private static void TestFactorialValue(int initial, int expected, string message="")
{
MathOperations implementation = new MathOperations();
int actual = implementation.Factorial(initial);
Assert.AreEqual(expected, actual, message);
}
public void ShouldMultiply2Integers()
{
//Arrange
var x = 2;
var y = 3;
var expected = "x * y = 6";
IMathOperations mathOperations = new MathOperations(x, y);
//Act
var result = mathOperations.Multiply();
//Assert
Assert.AreEqual(expected, result);
}
public void ShouldAdd2Integers()
{
//Arrange
var x = 2;
var y = 3;
var expected = "x + y = 5";
IMathOperations mathOperations = new MathOperations(x, y);
//Act
var result = mathOperations.Add();
//Assert
Assert.AreEqual(expected, result);
}
public void Operators(int option, ref int val1,ref int val2 )
{
MathOperations mt = new MathOperations();
switch(option)
{
case 1:
{
Console.WriteLine("The {0} is ... {1}",Operations.Addition, mt.Addition(ref val1, ref val2));
}
break;
case 2:
{
Console.WriteLine("The {0} is ... {1}",Operations.Subtraction, mt.Subtraction(ref val1, ref val2));
}
break;
case 3:
{
Console.WriteLine("The {0} is ... {1}",Operations.Multiplication, mt.Multiplication(ref val1, ref val2));
}
break;
case 4:
{
Console.WriteLine("The {0} is ... {1}",Operations.Division, mt.Division(ref val1, ref val2));
}
break;
case 5:
{
Console.WriteLine("the {0} is ...{1}", Operations.Exponentation, mt.Exponentation(ref val1, ref val2));
}
break;
case 6:
{
Console.Clear();
Console.WriteLine(".....");
Matrix mx = new Matrix();
mx.MainMatrix();
}
break;
case 7:
{
LinearEquation le = new LinearEquation();
le.EquationSolver();
}
break;
default:
Console.WriteLine("Wrong Choice");
break;
}
}
private void FrmAddTel_Load(object sender, EventArgs e)
{
telNoTableAdapter.Fill(auditorDataSet.TelNo);
locationTableAdapter.Fill(auditorDataSet.Location);
ComboLocation.SelectedIndex = -1;
ComboTelNo.SelectedIndex = -1;
TxtAmount.Clear();
TxtStamp.Clear();
TxtSellTax.Clear();
TxtPercentage.Text = @"2";
ComboStatus.SelectedIndex = 0;
MathOperations.NetAmount(TxtAmount, TxtSellTax, TxtStamp, TxtTotalDiscount, TxtNetAmount, TxtPercentage,
TxtTax, TxtPaidAmount);
BtnSave.Enabled = false;
}
private void TxtAmount_TextChanged(object sender, EventArgs e)
{
// Calculate Discounts by rates:
MathOperations.PrePay(TxtAmount, TxtTaxRate, TxtTaxAmount, TxtSellTax, TxtBillTotal, CheckFees, TxtFees, TxtTotalDiscount, TxtNetAmount);
//Formatting Form:
if (ComboLocation.Text == "" || ComboVendor.Text == "" || ComboBridge.Text == "" || TxtDocNo.Text == "" || TxtAmount.Text == "0" || TxtReason.Text == "")
{
BtnAdd.Enabled = false;
}
else
{
BtnAdd.Enabled = true;
}
}
private static (int qScore, float[] phredPosteriors) CalculateQScoreAndGenotypePosteriors(int alleleDepth,
int totalDepth, int category, double[] means, double[] priors, int[] maxN)
{
float[] phredScores = new float[means.Length];
double[] posteriors = CalculatePosteriorsWithMaxN(alleleDepth, totalDepth, means, priors, maxN);
for (int i = 0; i < means.Length; i++)
{
phredScores[i] = Math.Min(_maxQScore, MathOperations.PToQ_CapAt300(posteriors[i]));
}
var qScore = Math.Min((int)_maxQScore, (int)Math.Round(MathOperations.PToQ_CapAt300(1 - posteriors[category])));
return(qScore, phredScores);
}
private void TxtDocNo_TextChanged(object sender, EventArgs e)
{
// Formatting the form:
if (TxtDocNo.Text == "" || ComboLocation.Text == "" || ComboName.Text == "" || TxtDestination.Text == "" ||
TxtPeriod.Text == "" || TxtTrans.Text == @"0" & TxtTravel.Text == @"0")
{
BtnAdd.Enabled = false;
}
else
{
BtnAdd.Enabled = true;
}
MathOperations.AmountZeroFormat(TxtTrans);
MathOperations.AmountZeroFormat(TxtTravel);
}
private void Apply_Click(object sender, RoutedEventArgs e)
{
try
{
Name = Name_textbox.Text;
Surname = Surname_textbox.Text;
Sex = SexCheck;
Age = Convert.ToUInt32(Age_textbox.Text);
Height = Convert.ToDouble(Height_textbox.Text.Replace('.', ','));
Weight = Convert.ToDouble(Weight_textbox.Text.Replace('.', ','));
ActivityLevel = Convert.ToUInt32(ActivityLevel_combobox.SelectedIndex);
Goal = Convert.ToUInt32(Goal_combobox.SelectedIndex);
DietType = Convert.ToUInt32(DietCheck());
MealCount = Convert.ToUInt32(MealsCount_combobox.SelectedItem);
BMI = MathOperations.getBMI(Height, Weight);
BMR = MathOperations.getBMR(Height, Weight, Convert.ToInt32(Age), Sex);
TMR = MathOperations.getTMR(Convert.ToInt32(ActivityLevel), BMR);
DailyCalories = MathOperations.getDailyCalories(Convert.ToInt32(Goal), TMR);
BMI_textblock.Text = BMI.ToString("0.##");
BMR_textblock.Text = BMR.ToString();
TMR_textblock.Text = TMR.ToString();
DailyCalories_textblock.Text = DailyCalories.ToString();
Meals meals = new Meals(Convert.ToInt32(MealCount), DailyCalories,
Convert.ToInt32(DietType), Convert.ToInt32(Goal), Weight);
uint sex;
if (Sex)
{
sex = 1;
}
else
{
sex = 0;
}
Users user = new Users(Login.UserLogin, Name, Surname, Age, Height, Weight, Goal,
sex, ActivityLevel, DailyCalories, DietType, MealCount);
UsersRepos.Update(user);
}
catch
{
MessageBox.Show(Properties.Resources.errorEmptyDatas, Properties.Resources.warning);
}
show();
}
public void CalculateMSG(int maxiter, double eps)
{
double alpha;
double beta;
double discrepancy;
var iterationCount = 0;
//начальное решение
for (var i = 0; i < N; i++)
{
q[i] = 0;
}
var r = MathOperations.MatrixMult(N, A, q);
for (var i = 0; i < N; i++)
{
r[i] = b[i] - r[i];
}
var z = new double[N];
r.CopyTo(z, 0);
do
{
++iterationCount;
var Az = MathOperations.MatrixMult(N, A, z);
alpha = MathOperations.ScalarMult(r, r) / MathOperations.ScalarMult(Az, z);
var temp = MathOperations.ScalarMult(r, r);
Parallel.For(0, N, i =>
{
q[i] = q[i] + alpha * z[i];
r[i] = r[i] - alpha * Az[i];
});
beta = MathOperations.ScalarMult(r, r) / temp;
Parallel.For(0, N, i =>
{
z[i] = r[i] + beta * z[i];
});
discrepancy = MathOperations.ScalarMult(r, r);
}while (iterationCount < maxiter && discrepancy > eps);
using (var sw = new StreamWriter("msg_log.txt", true, System.Text.Encoding.Default))
{
sw.WriteLine($"Погрешность: {discrepancy}\nЧисло итераций: {iterationCount}");
}
}
private void TxtAmount_TextChanged(object sender, EventArgs e)
{
MathOperations.NetAmount(TxtAmount, TxtSellTax, TxtStamp, TxtTotalDiscount, TxtNetAmount, TxtPercentage,
TxtTax, TxtPaidAmount);
//Button Update Format:
if (ComboDocNo.Text == "" || ComboLocation.Text == "" || TxtPortion.Text == "" || TxtAmount.Text == Resources.Zero ||
ComboStatus.Text == "")
{
BtnUpdate.Enabled = false;
}
else
{
BtnUpdate.Enabled = true;
}
}
IEnumerator SpawnBoss(float delay)
{
music.clip = bossMusic;
music.Play();
GameObject go = Instantiate(bossWavePrefab);
go.transform.SetParent(messagePad.transform);
yield return(new WaitForSeconds(delay));
GameObject g = Instantiate(boss, GravityBody.GetSpawnPos(), MathOperations.LookAt2D(transform.position, chara.transform.position, 90));
chara.ConfigurePointers();
chara.hp = chara.maxHp;
waveIndex++;
started = false;
}
/// <summary>
/// Walks each character of a string, converting to a integer, and adding it's representation together
/// finally returning a long.
/// Example:
/// "123"
/// becomes
/// 100 + 20 + 3
/// </summary>
/// <param name="value">
/// The value.
/// </param>
/// <returns>
/// The <see cref="long"/>.
/// </returns>
/// <exception cref="ArgumentException">
/// When the value contains characters that aren't digits (or a starting minus sign).
/// </exception>
/// <exception cref="ArgumentOutOfRangeException">
/// When the value is larger or smaller than what can be contained by a long value type.
/// </exception>
private static long IndividualIntegers(string value)
{
if (!RegexDigits.IsMatch(value))
{
throw new ArgumentException("Value must contain only digits (minus sign optional)");
}
bool isNegative = value[0] == '-';
MathOperations operation = isNegative ? MathOperations.Subtraction : MathOperations.Addition;
int startPosition = isNegative ? 1 : 0;
long newLong = 0;
for (int i = startPosition; i < value.Length; i++)
{
// http://www.alanwood.net/demos/ansi.html
// char ansi/unicode number
// 0 48
// 1 49
// ...
// 9 57
// therefore
// example:
// "9" = 57 - 48 = 9
// "0" = 48 - 48 = 0
var digit = (int)value[i] - 48;
try
{
checked
{
var exponent = (value.Length - 1) - i;
long operand = digit * (long)Math.Pow(10, exponent);
newLong = PerformOperation(newLong, operand, operation);
}
}
catch (OverflowException)
{
throw new ArgumentOutOfRangeException(
"value",
value,
"Value is larger or smaller than what can be stored as a long.");
}
}
return(newLong);
}
public override float[] ReadState()
{
float[] qr = new float[6];
qr[0] = -link1.transform.localRotation.eulerAngles.z * Mathf.PI / 180;
qr[1] = -(link2.transform.localRotation.eulerAngles.y - 90) * Mathf.PI / 180;
qr[2] = -(link3.transform.localRotation.eulerAngles.y + 90) * Mathf.PI / 180;
qr[3] = link4.transform.localRotation.eulerAngles.x * Mathf.PI / 180;
qr[4] = -link5.transform.localRotation.eulerAngles.y * Mathf.PI / 180;
qr[5] = link6.transform.localRotation.eulerAngles.x * Mathf.PI / 180;
for (int i = 0; i < 6; i++)
{
qr[i] = MathOperations.AngleRound(qr[i]);
}
return(qr);
}
private void TxtSettlementPeriod_TextChanged(object sender, EventArgs e)
{
// Formatting the form:
MathOperations.PeriodZeroFormat(TxtSettlementPeriod);
try
{
int.Parse(TxtSettlementPeriod.Text);
}
catch (Exception EX)
{
MessageBox.Show(EX.Message);
}
// Math operations:
MathOperations.TemporaryLoan(TxtTotalAmount, TxtSettlementAmount, TxtTax, TxtPenalty, TxtFees, TxtRevenues, TxtTotalDiscount, TxtNetAmount, TxtAmountToPay, TxtPaidAmount);
MathOperations.TempLoanPenalty(TxtPeriod, TxtSettlementPeriod, TxtTotalAmount, TxtPenalty);
}
void Rotate()
{
Vector2 rotationVector = transform.position;
if (Camera.main != null)
{
rotationVector = Camera.main.ScreenToWorldPoint(Input.mousePosition);
}
else
{
Debug.LogError("Add a Camera with the tag MainCamera to the scene!");
}
Quaternion desiredRot = MathOperations.LookAt2D(rotationVector, transform.position, -90);
transform.rotation = Quaternion.Slerp(transform.rotation, desiredRot, turningSpeed * Time.deltaTime);
}
//Removes duplicate vectors based symmetry
public static List <Point> RemoveDuplicateVectors(List <Point> allVectors)
{
Dictionary <string, int> uniqueVectorDictionary = new Dictionary <string, int>();
foreach (Point thisVector in allVectors)
{
var sortedVector = thisVector.ToLexicographicalString();
//check 1: unique when sorted in lexicographical order
if (!uniqueVectorDictionary.ContainsKey(sortedVector))
{
int gcd = Convert.ToInt32(sortedVector.Substring(sortedVector.Length - 1));
//check 2: gcd of all coords = 1
for (int i = 0; i < Globals.d - 1; i++)
{
if (Convert.ToInt32(sortedVector.Substring(i, 1)) == 0)
{
continue;
}
gcd = MathOperations.GCD(Convert.ToInt32(sortedVector.Substring(i, 1)), gcd);
if (gcd == 1)
{
break;
}
}
if (gcd == 1)
{
uniqueVectorDictionary.Add(sortedVector, 0);
}
}
}
var uniqueVectors = new List <Point>();
foreach (string key in uniqueVectorDictionary.Keys)
{
uniqueVectors.Add(new Point(key));
}
return(uniqueVectors);
}
private void Update()
{
GetComponent <Rigidbody2D>().velocity = Vector2.zero;
if (target != null)
{
if (Vector2.Distance(transform.position, target.position) > stoppingDistance)
{
transform.position += transform.up * 4 * Time.deltaTime;
}
if (Physics2D.Linecast(transform.position, target.position, obstacles))
{
if (savedVector == Vector2.zero || Physics2D.Raycast(transform.position, transform.up, stoppingDistance, obstacles))
{
int index = Random.Range(0, 2);
switch (index)
{
case 0:
savedVector = transform.right;
break;
case 1:
savedVector = -transform.right;
break;
}
}
transform.rotation = Quaternion.Slerp(transform.rotation, MathOperations.LookAt2D((Vector2)transform.position + savedVector, transform.position, -90), rotationSpeed * Time.deltaTime);
}
else
{
savedVector = Vector2.zero;
//rotate the enemy (or just the enemy weapon) towards the player
transform.rotation = Quaternion.Slerp(transform.rotation, MathOperations.LookAt2D(target.position, transform.position, -90), rotationSpeed * Time.deltaTime);
//call the ai shoot function on aiWeapon!! //remember to configure a Weapon2DPreset for the enemy!!!
if (!no)
{
aiWeapon.AIShoot();
}
}
}
else
{
PatrolRotate();
transform.position += transform.up * 1 * Time.deltaTime;
}
}
public override void Move()
{
base.Move();
if (target == null)
{
StartCoroutine(FindTarget());
}
else
{
StopCoroutine(FindTarget());
transform.rotation = Quaternion.Slerp(transform.rotation, MathOperations.LookAt2D(target.position, transform.position, -90), homingAccuracy * Time.deltaTime);
}
destroyTimer -= Time.deltaTime;
if (destroyTimer <= 0)
{
Destruction();
}
}
private static double Snap(double pointToSnap, IEnumerable <double> edges)
{
double snappedX = 0;
var snapped = false;
var enumerator = edges.GetEnumerator();
while (enumerator.MoveNext() && !snapped)
{
var horizontalEdge = enumerator.Current;
snappedX = MathOperations.Snap(pointToSnap, horizontalEdge, 10);
if (Math.Abs(snappedX - pointToSnap) > 0.1)
{
snapped = true;
}
}
return(snappedX);
}
void PatrolRotate()
{
transform.rotation = MathOperations.LookAt2D((Vector2)transform.position + ang.normalized, transform.position, -90);
if (Physics2D.Raycast(transform.position, transform.up, stoppingDistance, obstacles))
{
int index = Random.Range(0, 2);
switch (index)
{
case 0:
ang = transform.right;
break;
case 1:
ang = -transform.right;
break;
}
}
}
private double Snap(double original, IEnumerable <Edge> edges)
{
var snappedValue = original;
var alreadySnapped = false;
var enumerator = edges.GetEnumerator();
while (enumerator.MoveNext() && !alreadySnapped)
{
var currentEdge = enumerator.Current;
snappedValue = MathOperations.Snap(original, currentEdge.AxisDistance, Threshold);
alreadySnapped = ValueIsSnapped(original, snappedValue);
}
return(snappedValue);
}
Dictionary <MutationCategory, int> GetPhredScaledCalibratedRatesForEdges(int baselineQNoise, double warningThreshold, CountData basicCountsData, CountData edgeIssueCountsData)
{
Dictionary <MutationCategory, int> AdjustedErrorRates = new Dictionary <MutationCategory, int>();
double GeneralEdgeRiskIncrease = edgeIssueCountsData.ObservedMutationRate / basicCountsData.ObservedMutationRate;
if (GeneralEdgeRiskIncrease > warningThreshold)
{
Logger.WriteToLog("Warning, high levels of mismatches detected at loci near edges, relative to all other loci, by a factor of " + GeneralEdgeRiskIncrease);
}
double MutationRateInEdge = edgeIssueCountsData.ObservedMutationRate;
double MuationsCalledNotInEdge = basicCountsData.TotalMutations - edgeIssueCountsData.TotalMutations;
double TotalLociNotInEdge = basicCountsData.NumPossibleVariants - edgeIssueCountsData.NumPossibleVariants;
double MutationRateNotInEdge = MuationsCalledNotInEdge / TotalLociNotInEdge;
//if the error rate at the edges was the same as the error rate in the middle,
// we would expect this many variants at the edges:
double NullHypothesisExpectedMismatches = MutationRateNotInEdge * edgeIssueCountsData.NumPossibleVariants;
double HowManyVariantsWeActuallySaw = edgeIssueCountsData.TotalMutations;
double HowManyAreProbablyWrong = edgeIssueCountsData.TotalMutations - NullHypothesisExpectedMismatches;
//error rate in edge region, Given You Called a Variant.
double EstimatedErrorRateInEdgeRegions = HowManyAreProbablyWrong / edgeIssueCountsData.TotalMutations;
foreach (var cat in edgeIssueCountsData.CountsByCategory.Keys)
{
double countsAtEdge = edgeIssueCountsData.CountsByCategory[cat];
double overallMutations = edgeIssueCountsData.TotalMutations;
double proportion = countsAtEdge / edgeIssueCountsData.TotalMutations;
//how much this particular variant category contributed to the error rate increase
double estimatedErrorRateByCategory = proportion * EstimatedErrorRateInEdgeRegions;
int riskAsQRate = (int)MathOperations.PtoQ(estimatedErrorRateByCategory);
AdjustedErrorRates.Add(cat, riskAsQRate);
}
return(AdjustedErrorRates);
}
public static int Compute(CalledAllele allele, float targetLimitOfDetectionVF, int minGTQScore, int maxGTQScore)
{
double rawQ = allele.VariantQscore;
if ((allele.TotalCoverage == 0) || (allele.IsNocall))
{
return(minGTQScore);
}
if ((allele.Genotype == Genotype.HomozygousRef) || (allele.Genotype == Genotype.HomozygousAlt))
{
//a homozygous somatic call GT is a fairly strong statement. It implies
//A) we found the allele for sure (the VariantQscore)
var p1 = MathOperations.QtoP(allele.VariantQscore);
//and
//B) the chance that we missed any alternate calls is very small.
// this would be the chance false negative given VF=min freq, and coverage is as given.
//these are explictly typed, to prevent any win/linux diffs sneaking in
// in float -> double conversions inside downstream arguments
float nonAlleleObservationsF = (1f - allele.Frequency) * allele.TotalCoverage;
float expectedNonAllelObservationsF = targetLimitOfDetectionVF * allele.TotalCoverage;
//This takes care of the cases:
//A) we dont have enough depth to ever observe any non-ref variant. If, if depth is 10, we would never see a 5% variant anyway.
//B) if we see 6% not reference > 5% min safe var call freqeuncy, we are pretty worried about calling this as a 0/0 GT
if (nonAlleleObservationsF >= expectedNonAllelObservationsF)
{
return(minGTQScore);
}
//var p2 = poissonDist.CumulativeDistribution(nonRefObservations); <- this method does badly for values lower than the mean
var p2 = Poisson.Cdf(nonAlleleObservationsF, expectedNonAllelObservationsF);
rawQ = MathOperations.PtoQ(p1 + p2);
}
var qScore = Math.Min(maxGTQScore, rawQ);
qScore = Math.Max(qScore, minGTQScore);
return((int)Math.Round(qScore));
}
private static void MathOperationsExample()
{
// I don't think that for checking are numbers prime we should throw an exception
var numbers = new List <int>();
foreach (var number in numbers)
{
var isPrime = MathOperations.IsPrime(number);
if (isPrime)
{
Console.WriteLine("{0} is prime!", number);
}
else
{
Console.WriteLine("{0} is NOT prime!", number);
}
}
}
private void ComboReservedRefund_TextChanged(object sender, EventArgs e)
{
//Formatting Form:
if (TxtPredicationOrder.Text == "" || ComboLocation.Text == "" || ComboContractor.Text == "" ||
TxtExcuteOrder.Text == "" || TxtPeriod.Text == "0" || ComboDocNo.Text == "" ||
TxtOperation.Text == "" || TxtAmount.Text == "0" || ComboReservedRefund.Text == "" ||
ComboInsuranceRefund.Text == "" || TxtJustAmount.Text == "")
{
BtnUpdate.Enabled = false;
}
else
{
BtnUpdate.Enabled = true;
}
//
if (ComboReservedRefund.Text == "تم الرد")
{
LblResStatues.Enabled = true;
LblResDocNo.Enabled = true;
LblResPayDate.Enabled = true;
LblResDiscount.Enabled = true;
LblResPaid.Enabled = true;
TxtReservedDocNo.Enabled = true;
DateResevedPay.Enabled = true;
TxtResDiscountPercentage.Enabled = true;
}
else
{
TxtReservedDocNo.Text = null;
TxtResDiscountPercentage.Text = "0.0";
LblResStatues.Enabled = false;
LblResDocNo.Enabled = false;
LblResPayDate.Enabled = false;
LblResDiscount.Enabled = false;
LblResPaid.Enabled = false;
TxtReservedDocNo.Enabled = false;
DateResevedPay.Enabled = false;
TxtResDiscountPercentage.Enabled = false;
}
//
MathOperations.AfterPayProject(ComboReservedRefund, TxtAmount, TxtReservedAmount, TxtResDiscountPercentage,
TxtResDiscountAmount, TxtReservedPaid);
}
private float[] CalcErorr(Matrix <float> goal, Matrix <float> end_effector)
{
float[] err = new float[6];
err[0] = goal[0, 3] - end_effector[0, 3];
err[1] = goal[1, 3] - end_effector[1, 3];
err[2] = goal[2, 3] - end_effector[2, 3];
float[] t1 = new float[] {
Mathf.Atan2(goal[2, 1], Mathf.Sqrt(1 - goal[2, 1] * goal[2, 1])),
Mathf.Atan2(-goal[0, 1], goal[1, 1]),
Mathf.Atan2(-goal[2, 0], goal[2, 2])
};
float[] t2 = new float[] {
Mathf.Atan2(end_effector[2, 1], Mathf.Sqrt(1 - end_effector[2, 1] * end_effector[2, 1])),
Mathf.Atan2(-end_effector[0, 1], end_effector[1, 1]),
Mathf.Atan2(-end_effector[2, 0], end_effector[2, 2])
};
Matrix <float> R = Matrix <float> .Build.DenseOfArray(new float[, ]
{
{ 0, Mathf.Cos(t1[1]), -Mathf.Sin(t1[1]) * Mathf.Cos(t1[0]) },
{ 0, Mathf.Sin(t1[1]), Mathf.Cos(t1[1]) * Mathf.Cos(t1[0]) },
{ 1, 0, Mathf.Sin(t1[0]) }
});
float d1 = t1[0] - t2[0];
float d2 = t1[1] - t2[1];
float d3 = t1[2] - t2[2];
err[3] = (R[0, 0] * d2 + R[0, 1] * d1 + R[0, 2] * d3);
err[4] = (R[1, 0] * d2 + R[1, 1] * d1 + R[1, 2] * d3);
err[5] = (R[2, 0] * d2 + R[2, 1] * d1 + R[2, 2] * d3);
err[3] = MathOperations.AngleRound(err[3]);
err[4] = MathOperations.AngleRound(err[4]);
err[5] = MathOperations.AngleRound(err[5]);
return(err);
}
private Matrix <float> AGILUSjacobian(float[] q)
{
Matrix <float> A1 = MathOperations.CalcMatrixDH(q[0], 400, 25, Mathf.PI / 2);
Matrix <float> A2 = MathOperations.CalcMatrixDH(q[1] + Mathf.PI / 2, 0, 560, 0);
Matrix <float> A3 = MathOperations.CalcMatrixDH(q[2], 0, 35, Mathf.PI / 2);
Matrix <float> A4 = MathOperations.CalcMatrixDH(q[3], 515, 0, -Mathf.PI / 2);
Matrix <float> A5 = MathOperations.CalcMatrixDH(q[4], 0, 0, Mathf.PI / 2);
Matrix <float> A6 = MathOperations.CalcMatrixDH(q[5], 80, 0, 0);
Matrix <float> T1 = A1;
Matrix <float> T2 = A1.Multiply(A2);
Matrix <float> T3 = A1.Multiply(A2.Multiply(A3));
Matrix <float> T4 = A1.Multiply(A2.Multiply(A3.Multiply(A4)));
Matrix <float> T5 = A1.Multiply(A2.Multiply(A3.Multiply(A4.Multiply(A5))));
Matrix <float> T6 = A1.Multiply(A2.Multiply(A3.Multiply(A4.Multiply(A5.Multiply(A6)))));
Vector3 z0 = new Vector3(0, 0, 1);
Vector3 z1 = new Vector3(T1[0, 2], T1[1, 2], T1[2, 2]);
Vector3 z2 = new Vector3(T2[0, 2], T2[1, 2], T2[2, 2]);
Vector3 z3 = new Vector3(T3[0, 2], T3[1, 2], T3[2, 2]);
Vector3 z4 = new Vector3(T4[0, 2], T4[1, 2], T4[2, 2]);
Vector3 z5 = new Vector3(T5[0, 2], T5[1, 2], T5[2, 2]);
Vector3 z6 = new Vector3(T6[0, 2], T6[1, 2], T6[2, 2]);
Vector3 p0 = new Vector3(0, 0, 0);
Vector3 p1 = new Vector3(T1[0, 3], T1[1, 3], T1[2, 3]);
Vector3 p2 = new Vector3(T2[0, 3], T2[1, 3], T2[2, 3]);
Vector3 p3 = new Vector3(T3[0, 3], T3[1, 3], T3[2, 3]);
Vector3 p4 = new Vector3(T4[0, 3], T4[1, 3], T4[2, 3]);
Vector3 p5 = new Vector3(T5[0, 3], T5[1, 3], T5[2, 3]);
Vector3 p6 = new Vector3(T6[0, 3], T6[1, 3], T6[2, 3]);
Matrix <float> J = Matrix <float> .Build.DenseOfArray(new float[, ] {
{ Vector3.Cross(z0, p6 - p0).x, Vector3.Cross(z1, p6 - p1).x, Vector3.Cross(z2, p6 - p2).x, Vector3.Cross(z3, p6 - p3).x, Vector3.Cross(z4, p6 - p4).x, Vector3.Cross(z5, p6 - p5).x },
{ Vector3.Cross(z0, p6 - p0).y, Vector3.Cross(z1, p6 - p1).y, Vector3.Cross(z2, p6 - p2).y, Vector3.Cross(z3, p6 - p3).y, Vector3.Cross(z4, p6 - p4).y, Vector3.Cross(z5, p6 - p5).y },
{ Vector3.Cross(z0, p6 - p0).z, Vector3.Cross(z1, p6 - p1).z, Vector3.Cross(z2, p6 - p2).z, Vector3.Cross(z3, p6 - p3).z, Vector3.Cross(z4, p6 - p4).z, Vector3.Cross(z5, p6 - p5).z },
{ z0.x, z1.x, z2.x, z3.x, z4.x, z5.x },
{ z0.y, z1.y, z2.y, z3.y, z4.y, z5.y },
{ z0.z, z1.z, z2.z, z3.z, z4.z, z5.z }
});
return(J);
}
private ElementBase InitializeElementBaseByMinMaxPoint()
{
const int nils = 3;
var multiplier = (int)Math.Pow(10, nils);
var X = (int)Math.Round((MaxMinPoint[1].X - MaxMinPoint[0].X) * multiplier, 0);
var Y = (int)Math.Round((MaxMinPoint[1].Y - MaxMinPoint[0].Y) * multiplier, 0);
var Z = (int)Math.Round((MaxMinPoint[1].Z - MaxMinPoint[0].Z) * multiplier, 0);
var xLength = X.ToString().Length;
var yLength = Y.ToString().Length;
var zLength = Z.ToString().Length;
var minLength = (int)MathOperations.FindMin(xLength, yLength, zLength);
var size = minLength >= 6 ? elementSize : 0.1;
//int size = (int)Math.Pow(10, minLength - (nils + 1)); // 2 is a kind of magic...
return new ElementBase(size);
}
public void EvaluateTurningLeft()
{
Vector3 v1 = new Vector3(hips.transform.forward.z, 0, hips.transform.forward.x);
Vector3 v2 = new Vector3(animationManager.InputX.Value, 0, animationManager.InputY.Value);
MathOperations.RotateVector(ref v2, animationManager.CamRotation.angle);
GetComponent <TurningLeft>().LastInputOnPreviousAnimation = new Vector2(lastX, lastY);
// Debug.Log("v1 : " + v1);
// Debug.Log("v2 : " + v2);
Vector3 cross = Vector3.Cross(v1.normalized, v2.normalized);
if (cross.y > 0.85f)
{
animationManager.changeAnimation("leftTurn");
turningRight = true;
}
}
public static void Give_Two_Vectors_Check_Sum()
{
var vec1 = new Vector(1, 1, 1);
var vec2 = new Vector(2, 2, 2);
var vec3 = new Vector(3, 3, 3);
var sum = MathOperations.Sum(vec1, vec2);
for (int i = 0; i < 3; i++)
{
Assert.Equal(3, sum[i]);
}
var sum2 = MathOperations.Sum(sum, vec3);
for (int i = 0; i < 3; i++)
{
Assert.Equal(6, sum2[i]);
}
}
Vector GetInputs()
{
Vector input = new Vector(0);
int half = visions / 2;
for (int i = 0; i < visions; i++)
{
float val = ((float)i - half + (visions % 2 == 0 ? 0.5f : 0f)) * (visionAngle * (1f / (float)visions));
Vector2 dir = MathOperations.AngleToVector(val + transform.rotation.eulerAngles.z + 90);
Vector visionVector = GetVision(dir);
input.JoinVector(visionVector);
//Debug.DrawLine(transform.position, transform.position + (Vector3)dir * visionDst, Color.blue);
}
input.JoinVector(GetSound());
float[] arr = { vitality / maxVitality };
input.JoinVector(new Vector(arr));
input.JoinVector(op);
return(input);
}
static float Calc(float x, float y, MathOperations z)
{
float res = 0f;
switch (z)
{
case MathOperations.add:
res = x + y;
break;
case MathOperations.div:
res = x - y;
break;
case MathOperations.mul:
res = x * y;
break;
case MathOperations.sub:
res = x / y;
break;
}
return res;
}
public ExpressionTree(MathOperations.MathOperation val)
{
Value = val;
}
public void SetUp()
{
_math = new MathOperations();
_cvm = new CalcViewModel();
}
