public override void SaveData(ref AnimatTools.DataObjects.Simulation dsSim, ref AnimatTools.DataObjects.Physical.PhysicalStructure doStructure, ref AnimatTools.Interfaces.StdXml oXml)
{
base.SaveData (ref dsSim, ref doStructure, ref oXml);
oXml.IntoElem();
oXml.AddChildElement("LowerRadius", m_fLowerRadius);
oXml.AddChildElement("UpperRadius", m_fUpperRadius);
oXml.AddChildElement("Height", m_fHeight);
oXml.AddChildElement("CollisionLowerRadius", m_fLowerRadius);
oXml.AddChildElement("CollisionUpperRadius", m_fUpperRadius);
oXml.AddChildElement("CollisionHeight", m_fHeight);
oXml.OutOfElem(); //out of body
}
public override void SaveData(ref AnimatTools.DataObjects.Simulation dsSim, ref AnimatTools.DataObjects.Physical.PhysicalStructure doStructure, ref AnimatTools.Interfaces.StdXml oXml)
{
base.SaveData (ref dsSim, ref doStructure, ref oXml);
Vector3 v3Rot = Util_DX.DecomposeXYZRotationMatrix(this.CombinedTransformationMatrix);
Vector3 rot = m_v3Rotation;
rot.Normalize();
AnimatTools.Framework.Vec3d v = new Vec3d(null, rot.X, rot.Y, rot.Z);
oXml.IntoElem();
//oXml.AddChildElement("Stiffness", this.Stiffness.ActualValue);
//oXml.AddChildElement("Damping", this.Damping.ActualValue);
oXml.AddChildElement("ConstraintHalfAngle",m_fHalfAngle);
m_v3Axis.TransformCoordinate(Matrix.RotationX(Geometry.DegreeToRadian(180)) * Matrix.RotationY(Geometry.DegreeToRadian(180)) * Matrix.RotationZ(Geometry.DegreeToRadian(180)) * Matrix.RotationX(v3Rot.X)* Matrix.RotationY(v3Rot.Y) * Matrix.RotationZ(v3Rot.Z));
Vec3d vRotationAxis = new Vec3d(null,m_v3Axis.X, m_v3Axis.Y, m_v3Axis.Z);
Util.SaveVector(ref oXml, "ConstraintAxis", vRotationAxis);
oXml.OutOfElem();
m_v3Axis = new Vector3(0,0,1);
}
public override void SaveData(ref AnimatTools.DataObjects.Simulation dsSim, ref AnimatTools.DataObjects.Physical.PhysicalStructure doStructure, ref AnimatTools.Interfaces.StdXml oXml)
{
oXml.AddChildElement(this.BodyPartType);
oXml.IntoElem(); //Into RigidBody Element
oXml.AddChildElement("Name", m_strName);
oXml.AddChildElement("ID", m_strID);
oXml.AddChildElement("Type", this.Type);
oXml.AddChildElement("PartType", this.PartType.ToString());
oXml.AddChildElement("ModuleName", this.ModuleName);
Util.SaveColor(ref oXml, "Color", m_d3dMaterial.Diffuse);
if(m_thPrimaryAttachment != null && m_thPrimaryAttachment.BodyPart != null)
oXml.AddChildElement("PrimaryAttachmentID", m_thPrimaryAttachment.BodyPart.ID);
if(m_thSecondaryAttachment != null && m_thSecondaryAttachment.BodyPart != null)
oXml.AddChildElement("SecondaryAttachmentID", m_thSecondaryAttachment.BodyPart.ID);
m_snNaturalLength.SaveData(ref oXml, "NaturalLength");
m_snStiffness.SaveData(ref oXml, "Stiffness");
m_snDamping.SaveData(ref oXml, "Damping");
oXml.AddChildElement("Enabled", m_bEnabled);
oXml.AddChildElement("IsVisible", m_bVisible);
oXml.OutOfElem(); //Outof RigidBody Element
}
public override void SaveData(ref AnimatTools.DataObjects.Simulation dsSim, ref AnimatTools.DataObjects.Physical.PhysicalStructure doStructure, ref AnimatTools.Interfaces.StdXml oXml)
{
base.SaveData (ref dsSim, ref doStructure, ref oXml);
oXml.IntoElem();
if(!oXml.FindChildElement("Constraint", false))
oXml.AddChildElement("Constraint");
oXml.IntoElem();
oXml.SetAttrib("Low",this.m_fltMinMovement);
oXml.SetAttrib("High", this.m_fltMaxMovement);
oXml.OutOfElem();
oXml.AddChildElement("Length", m_fltLength);
oXml.AddChildElement("EnableMotor",this.m_bEnableMotor);
oXml.AddChildElement("ServoMotor",this.m_bServoMotor);
oXml.AddChildElement("ServoGain",this.m_fltServoGain);
m_snMaxForce.SaveData(ref oXml, "MaxForce");
m_snMaxVelocity.SaveData(ref oXml, "MaxVelocity");
RigidBodies.RigidBody_DX rbParent = (RigidBodies.RigidBody_DX)this.Parent;
Vector3 v3Rot = Util_DX.DecomposeXYZRotationMatrix(this.CombinedTransformationMatrix);;
float x = Geometry.DegreeToRadian(180);
m_v3Axis.TransformCoordinate(Matrix.RotationX(Geometry.DegreeToRadian(180)) * Matrix.RotationY(Geometry.DegreeToRadian(180)) * Matrix.RotationZ(Geometry.DegreeToRadian(180)) * Matrix.RotationX(v3Rot.X)* Matrix.RotationY(v3Rot.Y) * Matrix.RotationZ(v3Rot.Z));
Vec3d vRotationAxis = new Vec3d(null,m_v3Axis.X, m_v3Axis.Y, m_v3Axis.Z);
Util.SaveVector(ref oXml, "RotationAxis", vRotationAxis);
m_v3Axis = new Vector3(0,0,1);
oXml.OutOfElem();
}
public static void SaveMatrix(ref AnimatTools.Interfaces.StdXml oXml, string strName, Matrix mtxM)
{
string str = mtxM.M11.ToString() +"," + mtxM.M12.ToString() +"," + mtxM.M13.ToString() +"," + mtxM.M14.ToString() +",";
str += mtxM.M21.ToString() +"," + mtxM.M22.ToString() +"," + mtxM.M23.ToString() +"," + mtxM.M24.ToString() +",";
str += mtxM.M31.ToString() +"," + mtxM.M32.ToString() +"," + mtxM.M33.ToString() +"," + mtxM.M34.ToString() +",";
str += mtxM.M41.ToString() +"," + mtxM.M42.ToString() +"," + mtxM.M43.ToString() +"," + mtxM.M44.ToString();
oXml.AddChildElement(strName,str);
}
public override void LoadData(ref AnimatTools.DataObjects.Simulation dsSim, ref AnimatTools.DataObjects.Physical.PhysicalStructure doStructure, ref AnimatTools.Interfaces.StdXml oXml)
{
m_aryChildBodies.Clear();
oXml.IntoElem(); //'Into RigidBody Element
m_strID = oXml.GetChildString("ID");
m_strName = oXml.GetChildString("Name", m_strID);
m_strDescription = oXml.GetChildString("Description", "");
if(m_strName.Trim().Length == 0)
m_strName = m_strID;
if(oXml.FindChildElement("Color", false))
{
System.Drawing.Color oColor = Util.LoadColor(ref oXml, "Color");
this.Alpha = oColor.A;
this.Color = oColor;
}
if(oXml.FindChildElement("MuscleAttachments", false))
{
oXml.IntoElem();
oXml.AddChildElement("Description", m_strDescription);
if(oXml.NumberOfChildren() > 2)
throw new System.Exception("The standard spring can not have more than 2 attachment points.");
else if(oXml.NumberOfChildren() == 2)
{
oXml.FindChildByIndex(0);
m_strPrimaryAttachID = oXml.GetChildString();
oXml.FindChildByIndex(1);
m_strSecondaryAttachID = oXml.GetChildString();
}
else if(oXml.NumberOfChildren() == 1)
{
oXml.FindChildByIndex(0);
m_strPrimaryAttachID = oXml.GetChildString();
}
else
{
m_strPrimaryAttachID = "";
m_strSecondaryAttachID = "";
}
oXml.OutOfElem();
}
else
{
if(oXml.FindChildElement("PrimaryAttachmentID", false))
m_strPrimaryAttachID = oXml.GetChildString("PrimaryAttachmentID");
if(oXml.FindChildElement("SecondaryAttachmentID", false))
m_strSecondaryAttachID = oXml.GetChildString("SecondaryAttachmentID");
}
m_snNaturalLength.LoadData(ref oXml, "NaturalLength");
m_snStiffness.LoadData(ref oXml, "Stiffness");
m_snDamping.LoadData(ref oXml, "Damping");
m_bEnabled = oXml.GetChildBool("Enabled", m_bEnabled);
m_bVisible = oXml.GetChildBool("IsVisible", m_bVisible);
oXml.OutOfElem(); //Outof RigidBody Element
}
public override void SaveData(ref AnimatTools.DataObjects.Simulation dsSim, ref AnimatTools.DataObjects.Physical.PhysicalStructure doStructure, ref AnimatTools.Interfaces.StdXml oXml)
{
base.SaveData(ref dsSim, ref doStructure, ref oXml);
oXml.IntoElem(); //'Into RigidBody Element
oXml.AddChildElement("ApplyTension", m_bApplyTension);
m_snIaDischargeConstant.SaveData(ref oXml, "IaDischarge");
m_snIIDischargeConstant.SaveData(ref oXml, "IIDischarge");
oXml.OutOfElem(); //Outof RigidBody Element
}
public override void SaveXml(ref AnimatTools.Interfaces.StdXml oXml)
{
if(m_doOrganism == null)
throw new System.Exception("No organism was defined for the stimulus '" + m_strName + "'.");
if(m_doNode == null)
throw new System.Exception("No node was defined for the stimulus '" + m_strName + "'.");
//I have no idea why, but unders some conditions the object link we have to the node does not point to the
//actual node. We need to re-get the link to make sure that the node index is actually valid.
m_doNode = m_doOrganism.FindBehavioralNode(m_doNode.ID, true);
if(m_doNode != null && m_thMuscle != null && m_thMuscle.BodyPart != null && m_strMuscleLengthData != null && m_strMuscleLengthData.Length > 0)
{
oXml.AddChildElement("Stimulus");
oXml.IntoElem();
oXml.AddChildElement("ID", m_strID);
oXml.AddChildElement("Name", m_strName);
//The module name needs to be blank so it is created from the physics class factory.
//But we still need to know which neural module to load the neuron from.
oXml.AddChildElement("ModuleName", this.StimulusModuleName);
oXml.AddChildElement("NeuralModuleName", m_doNode.DataColumnModuleName);
oXml.AddChildElement("Type", this.StimulusClassType);
oXml.AddChildElement("OrganismID", m_doOrganism.ID);
oXml.AddChildElement("TargetNodeID", m_doNode.NodeIndex);
oXml.AddChildElement("MuscleID", m_thMuscle.BodyPart.ID);
oXml.AddChildElement("LengthData", m_strMuscleLengthData);
oXml.AddChildElement("Conductance", m_snConductance.ActualValue);
oXml.AddChildElement("RestPotential", m_snRestPotential.ActualValue);
oXml.OutOfElem();
}
}
public override void SaveData(ref AnimatTools.DataObjects.Simulation dsSim, ref AnimatTools.DataObjects.Physical.PhysicalStructure doStructure, ref AnimatTools.Interfaces.StdXml oXml)
{
base.SaveData (ref dsSim, ref doStructure, ref oXml);
oXml.IntoElem();
oXml.AddChildElement("Height", m_fltHeight);
oXml.AddChildElement("HeightFieldImage", m_strHeightFieldImage);
Util.SaveVector(ref oXml, "MapLocation", m_vMapLocation);
Util.SaveVector(ref oXml, "MapSize", m_vMapSize);
oXml.AddChildElement("MapScale", m_fltMapScale);
oXml.OutOfElem(); //out of body
}
public override void SaveData(ref AnimatTools.Interfaces.StdXml oXml)
{
Vector3 v3Rot = Util_DX.DecomposeXYZRotationMatrix(m_mtxOrientation);
m_fltRotateX = v3Rot.X;
m_fltRotateY = v3Rot.Y;
m_fltRotateZ = v3Rot.Z;
oXml.AddChildElement("PanX", m_fltPanX);
oXml.AddChildElement("PanY", m_fltPanY);
oXml.AddChildElement("Zoom", m_fltZoom);
oXml.AddChildElement("RotateX", m_fltRotateX);
oXml.AddChildElement("RotateY", m_fltRotateY);
oXml.AddChildElement("RotateZ", m_fltRotateZ);
Util.SaveColor(ref oXml, "BackColor", m_clBackColor);
}
public override void SaveData(ref AnimatTools.DataObjects.Simulation dsSim, ref AnimatTools.DataObjects.Physical.PhysicalStructure doStructure, ref AnimatTools.Interfaces.StdXml oXml)
{
base.SaveData(ref dsSim, ref doStructure, ref oXml);
oXml.IntoElem(); //Into RigidBody Element
m_snNaturalLength.SaveData(ref oXml, "NaturalLength");
m_snStiffness.SaveData(ref oXml, "Stiffness");
m_snDamping.SaveData(ref oXml, "Damping");
oXml.AddChildElement("ForceType", m_eForceType.ToString());
oXml.OutOfElem(); //Outof RigidBody Element
}
public override void SaveData(ref AnimatTools.DataObjects.Simulation dsSim, ref AnimatTools.DataObjects.Physical.PhysicalStructure doStructure, ref AnimatTools.Interfaces.StdXml oXml)
{
base.SaveData (ref dsSim, ref doStructure, ref oXml);
oXml.IntoElem();
if(m_thOdorType != null && m_thOdorType.OdorType != null)
oXml.AddChildElement("OdorTypeID", m_thOdorType.OdorType.ID);
oXml.OutOfElem(); //out of body
}
public static void SaveMeshVertices(ref AnimatTools.Interfaces.StdXml oXml, string strName, Mesh myMesh, bool bSaveIndices)
{
CustomVertex.PositionNormalTextured[] cvVerts = new CustomVertex.PositionNormalTextured[myMesh.NumberVertices];
oXml.AddChildElement(strName);
oXml.IntoElem(); //Into the mesh
GraphicsStream buffer = myMesh.LockVertexBuffer(LockFlags.ReadOnly);
AnimatTools.Framework.Vec3d vVertex = new AnimatTools.Framework.Vec3d(null);
for(int i=0; i<myMesh.NumberVertices; i++)
{
buffer.Position = i * myMesh.NumberBytesPerVertex;
cvVerts[i] = (CustomVertex.PositionNormalTextured)buffer.Read(typeof(CustomVertex.PositionNormalTextured));
//System.Diagnostics.Debug.WriteLine("v " + cvVerts[i].X + " " + cvVerts[i].Y + " " + cvVerts[i].Z);
vVertex.X = cvVerts[i].X;// - this.AbsoluteLocation.X;
vVertex.Y = cvVerts[i].Y;// - this.AbsoluteLocation.Y;
vVertex.Z = cvVerts[i].Z;// - this.AbsoluteLocation.Z;
Util.SaveVector(ref oXml, "Vector", vVertex);
//Debug.WriteLine("data.Write(new CustomVertex.PositionTextured(" + vVertex.X + "f, " + vVertex.Y + "f, " + vVertex.Z + "f, 0f, 0f));");
//if(i%3 == 0) Debug.WriteLine("");
//Debug.WriteLine("V: " + i + " (" + cvVerts[i].X + ", " + cvVerts[i].Y + ", " + cvVerts[i].Z + ", " + cvVerts[i].Nx + ", " + cvVerts[i].Ny + ", " + cvVerts[i].Nz + ")");
}
myMesh.UnlockVertexBuffer();
if(bSaveIndices)
{
using (IndexBuffer ib = myMesh.IndexBuffer)
{
GraphicsStream gs = ib.Lock(0, myMesh.NumberFaces*3*2, LockFlags.ReadOnly);
string strIndex = "";
short iIndex;
for(int i=0; i<myMesh.NumberFaces*3; i++)
{
gs.Position = i * 2;
iIndex = (short) gs.Read(typeof(short));
strIndex += iIndex.ToString();
if(i<gs.Length-1) strIndex += ",";
}
oXml.AddChildElement("IndexBuffer", strIndex);
ib.Unlock();
}
}
oXml.OutOfElem(); //Out of the mesh
}
public override void SaveData(ref AnimatTools.Interfaces.StdXml oXml)
{
base.SaveData(ref oXml);
oXml.IntoElem();
if(m_thMuscle != null && m_thMuscle.BodyPart != null)
oXml.AddChildElement("MuscleID", m_thMuscle.BodyPart.ID);
oXml.AddChildElement("MuscleLengthData", m_strMuscleLengthData);
m_snConductance.SaveData(ref oXml, "Conductance");
m_snRestPotential.SaveData(ref oXml, "RestPotential");
oXml.OutOfElem();
}
public override void SaveData(ref AnimatTools.Interfaces.StdXml oXml)
{
base.SaveData(ref oXml);
oXml.IntoElem();
if(m_thPrimaryAttachment != null && m_thPrimaryAttachment.BodyPart != null)
oXml.AddChildElement("PrimaryAttachmentID", m_thPrimaryAttachment.BodyPart.ID);
if(m_thSecondaryAttachment != null && m_thSecondaryAttachment.BodyPart != null)
oXml.AddChildElement("SecondaryAttachmentID", m_thSecondaryAttachment.BodyPart.ID);
oXml.AddChildElement("PGain", m_fltProportionalGain);
oXml.AddChildElement("DGain", m_fltDerivativeGain);
oXml.AddChildElement("IGain", m_fltIntegratorGain);
oXml.AddChildElement("MaxIValue", m_fltMaxIntegratorValue);
m_snVelocity.SaveData(ref oXml, "Velocity");
m_snMaxForce.SaveData(ref oXml, "MaxForce");
oXml.OutOfElem();
}
public override void SaveDataColumnToXml(ref AnimatTools.Interfaces.StdXml oXml)
{
oXml.IntoElem();
oXml.AddChildElement("StimulusID", this.ID);
oXml.OutOfElem();
}
public override void SaveXml(ref AnimatTools.Interfaces.StdXml oXml)
{
if(m_doStructure == null)
throw new System.Exception("No structure was defined for the stimulus '" + m_strName + "'.");
if(m_doBodyPart == null)
throw new System.Exception("No bodypart was defined for the stimulus '" + m_strName + "'.");
if(m_thPrimaryAttachment != null && m_thPrimaryAttachment.BodyPart != null &&
m_thSecondaryAttachment != null && m_thSecondaryAttachment.BodyPart != null)
{
oXml.AddChildElement("Stimulus");
oXml.IntoElem();
oXml.AddChildElement("ID", m_strID);
oXml.AddChildElement("Name", m_strName);
oXml.AddChildElement("AlwaysActive", m_bAlwaysActive);
oXml.AddChildElement("ModuleName", this.StimulusModuleName);
oXml.AddChildElement("Type", this.StimulusClassType);
oXml.AddChildElement("StartTime", m_snStartTime.ActualValue);
oXml.AddChildElement("EndTime", m_snEndTime.ActualValue);
oXml.AddChildElement("StructureID", m_doStructure.ID);
oXml.AddChildElement("BodyID", m_doBodyPart.ID);
oXml.AddChildElement("PrimaryAttachID", m_thPrimaryAttachment.BodyPart.ID);
oXml.AddChildElement("SecondaryAttachID", m_thSecondaryAttachment.BodyPart.ID);
oXml.AddChildElement("UsePosition", false);
oXml.AddChildElement("Velocity", m_snVelocity.ActualValue);
oXml.AddChildElement("MaxForce", m_snMaxForce.ActualValue);
oXml.AddChildElement("PGain", m_fltProportionalGain);
oXml.AddChildElement("DGain", m_fltDerivativeGain);
oXml.AddChildElement("IGain", m_fltIntegratorGain);
oXml.AddChildElement("MaxIVal", m_fltMaxIntegratorValue);
oXml.OutOfElem();
}
}
public override void SaveData(ref AnimatTools.DataObjects.Simulation dsSim, ref AnimatTools.DataObjects.Physical.PhysicalStructure doStructure, ref AnimatTools.Interfaces.StdXml oXml)
{
base.SaveData (ref dsSim, ref doStructure, ref oXml);
oXml.IntoElem();
RigidBodies.RigidBody_DX rbParent = (RigidBodies.RigidBody_DX)this.Parent;
Vector3 v3Rot = Util_DX.DecomposeXYZRotationMatrix(this.CombinedTransformationMatrix);;
float x = Geometry.DegreeToRadian(180);
if(!oXml.FindChildElement("Constraint", false))
oXml.AddChildElement("Constraint");
oXml.IntoElem();
oXml.SetAttrib("Low",this.m_fltMinAngle);
oXml.SetAttrib("High", this.m_fltMaxAngle);
oXml.OutOfElem();
oXml.AddChildElement("EnableMotor",this.m_bEnableMotor);
oXml.AddChildElement("ServoMotor",this.m_bServoMotor);
oXml.AddChildElement("ServoGain",this.m_fltServoGain);
m_snMaxTorque.SaveData(ref oXml, "MaxTorque");
m_snMaxVelocity.SaveData(ref oXml, "MaxVelocity");
// if(v3Rot.Y >= 180)
// m_v3Axis.TransformCoordinate(/*Matrix.RotationX(Geometry.DegreeToRadian(180))* Matrix.RotationY(Geometry.DegreeToRadian(180)) * Matrix.RotationZ(Geometry.DegreeToRadian(180)) **/ Matrix.RotationX(v3Rot.X)* Matrix.RotationY(v3Rot.Y) * Matrix.RotationZ(v3Rot.Z));
// else
//m_v3Axis.TransformCoordinate(Matrix.RotationX(Geometry.DegreeToRadian(180)) * Matrix.RotationY(Geometry.DegreeToRadian(180)) * Matrix.RotationZ(Geometry.DegreeToRadian(180)) * Matrix.RotationX(v3Rot.X)* Matrix.RotationY(v3Rot.Y) * Matrix.RotationZ(v3Rot.Z));
Matrix m = this.CombinedTransformationMatrix;
m.M41 = 0;
m.M42 = 0;
m.M43 = 0;
//Quaternion q = Quaternion.RotationYawPitchRoll(v3Rot.Y, v3Rot.X, v3Rot.Z);
//m_v3Axis.TransformCoordinate(Matrix.RotationQuaternion(q));
m_v3Axis.TransformCoordinate(m);
//Vec3d vRotationAxis = new Vec3d(null,1, 0, 0);
Vec3d vRotationAxis = new Vec3d(null,m_v3Axis.X, m_v3Axis.Y, m_v3Axis.Z);
Util.SaveVector(ref oXml, "RotationAxis", vRotationAxis);
oXml.OutOfElem();
m_v3Axis = new Vector3(0,0,1);
}
public override void SaveData(ref AnimatTools.DataObjects.Simulation dsSim, ref AnimatTools.DataObjects.Physical.PhysicalStructure doStructure, ref AnimatTools.Interfaces.StdXml oXml)
{
base.SaveData (ref dsSim, ref doStructure, ref oXml);
oXml.IntoElem();
oXml.AddChildElement("KillOrganism", m_bKillOrganism);
m_snMaxEnergyLevel.SaveData(ref oXml, "MaxEnergyLevel");
m_snEnergyLevel.SaveData(ref oXml, "EnergyLevel");
m_snBaseConsumptionRate.SaveData(ref oXml, "BaseConsumptionRate");
oXml.OutOfElem(); //out of body
}
