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 static float BoundingBoxOffset(float fltMaxDim)
{
if(Util.Environment.DistanceUnits == AnimatTools.DataObjects.Physical.Environment.enumDistanceUnits.Centimeters)
return 0.01f;
AnimatTools.Framework.ScaledNumber snVal = new AnimatTools.Framework.ScaledNumber(null);
snVal.ActualValue = fltMaxDim;
switch(snVal.Scale)
{
case AnimatTools.Framework.ScaledNumber.enumNumericScale.Tera:
case AnimatTools.Framework.ScaledNumber.enumNumericScale.Giga:
case AnimatTools.Framework.ScaledNumber.enumNumericScale.Kilo:
return 1.0f;
case AnimatTools.Framework.ScaledNumber.enumNumericScale.None:
return 0.1f;
case AnimatTools.Framework.ScaledNumber.enumNumericScale.centi:
return 0.01f;
case AnimatTools.Framework.ScaledNumber.enumNumericScale.milli:
return 0.001f;
case AnimatTools.Framework.ScaledNumber.enumNumericScale.nano:
case AnimatTools.Framework.ScaledNumber.enumNumericScale.femto:
case AnimatTools.Framework.ScaledNumber.enumNumericScale.pico:
return 0.0001f;
default:
return 0.01f;
}
}
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 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 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 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 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 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);
}
protected override void CloneInternal(AnimatTools.Framework.DataObject doOriginal)
{
base.CloneInternal (doOriginal);
Hinge doOrigBody = (Hinge) doOriginal;
m_fltMinAngle = doOrigBody.m_fltMinAngle;
m_fltMaxAngle = doOrigBody.m_fltMaxAngle;
m_snMinAngle = (AnimatTools.Framework.ScaledNumber) m_snMinAngle.Clone(this);
m_snMaxAngle = (AnimatTools.Framework.ScaledNumber) m_snMaxAngle.Clone(this);
m_bEnableMotor = doOrigBody.m_bEnableMotor;
m_bServoMotor = doOrigBody.m_bServoMotor;
m_fltServoGain = doOrigBody.ServoGain;
m_snMaxTorque = (AnimatTools.Framework.ScaledNumber) m_snMaxTorque.Clone(this);
m_snMaxVelocity = (AnimatTools.Framework.ScaledNumber) m_snMaxVelocity.Clone(this);
m_v3Axis = new Vector3(doOrigBody.m_v3Axis.X, doOrigBody.m_v3Axis.Y, doOrigBody.m_v3Axis.Z);
}
protected override void CloneInternal(AnimatTools.Framework.DataObject doOriginal, bool bCutData, AnimatTools.Framework.DataObject doRoot)
{
base.CloneInternal (doOriginal, bCutData, doRoot);
Box doOrigBody = (Box) doOriginal;
m_vGraphicsBoxSize = new Vec3d(this, doOrigBody.m_vGraphicsBoxSize.X, doOrigBody.m_vGraphicsBoxSize.Y, doOrigBody.m_vGraphicsBoxSize.Z);
m_snHeight = (AnimatTools.Framework.ScaledNumber) doOrigBody.m_snHeight.Clone(this, bCutData, doRoot);
m_snWidth = (AnimatTools.Framework.ScaledNumber) doOrigBody.m_snWidth.Clone(this, bCutData, doRoot);
m_snLength = (AnimatTools.Framework.ScaledNumber) doOrigBody.m_snLength.Clone(this, bCutData, doRoot);
}
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);
}
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;
}
protected void RigidBody_Clone(AnimatTools.Framework.DataObject doOriginal, bool bCutData, AnimatTools.Framework.DataObject doRoot)
{
RigidBody_DX doOrigBody = (RigidBody_DX) doOriginal;
m_d3dDevice = doOrigBody.m_d3dDevice;
m_v3Rotation = new Microsoft.DirectX.Vector3(doOrigBody.m_v3Rotation.X, doOrigBody.m_v3Rotation.Y, doOrigBody.m_v3Rotation.Z);
m_v3Direction = new Microsoft.DirectX.Vector3(doOrigBody.m_v3Direction.X, doOrigBody.m_v3Direction.Y, doOrigBody.m_v3Direction.Z);
m_mtxOrientation = Util_DX.CloneMatrix(doOrigBody.m_mtxOrientation);
m_mtxTranslation = Util_DX.CloneMatrix(doOrigBody.m_mtxTranslation);
m_d3dMaterial.Ambient = doOrigBody.m_d3dMaterial.Ambient;
m_d3dMaterial.Diffuse = doOrigBody.m_d3dMaterial.Diffuse;
m_d3dTransparentMaterial.Ambient = doOrigBody.m_d3dTransparentMaterial.Ambient;
m_d3dTransparentMaterial.Diffuse = doOrigBody.m_d3dTransparentMaterial.Diffuse;
m_snXLocalLocation = (AnimatTools.Framework.ScaledNumber) doOrigBody.m_snXLocalLocation.Clone(this, bCutData, doRoot);
m_snYLocalLocation = (AnimatTools.Framework.ScaledNumber) doOrigBody.m_snYLocalLocation.Clone(this, bCutData, doRoot);
m_snZLocalLocation = (AnimatTools.Framework.ScaledNumber) doOrigBody.m_snZLocalLocation.Clone(this, bCutData, doRoot);
m_snXWorldLocation = (AnimatTools.Framework.ScaledNumber) doOrigBody.m_snXWorldLocation.Clone(this, bCutData, doRoot);
m_snYWorldLocation = (AnimatTools.Framework.ScaledNumber) doOrigBody.m_snYWorldLocation.Clone(this, bCutData, doRoot);
m_snZWorldLocation = (AnimatTools.Framework.ScaledNumber) doOrigBody.m_snZWorldLocation.Clone(this, bCutData, doRoot);
m_snXRotation = (AnimatTools.Framework.ScaledNumber) doOrigBody.m_snXRotation.Clone(this, bCutData, doRoot);
m_snYRotation = (AnimatTools.Framework.ScaledNumber) doOrigBody.m_snYRotation.Clone(this, bCutData, doRoot);
m_snZRotation = (AnimatTools.Framework.ScaledNumber) doOrigBody.m_snZRotation.Clone(this, bCutData, doRoot);
}
protected override void CloneInternal(AnimatTools.Framework.DataObject doOriginal, bool bCutData, AnimatTools.Framework.DataObject doRoot)
{
base.CloneInternal (doOriginal, bCutData, doRoot);
LinearHillMuscle doOrigBody = (LinearHillMuscle) doOriginal;
m_aryAttachmentPoints = (VortexAnimatTools.Collections.MuscleAttachments) doOrigBody.m_aryAttachmentPoints.Copy();
m_bEnabled = doOrigBody.m_bEnabled;
m_StimTension = (AnimatTools.DataObjects.Gains.MuscleGains.StimulusTension) doOrigBody.m_StimTension.Clone(this, bCutData, doRoot);
m_LengthTension = (AnimatTools.DataObjects.Gains.MuscleGains.LengthTension) doOrigBody.m_LengthTension.Clone(this, bCutData, doRoot);
m_snMaxTension = (AnimatTools.Framework.ScaledNumber) doOrigBody.m_snMaxTension.Clone(this, bCutData, doRoot);
m_snMuscleLength = (AnimatTools.Framework.ScaledNumber) doOrigBody.m_snMuscleLength.Clone(this, bCutData, doRoot);
m_snKse = (AnimatTools.Framework.ScaledNumber) doOrigBody.m_snKse.Clone(this, bCutData, doRoot);
m_snKpe = (AnimatTools.Framework.ScaledNumber) doOrigBody.m_snKpe.Clone(this, bCutData, doRoot);
m_snB = (AnimatTools.Framework.ScaledNumber) doOrigBody.m_snB.Clone(this, bCutData, doRoot);
m_snPeLengthPercentage = (AnimatTools.Framework.ScaledNumber) doOrigBody.m_snPeLengthPercentage.Clone(this, bCutData, doRoot);
m_snMinPeLengthPercentage = (AnimatTools.Framework.ScaledNumber) doOrigBody.m_snMinPeLengthPercentage.Clone(this, bCutData, doRoot);
m_snIbDischargeConstant = (AnimatTools.Framework.ScaledNumber) doOrigBody.m_snIbDischargeConstant.Clone(this, bCutData, doRoot);
}
protected override void CloneInternal(AnimatTools.Framework.DataObject doOriginal, bool bCutData, AnimatTools.Framework.DataObject doRoot)
{
base.CloneInternal (doOriginal, bCutData, doRoot);
Cone doOrigBody = (Cone) doOriginal;
m_fLowerRadius = doOrigBody.m_fLowerRadius;
m_fUpperRadius = doOrigBody.m_fUpperRadius;
m_fHeight = doOrigBody.m_fHeight;
m_snUpperRadius = (AnimatTools.Framework.ScaledNumber) doOrigBody.m_snUpperRadius.Clone(this, bCutData, doRoot);
m_snLowerRadius = (AnimatTools.Framework.ScaledNumber) doOrigBody.m_snLowerRadius.Clone(this, bCutData, doRoot);
m_snHeight = (AnimatTools.Framework.ScaledNumber) doOrigBody.m_snHeight.Clone(this, bCutData, doRoot);
}
protected override void CloneInternal(AnimatTools.Framework.DataObject doOriginal, bool bCutData, AnimatTools.Framework.DataObject doRoot)
{
base.CloneInternal (doOriginal, bCutData, doRoot);
Prismatic doOrigBody = (Prismatic) doOriginal;
m_fltMinMovement = doOrigBody.m_fltMinMovement;
m_fltMaxMovement = doOrigBody.m_fltMaxMovement;
m_fltLength = doOrigBody.m_fltLength;
m_snMinMovement = (AnimatTools.Framework.ScaledNumber) doOrigBody.m_snMinMovement.Clone(this, bCutData, doRoot);
m_snMaxMovement = (AnimatTools.Framework.ScaledNumber) doOrigBody.m_snMaxMovement.Clone(this, bCutData, doRoot);
m_snLength = (AnimatTools.Framework.ScaledNumber) doOrigBody.m_snLength.Clone(this, bCutData, doRoot);
m_snMaxForce = (AnimatTools.Framework.ScaledNumber) m_snMaxForce.Clone(this, bCutData, doRoot);
m_snMaxVelocity = (AnimatTools.Framework.ScaledNumber) m_snMaxVelocity.Clone(this, bCutData, doRoot);
m_bEnableMotor = doOrigBody.m_bEnableMotor;
m_bServoMotor = doOrigBody.m_bServoMotor;
m_fltServoGain = doOrigBody.ServoGain;
}
protected override void CloneInternal(AnimatTools.Framework.DataObject doOriginal, bool bCutData, AnimatTools.Framework.DataObject doRoot)
{
base.CloneInternal (doOriginal, bCutData, doRoot);
MultiSegmentSpring doOrigBody = (MultiSegmentSpring) doOriginal;
m_aryAttachmentPoints = (VortexAnimatTools.Collections.MuscleAttachments) doOrigBody.m_aryAttachmentPoints.Copy();
m_bEnabled = doOrigBody.m_bEnabled;
m_StimTension = (AnimatTools.DataObjects.Gains.MuscleGains.StimulusTension) doOrigBody.m_StimTension.Clone(this, bCutData, doRoot);
m_LengthTension = (AnimatTools.DataObjects.Gains.MuscleGains.LengthTension) doOrigBody.m_LengthTension.Clone(this, bCutData, doRoot);
m_snMaxTension = (AnimatTools.Framework.ScaledNumber) doOrigBody.m_snMaxTension.Clone(this, bCutData, doRoot);
m_snMuscleLength = (AnimatTools.Framework.ScaledNumber) doOrigBody.m_snMuscleLength.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_eForceType = doOrigBody.m_eForceType;
}
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];
}
}
protected override void CloneInternal(AnimatTools.Framework.DataObject doOriginal, bool bCutData, AnimatTools.Framework.DataObject doRoot)
{
base.CloneInternal (doOriginal, bCutData, doRoot);
LinearHillStretchReceptor doOrigBody = (LinearHillStretchReceptor) doOriginal;
m_bApplyTension = doOrigBody.m_bApplyTension;
m_snIaDischargeConstant = (AnimatTools.Framework.ScaledNumber) doOrigBody.m_snIaDischargeConstant.Clone(this, bCutData, doRoot);
m_snIIDischargeConstant = (AnimatTools.Framework.ScaledNumber) doOrigBody.m_snIIDischargeConstant.Clone(this, bCutData, doRoot);
}
protected void SetPositionUnits()
{
double dblActualValue = m_snVelocity.ActualValue;
AnimatTools.Framework.ScaledNumber.enumNumericScale eScale = m_snVelocity.Scale;
if(m_doBodyPart != null && m_doBodyPart is AnimatTools.DataObjects.Physical.Joint)
{
AnimatTools.DataObjects.Physical.Joint doJoint = (AnimatTools.DataObjects.Physical.Joint) m_doBodyPart;
if(doJoint.UsesRadians)
m_snVelocity = new AnimatTools.Framework.ScaledNumber(this, "Velocity", 0, AnimatTools.Framework.ScaledNumber.enumNumericScale.None, "radians/sec", "rad/s");
else
m_snVelocity = new AnimatTools.Framework.ScaledNumber(this, "Velocity", 0, AnimatTools.Framework.ScaledNumber.enumNumericScale.None, "meters/sec", "m/s");
}
else
m_snVelocity = new AnimatTools.Framework.ScaledNumber(this, "Velocity", 0, AnimatTools.Framework.ScaledNumber.enumNumericScale.None, "meters/sec", "m/s");
m_snVelocity.SetFromValue(dblActualValue, eScale);
}
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;
}
