/// 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;
}
