public override void LoadData(ref AnimatTools.DataObjects.Simulation dsSim, ref AnimatTools.DataObjects.Physical.PhysicalStructure doStructure, ref AnimatTools.Interfaces.StdXml oXml) { base.LoadData (ref dsSim, ref doStructure, ref oXml); oXml.IntoElem(); oXml.IntoChildElement("Constraint"); m_fltMinAngle = oXml.GetAttribFloat("Low"); m_fltMaxAngle = oXml.GetAttribFloat("High"); oXml.OutOfElem(); //out of Constraint m_snMinAngle.SetFromValue(Util.RadiansToDegrees(m_fltMinAngle), AnimatTools.Framework.ScaledNumber.enumNumericScale.None); m_snMaxAngle.SetFromValue(Util.RadiansToDegrees(m_fltMaxAngle), AnimatTools.Framework.ScaledNumber.enumNumericScale.None); m_bEnableMotor = oXml.GetChildBool("EnableMotor"); m_bServoMotor = oXml.GetChildBool("ServoMotor", m_bServoMotor); m_fltServoGain = oXml.GetChildFloat("ServoGain", m_fltServoGain); //based on whether this is a servo motor or not the incoming data type will change. if(m_bServoMotor) m_thIncomingDataType = new AnimatTools.DataObjects.DataType("Position", "Position", "rad", "rad", -3.142, 3.142, ScaledNumber.enumNumericScale.None, ScaledNumber.enumNumericScale.None); else m_thIncomingDataType = new AnimatTools.DataObjects.DataType("DesiredVelocity", "Desired Velocity", "m/s", "m/s", -5, 5, ScaledNumber.enumNumericScale.None, ScaledNumber.enumNumericScale.None); if(oXml.FindChildElement("MaxTorque", false)) m_snMaxTorque.LoadData(ref oXml, "MaxTorque"); if(oXml.FindChildElement("MaxVelocity", false)) m_snMaxTorque.LoadData(ref oXml, "MaxVelocity"); // if(oXml.FindChildElement("RotationAxis", false)) // { // Vec3d vTmp = Util.LoadVec3d(ref oXml, "RotationAxis", this); // m_v3Axis = new Vector3((float)vTmp.X, (float)vTmp.Y, (float)vTmp.Z); // } m_v3Axis = new Vector3(0,0,1); 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); 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 LoadData(ref AnimatTools.DataObjects.Simulation dsSim, ref AnimatTools.DataObjects.Physical.PhysicalStructure doStructure, ref AnimatTools.Interfaces.StdXml oXml) { base.LoadData (ref dsSim, ref doStructure, ref oXml); oXml.IntoElem(); //get the color of the body if(oXml.FindChildElement("Color")) { System.Drawing.Color oColor = Util.LoadColor(ref oXml, "Color"); this.Alpha = oColor.A; this.Color = oColor; } if(oXml.FindChildElement("Direction",false)) { this.m_v3Direction = new Vector3(); Vec3d vDirection = Util.LoadVec3d(ref oXml, "Direction", this); m_v3Direction.X = (float)vDirection.X; m_v3Direction.Y = (float)vDirection.Y; m_v3Direction.Z = (float)vDirection.Z; } if(oXml.FindChildElement("OrientationMatrix", false)) { m_mtxOrientation = Util_DX.LoadMatrix(ref oXml, "OrientationMatrix"); m_v3Rotation = Util_DX.DecomposeXYZRotationMatrix(Orientation); } if(oXml.FindChildElement("TranslationMatrix",false)) m_mtxTranslation = Util_DX.LoadMatrix(ref oXml,"TranslationMatrix"); oXml.OutOfElem(); }
public override void LoadData(ref AnimatTools.Interfaces.StdXml oXml) { base.LoadData(ref oXml); oXml.IntoElem(); if(oXml.FindChildElement("MuscleID", false)) { string strMuscleID = oXml.GetChildString("MuscleID"); if(m_doOrganism != null && strMuscleID.Trim().Length > 0) { AnimatTools.DataObjects.Physical.BodyPart rbPart = (AnimatTools.DataObjects.Physical.BodyPart) m_doOrganism.FindBodyPart(strMuscleID, false); if(rbPart != null) m_thMuscle = new AnimatTools.TypeHelpers.LinkedBodyPartList(m_doOrganism, rbPart, m_tpBodyPartType); } } else m_thMuscle = new AnimatTools.TypeHelpers.LinkedBodyPartList(m_doOrganism, null, m_tpBodyPartType); m_strMuscleLengthData = oXml.GetChildString("MuscleLengthData", m_strMuscleLengthData); if(oXml.FindChildElement("Conductance", false)) m_snConductance.LoadData(ref oXml, "Conductance"); if(oXml.FindChildElement("RestPotential", false)) m_snRestPotential.LoadData(ref oXml, "RestPotential"); oXml.OutOfElem(); }
public override void LoadData(ref AnimatTools.DataObjects.Simulation dsSim, ref AnimatTools.DataObjects.Physical.PhysicalStructure doStructure, ref AnimatTools.Interfaces.StdXml oXml) { base.LoadData (ref dsSim, ref doStructure, ref oXml); oXml.IntoElem(); if(oXml.FindChildElement("Constraint", false)) { oXml.IntoChildElement("Constraint"); m_fltMinMovement = oXml.GetAttribFloat("Low"); m_fltMaxMovement = oXml.GetAttribFloat("High"); oXml.OutOfElem(); //out of Constraint } m_fltLength = oXml.GetChildFloat("Length", m_fltLength); m_bEnableMotor = oXml.GetChildBool("EnableMotor", false); m_bServoMotor = oXml.GetChildBool("ServoMotor", m_bServoMotor); m_fltServoGain = oXml.GetChildFloat("ServoGain", m_fltServoGain); if(oXml.FindChildElement("MaxForce", false)) m_snMaxForce.LoadData(ref oXml, "MaxForce"); if(oXml.FindChildElement("MaxVelocity", false)) m_snMaxVelocity.LoadData(ref oXml, "MaxVelocity"); 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); 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 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 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_bVisible = oXml.GetChildBool("IsVisible", m_bVisible); if(m_strID.Trim().Length == 0) m_strID = System.Guid.NewGuid().ToString(); 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; } m_fRadius = oXml.GetChildFloat("Radius", m_fRadius); //m_fHeight = oXml.GetChildFloat("Height", m_fHeight); if(oXml.FindChildElement("Direction",false)) { this.m_v3Direction = new Vector3(); Vec3d vDirection = Util.LoadVec3d(ref oXml, "Direction", this); m_v3Direction.X = (float)vDirection.X; m_v3Direction.Y = (float)vDirection.Y; m_v3Direction.Z = (float)vDirection.Z; } if(oXml.FindChildElement("OrientationMatrix", false)) { m_mtxOrientation = Util_DX.LoadMatrix(ref oXml, "OrientationMatrix"); m_v3Rotation = Util_DX.DecomposeXYZRotationMatrix(Orientation); this.Rotation = new Vec3d(null,Geometry.RadianToDegree(m_v3Rotation.X),Geometry.RadianToDegree(m_v3Rotation.Y),Geometry.RadianToDegree(m_v3Rotation.Z)); } if(oXml.FindChildElement("TranslationMatrix",false)) m_mtxTranslation = Util_DX.LoadMatrix(ref oXml,"TranslationMatrix"); oXml.OutOfElem(); //Outof RigidBody Element }
public override void LoadData(ref AnimatTools.Interfaces.StdXml oXml) { base.LoadData(ref oXml); oXml.IntoElem(); if(oXml.FindChildElement("PrimaryAttachmentID", false)) { string strAttachID = oXml.GetChildString("PrimaryAttachmentID"); if(m_doStructure != null && strAttachID.Trim().Length > 0) { AnimatTools.DataObjects.Physical.BodyPart rbPart = (AnimatTools.DataObjects.Physical.BodyPart) m_doStructure.FindBodyPart(strAttachID, false); if(rbPart != null) m_thPrimaryAttachment = new AnimatTools.TypeHelpers.LinkedBodyPartList(m_doStructure, rbPart, m_tpBodyPartType); } } else m_thPrimaryAttachment = new AnimatTools.TypeHelpers.LinkedBodyPartList(m_doStructure, null, m_tpBodyPartType); if(oXml.FindChildElement("SecondaryAttachmentID", false)) { string strAttachID = oXml.GetChildString("SecondaryAttachmentID"); if(m_doStructure != null && strAttachID.Trim().Length > 0) { AnimatTools.DataObjects.Physical.BodyPart rbPart = (AnimatTools.DataObjects.Physical.BodyPart) m_doStructure.FindBodyPart(strAttachID, false); if(rbPart != null) m_thSecondaryAttachment = new AnimatTools.TypeHelpers.LinkedBodyPartList(m_doStructure, rbPart, m_tpBodyPartType); } } else m_thSecondaryAttachment = new AnimatTools.TypeHelpers.LinkedBodyPartList(m_doStructure, null, m_tpBodyPartType); m_fltProportionalGain = oXml.GetChildFloat("PGain", m_fltProportionalGain); m_fltDerivativeGain = oXml.GetChildFloat("DGain", m_fltDerivativeGain); m_fltIntegratorGain = oXml.GetChildFloat("IGain", m_fltIntegratorGain); m_fltMaxIntegratorValue = oXml.GetChildFloat("MaxIValue", m_fltMaxIntegratorValue); m_snVelocity.LoadData(ref oXml, "Velocity"); m_snMaxForce.LoadData(ref oXml, "MaxForce"); SetPositionUnits(); oXml.OutOfElem(); }
public override void LoadData(ref AnimatTools.Interfaces.StdXml oXml) { m_fltPanX = oXml.GetChildFloat("PanX", m_fltPanX); m_fltPanY = oXml.GetChildFloat("PanY", m_fltPanY); m_fltZoom = oXml.GetChildFloat("Zoom", m_fltZoom); m_fltRotateX = oXml.GetChildFloat("RotateX", m_fltRotateX); m_fltRotateY = oXml.GetChildFloat("RotateY", m_fltRotateY); if(oXml.FindChildElement("RotateZ", false)) m_fltRotateZ = oXml.GetChildFloat("RotateZ", m_fltRotateZ); else m_fltRotateZ = 0; m_mtxOrientation = Matrix.RotationX(m_fltRotateX) * Matrix.RotationY(m_fltRotateY) * Matrix.RotationZ(m_fltRotateZ); if(oXml.FindChildElement("BackColor", false)) m_clBackColor = Util.LoadColor(ref oXml, "BackColor"); }
public override void LoadData(ref AnimatTools.DataObjects.Simulation dsSim, ref AnimatTools.DataObjects.Physical.PhysicalStructure doStructure, ref AnimatTools.Interfaces.StdXml oXml) { base.LoadData (ref dsSim, ref doStructure, ref oXml); oXml.IntoElem(); m_fltHeight = oXml.GetChildFloat("Height", m_fltHeight); m_strHeightFieldImage = oXml.GetChildString("HeightFieldImage", m_strHeightFieldImage); if(oXml.FindChildElement("MapLocation", false)) m_vMapLocation = Util.LoadVec3d(ref oXml, "MapLocation", this); if(oXml.FindChildElement("MapSize", false)) m_vMapSize = Util.LoadVec3d(ref oXml, "MapSize", this); m_fltMapScale = oXml.GetChildFloat("MapScale", m_fltMapScale); oXml.OutOfElem(); //out of body }
public override void LoadData(ref AnimatTools.DataObjects.Simulation dsSim, ref AnimatTools.DataObjects.Physical.PhysicalStructure doStructure, ref AnimatTools.Interfaces.StdXml oXml) { base.LoadData(ref dsSim, ref doStructure, ref oXml); oXml.IntoElem(); //'Into RigidBody Element if(oXml.FindChildElement("NaturalLength", false)) m_snNaturalLength.LoadData(ref oXml, "NaturalLength"); m_snStiffness.LoadData(ref oXml, "Stiffness"); m_snDamping.LoadData(ref oXml, "Damping"); //This code converts old versions of the spring code into //the new version that has multiple attachment points if(oXml.FindChildElement("PrimaryAttachmentID", false)) { m_aryAttachmentPointIDs.Clear(); string strAttachID; if(oXml.FindChildElement("PrimaryAttachmentID", false)) { strAttachID = oXml.GetChildString("PrimaryAttachmentID"); m_aryAttachmentPointIDs.Add(strAttachID); } if(oXml.FindChildElement("SecondaryAttachmentID", false)) { strAttachID = oXml.GetChildString("SecondaryAttachmentID"); m_aryAttachmentPointIDs.Add(strAttachID); } } if(oXml.FindChildElement("ForceType", false)) m_eForceType = (VortexAnimatTools.DataObjects.Physical.RigidBodies.MultiSegmentSpring.enumForceTypes) Enum.Parse(typeof(VortexAnimatTools.DataObjects.Physical.RigidBodies.MultiSegmentSpring.enumForceTypes), oXml.GetChildString("ForceType"), true); oXml.OutOfElem(); //Outof RigidBody Element }
public override void LoadData(ref AnimatTools.DataObjects.Simulation dsSim, ref AnimatTools.DataObjects.Physical.PhysicalStructure doStructure, ref AnimatTools.Interfaces.StdXml oXml) { base.LoadData(ref dsSim, ref doStructure, ref oXml); oXml.IntoElem(); //'Into RigidBody Element m_StimTension.LoadData(ref oXml, "StimulusTension", "StimTension"); m_LengthTension.LoadData(ref oXml, "LengthTension", "LengthTension"); m_snKse.LoadData(ref oXml, "Kse"); m_snKpe.LoadData(ref oXml, "Kpe"); m_snB.LoadData(ref oXml, "B"); if(oXml.FindChildElement("PeLength", false)) { m_snPeLengthPercentage.LoadData(ref oXml, "PeLength"); m_snMinPeLengthPercentage.LoadData(ref oXml, "MinPeLength"); } // if(oXml.FindChildElement("IbDischarge", false)) // m_snIbDischargeConstant.LoadData(ref oXml, "IbDischarge"); oXml.OutOfElem(); //Outof RigidBody Element }