public virtual bool Validate (Beagle.Hit hit)
{
if (flavors.Count < 1)
return false;
Weight = 0;
HitFlavor best = null;
foreach (HitFlavor flavor in flavors) {
if (! flavor.IsMatch (hit))
continue;
if (best == null) {
best = flavor;
continue;
}
if (flavor.Weight > best.Weight) {
best = flavor;
}
}
if (best != null) {
Weight += best.Weight;
return true;
}
return false;
}
private void connectButton_Click(object sender, RoutedEventArgs e)
{
string host = hostTextBox.Text;
int i2cCommandPort = int.Parse(i2cCommandPortTextBox.Text);
int cameraPort = int.Parse(cameraPortTextBox.Text);
Settings.Default.Host = host;
Settings.Default.I2CProxyPort = i2cCommandPort;
Settings.Default.CameraPort = cameraPort;
Settings.Default.Save();
var robot = new Beagle();
robot.Host = host;
robot.I2CCommandPort = i2cCommandPort;
robot.I2CPollPort = i2cCommandPort + 1;
robot.CameraPort = cameraPort;
robot.Init();
bool ok = robot.Connect();
if (!ok)
{
MessageBox.Show("Unable to connect. Please check your settings.", "Connect", MessageBoxButton.OK, MessageBoxImage.Error);
return;
}
var main = new MainWindow();
main.Robot = robot;
main.Show();
expectedToClose = true;
Close();
}
public RSSFeed (Beagle.Hit hit, Beagle.Query query) : base (hit, query)
{
Group = TileGroup.Feed;
Title = Hit ["dc:title"];
Description = Hit ["dc:publisher"];
}
public ThumbnailRequest (Gtk.Image image, string thumbnail_file, Beagle.Hit hit, int size)
{
Image = image;
ThumbnailFile = thumbnail_file;
Hit = hit;
Size = size;
}
public IMLog (Beagle.Hit hit, Beagle.Query query) : base (hit, query)
{
Group = TileGroup.Conversations;
Subject.LabelProp = Catalog.GetString ("IM Conversation");
string alias = hit.GetFirstProperty ("fixme:speakingto_alias");
string name = hit.GetFirstProperty ("fixme:speakingto");
if (alias != null && alias != "")
From.LabelProp = "<b>" + alias + "</b>";
else if (name != null && name != "")
From.LabelProp = "<b>" + name + "</b>";
else
From.LabelProp = "(unknown)";
try {
string starttime = hit.GetFirstProperty ("fixme:starttime");
if (!String.IsNullOrEmpty (starttime))
Timestamp = StringFu.StringToDateTime (starttime);
Date.LabelProp = Utils.NiceShortDate (Timestamp);
} catch {}
}
public override Tile BuildTile (Beagle.Hit hit, Beagle.Query query)
{
if (ditem == IntPtr.Zero)
return null;
if (hit ["fixme:NoDisplay"] == "true")
return null;
string notshow = gnome_desktop_item_get_string (ditem, "NotShowIn");
if (notshow != null && notshow.IndexOf ("GNOME") != -1)
return null;
string onlyshow = gnome_desktop_item_get_string (ditem, "OnlyShowIn");
if (onlyshow != null && onlyshow.IndexOf ("GNOME") == -1)
return null;
if (!checked_gconf)
CheckLockdown();
if (disable_command_line) {
string[] categories = hit.GetProperties ("fixme:Categories");
if (categories != null && Array.IndexOf (categories, "TerminalEmulator") != -1)
return null;
}
return new Application (hit, query, ditem);
}
static void Main(string[] args)
{
var context = Beagle.CreateContext <MyDatabase>(new SqliteEngine("Filename=./test3.db"));
Debug.WriteLine(context.Store.People == null);
context.Store.People.Add(new Person()
{
Name = "Dylan"
});
context.Store.Friends.Add(new Friend()
{
FriendName = "Dylan", Name = "Brad"
});
context.Store.Friends.Add(new Friend()
{
FriendName = "Dylan", Name = "Jacob"
});
foreach (var person in context.Store.People)
{
Console.WriteLine("[Person] Name=" + person.Name);
}
foreach (var f in context.Store.Friends)
{
Console.WriteLine("[Friend] Name=" + f.Name, ",FriendName=" + f.Name);
}
Console.ReadLine();
}
public Hit (uint id, Beagle.Hit hit, string[] fields, Query query)
{
this.id = id;
bHit = hit;
hitValue = new object[fields.Length];
int i = 0;
uri = hit.Uri;
foreach (string field in fields) {
// We add String.Empty to attributes because they may be null and we cannot
// return null objects over DBus
string[] bfields = Ontologies.XesamToBeagleField (field);
switch (bfields [0]) {
case "uri":
hitValue [i++] = hit.Uri.ToString ();
break;
case "mimetype":
hitValue [i++] = hit.MimeType + String.Empty;
break;
case "date":
hitValue [i++] = hit.Timestamp.ToString ("s");
break;
case "snippet":
SnippetRequest sreq = new SnippetRequest (query, hit);
SnippetResponse sresp = (SnippetResponse) sreq.Send ();
hitValue [i++] = sresp.Snippet != null ? sresp.Snippet : String.Empty;
break;
default:
// FIXME: This *will* break since we don't know what the expected
// type here is, and we're always using strings
List<string> values = new List<string> ();
foreach (string bfield in bfields) {
string[] prop = hit.GetProperties (bfield);
if (prop != null)
values.AddRange (prop);
}
if (values.Count == 0)
// No values found
hitValue [i++] = String.Empty;
else if (values.Count == 1)
// Only one value -- return as string
hitValue [i++] = values [0];
else
// Multiple values -- returns as string[]
hitValue [i++] = values.ToArray ();
break;
}
}
}
public void BeagleBarkTest()
{
Beagle beagle = new Beagle();
bool hunter = beagle.IsHunter.Equals("I was bred to hunt");
Assert.True(hunter);
}
public override void Bind(Beagle robot, Joystick joystick)
{
base.Bind(robot, joystick);
if (Joystick != null)
{
joystick.PointOfViewPressed += joystick_PointOfViewChanged;
}
DataContext = robot.ServoController;
}
public Task (Beagle.Hit hit, Beagle.Query query) : base (hit, query)
{
Group = TileGroup.Calendar;
Title = hit.GetFirstProperty ("fixme:summary");
if (!String.IsNullOrEmpty (hit.GetFirstProperty ("fixme:description")))
Description = Utils.TrimFirstLine (hit.GetFirstProperty ("fixme:description"));
}
public Presentation (Beagle.Hit hit, Beagle.Query query) : base (hit, query)
{
Group = TileGroup.Documents;
if (Hit ["fixme:slide-count"] != null) {
int count = Int32.Parse (Hit ["fixme:slide-count"]);
Description = String.Format (Catalog.GetPluralString ("{0} slide", "{0} slides", count), count);
}
}
public Contact (Beagle.Hit hit, Beagle.Query query) : base (hit, query)
{
Group = TileGroup.Contact;
Title = hit.GetFirstProperty ("fixme:Name");
Description = hit.GetFirstProperty ("fixme:Email");
if (Hit.GetFirstProperty ("fixme:Email") != null)
AddAction (new TileAction (Catalog.GetString ("Send Mail"), SendMail));
}
protected static string GetTitle (Beagle.Hit hit)
{
string title;
title = hit.GetFirstProperty ("dc:title");
if (String.IsNullOrEmpty (title))
title = hit.GetFirstProperty ("beagle:ExactFilename");
return title;
}
public Docbook (Beagle.Hit hit, Beagle.Query query) : base (hit, query)
{
if (! String.IsNullOrEmpty (hit.GetFirstProperty ("dc:title")))
Title = hit.GetFirstProperty ("dc:title");
else
Title = hit.GetFirstProperty ("beagle:ExactFilename");
if (hit ["beagle:IsChild"] == "true")
Description = hit.GetFirstProperty ("parent:beagle:Filename");
else
Description = hit.GetFirstProperty ("beagle:Filename");
}
private static string GetAddress (Beagle.Hit hit)
{
bool sent = (Utils.GetFirstPropertyOfParent (hit, "fixme:isSent") != null);
string address = sent ? Utils.GetFirstPropertyOfParent (hit, "fixme:to") : Utils.GetFirstPropertyOfParent (hit, "fixme:from");
if (address == null)
return "";
if (address.IndexOf (" <") != -1)
address = address.Substring (0, address.IndexOf (" <"));
return address;
}
public Video (Beagle.Hit hit, Beagle.Query query) : base (hit, query)
{
Group = TileGroup.Video;
Title = Hit ["beagle:ExactFilename"];
if (! String.IsNullOrEmpty (Hit ["fixme:video:codec"]))
Description = Hit ["fixme:video:codec"];
if (! String.IsNullOrEmpty (Hit ["fixme:video:width"]))
Description += String.Format (" ({0}x{1})", Hit ["fixme:video:width"], Hit ["fixme:video:height"]);
}
public override bool Validate (Beagle.Hit hit)
{
if (! base.Validate (hit))
return false;
if (hit ["beagle:FileType"] != "documentation")
return false;
Weight += 2;
return true;
}
public Calendar (Beagle.Hit hit, Beagle.Query query) : base (hit, query)
{
Group = TileGroup.Calendar;
string summary = hit.GetFirstProperty ("fixme:summary");
string time = Utils.NiceShortDate (hit.GetFirstProperty ("fixme:starttime"));
Title = (time == "") ? summary : time + ": " + summary;
if (!String.IsNullOrEmpty (hit.GetFirstProperty ("fixme:description")))
Description = Utils.TrimFirstLine (hit.GetFirstProperty ("fixme:description"));
}
public override bool Validate (Beagle.Hit hit)
{
if (! base.Validate (hit))
return false;
string str = hit.GetFirstProperty ("parent:fixme:hasAttachments");
if (hit.ParentUri == null || str == null || str == "false")
return false;
Weight += 1;
return true;
}
public virtual void Bind(Beagle robot, Joystick joystick)
{
if (robot == null)
{
throw new ArgumentNullException("robot");
}
if (joystick == null)
{
throw new ArgumentNullException("joystick");
}
_robot = robot;
_joystick = joystick;
}
public TextDocument (Beagle.Hit hit, Beagle.Query query) : base (hit, query)
{
Group = TileGroup.Documents;
if (Hit ["fixme:page-count"] != null) {
int count = Int32.Parse (Hit ["fixme:page-count"]);
Description = String.Format (Catalog.GetPluralString ("{0} page", "{0} pages", count), count);
}
// These files generally have a default title or an auto-generated title.
// So use the filename for these types of files.
Title = hit.GetFirstProperty ("beagle:ExactFilename");
}
public WebHistory (Beagle.Hit hit, Beagle.Query query) : base (hit, query)
{
Group = TileGroup.Website;
string title = hit.GetFirstProperty ("dc:title");
if (String.IsNullOrEmpty (title))
title = Hit.Uri.Host;
Title = title;
Description = hit.Uri.ToString ();
AddAction (new TileAction ("Find more from same host", Gtk.Stock.Find, FindFromHost));
}
static void Main(string[] args)
{
Console.WriteLine("Hello World!");
Beagle beagle = new Beagle();
Console.WriteLine(beagle.IsHunter);
Console.WriteLine(beagle.DoTrick());
Console.WriteLine(beagle.EatFood());
Console.WriteLine(beagle.FormsGroup());
Console.WriteLine(beagle.MakesBabies());
Console.WriteLine(beagle.LearnTrick());
Husky husky = new Husky();
Console.WriteLine(husky.LovesSnow);
Console.WriteLine(husky.DoTrick());
Console.WriteLine(husky.EatFood());
Console.WriteLine(husky.FormsGroup());
Console.WriteLine(husky.MakesBabies());
Console.WriteLine(husky.LearnTrick());
Chimpanzee chimp = new Chimpanzee();
Console.WriteLine(chimp.HasHeart);
Console.WriteLine(chimp.NumberOfLegs);
Console.WriteLine(chimp.EatFood());
Console.WriteLine(chimp.FormsGroup());
Console.WriteLine(chimp.MakesBabies());
Console.WriteLine(beagle.MakeSound());
Dolphin dolphin = new Dolphin();
Console.WriteLine(dolphin.HasHeart);
Console.WriteLine(dolphin.BreathesAir);
Console.WriteLine(dolphin.HasScales);
Console.WriteLine(dolphin.DoTrick());
Console.WriteLine(dolphin.EatFood());
Console.WriteLine(dolphin.EatsHumans());
Console.WriteLine(dolphin.MakesBabies());
Console.WriteLine(dolphin.MakeSound());
Shark shark = new Shark();
Console.WriteLine(shark.HasHeart);
Console.WriteLine(shark.BreathesAir);
Console.WriteLine(shark.HasScales);
Console.WriteLine(shark.EatFood());
Console.WriteLine(shark.EatsHumans());
Console.WriteLine(shark.MakeSound());
}
public Manpage (Beagle.Hit hit, Beagle.Query query) : base (hit, query)
{
if (! String.IsNullOrEmpty (hit.GetFirstProperty ("dc:title")))
Title = hit.GetFirstProperty ("dc:title");
else
Title = hit.GetFirstProperty ("beagle:ExactFilename");
if (hit ["beagle:IsChild"] == "true")
path = hit.ParentUri.LocalPath;
else
path = hit.Uri.LocalPath;
Description = hit.GetFirstProperty ("dc:subject") ?? Catalog.GetString ("Manual page");
}
public MailAttachment (Beagle.Hit hit, Beagle.Query query) : base (hit, query)
{
Group = TileGroup.Documents;
Title = Hit ["fixme:attachment_title"];
if (String.IsNullOrEmpty (Title))
Title = Catalog.GetString (String.Format ("Attachment to \"{0}\"", Hit ["parent:dc:title"]));
Description = Catalog.GetString ("Mail attachment");
if ((Utils.GetFirstPropertyOfParent (hit, "fixme:isSent") == null)){
AddAction ( new TileAction (Catalog.GetString ("Find Messages From Sender"), Gtk.Stock.Find, FindAllFromSender));
}
}
protected TileFlat (Beagle.Hit hit, Beagle.Query query) : base (hit, query)
{
Subject = WidgetFu.NewLabel ();
WidgetFu.EllipsizeLabel (Subject, 40);
HBox.PackStart (Subject, true, true, 3);
From = WidgetFu.NewLabel ();
From.UseMarkup = true;
WidgetFu.EllipsizeLabel (From, 20);
HBox.PackStart (From, false, false, 3);
Date = WidgetFu.NewLabel ();
HBox.PackStart (Date, false, false, 3);
HBox.ShowAll ();
}
// invalid .desktop files get filtered out by Validate(), so they won't
// show up as Application tiles, but will show up as File tiles. But
// valid .desktop files marked to not show up in GNOME get eaten by
// BuildTile instead, so that they won't get picked up by the File tile.
// FIXME: we shouldn't be hardcoding GNOME in BuildTile, it should depend
// on what the running desktop is.
public override bool Validate (Beagle.Hit hit)
{
if (!base.Validate (hit))
return false;
ditem = gnome_desktop_item_new_from_uri (hit.EscapedUri, 0, IntPtr.Zero);
if (ditem == IntPtr.Zero)
return false;
// Make sure this is a real desktop file, not a .desktop.in
string _name = gnome_desktop_item_get_string (ditem, "_Name");
if (_name != null)
return false;
return true;
}
public bool SetThumbnailIcon (Gtk.Image image, Beagle.Hit hit, int size)
{
DateTime mtime = (hit.FileInfo != null) ? hit.FileInfo.LastWriteTime : DateTime.Now;
if (hit.MimeType == null ||
!factory.CanThumbnail (hit.EscapedUri, hit.MimeType, mtime))
return false;
string thumbnail = Gnome.Thumbnail.PathForUri (hit.EscapedUri, Gnome.ThumbnailSize.Normal);
bool failed_thumb = factory.HasValidFailedThumbnail (hit.EscapedUri, mtime);
if (! File.Exists (thumbnail) && ! failed_thumb) {
lock (in_queue) {
in_queue.Add (new ThumbnailRequest (image, thumbnail, hit, size));
if (thread == null) {
thread = new Thread (GenerateThumbnails);
thread.Start ();
}
}
return false;
}
if (failed_thumb)
return false;
Gdk.Pixbuf icon = new Gdk.Pixbuf (thumbnail);
if (icon == null)
return false;
int width = icon.Width, height = icon.Height;
if (icon.Height > size) {
if (icon.Width > icon.Height) {
width = size;
height = (size * icon.Height) / icon.Width;
} else {
height = size;
width = (size * icon.Width) / icon.Height;
}
} else if (icon.Width > size) {
width = size;
height = (size * icon.Height) / icon.Width;
}
icon = icon.ScaleSimple (width, height, Gdk.InterpType.Bilinear);
image.Pixbuf = icon;
return true;
}
public Image (Beagle.Hit hit, Beagle.Query query) : base (hit, query)
{
Group = TileGroup.Image;
Title = Hit ["beagle:ExactFilename"];
if (Hit ["beagle:FilenameExtension"] != null && Hit ["beagle:FilenameExtension"].Length > 0)
Description = Hit ["beagle:FilenameExtension"].Substring (1).ToUpper ();
if (Hit ["fixme:width"] != null && Hit ["fixme:width"] != "")
Description += String.Format (" {0}x{1}", Hit ["fixme:width"], Hit ["fixme:height"]);
Description += String.Format (" ({0})", StringFu.FileLengthToString (Hit.FileInfo.Length));
// AddAction (new TileAction (Catalog.GetString ("Add to Library"), Gtk.Stock.Add, AddToLibrary));
AddAction (new TileAction (Catalog.GetString ("Set as Wallpaper"), SetAsWallpaper));
}
public Folder (Beagle.Hit hit, Beagle.Query query) : base (hit, query)
{
Group = TileGroup.Folder;
Title = Hit ["beagle:ExactFilename"];
EnableOpenWith = true;
int n = Hit.DirectoryInfo.GetFileSystemInfos ().Length;
if (n == 0)
Description = Catalog.GetString ("Empty");
else
Description = String.Format (Catalog.GetPluralString ("Contains {0} Item",
"Contains {0} Items", n), n);
// FIXME: s/"gtk-info"/Gtk.Stock.Info/ when we can depend on gtk# 2.8
//AddAction (new TileAction (Catalog.GetString ("Show Information"), "gtk-info", ShowInformation));
AddAction (new TileAction (Catalog.GetString ("Move to Trash"), Gtk.Stock.Delete, MoveToTrash));
}
public override bool Validate (Beagle.Hit hit)
{
if (! base.Validate (hit))
return false;
// FIXME: We should be using the users locale and
// if we fail to find a result fallback to the C locale.
// However, there is no easy way of doing this now.
// Environment.GetEnvironmentVariable ("LANG"))
if (String.IsNullOrEmpty (hit ["fixme:language"]))
return true;
if (hit ["fixme:language"] == "C" || hit ["fixme:language"] == "en")
return true;
return false;
}
public Audio (Beagle.Hit hit, Beagle.Query query) : base (hit, query)
{
Group = TileGroup.Audio;
// FIXME: Show album art if any. Needs implementation in Beagle.Util
string title = Hit.GetFirstProperty ("dc:title");
if (String.IsNullOrEmpty (title))
title = Hit.GetFirstProperty ("fixme:title");
if (! String.IsNullOrEmpty (title))
Title = title;
string artist = Hit.GetFirstProperty ("fixme:artist");
if (! String.IsNullOrEmpty (artist))
Description = artist;
//AddAction (new TileAction (Catalog.GetString ("Add to Library"), AddToLibrary));
}
public override bool Validate (Beagle.Hit hit)
{
if (! base.Validate (hit))
return false;
if (hit ["beagle:HitType"] == "File") {
// This handles a case when a file with the
// message/rfc822 mimetype is indexed without
// gmime. Thus we fail to extract any info and
// this tile is useless.
string subject = hit.GetFirstProperty ("dc:title");
if (subject != null && subject != "")
return true;
return false;
}
return true;
}
public TileTemplate (Beagle.Hit hit, Beagle.Query query) : base (hit, query)
{
Alignment alignment = new Alignment (0.0f, 0.5f, 1.0f, 0.0f);
HBox.PackStart (alignment, true, true, 0);
VBox vbox = new VBox (false, 0);
alignment.Add (vbox);
title_label = WidgetFu.NewLabel ();
title_label.LineWrap = true;
WidgetFu.EllipsizeLabel (title_label, 30);
vbox.PackStart (title_label, false, false, 0);
desc_label = WidgetFu.NewGrayLabel ();
desc_label.NoShowAll = true;
WidgetFu.EllipsizeLabel (desc_label, 30);
vbox.PackStart (desc_label, false, false, 0);
alignment.ShowAll ();
}
public TileFile (Beagle.Hit hit, Beagle.Query query) : base (hit, query)
{
Title = GetTitle (hit);
if (Hit.FileInfo != null) {
Timestamp = Hit.FileInfo.LastWriteTimeUtc;
Description = Utils.NiceShortDate (Timestamp);
}
AddAction (new TileAction (Catalog.GetString ("Reveal in Folder"), RevealInFolder));
AddAction (new TileAction (Catalog.GetString ("E-Mail"), Email));
// AddAction (new TileAction (Catalog.GetString ("Instant-Message"), InstantMessage));
AddAction (new TileAction (Catalog.GetString ("Move to Trash"), Gtk.Stock.Delete, MoveToTrash));
if (! String.IsNullOrEmpty (Hit.GetFirstProperty ("dc:author"))) {
AddAction(new TileAction (Catalog.GetString ("Find Documents From Same Author"), Gtk.Stock.Find, FindSameAuthor));
}
EnableOpenWith = true;
}
public override void Bind(Beagle robot, Joystick joystick)
{
base.Bind(robot, joystick);
DataContext = robot;
}
protected override void SolveInstance(IGH_DataAccess DA)
{
// =============================================================================================================
// Reset
// =============================================================================================================
DA.GetData <bool>("Reset", ref iReset);
if (iReset)
{
DA.GetData <SpringMesh>("Spring Mesh", ref iSpringMesh);
DA.GetData <int>("Population Size", ref iPopulationSize);
triangleCentres = new List <Point3d>();
trianglePlanes = new List <Plane>();
triangleNormals = new List <Vector3d>();
for (int i = 0; i < iSpringMesh.Triangles.Count; i++)
{
triangleCentres.Add(iSpringMesh.ComputeCircumscribedCircleCenter(i));
trianglePlanes.Add(new Plane(
iSpringMesh.Vertices[iSpringMesh.Triangles[i].FirstVertexIndex].Position,
iSpringMesh.Vertices[iSpringMesh.Triangles[i].SecondVertexIndex].Position,
iSpringMesh.Vertices[iSpringMesh.Triangles[i].ThirdVertexIndex].Position
));
triangleNormals.Add(iSpringMesh.ComputeTriangleNormal(i));
}
edgeXAxes = new List <Vector3d>();
edgeYAxes = new List <Vector3d>();
edgeZAxes = new List <Vector3d>();
edgePlanes = new List <Plane>();
edgeOrigins = new List <Point3d>();
List <double> geneMinValues = new List <double>();
List <double> geneMaxValues = new List <double>();
foreach (Edge edge in iSpringMesh.Edges)
{
if (edge.SecondTriangleIndex >= 0)
{
Vector3d edgeXAxis = iSpringMesh.Vertices[edge.SecondVertexIndex].Position - iSpringMesh.Vertices[edge.FirstVertexIndex].Position;
edgeXAxes.Add(edgeXAxis);
Vector3d edgeZAxis = triangleNormals[edge.FirstTriangleIndex] + triangleNormals[edge.SecondTriangleIndex];
edgeZAxis.Unitize();
edgeZAxes.Add(edgeZAxis);
Vector3d edgeYAxis = Vector3d.CrossProduct(edgeZAxis, edgeXAxis);
edgeYAxes.Add(edgeYAxis);
Point3d edgePlaneOrigin = 0.5 * (iSpringMesh.Vertices[edge.FirstVertexIndex].Position + iSpringMesh.Vertices[edge.SecondVertexIndex].Position);
edgeOrigins.Add(edgePlaneOrigin);
edgePlanes.Add(new Plane(edgePlaneOrigin, edgeXAxis, edgeYAxis));
double angle = Utils.AngleBetweenTwoUnitVectors(edgeZAxis, triangleNormals[edge.FirstTriangleIndex]);
geneMinValues.Add(-angle);
geneMaxValues.Add(angle);
}
else
{
Vector3d edgeXAxis = iSpringMesh.Vertices[edge.SecondVertexIndex].Position - iSpringMesh.Vertices[edge.FirstVertexIndex].Position;
edgeXAxes.Add(edgeXAxis);
Vector3d edgeZAxis = triangleNormals[edge.FirstTriangleIndex];
if (edgeZAxis.Z < 0.0)
{
edgeZAxis += -Vector3d.ZAxis;
}
else
{
Vector3d temp = new Vector3d(-edgeZAxis.X, -edgeZAxis.Y, 0.0);
temp.Unitize();
edgeZAxis += temp;
}
edgeZAxis.Unitize();
edgeZAxes.Add(edgeZAxis);
Vector3d edgeYAxis = Vector3d.CrossProduct(triangleNormals[edge.FirstTriangleIndex], edgeXAxis);
edgeYAxes.Add(edgeYAxis);
Point3d edgePlaneOrigin = 0.5 * (iSpringMesh.Vertices[edge.FirstVertexIndex].Position + iSpringMesh.Vertices[edge.SecondVertexIndex].Position);
edgeOrigins.Add(edgePlaneOrigin);
edgePlanes.Add(new Plane(edgePlaneOrigin, edgeXAxis, edgeYAxis));
double angle = Utils.AngleBetweenTwoUnitVectors(edgeZAxis, triangleNormals[edge.FirstTriangleIndex]);
geneMinValues.Add(-angle);
geneMaxValues.Add(angle);
}
}
beagle = new Beagle(iPopulationSize, geneMinValues, geneMaxValues);
foreach (Genome genome in beagle.Genomes)
{
computeFitness(genome);
}
goto Conclusion;
}
DA.GetData <bool>("Play", ref iPlay);
if (iPlay)
{
ExpireSolution(true);
}
else
{
List <double> values = new List <double>();
foreach (Gene gene in beagle.Genomes[0].Genes)
{
values.Add(gene.Value);
}
DA.SetDataList(4, values);
goto Conclusion;
}
//if (!iPlay) goto Conclusion;
// ====================================================================================================
// Evolution
// ====================================================================================================
DA.GetData <int>("Subiteration Count", ref iSubiterationCount);
DA.GetData <double>("Max. Coupling Distance", ref iMaxCouplingDistance);
DA.GetData <double>("Mutation Rate", ref iMutationRate);
DA.GetData <double>("Mutation Amount", ref iMutationAmount);
beagle.MaxCouplingDistance = iMaxCouplingDistance;
beagle.MutationRate = iMutationRate;
beagle.MutationAmount = iMutationAmount;
for (int i = 0; i < iSubiterationCount; i++)
{
beagle.SelectParents();
beagle.Reproduce();
for (int j = beagle.PopulationSize; j < beagle.Genomes.Count; j++)
{
computeFitness(beagle.Genomes[j]);
}
beagle.SelectFittests();
}
DA.SetDataList(3, new List <double> {
beagle.Genomes[0].Fitness
});
// ====================================================================================================
// Conclusion
// ====================================================================================================
Conclusion:
Genome bestGenome = beagle.Genomes[0];
for (int i = 0; i < bestGenome.Genes.Count; i++)
{
double angle = bestGenome.Genes[i].Value;
Vector3d planeNormal = Math.Sin(angle) * edgeYAxes[i] + Math.Cos(angle) * edgeZAxes[i];
edgePlanes[i] = new Plane(
edgePlanes[i].Origin,
edgePlanes[i].XAxis,
Vector3d.CrossProduct(planeNormal, edgePlanes[i].XAxis)
);
}
//List<Plane> nastyPlanes = new List<Plane>();
List <Point3d> planeTripletIntersections = new List <Point3d>();
foreach (Triangle triangle in iSpringMesh.Triangles)
{
Point3d intersectionPoint;
if (Intersection.PlanePlanePlane(edgePlanes[triangle.FirstEdgeIndex], edgePlanes[triangle.SecondEdgeIndex], edgePlanes[triangle.ThirdEdgeIndex], out intersectionPoint))
{
planeTripletIntersections.Add(intersectionPoint);
}
//else
//{
// nastyPlanes.Add(edgePlanes[triangle.FirstEdgeIndex]);
// nastyPlanes.Add(edgePlanes[triangle.FirstEdgeIndex]);
// nastyPlanes.Add(edgePlanes[triangle.FirstEdgeIndex]);
//}
}
DA.SetDataList(1, edgePlanes);
DA.SetDataList(2, planeTripletIntersections);
//DA.SetDataList(1, edgePlanes);
//DA.SetDataList(2, edgeOrigins);
//DA.SetDataList(3, edgeXAxes);
//DA.SetDataList(4, edgeYAxes);
//DA.SetDataList(5, edgeZAxes);
}
public override void Bind(Beagle robot, Joystick joystick)
{
base.Bind(robot, joystick);
joystick.MainAxisChanged += Joystick_MainAxisChanged;
}
public override void Bind(Beagle robot, Joystick joystick)
{
base.Bind(robot, joystick);
joystick.TriggerPressed += joystick_TriggerClicked;
DataContext = robot.UltrasonicRangeFinder;
}