/// Override _all_ time, jacobian etc. updating. /// In detail, it computes jacobians, violations, etc. and stores /// results in inner structures. public override void update(double mytime, bool update_assets = true) { // Inherit time changes of parent class (ChLink), basically doing nothing :) base.update(mytime, update_assets); // compute jacobians ChVector AbsDist = Body1.TransformPointLocalToParent(pos1) - Body2.TransformPointLocalToParent(pos2); curr_dist = AbsDist.Length(); ChVector D2abs = ChVector.Vnorm(AbsDist); ChVector D2relB = Body2.TransformDirectionParentToLocal(D2abs); ChVector D2relA = Body1.TransformDirectionParentToLocal(D2abs); ChVector CqAx = D2abs; ChVector CqBx = -D2abs; ChVector CqAr = -ChVector.Vcross(D2relA, pos1); ChVector CqBr = ChVector.Vcross(D2relB, pos2); Cx.Get_Cq_a().ElementN(0) = CqAx.x; Cx.Get_Cq_a().ElementN(1) = CqAx.y; Cx.Get_Cq_a().ElementN(2) = CqAx.z; Cx.Get_Cq_a().ElementN(3) = CqAr.x; Cx.Get_Cq_a().ElementN(4) = CqAr.y; Cx.Get_Cq_a().ElementN(5) = CqAr.z; Cx.Get_Cq_b().ElementN(0) = CqBx.x; Cx.Get_Cq_b().ElementN(1) = CqBx.y; Cx.Get_Cq_b().ElementN(2) = CqBx.z; Cx.Get_Cq_b().ElementN(3) = CqBr.x; Cx.Get_Cq_b().ElementN(4) = CqBr.y; Cx.Get_Cq_b().ElementN(5) = CqBr.z; //***TO DO*** C_dt? C_dtdt? (may be never used..) }
/// Specialized initialization for generic mate, given the two bodies to be connected, the /// positions of the two frames to connect on the bodies (each expressed /// in body or abs. coordinates). public virtual void Initialize(ChBodyFrame mbody1, //< first body to link ChBodyFrame mbody2, /// second body to link bool pos_are_relative, //< true: following pos. are relative to bodies. ChFrame <double> mpos1, //< mate frame (slave), for 1st body (rel. or abs., see flag above) ChFrame <double> mpos2 //< mate frame (master), for 2nd body (rel. or abs., see flag above) ) { Debug.Assert(mbody1 != mbody2); this.Body1 = mbody1; this.Body2 = mbody2; // this.SetSystem(mbody1.GetSystem()); this.mask.SetTwoBodiesVariables(Body1.Variables(), Body2.Variables()); if (pos_are_relative) { this.frame1 = mpos1; this.frame2 = mpos2; } else { // from abs to body-rel (this.Body1).TransformParentToLocal(mpos1, this.frame1); this.Body2.TransformParentToLocal(mpos2, this.frame2); } }
public static void Run(IReadOnlyDictionary <string, string> configDictionary) { var profileId = "93B32398-AD51-4CC2-A682-EA3E93614EB1"; var tokenId = "7020000000000137654"; var requestObj = new Body1(); var processingInformationObj = new InstrumentidentifiersProcessingInformation(); var authorizationOptionsObj = new InstrumentidentifiersProcessingInformationAuthorizationOptions(); var initiatorObj = new InstrumentidentifiersProcessingInformationAuthorizationOptionsInitiator(); var merchantInitiatedTransactionObj = new InstrumentidentifiersProcessingInformationAuthorizationOptionsInitiatorMerchantInitiatedTransaction(); merchantInitiatedTransactionObj.PreviousTransactionId = "123456789012345"; initiatorObj.MerchantInitiatedTransaction = merchantInitiatedTransactionObj; authorizationOptionsObj.Initiator = initiatorObj; processingInformationObj.AuthorizationOptions = authorizationOptionsObj; requestObj.ProcessingInformation = processingInformationObj; try { var apiInstance = new InstrumentIdentifierApi(); var result = apiInstance.InstrumentidentifiersTokenIdPatch(profileId, tokenId, requestObj); Console.WriteLine(result); } catch (Exception e) { Console.WriteLine("Exception on calling the API: " + e.Message); } }
/// Initialization based on passing two vectors (point + dir) on the /// two bodies, they will represent the X axes of the two frames (Y and Z will /// be built from the X vector via Gram Schmidt orthonormalization). /// Use the other ChLinkMateGeneric::Initialize() if you want to set the two frames directly. public virtual void Initialize(ChBodyFrame mbody1, //< first body to link ChBodyFrame mbody2, //< second body to link bool pos_are_relative, //< true: following pos. are relative to bodies. ChVector mpt1, //< origin of slave frame 1, for 1st body (rel. or abs., see flag above) ChVector mpt2, //< origin of master frame 2, for 2nd body (rel. or abs., see flag above) ChVector mnorm1, //< X axis of slave plane, for 1st body (rel. or abs., see flag above) ChVector mnorm2 //< X axis of master plane, for 2nd body (rel. or abs., see flag above) ) { Debug.Assert(mbody1 != mbody2); this.Body1 = mbody1; this.Body2 = mbody2; // this.SetSystem(mbody1.GetSystem()); this.mask.SetTwoBodiesVariables(Body1.Variables(), Body2.Variables()); ChVector mx = new ChVector(0, 0, 0); ChVector my = new ChVector(0, 0, 0); ChVector mz = new ChVector(0, 0, 0); ChVector mN = new ChVector(0, 0, 0); ChMatrix33 <double> mrot = new ChMatrix33 <double>(); ChFrame <double> mfr1 = new ChFrame <double>(); ChFrame <double> mfr2 = new ChFrame <double>(); if (pos_are_relative) { mN = mnorm1; mN.DirToDxDyDz(ref mx, ref my, ref mz, new ChVector(0, 1, 0)); mrot.Set_A_axis(mx, my, mz); mfr1.SetRot(mrot); mfr1.SetPos(mpt1); mN = mnorm2; mN.DirToDxDyDz(ref mx, ref my, ref mz, new ChVector(0, 1, 0)); mrot.Set_A_axis(mx, my, mz); mfr2.SetRot(mrot); mfr2.SetPos(mpt2); } else { ChVector temp = ChVector.VECT_Z; // from abs to body-rel mN = this.Body1.TransformDirectionParentToLocal(mnorm1); mN.DirToDxDyDz(ref mx, ref my, ref mz, temp); mrot.Set_A_axis(mx, my, mz); mfr1.SetRot(mrot); mfr1.SetPos(this.Body1.TransformPointParentToLocal(mpt1)); mN = this.Body2.TransformDirectionParentToLocal(mnorm2); mN.DirToDxDyDz(ref mx, ref my, ref mz, temp); mrot.Set_A_axis(mx, my, mz); mfr2.SetRot(mrot); mfr2.SetPos(this.Body2.TransformPointParentToLocal(mpt2)); } this.frame1 = mfr1; this.frame2 = mfr2; }
public override void Iterate() { _deltaVelocity = TargetVelocity - Body1.LinearVelocity; _deltaVelocity.Y = 0.0f; _deltaVelocity *= Stiffness; if (Math.Abs(_deltaVelocity.LengthSquared()) > 0.00001f) { Body1.IsActive = true; Body1.ApplyImpulse(_deltaVelocity * Body1.Mass); } if (_shouldIJump) { Body1.IsActive = true; Body1.ApplyImpulse(JumpVelocity * JVector.Up * Body1.Mass); if (!BodyWalkingOn.IsStatic) { BodyWalkingOn.IsActive = true; BodyWalkingOn.ApplyImpulse(-1.0f * JumpVelocity * JVector.Up * Body1.Mass); } } }
public override void Iterate() { deltaVelocity = TargetVelocity - Body1.LinearVelocity; deltaVelocity.Y = 0.0f; // determine how 'stiff' the character follows the target velocity deltaVelocity *= this.Stiffness; if (deltaVelocity.LengthSquared() != 0.0f) { // activate it, in case it fall asleep :) Body1.IsActive = true; Body1.ApplyImpulse(deltaVelocity * Body1.Mass); } if (shouldIJump) { Body1.IsActive = true; Body1.ApplyImpulse(JumpVelocity * JVector.Up * Body1.Mass); if (!BodyWalkingOn.IsStatic) { BodyWalkingOn.IsActive = true; // apply the negative impulse to the other body BodyWalkingOn.ApplyImpulse(-1.0f * JumpVelocity * JVector.Up * Body1.Mass); } } }
public void RestapiOauthRevokePostTest() { // TODO: add unit test for the method 'RestapiOauthRevokePost' Body1 body = null; // TODO: replace null with proper value instance.RestapiOauthRevokePost(body); }
public override void Iterate() { deltaVelocity = TargetVelocity - Body1.LinearVelocity; deltaVelocity.Y = 0.0f; deltaVelocity *= 0.02f; if (BodyWalkingOn == null) { deltaVelocity *= .1f; } if (deltaVelocity.LengthSquared() != 0.0f) { // activate it, in case it fall asleep :) Body1.IsActive = true; Body1.ApplyImpulse(deltaVelocity * Body1.Mass); } if (shouldIJump) { Body1.IsActive = true; Body1.ApplyImpulse(JumpVelocity * JVector.Up * Body1.Mass); if (!BodyWalkingOn.IsStatic) { BodyWalkingOn.IsActive = true; // apply the negative impulse to the other body BodyWalkingOn.ApplyImpulse(JumpVelocity * JVector.Up * Body1.Mass, contactPoint); } } }
/// <summary> /// Set the joint limits, usually in meters. /// </summary> public void SetLimits(float lower, float upper) { Box2DxDebug.Assert(lower <= upper); Body1.WakeUp(); Body2.WakeUp(); LowerLimit = lower; UpperLimit = upper; }
public override void Iterate() { var deltaVelocity = targetVelocity - Body1.LinearVelocity; if (deltaVelocity.LengthSquared() > 0.000001f) { Body1.ApplyImpulse(deltaVelocity * Body1.Mass); } }
// // STATE FUNCTIONS // /// Adds force to residual R, as R*= F*c /// NOTE: here the off offset in R is NOT used because add F at the TWO offsets of the two connected bodies, /// so it is assumed that offsets for Body1 and Body2 variables have been already set properly! public override void IntLoadResidual_F(int off, ref ChVectorDynamic <double> R, double c) { if (Body1 == null || Body2 == null) { return; } ChVector mbody_force = new ChVector(0, 0, 0); ChVector mbody_torque = new ChVector(0, 0, 0); if (ChVector.Vnotnull(C_force)) { ChVector m_abs_force = Body2.GetA().Matr_x_Vect(marker2.FrameMoving.GetA().Matr_x_Vect(C_force)); if (Body2.Variables().IsActive()) { Body2.To_abs_forcetorque(m_abs_force, marker1.GetAbsCoord().pos, // absolute application point is always marker1 false, // from abs. space ref mbody_force, ref mbody_torque); // resulting force-torque, both in abs coords R.matrix.PasteSumVector(mbody_force * -c, Body2.Variables().GetOffset(), 0); R.matrix.PasteSumVector(Body2.TransformDirectionParentToLocal(mbody_torque) * -c, Body2.Variables().GetOffset() + 3, 0); } if (Body1.Variables().IsActive()) { Body1.To_abs_forcetorque(m_abs_force, marker1.GetAbsCoord().pos, // absolute application point is always marker1 false, // from abs. space ref mbody_force, ref mbody_torque); // resulting force-torque, both in abs coords R.matrix.PasteSumVector(mbody_force * c, Body1.Variables().GetOffset(), 0); R.matrix.PasteSumVector(Body1.TransformDirectionParentToLocal(mbody_torque) * c, Body1.Variables().GetOffset() + 3, 0); } } if (ChVector.Vnotnull(C_torque)) { ChVector m_abs_torque = Body2.GetA().Matr_x_Vect(marker2.FrameMoving.GetA().Matr_x_Vect(C_torque)); // load torques in 'fb' vector accumulator of body variables (torques in local coords) if (Body1.Variables().IsActive()) { R.matrix.PasteSumVector(Body1.TransformDirectionParentToLocal(m_abs_torque) * c, Body1.Variables().GetOffset() + 3, 0); } if (Body2.Variables().IsActive()) { R.matrix.PasteSumVector(Body2.TransformDirectionParentToLocal(m_abs_torque) * -c, Body2.Variables().GetOffset() + 3, 0); } } }
/// Get the link coordinate system, expressed relative to Body2 (spherical side). /// This represents the 'main' reference of the link: reaction forces /// and reaction torques are reported in this coordinate system. public override ChCoordsys GetLinkRelativeCoords() { ChVector pos1 = Body2.TransformPointParentToLocal(Body1.TransformPointLocalToParent(m_pos1)); ChMatrix33 <double> A = new ChMatrix33 <double>(0); ChVector u = (m_pos2 - pos1).GetNormalized(); ChVector w = Body2.TransformDirectionParentToLocal(Body1.TransformDirectionLocalToParent(m_dir1)); ChVector v = ChVector.Vcross(w, u); A.Set_A_axis(u, v, w); return(new ChCoordsys(pos1, A.Get_A_quaternion())); }
/// overwrites inherited implementation of this method public override void SetUpMarkers(ChMarker mark1, ChMarker mark2) { base.SetUpMarkers(mark1, mark2); // could the line below be: assert(this.Body1 && this.Body2); ? if (this.Body1 != null && this.Body2 != null) { ((ChLinkMaskLF)this.mask).SetTwoBodiesVariables(Body1.Variables(), Body2.Variables()); // This is needed because only if all constraints in mask are now active, and C,Ct,etc. // matrices must be allocated accordingly, otherwise are null. DestroyLink(); BuildLink(); } }
// // SOLVER INTERFACE (OLD) // public override void ConstraintsFbLoadForces(double factor = 1) { // compute instant torque double mT = m_func.Get_y(this.GetChTime()); ChFrame <double> aframe1 = ChFrame <double> .BitShiftRight(this.frame1, (this.Body1)); ChFrame <double> aframe2 = ChFrame <double> .BitShiftRight(this.frame2, (this.Body2)); ChVector m_abs_torque = aframe2.GetA().Matr_x_Vect(new ChVector(0, 0, mT)); Body2.Variables().Get_fb().matrix.PasteSumVector(Body2.TransformDirectionParentToLocal(m_abs_torque) * -factor, 3, 0); Body1.Variables().Get_fb().matrix.PasteSumVector(Body1.TransformDirectionParentToLocal(m_abs_torque) * factor, 3, 0); }
/// Get the link coordinate system, expressed relative to Body2 (the 'master' /// body). This represents the 'main' reference of the link: reaction forces /// are expressed in this coordinate system. /// (It is the coordinate system of the contact plane relative to Body2) public override ChCoordsys GetLinkRelativeCoords() { //ChVector D2local; ChVector D2temp = (ChVector.Vnorm(Body1.TransformPointLocalToParent(pos1) - Body2.TransformPointLocalToParent(pos2))); ChVector D2rel = Body2.TransformDirectionParentToLocal(D2temp); ChVector Vx = new ChVector(0, 0, 0), Vy = new ChVector(0, 0, 0), Vz = new ChVector(0, 0, 0); //ChMatrix33<double> rel_matrix = new ChMatrix33<double>(); ChVector.XdirToDxDyDz(D2rel, ChVector.VECT_Y, ref Vx, ref Vy, ref Vz); rel_matrix.Set_A_axis(Vx, Vy, Vz); ChQuaternion Ql2 = rel_matrix.Get_A_quaternion(); return(new ChCoordsys(pos2, Ql2)); }
/// <summary> /// Asynchronously deserializes the given <paramref name="input"/> stream to an <see cref="AS4Message"/> model. /// </summary> /// <param name="input">The source stream from where the message should be read.</param> /// <param name="contentType">The content type required to correctly deserialize the message into different MIME parts.</param> /// <param name="cancellation">The token to control the cancellation of the deserialization.</param> public async Task <AS4Message> DeserializeAsync( Stream input, string contentType, CancellationToken cancellation = default(CancellationToken)) { if (input == null) { throw new ArgumentNullException(nameof(input)); } if (contentType == null) { throw new ArgumentNullException(nameof(contentType)); } var envelopeDocument = new XmlDocument { PreserveWhitespace = true }; envelopeDocument.Load(input); // Sometimes throws 'The 'http://www.w3.org/XML/1998/namespace:lang' attribute is not declared.' // ValidateEnvelopeDocument(envelopeDocument); XmlNamespaceManager nsMgr = GetNamespaceManagerForDocument(envelopeDocument); SecurityHeader securityHeader = DeserializeSecurityHeader(envelopeDocument, nsMgr); Messaging messagingHeader = DeserializeMessagingHeader(envelopeDocument, nsMgr); Body1 body = DeserializeBody(envelopeDocument, nsMgr); if (messagingHeader == null) { throw new InvalidMessageException("The envelopeStream does not contain a Messaging element"); } AS4Message as4Message = await AS4Message.CreateAsync( envelopeDocument, contentType, securityHeader, messagingHeader, body); StreamUtilities.MovePositionToStreamStart(input); return(as4Message); }
public static void Run() { var profileId = "93B32398-AD51-4CC2-A682-EA3E93614EB1"; var tokenId = CreateInstrumentIdentifier.Run().Id; var requestObj = new Body1(); var processingInformationObj = new Tmsv1instrumentidentifiersProcessingInformation(); var authorizationOptionsObj = new Tmsv1instrumentidentifiersProcessingInformationAuthorizationOptions(); var initiatorObj = new Tmsv1instrumentidentifiersProcessingInformationAuthorizationOptionsInitiator(); var merchantInitiatedTransactionObj = new Tmsv1instrumentidentifiersProcessingInformationAuthorizationOptionsInitiatorMerchantInitiatedTransaction { PreviousTransactionId = "123456789012345" }; initiatorObj.MerchantInitiatedTransaction = merchantInitiatedTransactionObj; authorizationOptionsObj.Initiator = initiatorObj; processingInformationObj.AuthorizationOptions = authorizationOptionsObj; requestObj.ProcessingInformation = processingInformationObj; try { var configDictionary = new Configuration().GetConfiguration(); var clientConfig = new CyberSource.Client.Configuration(merchConfigDictObj: configDictionary); var apiInstance = new InstrumentIdentifierApi(clientConfig); var result = apiInstance.TmsV1InstrumentidentifiersTokenIdPatch(profileId, tokenId, requestObj); Console.WriteLine(result); } catch (Exception e) { Console.WriteLine("Exception on calling the API: " + e.Message); } }
/// <summary> /// Initializes a new instance of the <see cref="PulleyJoint" /> class /// </summary> /// <param name="def">The def</param> public PulleyJoint(PulleyJointDef def) : base(def) { Ground = Body1.GetWorld().GetGroundBody(); GroundAnchor1 = def.GroundAnchor1 - Ground.GetXForm().Position; GroundAnchor2 = def.GroundAnchor2 - Ground.GetXForm().Position; LocalAnchor1 = def.LocalAnchor1; LocalAnchor2 = def.LocalAnchor2; Box2DxDebug.Assert(def.Ratio != 0.0f); Ratio = def.Ratio; Constant = def.Length1 + Ratio * def.Length2; MaxLength1 = Math.Min(def.MaxLength1, Constant - Ratio * MinPulleyLength); MaxLength2 = Math.Min(def.MaxLength2, (Constant - MinPulleyLength) / Ratio); Impulse = 0.0f; LimitImpulse1 = 0.0f; LimitImpulse2 = 0.0f; }
public override void Iterate() { deltaVelocity = TargetVelocity - Body1.LinearVelocity; if (deltaVelocity.Y > 0 || isJumping) { deltaVelocity.Y = 0; } // determine how 'stiff' the character follows the target velocity deltaVelocity *= Stiff; if (deltaVelocity.LengthSquared() != 0.0f) { // activate it, in case it fall asleep :) Body1.IsActive = true; Body1.ApplyImpulse(deltaVelocity * Body1.Mass); } if (shouldIJump) { isJumping = true; Body1.IsActive = true; Body1.ApplyImpulse(JumpVelocity * JVector.Up * Body1.Mass); System.Diagnostics.Debug.WriteLine("JUMP! " + DateTime.Now.Second.ToString()); if (!BodyWalkingOn.IsStatic && World.RigidBodies.Contains(BodyWalkingOn)) { BodyWalkingOn.IsActive = true; // apply the negative impulse to the other body BodyWalkingOn.ApplyImpulse(-1.0f * JumpVelocity * JVector.Up * Body1.Mass); } } //if (!isJumping && !isGrounded) // deltaVelocity.Y = -1.0f; //Text = isJumping + " " + shouldIJump; }
// // STATE FUNCTIONS // public override void IntLoadResidual_F(int off, ref ChVectorDynamic <double> R, double c) { // compute instant torque double mT = m_func.Get_y(this.GetChTime()); ChFrame <double> aframe1 = ChFrame <double> .BitShiftRight(this.frame1, (this.Body1)); ChFrame <double> aframe2 = ChFrame <double> .BitShiftRight(this.frame2, (this.Body2)); ChVector m_abs_torque = aframe2.GetA().Matr_x_Vect(new ChVector(0, 0, mT)); if (Body2.Variables().IsActive()) { R.matrix.PasteSumVector(Body2.TransformDirectionParentToLocal(m_abs_torque) * -c, Body2.Variables().GetOffset() + 3, 0); } if (Body1.Variables().IsActive()) { R.matrix.PasteSumVector(Body1.TransformDirectionParentToLocal(m_abs_torque) * c, Body1.Variables().GetOffset() + 3, 0); } }
// // SOLVER INTERFACE // /// Overrides the empty behaviour of the parent ChLink implementation, which /// does not consider any user-imposed force between the two bodies. /// It adds the current link-forces, if any, (caused by springs, etc.) to the 'fb' vectors /// of the ChVariables referenced by encapsulated ChConstraints. /// In details, it adds the effect caused by C_force and C_torque. /// Both C_force and C_torque these forces are considered expressed in the /// reference coordsystem of marker2 (the MAIN marker), /// and their application point is the origin of marker1 (the SLAVE marker). public override void ConstraintsFbLoadForces(double factor = 1) { if (Body1 == null || Body2 == null) { return; } ChVector mbody_force = new ChVector(0, 0, 0); ChVector mbody_torque = new ChVector(0, 0, 0); if (ChVector.Vnotnull(C_force)) { ChVector m_abs_force = Body2.GetA().Matr_x_Vect(marker2.FrameMoving.GetA().Matr_x_Vect(C_force)); Body2.To_abs_forcetorque(m_abs_force, marker1.GetAbsCoord().pos, // absolute application point is always marker1 false, // from abs. space ref mbody_force, ref mbody_torque); // resulting force-torque, both in abs coords Body2.Variables().Get_fb().matrix.PasteSumVector(mbody_force * -factor, 0, 0); Body2.Variables().Get_fb().matrix.PasteSumVector(Body2.TransformDirectionParentToLocal(mbody_torque) * -factor, 3, 0); Body1.To_abs_forcetorque(m_abs_force, marker1.GetAbsCoord().pos, // absolute application point is always marker1 false, // from abs. space ref mbody_force, ref mbody_torque); // resulting force-torque, both in abs coords Body1.Variables().Get_fb().matrix.PasteSumVector(mbody_force * factor, 0, 0); Body1.Variables().Get_fb().matrix.PasteSumVector(Body1.TransformDirectionParentToLocal(mbody_torque) * factor, 3, 0); } if (ChVector.Vnotnull(C_torque)) { ChVector m_abs_torque = Body2.GetA().Matr_x_Vect(marker2.FrameMoving.GetA().Matr_x_Vect(C_torque)); // load torques in 'fb' vector accumulator of body variables (torques in local coords) Body1.Variables().Get_fb().matrix.PasteSumVector(Body1.TransformDirectionParentToLocal(m_abs_torque) * factor, 3, 0); Body2.Variables().Get_fb().matrix.PasteSumVector(Body2.TransformDirectionParentToLocal(m_abs_torque) * -factor, 3, 0); } }
public override void Iterate() { if (Rotate == Rotate.Clockwise) { Body1.IsActive = true; JVector torque = new JVector(0, 0, 1); torque = JVector.Transform(torque, Body1.Orientation); torque = JVector.Transform(torque, Body1.Inertia); Body1.AddTorque(torque * Body1.Mass); } if (Rotate == Rotate.Anticlockwise) { Body1.IsActive = true; JVector torque = new JVector(0, 0, -1); torque = JVector.Transform(torque, Body1.Orientation); torque = JVector.Transform(torque, Body1.Inertia); Body1.AddTorque(torque * Body1.Mass); } if (Direction == Walk.Forward) { Body1.IsActive = true; JVector force = new JVector(1, 0, 0); force = JVector.Transform(force, Body1.Orientation); Body1.AddForce(force * Body1.Mass); } if (Direction == Walk.Backward) { Body1.IsActive = true; JVector force = new JVector(-1, 0, 0); force = JVector.Transform(force, Body1.Orientation); Body1.AddForce(force * Body1.Mass); } }
public void Init() { instance = new Body1(); }
/// <summary> /// trace Trace /// </summary> /// <exception cref="IO.Swagger.Client.ApiException">Thrown when fails to make API call</exception> /// <param name="body"></param> /// <param name="token"></param> /// <param name="serverWebAdaptor"></param> /// <param name="utilityNetworkName"></param> /// <returns>Task of ApiResponse (TraceResultsSet)</returns> public async System.Threading.Tasks.Task <ApiResponse <TraceResultsSet> > TraceAsyncWithHttpInfo(Body1 body, string token, string serverWebAdaptor, string utilityNetworkName) { // verify the required parameter 'body' is set if (body == null) { throw new ApiException(400, "Missing required parameter 'body' when calling UtilityNetworkServiceApi->Trace"); } // verify the required parameter 'token' is set if (token == null) { throw new ApiException(400, "Missing required parameter 'token' when calling UtilityNetworkServiceApi->Trace"); } // verify the required parameter 'serverWebAdaptor' is set if (serverWebAdaptor == null) { throw new ApiException(400, "Missing required parameter 'serverWebAdaptor' when calling UtilityNetworkServiceApi->Trace"); } // verify the required parameter 'utilityNetworkName' is set if (utilityNetworkName == null) { throw new ApiException(400, "Missing required parameter 'utilityNetworkName' when calling UtilityNetworkServiceApi->Trace"); } var localVarPath = "/{ServerWebAdaptor}/rest/services/{UtilityNetworkName}/UtilityNetworkServer/trace"; var localVarPathParams = new Dictionary <String, String>(); var localVarQueryParams = new List <KeyValuePair <String, String> >(); var localVarHeaderParams = new Dictionary <String, String>(this.Configuration.DefaultHeader); var localVarFormParams = new Dictionary <String, String>(); var localVarFileParams = new Dictionary <String, FileParameter>(); Object localVarPostBody = null; // to determine the Content-Type header String[] localVarHttpContentTypes = new String[] { "application/json" }; String localVarHttpContentType = this.Configuration.ApiClient.SelectHeaderContentType(localVarHttpContentTypes); // to determine the Accept header String[] localVarHttpHeaderAccepts = new String[] { "application/json" }; String localVarHttpHeaderAccept = this.Configuration.ApiClient.SelectHeaderAccept(localVarHttpHeaderAccepts); if (localVarHttpHeaderAccept != null) { localVarHeaderParams.Add("Accept", localVarHttpHeaderAccept); } if (serverWebAdaptor != null) { localVarPathParams.Add("ServerWebAdaptor", this.Configuration.ApiClient.ParameterToString(serverWebAdaptor)); // path parameter } if (utilityNetworkName != null) { localVarPathParams.Add("UtilityNetworkName", this.Configuration.ApiClient.ParameterToString(utilityNetworkName)); // path parameter } if (token != null) { localVarQueryParams.AddRange(this.Configuration.ApiClient.ParameterToKeyValuePairs("", "token", token)); // query parameter } if (body != null && body.GetType() != typeof(byte[])) { localVarPostBody = this.Configuration.ApiClient.Serialize(body); // http body (model) parameter } else { localVarPostBody = body; // byte array } // make the HTTP request IRestResponse localVarResponse = (IRestResponse)await this.Configuration.ApiClient.CallApiAsync(localVarPath, Method.POST, localVarQueryParams, localVarPostBody, localVarHeaderParams, localVarFormParams, localVarFileParams, localVarPathParams, localVarHttpContentType); int localVarStatusCode = (int)localVarResponse.StatusCode; if (ExceptionFactory != null) { Exception exception = ExceptionFactory("Trace", localVarResponse); if (exception != null) { throw exception; } } return(new ApiResponse <TraceResultsSet>(localVarStatusCode, localVarResponse.Headers.ToDictionary(x => x.Name, x => string.Join(",", x.Value)), (TraceResultsSet)this.Configuration.ApiClient.Deserialize(localVarResponse, typeof(TraceResultsSet)))); }
/// <summary> /// trace Trace /// </summary> /// <exception cref="IO.Swagger.Client.ApiException">Thrown when fails to make API call</exception> /// <param name="body"></param> /// <param name="token"></param> /// <param name="serverWebAdaptor"></param> /// <param name="utilityNetworkName"></param> /// <returns>Task of TraceResultsSet</returns> public async System.Threading.Tasks.Task <TraceResultsSet> TraceAsync(Body1 body, string token, string serverWebAdaptor, string utilityNetworkName) { ApiResponse <TraceResultsSet> localVarResponse = await TraceAsyncWithHttpInfo(body, token, serverWebAdaptor, utilityNetworkName); return(localVarResponse.Data); }
/// <summary> /// trace Trace /// </summary> /// <exception cref="IO.Swagger.Client.ApiException">Thrown when fails to make API call</exception> /// <param name="body"></param> /// <param name="token"></param> /// <param name="serverWebAdaptor"></param> /// <param name="utilityNetworkName"></param> /// <returns>TraceResultsSet</returns> public TraceResultsSet Trace(Body1 body, string token, string serverWebAdaptor, string utilityNetworkName) { ApiResponse <TraceResultsSet> localVarResponse = TraceWithHttpInfo(body, token, serverWebAdaptor, utilityNetworkName); return(localVarResponse.Data); }
/// <summary> /// Modify a Loadbalancer You can use update attributes of a resource /// </summary> /// <param name="datacenterId"></param> /// <param name="loadbalancerId"></param> /// <param name="loadbalancer">Modified Loadbalancer</param> /// <param name="body"></param> /// <param name="parameter">Controls whether response is pretty-printed (with indentation and new lines)</param> /// <param name="depth">Controls the details depth of response objects. \nEg. GET /datacenters/[ID]\n - depth=0: only direct properties are included. Children (servers etc.) are not included\n - depth=1: direct properties and children references are included\n - depth=2: direct properties and children properties are included\n - depth=3: direct properties and children properties and children's children are included\n - depth=... and so on</param> /// <returns>Task of ApiResponse (Loadbalancer)</returns> public async System.Threading.Tasks.Task<ApiResponse<Loadbalancer>> UpdateAsyncWithHttpInfo(string datacenterId, string loadbalancerId, Loadbalancer loadbalancer, Body1 body = null, bool? parameter = null, int? depth = null) { // verify the required parameter 'datacenterId' is set if (datacenterId == null) throw new ApiException(400, "Missing required parameter 'datacenterId' when calling Update"); // verify the required parameter 'loadbalancerId' is set if (loadbalancerId == null) throw new ApiException(400, "Missing required parameter 'loadbalancerId' when calling Update"); // verify the required parameter 'loadbalancer' is set if (loadbalancer == null) throw new ApiException(400, "Missing required parameter 'loadbalancer' when calling Update"); var path_ = "/datacenters/{datacenterId}/loadbalancers/{loadbalancerId}"; var pathParams = new Dictionary<String, String>(); var queryParams = new Dictionary<String, String>(); var headerParams = new Dictionary<String, String>(); var formParams = new Dictionary<String, String>(); var fileParams = new Dictionary<String, FileParameter>(); Object postBody = null; // to determine the Content-Type header String[] httpContentTypes = new String[] { "application/json", "application/vnd.profitbricks.resource+json" }; String httpContentType = Configuration.ApiClient.SelectHeaderContentType(httpContentTypes); // to determine the Accept header String[] httpHeaderAccepts = new String[] { "application/vnd.profitbricks.resource+json" }; String httpHeaderAccept = Configuration.ApiClient.SelectHeaderAccept(httpHeaderAccepts); if (httpHeaderAccept != null) headerParams.Add("Accept", httpHeaderAccept); // set "format" to json by default // e.g. /pet/{petId}.{format} becomes /pet/{petId}.json pathParams.Add("format", "json"); if (datacenterId != null) pathParams.Add("datacenterId", Configuration.ApiClient.ParameterToString(datacenterId)); // path parameter if (loadbalancerId != null) pathParams.Add("loadbalancerId", Configuration.ApiClient.ParameterToString(loadbalancerId)); // path parameter if (parameter != null) queryParams.Add("parameter", Configuration.ApiClient.ParameterToString(parameter)); // query parameter if (depth != null) queryParams.Add("depth", Configuration.ApiClient.ParameterToString(depth)); // query parameter postBody = Configuration.ApiClient.Serialize(loadbalancer); // http body (model) parameter // authentication (basicAuth) required // http basic authentication required if (!String.IsNullOrEmpty(Configuration.Username) || !String.IsNullOrEmpty(Configuration.Password)) { headerParams["Authorization"] = "Basic " + ApiClient.Base64Encode(Configuration.Username + ":" + Configuration.Password); } // make the HTTP request IRestResponse response = (IRestResponse)await Configuration.ApiClient.CallApiAsync(path_, Method.PUT, queryParams, postBody, headerParams, formParams, fileParams, pathParams, httpContentType); int statusCode = (int)response.StatusCode; if (statusCode >= 400) throw new ApiException(statusCode, "Error calling Update: " + response.Content, response.Content); else if (statusCode == 0) throw new ApiException(statusCode, "Error calling Update: " + response.ErrorMessage, response.ErrorMessage); return new ApiResponse<Loadbalancer>(statusCode, response.Headers.ToDictionary(x => x.Name, x => x.Value.ToString()), (Loadbalancer)Configuration.ApiClient.Deserialize(response, typeof(Loadbalancer))); }
/// <summary> /// Set the maximum motor force, usually in N. /// </summary> public void SetMaxMotorForce(float force) { Body1.WakeUp(); Body2.WakeUp(); MaxMotorForce = Settings.FORCE_SCALE(1.0f) * force; }
/// <summary> /// Enable/disable the joint motor. /// </summary> public void EnableMotor(bool flag) { Body1.WakeUp(); Body2.WakeUp(); IsMotorEnabled = flag; }
/// <summary> /// Modify a Loadbalancer You can use update attributes of a resource /// </summary> /// <param name="datacenterId"></param> /// <param name="loadbalancerId"></param> /// <param name="loadbalancer">Modified Loadbalancer</param> /// <param name="body"></param> /// <param name="parameter">Controls whether response is pretty-printed (with indentation and new lines)</param> /// <param name="depth">Controls the details depth of response objects. \nEg. GET /datacenters/[ID]\n - depth=0: only direct properties are included. Children (servers etc.) are not included\n - depth=1: direct properties and children references are included\n - depth=2: direct properties and children properties are included\n - depth=3: direct properties and children properties and children's children are included\n - depth=... and so on</param> /// <returns>Loadbalancer</returns> public Loadbalancer Update(string datacenterId, string loadbalancerId, Loadbalancer loadbalancer, Body1 body = null, bool? parameter = null, int? depth = null) { ApiResponse<Loadbalancer> response = UpdateWithHttpInfo(datacenterId, loadbalancerId, loadbalancer, body, parameter, depth); return response.Data; }
/// <summary> /// Enable/disable the joint limit. /// </summary> public void EnableLimit(bool flag) { Body1.WakeUp(); Body2.WakeUp(); IsLimitEnabled = flag; }
/// <summary> /// Set the motor speed, usually in meters per second. /// </summary> public void SetMotorSpeed(float speed) { Body1.WakeUp(); Body2.WakeUp(); MotorSpeed = speed; }
/// <summary> /// Modify a Loadbalancer You can use update attributes of a resource /// </summary> /// <param name="datacenterId"></param> /// <param name="loadbalancerId"></param> /// <param name="loadbalancer">Modified Loadbalancer</param> /// <param name="body"></param> /// <param name="parameter">Controls whether response is pretty-printed (with indentation and new lines)</param> /// <param name="depth">Controls the details depth of response objects. \nEg. GET /datacenters/[ID]\n - depth=0: only direct properties are included. Children (servers etc.) are not included\n - depth=1: direct properties and children references are included\n - depth=2: direct properties and children properties are included\n - depth=3: direct properties and children properties and children's children are included\n - depth=... and so on</param> /// <returns>Task of Loadbalancer</returns> public async System.Threading.Tasks.Task<Loadbalancer> UpdateAsync(string datacenterId, string loadbalancerId, Loadbalancer loadbalancer, Body1 body = null, bool? parameter = null, int? depth = null) { ApiResponse<Loadbalancer> response = await UpdateAsyncWithHttpInfo(datacenterId, loadbalancerId, loadbalancer, body, parameter, depth); return response.Data; }