public CurveEffect CreateDefaultCurveEffect(
string name,
bool isEnabled,
IColorProvider colorProvider,
int areaStartPosition,
int areaLength,
int effectLength,
float speed,
float intensity = 1)
{
Curve curve = new Curve();
curve.AddPoint(0, 0, 0);
curve.AddPoint(0.2, 1, 0);
curve.AddPoint(1, 0, 0);
var interpolator = CubicSpline.InterpolateHermite(curve.X.ToArray(), curve.Y.ToArray(), curve.W.ToArray());
return(new CurveEffect(neoPixelSetup, colorProvider, interpolator)
{
Name = name,
IsEnabled = isEnabled,
AreaStartPosition = areaStartPosition,
AreaLength = areaLength,
EffectLength = effectLength,
Speed = speed,
Intensity = intensity
});
}
public Curve CreateChaikinCurve(Curve initial_curve, float u, float v, int nb_iteration)
{
Vector3 p1, p2, u_director, new_p1, new_p2;
Curve tmp_polygon_line = initial_curve;
Curve curve = new Curve();
curve.AddPoint(tmp_polygon_line.points[0].position, point);
for (int i = 0; i < tmp_polygon_line.points.Count - 1; i++)
{
p1 = tmp_polygon_line.points[i].position;
p2 = tmp_polygon_line.points[i + 1].position;
u_director = p2 - p1;
//Debug.Log("u_director : " + u_director);
new_p1 = new Vector3(p1.x + u_director.x * u, p1.y + u_director.y * u, p1.z + u_director.z * u);
//Debug.Log("new_p1 = " + new_p1);
//AddPointOnChaikinCurve(], new_p1, "P");
AddPointOnChaikinCurve(curve, new_p1, "P");
new_p2 = new Vector3(p1.x + u_director.x * (1 - v), p1.y + u_director.y * (1 - v), p1.z + u_director.z * (1 - v));
//Debug.Log("new_p2 = " + new_p2);
//AddPointOnChaikinCurve(tmp_chaikin_curve, new_p2, "P");
AddPointOnChaikinCurve(curve, new_p2, "P");
}
curve.AddPoint(tmp_polygon_line.points[tmp_polygon_line.points.Count - 1].position, point);
nb_iteration--;
if (nb_iteration != 0)
{
curve = CreateChaikinCurve(curve, u, v, nb_iteration);
}
return(curve);
//tmp_polygon_line = curve;
}
public override void InitModule()
{
if (curve == null)
{
curve = new Curve();
curve.AddPoint(Vector2.Zero, 0, 0, Curve.TangentMode.Linear, Curve.TangentMode.Linear);
curve.AddPoint(Vector2.One, 0, 0, Curve.TangentMode.Linear, Curve.TangentMode.Linear);
}
}
public override void _EnterTree()
{
if (curve == null)
{
curve = new Curve();
curve.AddPoint(Vector2.Zero, 0, 0, Curve.TangentMode.Linear, Curve.TangentMode.Linear);
curve.AddPoint(Vector2.One, 0, 0, Curve.TangentMode.Linear, Curve.TangentMode.Linear);
EmitSignal("CurveChanged", curve);
}
curve.Connect("changed", this, "OnCurveChanged");
defaultFont = new Control().GetFont("font");
}
protected BWProcessor()
{
red = 0.4f;
green = 0.3f;
blue = 0.3f;
contrastCurve = new Curve (0.0f, 1.0f);
contrastCurve.AddPoint (0.0f, 0.0f);
contrastCurve.AddPoint (1.0f, 1.0f);
tintHue = 23.0f;
tintAmount = 0.1f;
}
public override void _Ready()
{
_world = (World)GetNode("/root/World");
_light = (Light2D)GetNode("Light2D");
var mat = (ParticlesMaterial)ProcessMaterial;
_sound = (AudioStreamPlayer)FindNode("ExtinguishSound");
var gradient = new Gradient();
gradient.AddPoint(2048 * 0.0f, new Color(255, 0, 0));
gradient.AddPoint(2048 * 0.2f, new Color(255, 90, 0));
gradient.AddPoint(2048 * 0.4f, new Color(255, 109, 0));
gradient.AddPoint(2048 * 0.6f, new Color(255, 154, 0));
gradient.AddPoint(2048 * 0.8f, new Color(255, 206, 0));
gradient.AddPoint(2048 * 1.0f, new Color(255, 226, 6));
var gradientTex = new GradientTexture();
gradientTex.SetGradient(gradient);
gradientTex.SetWidth(2048);
var scale = new Curve();
scale.AddPoint(new Vector2(0.0f, 1.0f));
scale.AddPoint(new Vector2(1.0f, 0.5f));
var scaleTex = new CurveTexture();
scaleTex.SetCurve(scale);
var matCopy = new ParticlesMaterial()
{
EmissionShape = ParticlesMaterial.EMISSION_SHAPE_SPHERE,
EmissionSphereRadius = 10,
FlagDisableZ = true,
Spread = 180,
Gravity = new Vector3(0, -98, 0),
InitialVelocity = 2,
InitialVelocityRandom = 1,
AngularVelocity = 10,
RadialAccel = -15,
Scale = 3,
ColorRamp = gradientTex,
ScaleCurve = scaleTex
};
this.ProcessMaterial = matCopy;
}
public void AddPointOnChaikinCurve(Curve curve, Vector3 position, string name)
{
GameObject new_point = Instantiate(point, position, Quaternion.identity);
new_point.transform.position = position;
curve.AddPoint(new_point.transform.position, point);
}
// Declare member variables here. Examples:
// private int a = 2;
// private string b = "text";
// Called when the node enters the scene tree for the first time.
public override void _Ready()
{
Curve.AddPoint(new Vector2(0, 0));
Curve.AddPoint(new Vector2(480, 0));
Curve.AddPoint(new Vector2(480, 720));
Curve.AddPoint(new Vector2(0, 720));
}
public SomeCurveData(MyCurveData referenceCurve, string name, Vector3 position, BGCurveBaseMath.Config config)
: base(new GameObject(name), referenceCurve.LineRendererMaterial, Color.magenta)
{
this.referenceCurve = referenceCurve;
//game object
GameObject.transform.parent = referenceCurve.GameObject.transform.parent;
GameObject.transform.localScale = localScale;
GameObject.transform.position = position;
origin = position;
//curve
Curve = GameObject.AddComponent <BGCurve>();
Curve.Closed = referenceCurve.Curve.Closed;
//add points
for (var i = 0; i < referenceCurve.Curve.PointsCount; i++)
{
Curve.AddPoint(referenceCurve.Curve[i].CloneTo(Curve));
}
//init math after points are added
Math = new BGCurveBaseMath(Curve, config);
AddObjects(ObjectsCount, referenceCurve.ObjectToMove, referenceCurve.Curve.transform.parent);
}
void mGraphingTimer_Tick(object sender, EventArgs e)
{
if (mTimerTotalTicks < mNumTicksPerSec * mTimeTrackTotal)
{
float ticks = mTimerTotalTicks * (1 / mNumTicksPerSec);
Point tempPoint;
if (mCurrentModeState == ModeState.MatchingMode)
{
tempPoint = CalculateDistance();
mDistanceCurve.AddPoint(tempPoint, mGraphPlot);
mTimerTotalTicks++;
}
else
{
tempPoint = CalculateDistance();
mDistanceCurve.AddPoint(tempPoint, mGraphPlot);
mCurrentSelectedCurve = mDistanceCurve;
mWindow.TableListBox.Items.Add(Truncate(tempPoint.X) + "\t" + Truncate(tempPoint.Y));
double curDist = tempPoint.Y;
tempPoint = CalculateVelocity(curDist);
mVelocityCurve.AddPoint(tempPoint, mGraphPlot);
double curVel = tempPoint.Y;
tempPoint = CalculateAcceleration(curVel);
mAccelerationCurve.AddPoint(tempPoint, mGraphPlot);
mTimerTotalTicks++;
mPreviousVel = curVel;
mPreviousDist = mCurrentJoint.Position.Z;
}
}
else
{
if (mGraphingTimer != null)
{
mGraphingTimer.Stop();
mGraphingTimer.IsEnabled = false;
}
mTimerTotalTicks = 0;
}
mWindow.theGraphPlot.Refresh(true);
}
/// <summary>
/// 最低工作压力试验
/// </summary>
private void MinworkingPreTest()
{
while (this.当前流量绝对值 > 2f)
{
Pause(1000);
}
if (System.Windows.Forms.MessageBox.Show("是否已调整减压阀的设定压力值为最小", "提示", MessageBoxButtons.YesNo, MessageBoxIcon.Question) == DialogResult.Yes)
{
CurvePanel panel = new CurvePanel();
panel.Title = TestType.最低工作压力试验.ToString() + "曲线";
panel.XLabel = "流量(L/min)";
panel.YLabel = "压力(MPa)";
this.SetCircuitState(CircuitState.PBOut); //设置球阀状态,出口流量检测
this.SetThrottleValve(100f); //设置比例方向阀13/14.1/14.2的位置(右位开口最大)
this.SetSourcePre(this.额定压力);
this.SetSourceFlow(this.额定流量 + 10f);
Pause(15000);
const int div_cnt = 20;
const int measure_cnt = 10;
float delta_q = (float)(this.额定流量 / div_cnt);
float flow = 0;
float pressure_B = 0;
int repeat_cnt = 0;
Curve curve = new Curve();
panel.AddCurve(curve);
curve.Name = repeat_cnt++.ToString();
for (int i = 0; i <= div_cnt; i++)
{
this.SetSourceFlow(i * delta_q);
//读取压力流量数据
flow = 0;
pressure_B = 0;
for (int j = 0; j < measure_cnt; j++)
{
Pause(500);
flow += Math.Abs(this.当前流量绝对值 / measure_cnt);
pressure_B += this.当前B口压力 / measure_cnt;
}
//将数据添加到曲线
curve.AddPoint(flow, pressure_B);
}
this.SetSourcePre(0);
this.SetSourceFlow(0);
this.SetThrottleValve(50f);
this.dictCurvePanel.Remove(panel.Title);
this.dictCurvePanel.Add(panel.Title, panel);
}
else
{
this.log.Debug("未将工作压力值置最小，试验结束");
}
}
public void InsertAt(int index, double retentionTime, double intensity)
{
Curve.AddPoint(0, 0);
for (int j = Curve.NPts - 1; j > index; j--)
{
Curve.Points[j].X = Curve.Points[j - 1].X;
Curve.Points[j].Y = Curve.Points[j - 1].Y;
}
Curve.Points[index].X = retentionTime;
Curve.Points[index].Y = intensity;
}
/// <summary>
/// 等待油口B的压力上升到设定压力的50%
/// </summary>
/// <param name="pressure"></param>
//public void WaitPressureBUntil(float pressure)
//{
// while (Group["B口压力"] <= 0.5 * pressure)
// {
// System.Threading.Thread.Sleep(1000);
// }
// System.Threading.Thread.Sleep(2000);
//}
///// <summary>
///// 等待油口A的压力上升到设定压力的50%
///// </summary>
///// <param name="pressure"></param>
//public void WaitPressureSUntil(float pressure)
//{
// while (Group["A口压力"] <= 0.5 * pressure)
// {
// System.Threading.Thread.Sleep(1000);
// }
// System.Threading.Thread.Sleep(2000);
//}
/// <summary>
/// 稳态压差实验-单一状态
/// </summary>
/// <param name="dictCurve">由曲线名字和曲线构成的字典</param>
/// <param name="state">球阀状态，也即液控单向阀液流方向</param>
/// <param name="pa_pressure">控制油压力</param>
private void SteadystatePreeesureSingleSide(Dictionary <string, Curve> dictCurve, CircuitState state, float pa_pressure)
{
if (state != CircuitState.ABOut && state != CircuitState.BAOut)
{
return;
}
string key = state.ToString() + "-控制油" + pa_pressure.ToString() + "MPa";
Curve curve = new Curve();
curve.Name = key;
dictCurve.Add(key, curve);
this.SetCircuitState(state);
this.SetThrottleValve(100f);
this.SetTestValveState(TestValveState.右位);
this.SetValve4(10f);
this.SetPaPressure(pa_pressure);//设置先导油的压力
this.SetSourcePre(this.额定压力);
float max_flow = (float)(this.额定流量);
this.SetSourceFlow(0);
Pause(3000);
const int div_cnt = 20;
const int measure_cnt = 10;
float pressure_A = 0;
float pressure_B = 0;
float delta_q = (float)(max_flow / div_cnt);
float flow = 0;
for (int i = 0; i <= div_cnt; i++)
{
this.SetSourceFlow(i * delta_q);
//读取压力流量数据
flow = 0;
pressure_A = 0;
pressure_B = 0;
for (int j = 0; j < measure_cnt; j++)
{
Pause(1000);
flow += this.当前流量绝对值 / measure_cnt;
pressure_A += this.当前A口压力 / measure_cnt;
pressure_B += this.当前B口压力 / measure_cnt;
}
//将数据添加到曲线
curve.AddPoint(flow, Math.Abs(pressure_A - pressure_B));
}
this.SetSourcePre(0);
this.SetSourceFlow(0);
this.SetThrottleValve(50f);
}
public override void UnSerializeModule(Godot.Collections.Dictionary data)
{
Curve newCurve = (Curve)data["curve"];
curve = new Curve();
for (int i = 0; i < newCurve.GetPointCount(); i++)
{
curve.AddPoint(
newCurve.GetPointPosition(i), newCurve.GetPointLeftTangent(i),
newCurve.GetPointRightTangent(i), newCurve.GetPointLeftMode(i), newCurve.GetPointRightMode(i)
);
}
sizeMultiplier = (float)data["sizeMultiplier"];
}
public CurveData(TestCurves testCurves, string name, string description, Vector3 position, BGCurveBaseMath.Config config, MathTypeEnum mathType)
: base(new GameObject(name), testCurves.LineRendererMaterial, Color.magenta)
{
this.testCurves = testCurves;
this.description = description;
//game object
GameObject.transform.position = position;
origin = position;
//curve
Curve = GameObject.AddComponent <BGCurve>();
Curve.Closed = testCurves.Curve.Closed;
//add points
for (var i = 0; i < testCurves.Curve.PointsCount; i++)
{
var point = testCurves.Curve[i];
var clonePoint = new BGCurvePoint(Curve, point.PositionLocal, point.ControlType, point.ControlFirstLocal, point.ControlSecondLocal);
Curve.AddPoint(clonePoint);
}
//init math after points are added
switch (mathType)
{
case MathTypeEnum.Base:
Math = new BGCurveBaseMath(Curve, config);
break;
case MathTypeEnum.Formula:
#pragma warning disable 0618
Math = new BGCurveFormulaMath(Curve, config);
#pragma warning restore 0618
break;
case MathTypeEnum.Adaptive:
Math = new BGCurveAdaptiveMath(Curve, (BGCurveAdaptiveMath.ConfigAdaptive)config);
break;
default:
throw new ArgumentOutOfRangeException("mathType", mathType, null);
}
AddObjects(ObjectsCount, testCurves.ObjectToMove, GameObject.transform);
//scale down
GameObject.transform.localScale = originalScale;
}
public void CreateCurves()
{
/* not used
* if (StartTime == 35915)
* {
* int u = 0;
* }*/
this.Curves = new List <Curve>();
int n = this.Points.Count;
if (n == 0)
{
return;
}
Point2 lastPoint = this.Points[0];
Curve currentCurve = null;
for (int i = 0; i < n; i++)
{
// if there are two points in a row that are the same control point then it is a red control point
// and a new curve exists
if (lastPoint.Equals(this.Points[i]))
{
currentCurve = this.CreateCurve();
this.Curves.Add(currentCurve);
}
currentCurve.AddPoint(this.Points[i].ToVector2());
lastPoint = this.Points[i];
}
this._TotalLength = 0;
int lastIndex = this.Curves.Count - 1;
for (int i = 0; i < lastIndex; i++)
{
this.Curves[i].Init();
this._TotalLength += this.Curves[i].Length;
}
if (lastIndex >= 0)
{
// the last curve will be affected by the 'pixel length' property of sliders which
// limit how long it is (so that way it ends in time with the beat, not geometrically)
Curve lastCurve = this.Curves[lastIndex];
lastCurve.PixelLength = this.PixelLength - this._TotalLength;
lastCurve.Init();
this._TotalLength += lastCurve.Length;
}
}
/* Curve curve = new Curve();
* curve .Name ="液控单向阀最小控制压力曲线";
* panel.AddCurve(curve);
* this.SetCircuitState(CircuitState.ATIn);
* // this.SetCircuitState(CircuitState.BAOut);
* this.SetThrottleValve(100f);//设置比例方向阀13/14.1/14.2的位置(右位开口最大)
* this.SetValve4(0f); ;//设置比例减压阀4的压力值为0
* this.SetPaPressure((float)(5*this.开启压力));//设置先导控制油压力,暂定16
* //2改为5倍开启压力
* //在操作面板上显示配置界面用户配置最大设定压力和被试流量
* //FormMinControlPress frm_minconpress = new FormMinControlPress("请输入实验压力",(float)this.额定压力);
* FormMinControlPress frm_minconpress = new FormMinControlPress("请输入试验压力", (float)this.额定压力);
* frm_minconpress.ShowDialog();
* this.SetSourcePre(frm_minconpress.ret);
* if(frm_minconpress.DialogResult == DialogResult.OK)
* {
* LOG.Debug("压力填写完毕");
* bool need_test = true;
* while(need_test)
* {
* FormMinControlPress frm_setflow = new FormMinControlPress("请输入试验流量",(float)this.额定流量);
* need_test = frm_setflow.ShowDialog()==DialogResult.OK;
* if(!need_test)
* return;
* LOG.Debug("流量填写完毕");
* this.SetSourceFlow(frm_setflow.ret);
* this.WaitPressureUntil(frm_minconpress.ret);
* const int div_cnt = 20;
* for (int i = 0; i < div_cnt; i++)
* {
* this.SetValve4(i *(float) (this.开启压力 / div_cnt));
* System.Threading.Thread.Sleep(3000);
* if (Math.Abs(Math.Abs(Group[selectedFlowmeter]) - frm_setflow.ret) <= 0.5)
* {
* curve.AddPoint(frm_setflow.ret, this.Pa口传感器压力);
* break;
* }
*
* }
* }
*
* }
* else
* {
*
* MessageBox.Show("退出实验");
* }
* this.SetSourcePre(0);
* this.SetSourceFlow(0);
* this.dictCurvePanel.Remove(panel.Title);
* this.dictCurvePanel.Add(panel.Title, panel);
* this.LOG.Debug("液控单向阀最小控制压力实验完成");
*
*
* }
*/
private void HyConLeakageTest()//液控单向阀泄漏量试验
{
CurvePanel panel = new CurvePanel();
panel.Title = TestType.液控单向阀泄漏量试验.ToString() + "曲线";
panel.XLabel = "压力(MPa)";
panel.YLabel = "泄漏量(Ml/Min)";
Curve curve_leak = new Curve();
panel.AddCurve(curve_leak);
curve_leak.Name = "泄漏量";
float retnum;
float testret = 0;
int time = 0;
float max_pressure = (float)this.额定压力;
bool needtest = true;
//this.SetCircuitState(CircuitState.BTIn);
this.SetCircuitState(CircuitState.A);
this.SetValve4(0);
while (needtest)
{
FormLeakHydcheck leakHydcheck_config = new FormLeakHydcheck(max_pressure);
needtest = leakHydcheck_config.ShowDialog() == DialogResult.OK;
if (!needtest)
{
break;
}
this.SetThrottleValve(100f);//使阀13,14_1,14_2工作于右位，且开口最大
this.SetSourcePre(leakHydcheck_config.实验压力);
this.SetSourceFlow(20);
this.WaitPressureAUntil(leakHydcheck_config.实验压力);
LOG.Debug("系统达到试验压力");
FormLeakageReturn frm_return = new FormLeakageReturn(leakHydcheck_config.testtimecount, this);
frm_return.ShowDialog();
LOG.Debug("倒计时窗口显示");
time = leakHydcheck_config.testtimecount;
testret = frm_return.retvol;
retnum = (frm_return.retvol / leakHydcheck_config.testtimecount) * 60f;
curve_leak.AddPoint(leakHydcheck_config.实验压力, retnum);
}
this.SetSourcePre(0);
this.SetSourceFlow(0);
this.dictCurvePanel.Remove(panel.Title);
this.dictCurvePanel.Add(panel.Title, panel);
this.LOG.Debug("泄漏实验已完成");
}
public void CreateRandomLine()
{
RemoveRandomLine();
float rand;
mRandomCurve = new Curve("Random Curve", OxyColor.FromArgb(0xFF, 0, 150, 0), mGraphPlot);
for (int i = 0; i <= mNumRandomPoints; i++)
{
rand = GetRandom(100, 400);
rand = rand / 100;
System.Windows.Point tempPoint = new System.Windows.Point(((double)mTimeTrackTotal / (double)mNumRandomPoints) * (double)i, rand);
mRandomCurve.AddPoint(tempPoint, mGraphPlot);
}
if (SmoothCurve)
{
mRandomCurve.Smooth = true;
}
}
/// <summary>
/// 稳态流量压力特性试验-指定阀口开度
/// </summary>
/// <param name="dictCurve"></param>
/// <param name="state"></param>
/// <param name="n">第N次试验</param>
private void StaticFlowPressSingleState(CurvePanel panel, CircuitState state, int n)
{
string key = state.ToString() + "曲线" + n.ToString();
Curve curve = new Curve();
curve.Name = key;
panel.AddCurve(curve);
this.SetCircuitState(state); //设置球阀状态
this.SetThrottleValve(100f);
this.SetSourcePre(this.额定压力);
float max_flow = (float)(this.额定流量);
this.SetSourceFlow(0);
//Pause(3000);
const int div_cnt = 20;
const int measure_cnt = 5;
float pressure_A = 0;
float pressure_T = 0;
float delta_q = (float)(max_flow / div_cnt);
float flow = 0;
for (int i = 0; i <= div_cnt; i++)
{
this.SetSourceFlow(i * delta_q);
//读取压力流量数据
flow = 0;
pressure_A = 0;
pressure_T = 0;
for (int j = 0; j < measure_cnt; j++)
{
Pause(1000);
flow += this.当前流量绝对值 / measure_cnt;
pressure_A += this.当前A口压力 / measure_cnt;
pressure_T += this.当前T口压力 / measure_cnt;
}
//将数据添加到曲线
curve.AddPoint(flow, pressure_A - pressure_T);
}
this.SetSourcePre(0);
this.SetSourceFlow(0);
this.SetThrottleValve(50f);
}
/// <summary>
/// 稳态压差流量特性试验
/// </summary>
private void SteadyPreDifFlowTest()
{
CurvePanel panel = new CurvePanel();
panel.Title = TestType.稳态压差流量特性试验.ToString() + "曲线";
panel.XLabel = "流量(L/Min)";
panel.YLabel = "压差(MPa)";
//Curve curveAB = new Curve();
//curveAB.Name = "BA口";
//panel.AddCurve(curveAB);
Curve curvePABT = new Curve();
curvePABT.Name = "BA口";
panel.AddCurve(curvePABT);
//this.SetCircuitState(CircuitState.ABOut);//设置球阀状态
this.SetCircuitState(CircuitState.PABTOut);//设置球阀状态
//因为上面叠加了一个液动方向阀，外控外排，需要先导油
this.SetPaPressure(8);
this.SetTestValveStatePilot(TestValveState.右位);
this.SetValve4(5);
this.SetThrottleValve(100f); //设置比例方向阀13/14.1/14.2的位置(右位开口最大)
this.SetSourcePre(this.额定压力); //设置最大试验压力
float max_flow = (float)(this.额定流量);
this.SetSourceFlow(0);
const int div_cnt = 20;
const int measure_cnt = 10;
float pressure_A = 0;
float pressure_B = 0;
float delta_q = (float)(max_flow / div_cnt);
float flow = 0;
for (int i = 0; i <= div_cnt; i++)
{
this.SetSourceFlow(i * delta_q);
Pause(3000);
//读取压力流量数据
flow = 0;
pressure_A = 0;
pressure_B = 0;
for (int j = 0; j < measure_cnt; j++)
{
Pause(1000);
flow += this.当前流量绝对值 / measure_cnt;
pressure_A += this.当前A口压力 / measure_cnt;
//pressure_B += this.当前B口压力 / measure_cnt;
pressure_B += this.当前T口压力 / measure_cnt;
}
//将数据添加到曲线
curvePABT.AddPoint(flow, pressure_A - pressure_B);
}
this.SetSourcePre(0);
this.SetSourceFlow(0);
this.SetThrottleValve(50f);
this.dictCurvePanel.Remove(panel.Title);
this.dictCurvePanel.Add(panel.Title, panel);
}
private async void GeneratePoints()
{
Terrain terrain = Terrain.instance;
for (int i = 0; i < numPoints; i++)
{
float t = (float)i / (numPoints);
float a = t * Mathf.Pi * 2f;
Vector2 p = Vector2.Right.Rotated(a) * initialRadius;
Vector3 p3D = new Vector3(p.x, 0f, p.y);
Vector3 normal = terrain.GetNormal(p3D);
p3D.y = terrain.GetHeight(p3D);
Curve.AddPoint(p3D);
SpatialDebugger.instance.AddLine(p3D, p3D + normal * 16f, Colors.Blue);
//viewPoints[i] = AddPoint(p3D);
}
for (int j = 0; j < iterations; j++)
{
bool moved = false;
for (int i = 0; i < numPoints; i++)
{
float t = (float)i / (numPoints - 1);
Vector3 p = Curve.GetPointPosition(i);
Vector3 normal = terrain.GetNormal(p);
Vector3 terrainNormal = normal;
normal.y = 0f;
normal = normal.Normalized();
float desiredHeight = SampleNoise1D(
elevationNoise, t * elevationFrequency, elevationFrequency
) * .5f + .5f;
desiredHeight = Mathf.Lerp(elevationRange.x, elevationRange.y, desiredHeight);
float diff = desiredHeight - p.y;
float diffT = 1f - (j % 100) / 100f;
diffT = Mathf.Pow(diffT, .25f);
diff *= diffT;
if (diff <= elevationDiffThreshold)
{
continue;
}
p.x -= normal.x * diff * elevationCorrection;
p.z -= normal.z * diff * elevationCorrection;
if ((j + 1) % 100 == 0)
{
float angle = (float)rng.NextDouble() * Mathf.Pi * 4f;
Vector2 dir = Vector2.Right.Rotated(angle);
p.x += dir.x * 256f;
p.z += dir.y * 256f;
}
p.y = terrain.GetHeight(p);
Curve.SetPointPosition(i, p);
SpatialDebugger.instance.UpdateLine(
i, p, p + terrainNormal * 16f, Colors.Blue
);
/*Transform tr = viewPoints[i].GlobalTransform;
* tr.origin = p;
* tr.basis = LookAtBasis(terrainNormal);
* viewPoints[i].GlobalTransform = tr;*/
moved = true;
if (j % 50 == 0)
{
await ToSignal(GetTree(), "idle_frame");
}
}
if (!moved)
{
continue;
}
else
{
System.Console.WriteLine("Next iteration");
}
}
System.Console.WriteLine("Ended basic");
walker = new RoadWalker();
walker.origin = Curve.GetPointPosition(0);
Vector3 targetPoint = Curve.GetPointPosition(1);
walker.direction = new Vector2(
targetPoint.x - walker.origin.x,
targetPoint.z - walker.origin.z
).Angle();
for (int i = 0; i < numPoints; i++)
{
int nxt = (i + 1) % numPoints;
await PathFind(Curve.GetPointPosition(nxt));
}
}
private void MinControlPreTest()//液控单向阀最小控制压力
{
CurvePanel panel = new CurvePanel();
panel.Title = TestType.液控单向阀最小控制压力.ToString() + "实验曲线";
panel.XLabel = "体积流量(L/Min)";
panel.YLabel = "控制压力(MPa)";
Curve curvePBmax = new Curve();
Curve curve75PBmax = new Curve();
Curve curve50PBmax = new Curve();
Curve curve25PBmax = new Curve();
Curve curvePBmin = new Curve();
//添加曲线
panel.AddCurve(curvePBmax);
panel.AddCurve(curve75PBmax);
panel.AddCurve(curve50PBmax);
panel.AddCurve(curve25PBmax);
panel.AddCurve(curvePBmin);
//添加曲线名称
curvePBmax.Name = "100%PBmax";
curve75PBmax.Name = "75%PBmax";
curve50PBmax.Name = "50%PBmax";
curve25PBmax.Name = "25%PBmax";
curvePBmin.Name = "PBmin";
this.SetTestValveState(TestValveState.右位);
this.SetCircuitState(CircuitState.ATIn);
this.SetThrottleValve(100f); //设置比例方向阀13/14.1/14.2的位置(右位开口最大)
this.SetValve4(0f);; //设置比例减压阀4的压力值为0
// this.SetPaPressure((float)(5 * this.开启压力));//设置先导控制油压力,暂定16
this.SetPaPressure(10f); //设置先导控制油压力,暂定16
//2改为5倍开启压力
//在操作面板上显示配置界面用户配置最大设定压力和被试流量
//FormMinControlPress frm_minconpress = new FormMinControlPress("请输入实验压力",(float)this.额定压力);
this.SetSourceFlow(this.额定流量);
for (int i = 1; i < 5; i++)
{
//每一个压力点寻找最小开启压力
double OilPressure = this.额定压力 * i * 0.25;
this.SetSourcePre(OilPressure);
this.WaitPressureAUntil(OilPressure * 0.8);
const int div_cnt = 100;
double[] OpenPressure = new double[6];
double[] DesiredFlow = new double[6];
for (int j = 0; j < 6; j++)
{
//每个设定压力下，寻找6个开启压力及对应的流量
int FlagFind = 1;
int m = 0;//减压阀加载用
while (FlagFind == 1)
{
//寻找最低开启压力，一个点
m = m + 1;
this.SetValve4(m * (float)(this.额定压力 / div_cnt));
Pause(1000);
//if (Math.Abs(Math.Abs(Group[selectedFlowmeter]) / this.额定流量) >= 0.5)
{
OpenPressure[j] = this.Pa口传感器压力;
DesiredFlow[j] = this.当前流量;
LOG.Debug("第" + j + "组数据");
FlagFind = 0;
}
}
}
for (int n = 0; n < 6; n++) //n个数要进行n-1趟比较,按照流量从小到大排列
{
for (int P = 0; P < 5; P++)
{
if (DesiredFlow[P] > DesiredFlow[P + 1])
{
//依次比较两个相邻的数，将小数放在前面，大数放在后面
double temp = DesiredFlow[P];
DesiredFlow[P] = DesiredFlow[P + 1];
DesiredFlow[P + 1] = temp;
temp = OpenPressure[P];
OpenPressure[P] = OpenPressure[P + 1];
OpenPressure[P + 1] = temp;
}
}
}
switch (i)
{
case 1:
{
for (int j = 0; j < 6; j++)
{
curve25PBmax.AddPoint(DesiredFlow[j], OpenPressure[j]);
}
break;
}
case 2:
{
for (int j = 0; j < 6; j++)
{
curve50PBmax.AddPoint(DesiredFlow[j], OpenPressure[j]);
}
break;
}
case 3:
{
for (int j = 0; j < 6; j++)
{
curve75PBmax.AddPoint(DesiredFlow[j], OpenPressure[j]);
}
break;
}
case 4:
{
for (int j = 0; j < 6; j++)
{
curvePBmax.AddPoint(DesiredFlow[j], OpenPressure[j]);
}
break;
}
}
}
this.SetSourcePre(0);
this.SetSourceFlow(0);
this.dictCurvePanel.Remove(panel.Title);
this.dictCurvePanel.Add(panel.Title, panel);
this.LOG.Debug("液控单向阀最小控制压力实验完成");
}
// ================================================================================ Inspector
public override void OnInspectorGui()
{
var settings = Settings;
editorSelection.Reset();
// ======================================== Top section
InspectorTopSection();
// ======================================== Points
GUILayout.Space(5);
if (Curve.PointsCount > 0)
{
var temp = BGCurveSettingsForEditor.DisableInspectorPointMenu;
BGCurveSettingsForEditor.DisableInspectorPointMenu = BGEditorUtility.ButtonOnOff(ref temp, "Points menu [" + Curve.PointsCount + "]", "Show points in Editor inspector",
HiddenPointMenuColor,
new GUIContent("Show", "Click to show points menu"),
new GUIContent("Hide", "Click to hide points menu"), () =>
{
const string title = "Reverse points";
if (GUILayout.Button(new GUIContent(title, "Reverse all points, but keep curve intact")))
{
if (Curve.PointsCount < 2)
{
BGEditorUtility.Inform(title, "There should be at least 2 points. Curve has " + Curve.PointsCount);
return;
}
if (!BGEditorUtility.Confirm(title, "Are you sure you want to reverse the order of " + Curve.PointsCount + " points? Curve will remain intact.", "Reverse"))
{
return;
}
Curve.Reverse();
EditorUtility.SetDirty(Curve);
}
});
if (!BGCurveSettingsForEditor.DisableInspectorPointMenu)
{
BGEditorUtility.VerticalBox(() => Curve.ForEach((point, index, count) => editorPoint.OnInspectorGUI(point, index, settings)));
}
// ======================================== Selections operations
editorSelection.InspectorSelectionOperations();
//warning
BGEditorUtility.HelpBox("Selection mode is on", MessageType.Warning, !editorSelection.Changed && editorSelection.HasSelected());
}
else
{
BGEditorUtility.HorizontalBox(() =>
{
EditorGUILayout.LabelField("No points!");
if (BGEditorUtility.ButtonWithIcon(addPointIcon, "Add new point at (0,0,0) local coordinates"))
{
Curve.AddPoint(new BGCurvePoint(Curve, Vector3.zero, settings.ControlType, Vector3.right, Vector3.left));
}
});
}
if (editorSelection.Changed)
{
EditorUtility.SetDirty(Curve);
}
}
/// <summary>
/// 稳态压力流量特性试验
/// 设置不同的出口压力值，针对不同的出口压力设定值（必须包含最高和最低）：
/// 流量从零加到最大，再从最大减到0，测试被试阀的进口压力
/// </summary>
private void StaticPressureFlowTest()
{
CurvePanel panel = new CurvePanel();
panel.Title = TestType.稳态压力流量特性试验.ToString() + "曲线";
panel.XLabel = "流量(L/min)";
panel.YLabel = "压力(MPa)";
this.SetOfSelectFlowMeter((float)this.额定流量);
this.SetCircuitState(CircuitState.PTOut); //设置球阀状态,出口流量检测
this.SetThrottleValve(100f); //设置比例方向阀13/14.1/14.2的位置(右位开口最大)
this.SetSourcePre(this.额定压力);
const int div_cnt = 20;
const int measure_cnt = 10;
float delta_q = (float)(this.额定流量 / div_cnt);
float flow = 0;
float pressure_P = 0;
int repeat_cnt = 0;
while (System.Windows.Forms.MessageBox.Show("调整溢流阀的设定压力值，是否继续", "提示", MessageBoxButtons.YesNo, MessageBoxIcon.Question) == DialogResult.Yes)
{
Curve curve = new Curve();
panel.AddCurve(curve);
curve.Name = repeat_cnt++.ToString();
this.SetSourcePre(this.额定压力);
for (int i = 0; i <= div_cnt; i++)
{
this.SetSourceFlow(i * delta_q);
//读取压力流量数据
flow = 0;
pressure_P = 0;
for (int j = 0; j < measure_cnt; j++)
{
Pause(500);
flow += Math.Abs(this.当前流量绝对值 / measure_cnt);
pressure_P += this.当前P口压力 / measure_cnt;
}
//将数据添加到曲线
curve.AddPoint(flow, pressure_P);
}
for (int i = div_cnt - 1; i >= 0; i--)
{
this.SetSourceFlow(i * delta_q);
//读取压力流量数据
flow = 0;
pressure_P = 0;
for (int j = 0; j < measure_cnt; j++)
{
Pause(500);
flow += Math.Abs(this.当前流量绝对值 / measure_cnt);
pressure_P += this.当前P口压力 / measure_cnt;
}
//将数据添加到曲线
curve.AddPoint(flow, pressure_P);
}
this.SetSourcePre(0);
this.SetSourceFlow(0);
}
//this.SetSourcePre(0);
//this.SetThrottleValve(50f);//设置比例方向阀13/14.1/14.2的位置(右位开口最大)
this.dictCurvePanel.Remove(panel.Title);
this.dictCurvePanel.Add(panel.Title, panel);
}
/// <summary>
///
/// </summary>
/// <param name="state"></param>
private void SteadystatePreeesureSingleSide(TestValveState state)
{
if (state == TestValveState.中位)
{
return;
}
CurvePanel panel = new CurvePanel();
panel.Title = TestType.稳态压差流量特性试验.ToString() + "(" + state.ToString() + ")";
panel.XLabel = "流量(L/Min)";
panel.YLabel = "压差(MPa)";
Curve curvePT = new Curve();
Curve curvePA = new Curve();
Curve curvePB = new Curve();
Curve curveAT = new Curve();
Curve curveBT = new Curve();
//添加曲线
panel.AddCurve(curvePT);
panel.AddCurve(curvePA);
panel.AddCurve(curvePB);
panel.AddCurve(curveAT);
panel.AddCurve(curveBT);
//添加曲线名称
curvePT.Name = "PT口";
curvePA.Name = "PA口";
curvePB.Name = "PB口";
curveAT.Name = "AT口";
curveBT.Name = "BT口";
this.SetCircuitState(CircuitState.PABTOut);
this.SetThrottleValve(100f);
this.SetTestValveState(state);
this.SetSourcePre(this.额定压力);
float 最大流量 = (float)(this.额定流量);
this.SetSourceFlow(0);
Pause(3000);
const int div_cnt = 10;
const int measure_cnt = 10;
float pressure_A = 0;
float pressure_B = 0;
float pressure_P = 0;
float pressure_T = 0;
float delta_q = (float)(最大流量 / div_cnt);
float flow = 0;
for (int i = 0; i <= div_cnt; i++)
{
this.SetSourceFlow(i * delta_q);
//读取压力流量数据
flow = 0;
pressure_A = 0;
pressure_B = 0;
pressure_P = 0;
pressure_T = 0;
for (int j = 0; j < measure_cnt; j++)
{
Pause(500);
flow += this.当前流量绝对值 / measure_cnt;
pressure_A += this.当前A口压力 / measure_cnt;
pressure_B += this.当前B口压力 / measure_cnt;
pressure_P += this.当前P口压力 / measure_cnt;
pressure_T += this.当前T口压力 / measure_cnt;
}
//将数据添加到曲线
curvePT.AddPoint(flow, pressure_P - pressure_T);
curvePA.AddPoint(flow, pressure_P - pressure_A);
curvePB.AddPoint(flow, pressure_P - pressure_B);
curveAT.AddPoint(flow, pressure_A - pressure_T);
curveBT.AddPoint(flow, pressure_B - pressure_T);
}
this.SetSourcePre(0);
this.SetSourceFlow(0);
SetTestValveState(TestValveState.中位);
this.SetThrottleValve(50f);
this.dictCurvePanel.Remove(panel.Title);
this.dictCurvePanel.Add(panel.Title, panel);
}
public override void _GuiInput(InputEvent ev)
{
if (!(ev is InputEventMouse))
{
return;
}
InputEventMouse evM = (InputEventMouse)ev;
Vector2 mousePos = evM.Position;
Vector2 relCurvePos = mousePos;
relCurvePos.x = Mathf.InverseLerp(MARGIN, RectSize.x - MARGIN, relCurvePos.x);
relCurvePos.y = Mathf.InverseLerp(RectSize.y - MARGIN, MARGIN, relCurvePos.y);
relCurvePos.x = Mathf.Clamp(relCurvePos.x, 0, 1);
relCurvePos.y = Mathf.Clamp(relCurvePos.y, 0, 1);
int handleIdx = -1;
int handleTangentIdx = 0;
int pointCount = curve.GetPointCount();
for (int i = 0; i < pointCount; i++)
{
Vector2 handlePos = GetHandlePos(i);
Rect2 r = new Rect2();
r.Position = handlePos - Vector2.One * (HANDLE_SIZE / 2f);
r.Size = Vector2.One * HANDLE_SIZE;
if (r.HasPoint(mousePos))
{
handleIdx = i;
}
if (i > 0)
{
Vector2 tangentPos = GetHandleLeftTangent(i);
r.Position = tangentPos - Vector2.One * (TANGENT_HANDLE_SIZE / 2f);
r.Size = Vector2.One * TANGENT_HANDLE_SIZE;
if (r.HasPoint(mousePos))
{
handleTangentIdx = -1;
}
}
if (i < pointCount - 1)
{
Vector2 tangentPos = GetHandleRightTangent(i);
r.Position = tangentPos - Vector2.One * (TANGENT_HANDLE_SIZE / 2f);
r.Size = Vector2.One * TANGENT_HANDLE_SIZE;
if (r.HasPoint(mousePos))
{
handleTangentIdx = 1;
}
}
}
if (ev is InputEventMouseButton)
{
InputEventMouseButton evMB = ev as InputEventMouseButton;
if (evMB.ButtonIndex == (int)ButtonList.Left)
{
if (evMB.Pressed)
{
if (handleTangentIdx != 0)
{
dragTangentIdx = handleTangentIdx;
}
else
{
if (handleIdx == -1)
{
handleIdx = curve.AddPoint(relCurvePos);
selectedIdx = handleIdx;
dragIdx = handleIdx;
}
else
{
selectedIdx = handleIdx;
dragIdx = handleIdx;
}
}
}
else
{
dragTangentIdx = 0;
dragIdx = -1;
}
}
if (evMB.ButtonIndex == (int)ButtonList.Right)
{
if (evMB.Pressed)
{
if (handleIdx != -1)
{
curve.RemovePoint(handleIdx);
if (selectedIdx == handleIdx)
{
selectedIdx = -1;
}
handleIdx = -1;
}
}
}
}
if (ev is InputEventMouseMotion)
{
if (dragIdx != -1)
{
curve.SetPointOffset(dragIdx, relCurvePos.x);
curve.SetPointValue(dragIdx, relCurvePos.y);
}
if (dragTangentIdx != 0)
{
Vector2 handlePos = GetHandlePos(selectedIdx);
Vector2 dir = (mousePos - handlePos).Normalized();
float tangent;
if (!Mathf.IsZeroApprox(dir.x))
{
tangent = dir.y / dir.x;
}
else
{
tangent = 9999f * (dir.y >= 0 ? 1 : -1);
}
bool link = !Input.IsKeyPressed((int)KeyList.Shift);
if (dragTangentIdx == 1)
{
curve.SetPointRightTangent(selectedIdx, -tangent);
link &= selectedIdx > 0 && curve.GetPointLeftMode(selectedIdx) != Curve.TangentMode.Linear;
if (link)
{
curve.SetPointLeftTangent(selectedIdx, -tangent);
}
}
else
{
curve.SetPointLeftTangent(selectedIdx, -tangent);
link &= selectedIdx < pointCount - 1 && curve.GetPointRightMode(selectedIdx) != Curve.TangentMode.Linear;
if (link)
{
curve.SetPointRightTangent(selectedIdx, -tangent);
}
}
}
}
if (dragIdx != -1)
{
hoverIdx = dragIdx;
}
hoverIdx = handleIdx;
hoverTangentIdx = handleTangentIdx;
Update();
}
public static void Init()
{
#region effects
var rocketEngineCurve = new Curve();
rocketEngineCurve.AddPoint(new Vector2(1, 0.5f));
rocketEngineCurve.AddPoint(new Vector2(0.5f, 0.75f));
rocketEngineCurve.AddPoint(new Vector2(0, 0.1f));
var wheelSkidCurve = new Curve();
var rng = new RandomNumberGenerator();
for (var i = 0; i < 100; i++)
{
wheelSkidCurve.AddPoint(new Vector2(i / 100f, rng.RandiRange(900, 1100) / 1000f));
}
var explorerSkid = new Skid
{
Length = 300,
Width = 4,
Opacity = 10,
Curve = wheelSkidCurve,
Color = new Color(0, 0, 0)
};
var crimsonSkid = new Skid
{
Length = 15,
Width = 5,
Color = new Color(255 / 255f, 254 / 255f, 152 / 255f),
Opacity = 75,
Curve = rocketEngineCurve
};
#endregion
explorer = new UnitType("explorer.png")
{
Name = "Explorer",
Description = "Starting bot.",
MaxSpeed = 60f,
Acceleration = 400f,
Deceleration = 200f,
AngularDeceleration = 0.075f,
Mass = 250f,
Inertia = 500f,
RotationSpeed = 6f,
Health = 100f,
CollisionShape = new []
{
new Vector2(26, 22),
new Vector2(26, -25),
new Vector2(-26, -25),
new Vector2(-26, -21)
},
ShadowBlur = 4,
ShadowOffset = new Vector2(0, 0.2f),
Body = "Body",
SkidMarks = new System.Collections.Generic.Dictionary <Vector2, Skid>
{
{ new Vector2(-4, 4), explorerSkid },
{ new Vector2(4, 4), explorerSkid }
}
};
crimson = new UnitType("crimson.png")
{
Name = "Crimson",
Description = "A big cruiser drone. Flies at high altitudes.",
MaxSpeed = 90f,
Acceleration = 170f,
RotationSpeed = 5f,
Mass = 1000f,
Inertia = 5000f,
Deceleration = 50f,
AngularDeceleration = 0.1f,
Health = 500f,
CollisionShape = new []
{
new Vector2(16, 17),
new Vector2(8, -7),
new Vector2(0, -15),
new Vector2(-8, -7),
new Vector2(-16, 17),
new Vector2(0, 12)
},
ShadowOffset = new Vector2(-12, 18),
Body = "Air",
SkidMarks = new System.Collections.Generic.Dictionary <Vector2, Skid>
{
{ new Vector2(4.5f, 4.5f), crimsonSkid },
{ new Vector2(-4.5f, 4.5f), crimsonSkid }
}
};
ghost = new UnitType("ghost.png")
{
Name = "Ghost",
Description = "A special unit used for editing & spectating.",
MaxSpeed = 200f,
Acceleration = 1000f,
Rotates = false,
Mass = 1f,
Inertia = 0f,
Deceleration = 1000f,
Health = float.MaxValue - float.MaxValue / 2,
CollisionShape = new []
{
new Vector2(0, 0),
new Vector2(0, 0),
},
ShadowBlur = -1,
Body = "Air"
};
}
