s", -3, 3));
m_thDataTypes.DataTypes.Add(new AnimatTools.DataObjects.DataType("MembraneVoltage", "Membrane Voltage", "Volts", "V", -100, 100, ScaledNumber.enumNumericScale.milli, ScaledNumber.enumNumericScale.milli));
m_thDataTypes.DataTypes.Add(new AnimatTools.DataObjects.DataType("Displacement", "Muscle Displacement", "Meters", "m", 0, 1));
m_thDataTypes.DataTypes.Add(new AnimatTools.DataObjects.DataType("DisplacementRatio", "Muscle Displacement Ratio", "", "", -1, 1));
m_thDataTypes.DataTypes.Add(new AnimatTools.DataObjects.DataType("Enable", "Enable", "", "", 0, 1));
m_thDataTypes.DataTypes.Add(new AnimatTools.DataObjects.DataType("Ib", "Ib Discharge Rate", "Spikes/s", "Spikes/s", 0, 1000));
m_thDataTypes.DataTypes.Add(new AnimatTools.DataObjects.DataType("Tl", "Tension-Length Percentage", "%", "%", 0, 1000));
m_thDataTypes.ID = "Tension";
m_thIncomingDataType = new AnimatTools.DataObjects.DataType("MembraneVoltage", "Membrane Voltage", "Volts", "V", -100, 100, ScaledNumber.enumNumericScale.milli, ScaledNumber.enumNumericScale.milli);
m_StimTension = new AnimatTools.DataObjects.Gains.MuscleGains.StimulusTension(this);
m_LengthTension = new AnimatTools.DataObjects.Gains.MuscleGains.LengthTension(this);
m_LengthTension.ShowLcePercentage = false;
m_snMaxTension = new AnimatTools.Framework.ScaledNumber(this, "MaxTension", 100, AnimatTools.Framework.ScaledNumber.enumNumericScale.None, "Newtons", "N");
m_snMuscleLength = new AnimatTools.Framework.ScaledNumber(this, "MuscleLength", 0, AnimatTools.Framework.ScaledNumber.enumNumericScale.None, "Meters", "m");
m_snKse = new AnimatTools.Framework.ScaledNumber(this, "Kse", 10, AnimatTools.Framework.ScaledNumber.enumNumericScale.None, "Newtons per meter", "N/m");
m_snKpe = new AnimatTools.Framework.ScaledNumber(this, "Kpe", 1, AnimatTools.Framework.ScaledNumber.enumNumericScale.None, "Newtons per meter", "N/m");
m_snB = new AnimatTools.Framework.ScaledNumber(this, "B", 1, AnimatTools.Framework.ScaledNumber.enumNumericScale.None, "Newton-seconds per meter", "Ns/m");
m_snPeLengthPercentage = new AnimatTools.Framework.ScaledNumber(this, "PeLengthPercentage", 90, AnimatTools.Framework.ScaledNumber.enumNumericScale.None, "%", "%");
m_snMinPeLengthPercentage = new AnimatTools.Framework.ScaledNumber(this, "MinPeLengthPercentage", 5, AnimatTools.Framework.ScaledNumber.enumNumericScale.None, "%", "%");
m_snIbDischargeConstant = new AnimatTools.Framework.ScaledNumber(this, "Ib Discharge Constant", 100, AnimatTools.Framework.ScaledNumber.enumNumericScale.None, "Spikes/sN", "Spikes/sN");
}
public Hinge(AnimatTools.Framework.DataObject doParent)
: base(doParent)
{
m_thDataTypes.DataTypes.Add(new AnimatTools.DataObjects.DataType("JointRotation", "Rotation", "Radians", "rad", -3.14, 3.14));
m_thDataTypes.DataTypes.Add(new AnimatTools.DataObjects.DataType("JointRotationDeg", "Rotation (Deg)", "Degrees", "o", -180, 180));
m_thDataTypes.DataTypes.Add(new AnimatTools.DataObjects.DataType("JointActualVelocity", "Velocity", "m/s", "m/s", -5, 5));
m_thDataTypes.DataTypes.Add(new AnimatTools.DataObjects.DataType("JointDesiredVelocity", "Desired Velocity", "m/s", "m/s", -5, 5));
m_thDataTypes.DataTypes.Add(new AnimatTools.DataObjects.DataType("Enable", "Enable", "", "", 0, 1));
m_thDataTypes.DataTypes.Add(new AnimatTools.DataObjects.DataType("BodyPositionX", "Position X Axis", "Meters", "m", -10, 10));
m_thDataTypes.DataTypes.Add(new AnimatTools.DataObjects.DataType("BodyPositionY", "Position Y Axis", "Meters", "m", -10, 10));
m_thDataTypes.DataTypes.Add(new AnimatTools.DataObjects.DataType("BodyPositionZ", "Position Z Axis", "Meters", "m", -10, 10));
m_thDataTypes.ID = "JointRotation";
Color = System.Drawing.Color.Magenta;
m_snMinAngle = new AnimatTools.Framework.ScaledNumber(this, "MinRotationScaled", Util.RadiansToDegrees(m_fltMinAngle), AnimatTools.Framework.ScaledNumber.enumNumericScale.None, "Degrees", "Deg");
m_snMaxAngle = new AnimatTools.Framework.ScaledNumber(this, "MaxRotationScaled", Util.RadiansToDegrees(m_fltMaxAngle), AnimatTools.Framework.ScaledNumber.enumNumericScale.None, "Degrees", "Deg");
m_snMaxTorque = new AnimatTools.Framework.ScaledNumber(this, "MaxTorque", 100, AnimatTools.Framework.ScaledNumber.enumNumericScale.None, "Newton-Meters", "Nm");
m_snMaxVelocity = new AnimatTools.Framework.ScaledNumber(this, "MaxVelocity", 100, AnimatTools.Framework.ScaledNumber.enumNumericScale.None, "rad/s", "rad/s");
}
public Hinge(AnimatTools.Framework.DataObject doParent)
: base(doParent)
{
m_thDataTypes.DataTypes.Add(new AnimatTools.DataObjects.DataType("JointRotation", "Rotation", "Radians", "rad", -3.14, 3.14));
m_thDataTypes.DataTypes.Add(new AnimatTools.DataObjects.DataType("JointActualVelocity", "Velocity", "m/s", "m/s", -5, 5));
m_thDataTypes.DataTypes.Add(new AnimatTools.DataObjects.DataType("JointDesiredVelocity", "Desired Velocity", "m/s", "m/s", -5, 5));
m_thDataTypes.DataTypes.Add(new AnimatTools.DataObjects.DataType("Enable", "Enable", "", "", 0, 1));
m_thDataTypes.ID = "JointRotation";
Color = System.Drawing.Color.Magenta;
m_snMinAngle = new AnimatTools.Framework.ScaledNumber(this, "MinRotationScaled", Util.RadiansToDegrees(m_fltMinAngle), AnimatTools.Framework.ScaledNumber.enumNumericScale.None, "Degrees", "Deg");
m_snMaxAngle = new AnimatTools.Framework.ScaledNumber(this, "MaxRotationScaled", Util.RadiansToDegrees(m_fltMaxAngle), AnimatTools.Framework.ScaledNumber.enumNumericScale.None, "Degrees", "Deg");
m_snMaxTorque = new AnimatTools.Framework.ScaledNumber(this, "MaxTorque", 100, AnimatTools.Framework.ScaledNumber.enumNumericScale.None, "Newton-Meters", "Nm");
m_snMaxVelocity = new AnimatTools.Framework.ScaledNumber(this, "MaxVelocity", 100, AnimatTools.Framework.ScaledNumber.enumNumericScale.None, "rad/s", "rad/s");
AddCompatibleStimulus(new AnimatTools.DataObjects.ExternalStimuli.MotorVelocity(null));
AddCompatibleStimulus(new AnimatTools.DataObjects.ExternalStimuli.Enabler(null));
AddCompatibleStimulus(new VortexAnimatTools.DataObjects.ExternalStimuli.PositionClamp(null));
}
public MuscleSpindle(AnimatTools.Framework.DataObject doParent)
: base(doParent)
{
try
{
System.Reflection.Assembly myAssembly = System.Reflection.Assembly.Load("VortexAnimatTools");
this.Size = new System.Drawing.SizeF(30, 150);
this.Image = AnimatTools.Framework.ImageManager.LoadImage(ref myAssembly, "VortexAnimatTools.Graphics.IconSpindle.gif", false);
this.DragImage = AnimatTools.Framework.ImageManager.LoadImage(ref myAssembly, "VortexAnimatTools.Graphics.DragSpindle.gif", false);
this.Name = "Stretch Receptor";
this.Description = "This node allows the user to collect propreoceptive feedback from muscle stretch receptors.";
m_tpBodyPartType = typeof(VortexAnimatTools.DataObjects.Physical.RigidBodies.LinearHillStretchReceptor);
}
catch(System.Exception ex)
{
AnimatTools.Framework.Util.DisplayError(ex);
}
}
public Muscle(AnimatTools.Framework.DataObject doParent)
: base(doParent)
{
try
{
System.Reflection.Assembly myAssembly = System.Reflection.Assembly.Load("VortexAnimatTools");
this.Size = new System.Drawing.SizeF(30, 150);
this.Image = AnimatTools.Framework.ImageManager.LoadImage(ref myAssembly, "VortexAnimatTools.Graphics.ArmMuscle.gif", false);
this.DragImage = AnimatTools.Framework.ImageManager.LoadImage(ref myAssembly, "VortexAnimatTools.Graphics.DragMuscle.gif", false);
this.Name = "Muscle";
this.Description = "This node allows the user to connect neural output directly to a physical muscle.";
m_tpBodyPartType = typeof(VortexAnimatTools.DataObjects.Physical.RigidBodies.MuscleBase);
}
catch(System.Exception ex)
{
AnimatTools.Framework.Util.DisplayError(ex);
}
}
public override bool HasChanged(AnimatTools.DataObjects.Physical.PartPositionInfo piEndSate)
{
VortexAnimatTools.DataObjects.Physical.PartPositionInfo piEnd = (VortexAnimatTools.DataObjects.Physical.PartPositionInfo) piEndSate;
if(!Util_DX.MatricesEqual(m_mOrientation, piEnd.m_mOrientation))
return true;
if(!Util_DX.MatricesEqual(m_mtxTranslation, piEnd.m_mtxTranslation))
return true;
if(m_v3Rotation.X != piEnd.m_v3Rotation.X || m_v3Rotation.Y != piEnd.m_v3Rotation.Y || m_v3Rotation.Z != piEnd.m_v3Rotation.Z)
return true;
if(m_v3Direction.X != piEnd.m_v3Direction.X || m_v3Direction.Y != piEnd.m_v3Direction.Y || m_v3Direction.Z != piEnd.m_v3Direction.Z)
return true;
if(m_vSize.X != piEnd.m_vSize.X || m_vSize.Y != piEnd.m_vSize.Y || m_vSize.Z != piEnd.m_vSize.Z)
return true;
return false;
}
public OdorSensor(AnimatTools.Framework.DataObject doParent)
: base(doParent)
{
try
{
m_thLinkedPart = new AnimatTools.TypeHelpers.LinkedBodyPartList(this);
System.Reflection.Assembly myAssembly = System.Reflection.Assembly.Load("VortexAnimatTools");
this.Size = new System.Drawing.SizeF(55, 55);
this.Image = AnimatTools.Framework.ImageManager.LoadImage(ref myAssembly, "VortexAnimatTools.Graphics.OdorSensor.gif", false);
this.DragImage = AnimatTools.Framework.ImageManager.LoadImage(ref myAssembly, "VortexAnimatTools.Graphics.OdorSensor.gif", false);
this.Name = "OdorSensor";
this.Description = "This node allows the user to collect data directly from an odor sensor.";
m_tpBodyPartType = typeof(VortexAnimatTools.DataObjects.Physical.RigidBodies.OdorSensor);
}
catch(System.Exception ex)
{
AnimatTools.Framework.Util.DisplayError(ex);
}
}
public Prismatic(AnimatTools.Framework.DataObject doParent)
: base(doParent)
{
m_thDataTypes.DataTypes.Add(new AnimatTools.DataObjects.DataType("JointPosition", "Position", "Meters", "m", -10, 10));
m_thDataTypes.DataTypes.Add(new AnimatTools.DataObjects.DataType("JointActualVelocity", "Velocity", "m/s", "m/s", -5, 5));
m_thDataTypes.DataTypes.Add(new AnimatTools.DataObjects.DataType("JointDesiredVelocity", "Desired Velocity", "m/s", "m/s", -5, 5));
m_thDataTypes.DataTypes.Add(new AnimatTools.DataObjects.DataType("Enable", "Enable", "", "", 0, 1));
m_thDataTypes.DataTypes.Add(new AnimatTools.DataObjects.DataType("BodyPositionX", "Position X Axis", "Meters", "m", -10, 10));
m_thDataTypes.DataTypes.Add(new AnimatTools.DataObjects.DataType("BodyPositionY", "Position Y Axis", "Meters", "m", -10, 10));
m_thDataTypes.DataTypes.Add(new AnimatTools.DataObjects.DataType("BodyPositionZ", "Position Z Axis", "Meters", "m", -10, 10));
m_thDataTypes.ID = "JointPosition";
Color = System.Drawing.Color.YellowGreen;
m_snMinMovement = new AnimatTools.Framework.ScaledNumber(this, "MinMovementScaled", "meters", "m");
m_snMaxMovement = new AnimatTools.Framework.ScaledNumber(this, "MaxMovementScaled", "meters", "m");
m_snLength = new AnimatTools.Framework.ScaledNumber(this, "LengthScaled", "meters", "m");
m_snMaxForce = new AnimatTools.Framework.ScaledNumber(this, "MaxForce", 100, AnimatTools.Framework.ScaledNumber.enumNumericScale.None, "Newtons", "N");
m_snMaxVelocity = new AnimatTools.Framework.ScaledNumber(this, "MaxVelocity", 100, AnimatTools.Framework.ScaledNumber.enumNumericScale.None, "m/s", "m/s");
m_vrConstraint = new DxPrismaticConstraintRef(this);
}
public Joint(AnimatTools.Framework.DataObject doParent)
: base(doParent)
{
try
{
m_thLinkedPart = new AnimatTools.TypeHelpers.LinkedBodyPartTree(this);
System.Reflection.Assembly myAssembly = System.Reflection.Assembly.Load("VortexAnimatTools");
this.Size = new System.Drawing.SizeF(75, 70);
this.Image = AnimatTools.Framework.ImageManager.LoadImage(ref myAssembly, "VortexAnimatTools.Graphics.Hinge.gif", false);
this.DragImage = AnimatTools.Framework.ImageManager.LoadImage(ref myAssembly, "VortexAnimatTools.Graphics.DragHinge.gif", false);
this.Name = "Joint";
this.Description = "This node allows the user to collect data directly from a joint or to control a motorized joint.";
this.Alignment = enumAlignment.CenterBottom;
m_tpBodyPartType = typeof(AnimatTools.DataObjects.Physical.Joint);
}
catch(System.Exception ex)
{
AnimatTools.Framework.Util.DisplayError(ex);
}
}
public Stomach(AnimatTools.Framework.DataObject doParent)
: base(doParent)
{
Alpha = 128;
Color = Color.LightBlue;
this.m_fRadius = 0.1f;
m_snMaxEnergyLevel = new ScaledNumber(this, "MaxEnergyLevel", 100, ScaledNumber.enumNumericScale.Kilo, "Calories", "C");
m_snEnergyLevel = new ScaledNumber(this, "EnergyLevel", 10, ScaledNumber.enumNumericScale.Kilo, "Calories", "C");
m_snBaseConsumptionRate = new ScaledNumber(this, "BaseConsumptionRate", 10, ScaledNumber.enumNumericScale.None, "C/s", "C/s");
m_thDataTypes.DataTypes.Clear();
m_thDataTypes.DataTypes.Add(new AnimatTools.DataObjects.DataType("BodyPositionX", "Position X Axis", "Meters", "m", -10, 10));
m_thDataTypes.DataTypes.Add(new AnimatTools.DataObjects.DataType("BodyPositionY", "Position Y Axis", "Meters", "m", -10, 10));
m_thDataTypes.DataTypes.Add(new AnimatTools.DataObjects.DataType("BodyPositionZ", "Position Z Axis", "Meters", "m", -10, 10));
m_thDataTypes.DataTypes.Add(new AnimatTools.DataObjects.DataType("EnergyLevel", "Energy Level", "", "", -10000, 10000));
m_thDataTypes.DataTypes.Add(new AnimatTools.DataObjects.DataType("ConsumptionRate", "Consumption Rate", "", "", -10000, 10000));
m_thDataTypes.DataTypes.Add(new AnimatTools.DataObjects.DataType("ConsumptionForStep", "Consumption For Step", "", "", -10000, 10000));
m_thDataTypes.DataTypes.Add(new AnimatTools.DataObjects.DataType("AdapterConsumptionRate", "Adapter Consumption Rate", "", "", -10000, 10000));
m_thDataTypes.ID = "EnergyLevel";
this.ID = "STOMACH";
}
public RigidBody(AnimatTools.Framework.DataObject doParent)
: base(doParent)
{
try
{
m_thLinkedPart = new AnimatTools.TypeHelpers.LinkedBodyPartTree(this);
System.Reflection.Assembly myAssembly = System.Reflection.Assembly.Load("VortexAnimatTools");
this.Size = new System.Drawing.SizeF(50, 50);
this.Image = AnimatTools.Framework.ImageManager.LoadImage(ref myAssembly, "VortexAnimatTools.Graphics.Bone.gif", false);
this.DragImage = AnimatTools.Framework.ImageManager.LoadImage(ref myAssembly, "VortexAnimatTools.Graphics.DragBone.gif", false);
this.Name = "Rigid Body";
this.Description = "This node allows the user to collect data directly from a rigid body.";
this.Shape = AnimatTools.DataObjects.Behavior.Node.enumShape.Hexagon;
this.FillColor = Color.LightBlue;
m_tpBodyPartType = typeof(AnimatTools.DataObjects.Physical.RigidBody);
}
catch(System.Exception ex)
{
AnimatTools.Framework.Util.DisplayError(ex);
}
}
