public AJointIntImage(JointLinkConstants jls, AJointActive joint)
: this()
{
jls.Verify();
IsAlwaysStiff = jls.IsAlwaysStiff;
MinArc = jls.MinArc;
MaxArc = jls.MaxArc;
LinkLength = jls.LinkLength;
Joint = joint;
}
protected void StopArcMovement(int index)
{
AJointActive ith_joint = (AJointActive)Joints[index];
jI[index].ArcActivity = (int)Math.Sign(-jI[index].ArcVelocity);
jI[index].IsClenching = true;
ith_joint.BecomeOfConstArcAcceleration(-jI[index].ArcVelocity);
ImpactCore();
ith_joint.BecomeNoOfConstArcAcceleration();
jI[index].IsClenching = false;
jI[index].ArcActivity = 0;
}
public void SetStiff(int jointIndex, double arc)
{
AJointActive joint = (AJointActive)joints[jointIndex];
joint.BecomeStiff(arc);
}
public void SetArcAcceleration(int jointIndex, double arcAcc)
{
AJointActive joint = (AJointActive)joints[jointIndex];
joint.BecomeOfConstArcAcceleration(arcAcc);
}
protected void ComputeAccelerations(bool gravitation_on, double[] taus, bool impact)
{
Calculate2ndDerivatives(gravitation_on, taus, impact);
UpdateInternalImages(false, false, true);
int iteration = 0;
bool once_again = true;
while (once_again)
{
if (++iteration > 30)
{
throw new InvalidOperationException("Shuffling");
}
once_again = false;
// ewentualnie odrywamy od ziemi i od ograniczeń na kąty
for (int i = 0; i < JointNo; i++)
{
// weryfikacja, czy nie odrywa sie od gleby
if (!jI[i].IsPlunging && jI[i].IsStanding && iteration < JointNo && jI[i].NoNotStanding < 4)
{
AVector2D Fi = jI[i].Joint.Fe + jI[i].Joint.Fd;
if (i != JointNo - 1)
{
Fi -= Joints[i + 1].Fd;
}
if (Fi.y > ZeroThreshold)
{
jI[i].IsStanding = false;
jI[i].Joint.BecomeNoLed();
Calculate2ndDerivatives(gravitation_on, taus, impact);
UpdateInternalImages(false, false, true);
if (jI[i].Joint.a.y < 0)
{
jI[i].IsStanding = true;
jI[i].Joint.BecomeLed(Zero);
Calculate2ndDerivatives(gravitation_on, taus, impact);
UpdateInternalImages(false, false, true);
}
else
{
once_again = true;
break;
}
}
}
// weryfikacja czy nie odrywa się od ograniczenia na kąt
if (!jI[i].IsAlwaysStiff && !jI[i].IsClenching && jI[i].ArcActivity != 0 && iteration < JointNo && jI[i].NoNotActive < 4)
{
AJointActive joint = (AJointActive)Joints[i];
if (joint.TauW * jI[i].ArcActivity < -ZeroThreshold)
{
jI[i].ArcActivity = 0;
jI[i].Joint.BecomeNoStiff();
Calculate2ndDerivatives(gravitation_on, taus, impact);
UpdateInternalImages(false, false, true);
if (jI[i].ArcAcceleration * jI[i].ArcLocation > 0)
{
jI[i].ArcActivity = -jI[i].ArcLocation;
jI[i].Joint.BecomeStiff(jI[i].GetArcBound());
Calculate2ndDerivatives(gravitation_on, taus, impact);
UpdateInternalImages(false, false, true);
}
else
{
once_again = true;
break;
}
}
}
// czy aby jednak nie stoi
if (!jI[i].IsPlunging && jI[i].IsGrounded && !jI[i].IsStanding)
{
if (jI[i].Joint.a.y < 0)
{
jI[i].IsStanding = true;
jI[i].Joint.BecomeLed(new AVector2D(0, 0));
Calculate2ndDerivatives(gravitation_on, taus, impact);
UpdateInternalImages(false, false, true);
once_again = true;
break;
}
}
// czy aby ograniczenie nie powinno zadziałać
if (!jI[i].IsAlwaysStiff && !jI[i].IsClenching && jI[i].ArcLocation != 0 && jI[i].ArcActivity == 0)
{
if (jI[i].ArcLocation * jI[i].ArcAcceleration > 0)
{
jI[i].ArcActivity = -jI[i].ArcLocation;
jI[i].Joint.BecomeStiff(jI[i].GetArcBound());
Calculate2ndDerivatives(gravitation_on, taus, impact);
UpdateInternalImages(false, false, true);
once_again = true;
break;
}
}
}
}
for (int i = 0; i < JointNo; i++)
{
if (jI[i].ArcLocation != 0 && jI[i].ArcActivity == 0)
{
jI[i].ArcLocation = 0;
jI[i].NoNotActive++;
}
if (jI[i].IsGrounded && !jI[i].IsStanding)
{
jI[i].IsGrounded = false;
jI[i].NoNotStanding++;
}
}
axSet = true;
}
private bool PrvCalculateBackwards(bool impact) // prawda jesli przejmuje odpowiedzialnosc za obliczenia.
{
Bw.FillWith(0);
Dw.FillWith(0);
P.FillWith(0);
G.FillWith(0);
Qw = Q = Hw = H = 0;
AJointActive NJ = (!IsEnding && NextJoint.IsActivable) ? (AJointActive)NextJoint : null;
if (IsEnding || (!IsActive && !NJ.IsActive))
{
return(false);
}
else
if (IsLed && NextJoint.IsActive && !NextJoint.IsEnding)
{
#region złącze prowadzone i następne aktywne
Variant = "3.1";
double e = GetCentripetalAcc(impact);
AVector2D r = NextLink.r;
AVector2D L = NextLink.L;
AMatrix2x2 A_1 = NextJoint.A;
AVector2D b_1 = NextJoint.b;
double k0 = -r * (A_1 * r);
double k1 = r * (A_1 * L) - r * NJ.Bw;
double k3 = -r * (A_1 * L);
double k4 = r * GetLeadingAcc() - r * b_1 - e;
double k5 = NJ.P * r - L * (A_1 * r);
double k6 = -NJ.P * L + NJ.Qw + L * (A_1 * L) - L * NJ.Bw;
double k8 = NJ.P * L - L * (A_1 * L);
double k9 = NJ.Q - L * b_1 + L * GetLeadingAcc() - NJ.GetProperArcAcceleration(impact);
double k11 = k5 * k1 - k0 * k6;
if (Math.Abs(k11) < NumericError * 2)
{
// it is impossible to determine both force and torch
Variant = "3.1.1";
double eq1 = Math.Abs(k0) + Math.Abs(k1);
double eq2 = Math.Abs(k5) + Math.Abs(k6);
if (eq1 < NumericError || eq1 < eq2)
{
Variant = "3.1.1.1";
k0 = 1;
k1 = k3 = k4 = 0;
}
if (eq2 < NumericError || eq2 <= eq1)
{
Variant = "3.1.1.2";
k6 = 1;
k5 = k8 = k9 = 0;
}
k11 = k5 * k1 - k0 * k6;
}
double k14 = (k6 * k3 - k1 * k8) / k11;
double k15 = (k0 * k8 - k5 * k3) / k11;
double k16 = (k4 * k6 - k1 * k9) / k11;
double k17 = (k0 * k9 - k5 * k4) / k11;
G.FillWith(0);
Hw = k15;
H = k17;
C.FillWith(0);
Dw = r * k14 + L - L * k15;
d = r * k16 - L * k17;
A.FillWith(0);
Bw.FillWith(0);
b = GetLeadingAcc();
P.FillWith(0);
Qw = L * A_1 * Dw + L * NJ.Bw * Hw;
Q = L * A_1 * d + L * NJ.Bw * H + L * NJ.b - L * b;
#endregion
}
else
if (IsLed)
{
#region złącze prowadzone i następne nieaktywne
Variant = "3.2";
double e = GetCentripetalAcc(impact);
AVector2D r = NextLink.r;
AVector2D L = NextLink.L;
AMatrix2x2 A_1 = NextJoint.A;
AVector2D b_1 = NextJoint.b;
double scala = r * (A_1 * r);
if (Math.Abs(scala) > NumericError)
{ // jeśli się da, to wywrzej wpływ na i+1-sze złącze
Variant = "3.2.1";
C.FillWith(0);
Dw = L - (r * (r * (A_1 * L) / scala));
d = r * (r * (GetLeadingAcc() - b_1) - e) / scala;
}
else
{ // ale jeśli się nie da to odpuść.
Variant = "3.2.2";
C.FillWith(0);
Dw.FillWith(0);
d.FillWith(0);
}
A.FillWith(0);
Bw.FillWith(0);
b = GetLeadingAcc();
P.FillWith(0);
Qw = L * A_1 * Dw - L * Bw;
Q = L * A_1 * d + L * b_1 - L * b;
#endregion
}
else
if (!NextJoint.IsActive || NextJoint.IsEnding)
{
#region złącze nieprowadzone i następne nieaktywne
Variant = "3.3";
double e = GetCentripetalAcc(impact);
AVector2D r = NextLink.r;
AVector2D L = NextLink.L;
AMatrix2x2 A_1 = NextJoint.A;
AVector2D b_1 = NextJoint.b;
double scala = r * (A_1 * r) * m + 1;
C = r | r / scala;
Dw = L - r * (r * (A_1 * L) * m / scala);
d = r * (r * Fe - (r * b_1 + e) * m) / scala;
A = (AMatrix2x2.I() - C) / m;
Bw = Dw / -m;
b = (Fe - d) / m;
P = L * A_1 * C - L * A;
Qw = L * A_1 * Dw - L * Bw;
Q = L * A_1 * d + L * b_1 - L * b;
#endregion
}
else
{
#region aktywne zlacze w srodku ukladu
Variant = "3.4";
double e = GetCentripetalAcc(impact);
AVector2D r = NextLink.r;
AVector2D L = NextLink.L;
AMatrix2x2 A_1 = NextJoint.A;
AVector2D b_1 = NextJoint.b;
double k0 = 1.0 / -m - r * (A_1 * r);
double k1 = r * (A_1 * L) - r * NJ.Bw;
AVector2D k2 = r / m;
double k3 = -r * (A_1 * L);
double k4 = r * Fe / m - r * b_1 - e;
double k5 = NJ.P * r - L * (A_1 * r);
double k6 = -NJ.P * L + NJ.Qw + L * (A_1 * L) - L * NJ.Bw + L.LengthSq / m;
AVector2D k7 = L / m;
double k8 = NJ.P * L - L * (A_1 * L) - L.LengthSq / m;
double k9 = NJ.Q - L * b_1 + L * Fe / m - NJ.GetProperArcAcceleration(impact);
double k11 = k5 * k1 - k0 * k6;
AVector2D k12 = (k6 * k2 - k1 * k7) / k11;
AVector2D k13 = (k0 * k7 - k5 * k2) / k11;
double k14 = (k6 * k3 - k1 * k8) / k11;
double k15 = (k0 * k8 - k5 * k3) / k11;
double k16 = (k4 * k6 - k1 * k9) / k11;
double k17 = (k0 * k9 - k5 * k4) / k11;
G = k13;
Hw = k15;
H = k17;
C = (r | k12) - (L | k13);
Dw = r * k14 + L - L * k15;
d = r * k16 - L * k17;
A = (AMatrix2x2.I() - C) / m;
Bw = Dw / -m;
b = (Fe - d) / m;
P = L * A_1 * C + L * NJ.Bw * G - L * A;
Qw = L * A_1 * Dw + L * NJ.Bw * Hw - L * Bw;
Q = L * A_1 * d + L * NJ.Bw * H + L * NJ.b - L * b;
#endregion
}
return(true);
}
