private void InitJoints()
{
baseJoint = new Hinge(MathHelper.PiOver4,
new Hinge(
MathHelper.PiOver4,
new Hinge(
MathHelper.PiOver4,
new Hinge(
MathHelper.PiOver4
)
{
AngleLimitLower = -2f, AngleLimitUpper = 2f
}
)
{
AngleLimitLower = -2f, AngleLimitUpper = 2f
}
)
{
AngleLimitLower = -2f, AngleLimitUpper = 2f
}
);
focusJoint = baseJoint;
}
public void SetUpBeam()
{
var material = new Concrete(youngModulus: 30);
var section = new RectangleSection(width: 300, height: 500);
var node1 = new FixedNode();
var node2 = new Hinge();
var node3 = new FixedNode();
var nodes = new Node[] { node1, node2, node3 };
var span1 = new Span(
leftNode: node1,
length: 10,
rightNode: node2,
material: material,
section: section
);
var span2 = new Span(
leftNode: node2,
length: 5,
rightNode: node3,
material: material,
section: section
);
var spans = new Span[] { span1, span2 };
span1.PointLoads.Add(new ShearLoad(value: -100, position: 3));
_beam = new Beam(spans, nodes);
_beam.Calculate();
}
public void HingeTest()
{
var actual = new Matrix(4, 1);
var expected = new Matrix(4, 1);
actual.InRandomize();
expected.InRandomize();
var autoErr = new Hinge().Evaluate(actual, expected);
var error = 0.0;
for (var i = 0; i < actual.Rows; i++)
{
for (var j = 0; j < actual.Columns; j++)
{
error += Math.Max(0.0, 1.0 - expected[i, j] * actual[i, j]);
}
}
error /= actual.Rows * actual.Columns;
Assert.IsTrue(Math.Abs(error - autoErr) < 0.01, new Hinge().Type().ToString() + " Forward!");
var autoDErr = new Hinge().Backward(actual, expected);
var dErr = new Matrix(actual.Rows, actual.Columns);
for (var i = 0; i < actual.Rows; i++)
{
for (var j = 0; j < actual.Columns; j++)
{
dErr[i, j] = -1 * Math.Exp(-expected[i, j] * actual[i, j]);
}
}
Assert.IsTrue(Math.Abs(dErr.FrobeniusNorm() - autoDErr.FrobeniusNorm()) < 0.01, new Hinge().Type().ToString() + " Backward!");
}
private void InitJoints()
{
leftJoint = new Hinge(MathHelper.PiOver4,
new Hinge(
MathHelper.PiOver4,
new Hinge(
MathHelper.PiOver4,
new Hinge(
MathHelper.PiOver4
)
)
)
)
{
DefaultPosition = new Vector2(-HALF_W / 4, 0)
};
rightJoint = new Hinge(MathHelper.PiOver4,
new Hinge(
MathHelper.PiOver4,
new Hinge(
MathHelper.PiOver4,
new Hinge(
MathHelper.PiOver4
)
)
)
)
{
DefaultPosition = new Vector2(HALF_W / 4, 0)
};
}
private void InitJoints()
{
baseJoint = new Hinge(MathHelper.PiOver4,
new Hinge(
MathHelper.PiOver4,
new Hinge(
MathHelper.PiOver4,
new Hinge(
MathHelper.PiOver4
)
{
Length = 40f
}
)
{
Length = 20f
}
)
{
Length = 80f
}
)
{
Length = 30f
};
}
public IEnumerable <Hinge> GetHinge()
{
Hinge hinge = new Hinge();
List <Hinge> lm = hinge.getHinges();
return(lm);
}
public void Post([FromBody] Hinge p)
{
try {
p.insert(); // int someError = Convert.ToInt32("will fail to convert");
}
catch (Exception e) {
throw e; // throw new Exception("Error in posting a new item");
}
}
// Use this for initialization
void Start()
{
baseHinge = new Hinge(baseConnector, Vector3.forward, new RangeInt(0, 360), 60.0f);
upperArmHinge = new Hinge(upperArm, Vector3.up, new RangeInt(270, 40), 40.0f);
lowerArmHinge = new Hinge(lowerArm, Vector3.up, new RangeInt(0, 360), 40.0f);
wristRotateHinge = new Hinge(wristRotate, Vector3.forward, new RangeInt(0, 360), 40.0f);
wristHingeHinge = new Hinge(wristHinge, Vector3.up, new RangeInt(0, 360), 40.0f);
// grabberHinge = new Hinge(grabber, Vector3.);
}
public void DeleteHingeByName(string Name)
{
Hinge hingeOld = dataContext.Hinges.FirstOrDefault(d => d.Name == Name);
if (hingeOld != null)
{
dataContext.Hinges.Remove(hingeOld);
dataContext.SaveChanges();
}
}
public void UpdateHinge(Hinge hinge)
{
Hinge hingeOld = dataContext.Hinges.FirstOrDefault(d => d.Name == hinge.Name);
if (hingeOld != null)
{
hingeOld.Name = hinge.Name;
dataContext.SaveChanges();
}
}
public void DeleteHingeById(int ID)
{
Hinge hingeOld = dataContext.Hinges.FirstOrDefault(d => d.ID == ID);
if (hingeOld != null)
{
dataContext.Hinges.Remove(hingeOld);
dataContext.SaveChanges();
}
}
public Faucet()
{
Table wine = new Table();
Hinge book = new Hinge();
wine.Set(book);
book.Set(wine);
wine.Lamp(10);
book.garden.Lamp("back in");
book.bulb *= 2;
wine.Lamp("minutes");
wine.Lamp(book);
}
public void SetUpBeam()
{
var material = new Concrete(youngModulus: 30, withReinforcement: false);
var section = new RectangleSection(width: 300, height: 500);
var node1 = new FixedNode();
var node2 = new Hinge();
var node3 = new Hinge();
var node4 = new FixedNode();
var nodes = new Node[] { node1, node2, node3, node4 };
var span1 = new Span(
leftNode: node1,
length: 5,
rightNode: node2,
material: material,
section: section,
includeSelfWeight: false
);
var span2 = new Span(
leftNode: node2,
length: 5,
rightNode: node3,
material: material,
section: section,
includeSelfWeight: false
);
var span3 = new Span(
leftNode: node3,
length: 5,
rightNode: node4,
material: material,
section: section,
includeSelfWeight: false
);
var spans = new Span[] { span1, span2, span3 };
var pointLoad1 = new ShearLoad(value: -100, position: 2.5);
span1.PointLoads.Add(pointLoad1);
var pointLoad2 = new ShearLoad(value: -100, position: 2.5);
span2.PointLoads.Add(pointLoad2);
_beam = new Beam(spans, nodes, includeSelfWeight: false);
_beam.CalculationEngine.Calculate();
}
public Faucet()
{
Table wine = new Table();
Hinge book = new Hinge();
wine.Set(book);
book.Set(wine);
wine.Lamp(10);
book.garden.Lamp("back in");
book.bulb *= 2;
wine.Lamp("minutes");
wine.Lamp(book);
}
public int SolveDLS(Hinge joint, Vector2 goal)
{
var dist = Vector2.Distance(joint.EndEffector, goal);
var iterations = 0;
while (dist > SolutionThreshold && iterations < MaxIterations)
{
IterateDLS(joint, goal);
dist = Vector2.Distance(joint.EndEffector, goal);
iterations++;
}
return(iterations);
}
private List <Vector2> ComputeJacobian(Hinge joint)
{
var jacobian = new List <Vector2>();
var focus = joint;
while (focus != null)
{
jacobian.Add(focus.AnalyticalJacobianColumn());
focus = focus.Child;
}
return(jacobian);
}
public override MapItem Deserialize(BinaryReader r)
{
var hinge = new Hinge(false);
ReadKdopItem(r, hinge);
hinge.Model = r.ReadToken();
hinge.Look = r.ReadToken();
hinge.Node = new UnresolvedNode(r.ReadUInt64());
hinge.MinRotation = r.ReadSingle();
hinge.MaxRotation = r.ReadSingle();
return(hinge);
}
public void Lamp(object oil) //Boxing happens here!
{
if (oil is int)
{
floor.bulb = (int)oil;
}
else if (oil is string)
{
stairs = (string)oil;
}
else if (oil is Hinge)
{
Hinge vine = oil as Hinge;
Console.WriteLine(vine.Table()
+ " " + floor.bulb + " " + stairs);
}
}
private void InitJoints()
{
baseJoint = new Hinge(MathHelper.PiOver4,
new Hinge(
MathHelper.PiOver4,
new Hinge(
MathHelper.PiOver4
)
{
AngleLimitLower = -MathHelper.PiOver2, AngleLimitUpper = MathHelper.PiOver2
}
)
{
AngleLimitLower = -MathHelper.PiOver2, AngleLimitUpper = MathHelper.PiOver2
}
);
}
public void IterateCCD(Hinge joint, Vector2 goal)
{
var focus = joint;
while (focus != null)
{
var toE = focus.EndEffector - focus.GlobalPosition;
var toG = goal - focus.GlobalPosition;
var eAngle = Math.Atan2(toE.Y, toE.X);
var gAngle = Math.Atan2(toG.Y, toG.X);
focus.Angle += ((float)(gAngle - eAngle));
focus = focus.Child;
}
}
public void IterateDLS(Hinge joint, Vector2 goal)
{
var jacobian = ComputeJacobian(joint);
var deltaE = ClampDeltaE(goal, joint.EndEffector);
var jacobianMat = CreateMatrix.Dense(2, jacobian.Count, (row, col) => row == 0 ? jacobian[col].X : jacobian[col].Y);
var lambda = DLSLambda;
var lambdaMatrix = lambda * lambda * CreateMatrix.DenseIdentity <float>(jacobianMat.RowCount);
var deltaPhiVec =
jacobianMat.Transpose() *
(jacobianMat * jacobianMat.Transpose() + (lambdaMatrix)).Inverse() *
CreateVector.DenseOfArray(new float[] { deltaE.X, deltaE.Y });
var deltaPhi = new LinkedList <float>(deltaPhiVec.ToArray());
joint.ApplyDofDeltas(deltaPhi);
}
float CalcHingeVelocity(Hinge hinge)
{
float input = GetInputClamped(hinge.axis, cockpit);
if (input == 0 && autoStraighten)
{
return(-steeringSpeed * (1 - ((float)(inputAxisCounter[hinge.axis].lefts + inputAxisCounter[hinge.axis].rights) / turnCeil)) * ((hinge.hinge.Angle + hinge.center) / hinge.hinge.UpperLimitRad));
}
else if (input > 0)
{
return(hinge.direction * -steeringSpeed * ((float)inputAxisCounter[hinge.axis].lefts / turnCeil) * Clamp(input, 0, 1));
}
else if (input < 0)
{
return(hinge.direction * -steeringSpeed * ((float)inputAxisCounter[hinge.axis].rights / turnCeil) * Clamp(input, -1, 1));
}
return(0);
}
public void SetUpBeam()
{
var material = new Concrete(youngModulus: 30);
var section = new RectangleSection(width: 300, height: 500);
var node1 = new FixedNode();
var node2 = new Hinge();
var node3 = new FixedNode();
var nodes = new Node[] { node1, node2, node3 };
var span1 = new Span(
leftNode: node1,
length: 10,
rightNode: node2,
material: material,
section: section
);
var span2 = new Span(
leftNode: node2,
length: 10,
rightNode: node3,
material: material,
section: section
);
var spans = new Span[] { span1, span2 };
node2.ConcentratedForces.Add(new AngledLoad(value: -100, angle: 30));
var pointLoad1 = new AngledLoad(value: -200, position: 5, angle: -45);
span1.PointLoads.Add(pointLoad1);
var pointLoad2 = new AngledLoad(value: -200, position: 5, angle: -60);
span2.PointLoads.Add(pointLoad2);
_beam = new Beam(spans, nodes);
_beam.Calculate();
}
public void IterateJI(Hinge joint, Vector2 goal)
{
var jacobian = ComputeJacobian(joint);
var deltaE = ClampDeltaE(goal, joint.EndEffector);
var jacobianMat = CreateMatrix.Dense(2, jacobian.Count, (row, col) => row == 0 ? jacobian[col].X : jacobian[col].Y);
var inverse = jacobianMat.GeneralizedInverse();
var pInverse = jacobianMat.SVDPseudoInverse();
var deltaPhi = new LinkedList <float>();
foreach (var row in pInverse.ToRowArrays())
{
deltaPhi.AddLast((deltaE.X * row[0]) + (deltaE.Y * row[1]));
}
joint.ApplyDofDeltas(deltaPhi);
}
public void SetUpBeam()
{
var material1 = new Concrete(youngModulus: 27, withReinforcement: false);
var material2 = new Concrete(youngModulus: 37, withReinforcement: false);
var section = new RectangleSection(width: 300, height: 500);
var node1 = new FixedNode();
var node2 = new Hinge();
var node3 = new FixedNode();
var nodes = new Node[] { node1, node2, node3 };
var span1 = new Span(
leftNode: node1,
length: 4,
rightNode: node2,
material: material1,
section: section,
includeSelfWeight: false
);
var span2 = new Span(
leftNode: node2,
length: 4,
rightNode: node3,
material: material2,
section: section,
includeSelfWeight: false
);
var spans = new Span[] { span1, span2 };
node2.ConcentratedForces.Add(new ShearLoad(value: -20));
span1.ContinousLoads.Add(ContinousShearLoad.Create(
new LoadData(value: -9, position: 0),
new LoadData(value: -9, position: 4)));
_beam = new Beam(spans, nodes, includeSelfWeight: false);
_beam.CalculationEngine.Calculate();
}
public void IterateJT(Hinge joint, Vector2 goal)
{
var jacobian = ComputeJacobian(joint);
var jacobianMat = CreateMatrix.Dense(2, jacobian.Count, (row, col) => row == 0 ? jacobian[col].X : jacobian[col].Y);
var deltaE = ClampDeltaE(goal, joint.EndEffector);
if (deltaE.LengthSquared() < 0.0001)
{
return;
}
var deltaEVec = CreateVector.Dense(new float[] { deltaE.X, deltaE.Y });
var denom = (jacobianMat * jacobianMat.Transpose() * deltaEVec).L2Norm();
var lambda = (deltaEVec * jacobianMat * jacobianMat.Transpose() * deltaEVec) / (denom * denom);
var deltaPhiVec = (float)lambda * jacobianMat.Transpose() * deltaEVec;
var deltaPhi = new LinkedList <float>(deltaPhiVec.ToArray());
joint.ApplyDofDeltas(deltaPhi);
}
public void SetUpBeam()
{
var material = new Concrete(youngModulus: 30, withReinforcement: false);
var section = new RectangleSection(width: 300, height: 700);
var node1 = new FixedNode();
var node2 = new Hinge();
var node3 = new FixedNode();
var nodes = new Node[] { node1, node2, node3 };
var span1 = new Span(
leftNode: node1,
length: 10,
rightNode: node2,
material: material,
section: section,
includeSelfWeight: false
);
var span2 = new Span(
leftNode: node2,
length: 10,
rightNode: node3,
material: material,
section: section,
includeSelfWeight: false
);
var spans = new Span[] { span1, span2 };
node2.ConcentratedForces.Add(new ShearLoad(value: -200));
_beam = new Beam(spans, nodes, includeSelfWeight: false);
_beam.CalculationEngine.Calculate();
}
public void FullBeamCalculationsTest_TimeoutPerformanceChecking_Success(
[Random(27.0, 37.0, 1)] double youngModulus,
[Random(150.0, 500.0, 1)] double width,
[Random(240.0, 1000.0, 1)] double height,
[Random(1.0, 10.0, 2)] double length1,
[Random(1.0, 10.0, 1)] double length2,
[Random(1.0, 10.0, 2)] double length3,
[Random(1.0, 10.0, 2)] double length4,
[Random(-1000.0, -1.0, 2)] double nodeForce,
[Random(-100.0, -1.0, 2)] double shearForce,
[Random(0.0, 1.0, 1)] double minPosition,
[Random(-300.0, -10.0, 2)] double pointLoad,
[Random(1.1, 3.0, 2)] double divider
)
{
var material = new Concrete(youngModulus: youngModulus);
var section = new RectangleSection(width: width, height: height);
var node1 = new FixedNode();
var node2 = new Hinge();
var node3 = new Hinge();
var node4 = new SupportedNode();
var node5 = new SupportedNode();
var nodes = new Node[] { node1, node2, node3, node4, node5 };
var span1 = new Span(
leftNode: node1,
length: length1,
rightNode: node2,
material: material,
section: section
);
var span2 = new Span(
leftNode: node2,
length: length2,
rightNode: node3,
material: material,
section: section
);
var span3 = new Span(
leftNode: node3,
length: length3,
rightNode: node4,
material: material,
section: section
);
var span4 = new Span(
leftNode: node4,
length: length4,
rightNode: node5,
material: material,
section: section
);
var spans = new Span[] { span1, span2, span3, span4 };
node3.ConcentratedForces.Add(new ShearLoad(value: nodeForce));
var startLoad1 = new LoadData(value: shearForce, position: minPosition);
var endLoad1 = new LoadData(value: shearForce, position: length1);
span1.ContinousLoads.Add(ContinousShearLoad.Create(startLoad1, endLoad1));
var pointLoad1 = new ShearLoad(value: pointLoad, position: length2 / divider);
span2.PointLoads.Add(pointLoad1);
_beam = new Beam(spans, nodes);
_beam.Calculate();
for (int i = 0; i < _beam.Length * 100; i++)
{
_beam.ShearResult.GetValue(i);
_beam.BendingMomentResult.GetValue(i);
_beam.VerticalDeflectionResult.GetValue(i);
_beam.RotationResult.GetValue(i);
}
Assert.That(_beam.Spans[0].LeftNode.NormalForce?.Value, Is.Not.Null);
Assert.That(_beam.Spans[0].LeftNode.ShearForce?.Value, Is.Not.Null);
Assert.That(_beam.Spans[0].LeftNode.BendingMoment?.Value, Is.Not.Null);
Assert.That(_beam.Spans[1].LeftNode.NormalForce, Is.Null);
Assert.That(_beam.Spans[1].LeftNode.ShearForce, Is.Null);
Assert.That(_beam.Spans[1].LeftNode.BendingMoment, Is.Null);
Assert.That(_beam.Spans[2].LeftNode.NormalForce, Is.Null);
Assert.That(_beam.Spans[2].LeftNode.ShearForce, Is.Null);
Assert.That(_beam.Spans[2].LeftNode.BendingMoment, Is.Null);
Assert.That(_beam.Spans[3].LeftNode.NormalForce?.Value, Is.Not.Null);
Assert.That(_beam.Spans[3].LeftNode.ShearForce?.Value, Is.Not.Null);
Assert.That(_beam.Spans[3].LeftNode.BendingMoment, Is.Null);
Assert.That(_beam.Spans[3].RightNode.NormalForce?.Value, Is.Not.Null);
Assert.That(_beam.Spans[3].RightNode.ShearForce?.Value, Is.Not.Null);
Assert.That(_beam.Spans[3].RightNode.BendingMoment, Is.Null);
}
public void Set(Hinge b)
{
floor = b;
}
public Hinge GetHingeByID(int ID)
{
Hinge hinge = dataContext.Hinges.FirstOrDefault(d => d.ID == ID);
return(hinge != null ? hinge : null);
}
public Hinge GetHingeByName(string name)
{
Hinge hinge = dataContext.Hinges.FirstOrDefault(d => d.Name == name);
return(hinge != null ? hinge : null);
}
public void AddHinge(Hinge hinge)
{
dataContext.Hinges.Add(hinge);
dataContext.SaveChanges();
}
