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 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";
}
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);
}
public override void LoadData(ref AnimatTools.Interfaces.StdXml oXml)
{
base.LoadData(ref oXml);
oXml.IntoElem();
if(oXml.FindChildElement("MuscleID", false))
{
string strMuscleID = oXml.GetChildString("MuscleID");
if(m_doOrganism != null && strMuscleID.Trim().Length > 0)
{
AnimatTools.DataObjects.Physical.BodyPart rbPart = (AnimatTools.DataObjects.Physical.BodyPart) m_doOrganism.FindBodyPart(strMuscleID, false);
if(rbPart != null)
m_thMuscle = new AnimatTools.TypeHelpers.LinkedBodyPartList(m_doOrganism, rbPart, m_tpBodyPartType);
}
}
else
m_thMuscle = new AnimatTools.TypeHelpers.LinkedBodyPartList(m_doOrganism, null, m_tpBodyPartType);
m_strMuscleLengthData = oXml.GetChildString("MuscleLengthData", m_strMuscleLengthData);
if(oXml.FindChildElement("Conductance", false))
m_snConductance.LoadData(ref oXml, "Conductance");
if(oXml.FindChildElement("RestPotential", false))
m_snRestPotential.LoadData(ref oXml, "RestPotential");
oXml.OutOfElem();
}
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];
}
}
public override void InitializeAfterLoad(ref AnimatTools.DataObjects.Simulation dsSim, ref AnimatTools.DataObjects.Physical.PhysicalStructure doStructure)
{
if(m_strPrimaryAttachID.Trim().Length > 0)
{
AnimatTools.DataObjects.Physical.BodyPart rbPart = (AnimatTools.DataObjects.Physical.BodyPart) doStructure.FindBodyPart(m_strPrimaryAttachID, true);
m_thPrimaryAttachment = new AnimatTools.TypeHelpers.LinkedBodyPartList(doStructure, rbPart, m_tpBodyPartType);
}
if(m_strSecondaryAttachID.Trim().Length > 0)
{
AnimatTools.DataObjects.Physical.BodyPart rbPart = (AnimatTools.DataObjects.Physical.BodyPart) doStructure.FindBodyPart(m_strSecondaryAttachID, true);
m_thSecondaryAttachment = new AnimatTools.TypeHelpers.LinkedBodyPartList(doStructure, rbPart, m_tpBodyPartType);
}
}
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;
}
public override void LoadData(ref AnimatTools.Interfaces.StdXml oXml)
{
base.LoadData(ref oXml);
oXml.IntoElem();
if(oXml.FindChildElement("PrimaryAttachmentID", false))
{
string strAttachID = oXml.GetChildString("PrimaryAttachmentID");
if(m_doStructure != null && strAttachID.Trim().Length > 0)
{
AnimatTools.DataObjects.Physical.BodyPart rbPart = (AnimatTools.DataObjects.Physical.BodyPart) m_doStructure.FindBodyPart(strAttachID, false);
if(rbPart != null)
m_thPrimaryAttachment = new AnimatTools.TypeHelpers.LinkedBodyPartList(m_doStructure, rbPart, m_tpBodyPartType);
}
}
else
m_thPrimaryAttachment = new AnimatTools.TypeHelpers.LinkedBodyPartList(m_doStructure, null, m_tpBodyPartType);
if(oXml.FindChildElement("SecondaryAttachmentID", false))
{
string strAttachID = oXml.GetChildString("SecondaryAttachmentID");
if(m_doStructure != null && strAttachID.Trim().Length > 0)
{
AnimatTools.DataObjects.Physical.BodyPart rbPart = (AnimatTools.DataObjects.Physical.BodyPart) m_doStructure.FindBodyPart(strAttachID, false);
if(rbPart != null)
m_thSecondaryAttachment = new AnimatTools.TypeHelpers.LinkedBodyPartList(m_doStructure, rbPart, m_tpBodyPartType);
}
}
else
m_thSecondaryAttachment = new AnimatTools.TypeHelpers.LinkedBodyPartList(m_doStructure, null, m_tpBodyPartType);
m_fltProportionalGain = oXml.GetChildFloat("PGain", m_fltProportionalGain);
m_fltDerivativeGain = oXml.GetChildFloat("DGain", m_fltDerivativeGain);
m_fltIntegratorGain = oXml.GetChildFloat("IGain", m_fltIntegratorGain);
m_fltMaxIntegratorValue = oXml.GetChildFloat("MaxIValue", m_fltMaxIntegratorValue);
m_snVelocity.LoadData(ref oXml, "Velocity");
m_snMaxForce.LoadData(ref oXml, "MaxForce");
SetPositionUnits();
oXml.OutOfElem();
}
