public RobotDynamics(string name = DEFNAME) : base(name)
{
l = 0.2; //z
h = 0.05; //y
w = 0.1; //x
Body.Mass.Value = 0.5;
Body.Name = "Body";
AddChild(Body);
Body.SynchMeAfter += SynchWheelsToBodyPos;
FloorForce = new ForceCenter(1, new Position3D(0, 1, 0), null);
Body.AddForce(FloorForce);
SynchMassGeometry();
for (int i = 0; i < 4; i++)
{
wheels.Add(RbWheel.GetStandart());
}
wheels[0].localPos = new Vector3D(w / 2, 0, l / 2);
wheels[1].localPos = new Vector3D(w / 2, 0, -l / 2);
wheels[2].localPos = new Vector3D(-w / 2, 0, l / 2);
wheels[3].localPos = new Vector3D(-w / 2, 0, -l / 2);
//double moment = 0.1;
//foreach(var w in wheels) {
// Body.AddChild(w);
// w.Mx = moment;
// moment += moment;
//}
}
public void RespectFixedPositions()
{
var center = new ForceCenter <Node>();
var nodes = new List <Node>
{
new Node {
Fx = 0, Fy = 0
},
new Node(),
new Node(),
};
var s = new Simulation <Node>(null)
.AddForce("center", center).Stop();
s.Nodes = nodes;
s.Tick();
Assert.AreEqual(0, nodes[0].X);
Assert.AreEqual(0, nodes[0].Y);
Assert.AreEqual(0, nodes[0].Fx);
Assert.AreEqual(0, nodes[0].Fy);
Assert.AreEqual(0, nodes[0].Vx);
Assert.AreEqual(0, nodes[0].Vy);
}
public void RepositionNodes()
{
var center = new ForceCenter <Node>(0, 0);
var nodes = new List <Node>
{
new Node {
X = 100, Y = 0
},
new Node {
X = 200, Y = 0
},
new Node {
X = 300, Y = 0
},
};
var s = new Simulation <Node>(null)
.AddForce("center", center).Stop();
s.Nodes = nodes;
s.Tick();
Assert.AreEqual(-100, nodes[0].X);
Assert.AreEqual(0, nodes[1].X);
Assert.AreEqual(100, nodes[2].X);
}
