/// <summary>
/// 問題を設定する
/// </summary>
/// <returns></returns>
private bool setNewProblem()
{
bool success = false;
Console.WriteLine("SetNewProblem() " + ProbNo);
try
{
clearAFix(AFix);
clearARB(ARB);
CurTime = 0;
if( ProbNo == 0 )
{
CRigidBody3D rb = new CRigidBody3D();
// Note: DelFEM4Netでは、irb.ini_pos_cgはコピーを取得するプロパティなので、変更したらセットする必要があります。
//rb.ini_pos_cg.SetVector(1.0,0,0); // 変更はrbへは反映されません
rb.Set_ini_pos_cg_Vector(1.0, 0, 0);
ARB.Add(rb);
CFix_Spherical fix = new CFix_Spherical(0);
fix.SetIniPosFix(0,0,0);
AFix.Add( fix );
}
else if( ProbNo == 1 )
{
double tot_len = 3.0;
uint nRB = 6;
double div_len = tot_len / nRB;
for (uint irb = 0; irb < nRB; irb++)
{
CRigidBody3D rb = new CRigidBody3D();
rb.Set_ini_pos_cg_Vector(div_len*(irb+1),0,0);
ARB.Add(rb);
if ( irb == 0 )
{
CFix_Spherical fix = new CFix_Spherical(irb);
fix.SetIniPosFix(0,0,0);
AFix.Add( fix );
}
else
{
CJoint_Spherical fix = new CJoint_Spherical(irb - 1, irb);
fix.SetIniPosJoint(div_len * (irb + 0.5), 0, 0);
AFix.Add( fix );
}
}
}
else if( ProbNo == 2 )
{
{
CRigidBody3D rb = new CRigidBody3D();
rb.Set_ini_pos_cg_Vector(1.0, 0, 0);
ARB.Add(rb);
}
{
CRigidBody3D rb = new CRigidBody3D();
rb.Set_ini_pos_cg_Vector(1.0, 1, 0);
ARB.Add(rb);
}
{
CRigidBody3D rb = new CRigidBody3D();
rb.Set_ini_pos_cg_Vector(2.0, 1, 0);
ARB.Add(rb);
}
{
CFix_Hinge fix = new CFix_Hinge(0);
fix.SetIniPosFix(0,0,0);
fix.SetAxis(0,1,0);
AFix.Add( fix );
}
{
CJoint_Hinge fix = new CJoint_Hinge(0,1);
fix.SetIniPosJoint(1,0.5,0);
fix.SetAxis(1,0,0);
AFix.Add( fix );
}
{
CJoint_Spherical fix = new CJoint_Spherical(1,2);
fix.SetIniPosJoint(1.5,1,0);
AFix.Add( fix );
}
}
else if( ProbNo == 3 )
{
double tot_len = 3.0;
uint nRB = 3;
double div_len = tot_len / nRB;
for (uint irb=0; irb <nRB; irb++)
{
CRigidBody3D rb = new CRigidBody3D();
rb.Set_ini_pos_cg_Vector(div_len * (irb + 1), 0, 0);
ARB.Add(rb);
if ( irb == 0 )
{
CFix_Hinge fix = new CFix_Hinge(irb);
fix.SetIniPosFix(0,0,0);
fix.SetAxis(0.0,0.5,1);
AFix.Add( fix );
}
else
{
CJoint_Spherical fix = new CJoint_Spherical(irb-1, irb);
fix.SetIniPosJoint(div_len * (irb + 0.5), 0, 0);
AFix.Add( fix );
}
}
}
else if( ProbNo == 4 )
{
CRigidBody3D rb = new CRigidBody3D();
rb.Set_ini_pos_cg_Vector(1.0, 0, 0);
ARB.Add(rb);
CFix_HingeRange fix = new CFix_HingeRange(0);
fix.SetIniPosFix(0,0,0);
fix.SetAxis(0,1,0);
fix.SetRange(-30,60);
AFix.Add( fix );
}
else if( ProbNo == 5 )
{
uint nRB = 3;
// (1.0, 0, 0)
// (2.0, 0, 0)
// (3.0, 0, 0)
for (uint irb = 0; irb < nRB; irb++)
{
CRigidBody3D rb = new CRigidBody3D();
rb.Set_ini_pos_cg_Vector( (irb + 1) ,0,0);
ARB.Add(rb);
}
{
CFix_HingeRange fix = new CFix_HingeRange(0);
fix.SetIniPosFix(0,0,0);
fix.SetAxis(0,1,0);
fix.SetRange(-30,60);
AFix.Add( fix );
}
{
CJoint_Hinge fix = new CJoint_Hinge(0,1);
fix.SetIniPosJoint(1.5,0,0);
fix.SetAxis(0,1,0);
AFix.Add( fix );
}
{
CJoint_Hinge fix = new CJoint_Hinge(1,2);
fix.SetIniPosJoint(2.5,0,0);
fix.SetAxis(0,1,0);
AFix.Add( fix );
}
}
else if( ProbNo == 6 )
{
uint nRB = 2;
// (1.0, 0, 0)
// (2.0, 0, 0)
for (uint irb = 0; irb < nRB; irb++)
{
CRigidBody3D rb = new CRigidBody3D();
rb.Set_ini_pos_cg_Vector( (irb + 1) ,0,0);
ARB.Add(rb);
}
{
CFix_HingeRange fix = new CFix_HingeRange(0);
fix.SetRange(-30,35);
//CFix_Hinge fix = new CFix_Hinge(0);
fix.SetIniPosFix(0,0,0);
fix.SetAxis(0,1,0);
AFix.Add( fix );
}
{
CJoint_HingeRange fix = new CJoint_HingeRange(0,1);
fix.SetIniPosJoint(1.5,0,0);
fix.SetAxis(0,1,0);
fix.SetRange(-30,30);
AFix.Add( fix );
}
}
else if( ProbNo == 7 )
{
uint nRB = 4;
// (1.0, 0, 0)
// (2.0, 0, 0)
// (3.0, 0, 0)
// (4.0, 0, 0)
for (uint irb = 0; irb < nRB; irb++)
{
CRigidBody3D rb = new CRigidBody3D();
rb.Set_ini_pos_cg_Vector( (irb + 1) ,0,0);
ARB.Add(rb);
}
{
CFix_HingeRange fix = new CFix_HingeRange(0);
fix.SetRange(-30,35);
//CFix_Hinge fix = new CFix_Hinge(0);
fix.SetIniPosFix(0,0,0);
fix.SetAxis(0,1,0);
AFix.Add( fix );
}
{
CJoint_HingeRange fix = new CJoint_HingeRange(0,1);
fix.SetIniPosJoint(1.5,0,0);
fix.SetAxis(0,1,0);
fix.SetRange(-30,30);
AFix.Add( fix );
}
{
CJoint_HingeRange fix = new CJoint_HingeRange(1,2);
fix.SetIniPosJoint(2.5,0,0);
fix.SetAxis(0,1,0);
fix.SetRange(-30,30);
AFix.Add( fix );
}
{
CJoint_HingeRange fix = new CJoint_HingeRange(2,3);
fix.SetIniPosJoint(3.5,0,0);
fix.SetAxis(0,1,0);
fix.SetRange(-30,30);
AFix.Add( fix );
}
}
else if( ProbNo == 8 )
{
CRigidBody3D rb = new CRigidBody3D();
// rb.ini_pos_cg等は変更したらセットする必要があります。
rb.Set_ini_pos_cg_Vector(0.3,0.0,1.0);
rb.Set_Omega_Vector(0.0, 0.0, 1.0); // rb.Omega.z = 1.0;
// rb.mineatiaはDoubleArrayIndexerなので配列要素に代入できます。
rb.mineatia[2] = 10.0;
rb.mass = 0.001;
ARB.Add(rb);
CFix_Spherical fix = new CFix_Spherical(0);
fix.SetIniPosFix(0,0,0);
AFix.Add( fix );
}
success = true;
}
catch (Exception exception)
{
Console.WriteLine(exception.Message + " " + exception.StackTrace);
}
/*
Gl.glMatrixMode(Gl.GL_PROJECTION);
Gl.glLoadIdentity();
DelFEM4NetCom.View.DrawerGlUtility.SetProjectionTransform(Camera);
//Glut.glutPostRedisplay();
*/
ProbNo++;
if (ProbNo == ProbCnt) ProbNo = 0;
return success;
}
/// <summary>
/// 剛体を描画する
/// </summary>
/// <param name="r"></param>
private static void DrawRigidBody(CRigidBody3D r)
{
uint imode = 1;
if ( imode == 0 )
{
}
else if ( imode == 1 )
{
Gl.glPushMatrix();
Gl.glTranslated(
r.ini_pos_cg.x + r.disp_cg.x,
r.ini_pos_cg.y + r.disp_cg.y,
r.ini_pos_cg.z + r.disp_cg.z );
{
double[] rot0 = new double[16];
r.GetInvRotMatrix44(ref rot0);
Gl.glMultMatrixd(rot0);
}
Gl.glColor3d(0,0,0);
Glut.glutSolidCube(0.2);
//Glut.glutSolidTeapot(1.0);
//Glut.glutWireTeapot(0.2);
//Glut.glutWireOctahederon();
//Glut.glutWireDodecahedron();
Gl.glLineWidth(1);
Gl.glBegin(Gl.GL_LINES);
Gl.glColor3d(1,0,0);
Gl.glVertex3d(0,0,0);
Gl.glVertex3d(0.4,0,0);
Gl.glColor3d(0,1,0);
Gl.glVertex3d(0,0,0);
Gl.glVertex3d(0,0.4,0);
Gl.glColor3d(0,0,1);
Gl.glVertex3d(0,0,0);
Gl.glVertex3d(0,0,0.4);
Gl.glEnd();
Gl.glPopMatrix();
}
}