void LoadGlobalUniforms(OpenGL gl, uint shaderProgram)
{
int KaUniformLocation = gl.GetUniformLocation(shaderProgram, "Ka");
int KdUniformLocation = gl.GetUniformLocation(shaderProgram, "Kd");
int KsUniformLocation = gl.GetUniformLocation(shaderProgram, "Ks");
int IaUniformLocation = gl.GetUniformLocation(shaderProgram, "Ia");
int IlUniformLocation = gl.GetUniformLocation(shaderProgram, "Il");
int IpUniformLocation = gl.GetUniformLocation(shaderProgram, "Ip");
int KUniformLocation = gl.GetUniformLocation(shaderProgram, "K");
gl.Uniform3(KaUniformLocation, 1, Ka.ToFloatArray());
gl.Uniform3(KdUniformLocation, 1, Kd.ToFloatArray());
gl.Uniform3(KsUniformLocation, 1, Ks.ToFloatArray());
gl.Uniform3(IaUniformLocation, 1, Ia.ToFloatArray());
gl.Uniform3(IlUniformLocation, 1, Il.ToFloatArray());
gl.Uniform1(IpUniformLocation, (float)Ip);
gl.Uniform1(KUniformLocation, (float)K);
int CameraPositionUniformLocation = gl.GetUniformLocation(shaderProgram, "CameraPosition");
int LightPositionUniformLocation = gl.GetUniformLocation(shaderProgram, "LightPosition");
gl.Uniform1(CameraPositionUniformLocation, (float)CameraPosition);
gl.Uniform3(LightPositionUniformLocation, 1, LightPosition.ToFloatArray());
int objectColorUniformLocation = gl.GetUniformLocation(shaderProgram, "objectColor");
gl.Uniform3(objectColorUniformLocation, 1, ObjectColor.ToFloatArray());
}
public override int GetHashCode()
{
int hash = 1;
if (IntegratorEnable != false)
{
hash ^= IntegratorEnable.GetHashCode();
}
if (IntegratorSaturationLevel != 0D)
{
hash ^= IntegratorSaturationLevel.GetHashCode();
}
if (Kp != 0D)
{
hash ^= Kp.GetHashCode();
}
if (Ki != 0D)
{
hash ^= Ki.GetHashCode();
}
if (Kd != 0D)
{
hash ^= Kd.GetHashCode();
}
if (Kaw != 0D)
{
hash ^= Kaw.GetHashCode();
}
if (OutputSaturationLevel != 0D)
{
hash ^= OutputSaturationLevel.GetHashCode();
}
return(hash);
}
private void sliderKd_ValueChanged(object sender, RoutedPropertyChangedEventArgs <double> e)
{
Kd = sliderKd.Value;
if (boxKd != null)
{
boxKd.Text = Kd.ToString(FORMAT);
}
}
void LoadGlobalUniforms(OpenGL gl, uint shaderProgram)
{
int KaUniformLocation = gl.GetUniformLocation(shaderProgram, "Ka");
int KdUniformLocation = gl.GetUniformLocation(shaderProgram, "Kd");
int KsUniformLocation = gl.GetUniformLocation(shaderProgram, "Ks");
int IaUniformLocation = gl.GetUniformLocation(shaderProgram, "Ia");
int IlUniformLocation = gl.GetUniformLocation(shaderProgram, "Il");
int IpUniformLocation = gl.GetUniformLocation(shaderProgram, "Ip");
int KUniformLocation = gl.GetUniformLocation(shaderProgram, "K");
gl.Uniform3(KaUniformLocation, 1, Ka.ToFloatArray());
gl.Uniform3(KdUniformLocation, 1, Kd.ToFloatArray());
gl.Uniform3(KsUniformLocation, 1, Ks.ToFloatArray());
gl.Uniform3(IaUniformLocation, 1, Ia.ToFloatArray());
gl.Uniform3(IlUniformLocation, 1, Il.ToFloatArray());
gl.Uniform1(IpUniformLocation, (float)Ip);
gl.Uniform1(KUniformLocation, (float)K);
int MagicCoefUniformLocation = gl.GetUniformLocation(shaderProgram, "magicCoef");
int DistToFragUniformLocation = gl.GetUniformLocation(shaderProgram, "distToFrag");
gl.Uniform1(MagicCoefUniformLocation, MagicCoef);
if (EffectMode == Mode.FRAG)
{
gl.Uniform1(DistToFragUniformLocation, 1);
}
else
{
gl.Uniform1(DistToFragUniformLocation, 0);
}
int CameraPositionUniformLocation = gl.GetUniformLocation(shaderProgram, "CameraPosition");
int LightPositionUniformLocation = gl.GetUniformLocation(shaderProgram, "LightPosition");
int magicPointPositionUniformLocation = gl.GetUniformLocation(shaderProgram, "magicPointPosition");
gl.Uniform1(CameraPositionUniformLocation, (float)CameraPosition);
gl.Uniform3(LightPositionUniformLocation, 1, LightPosition.ToFloatArray());
gl.Uniform3(magicPointPositionUniformLocation, 1, magicPointPosition.ToFloatArray());
int objectColorUniformLocation = gl.GetUniformLocation(shaderProgram, "objectColor");
gl.Uniform3(objectColorUniformLocation, 1, ObjectColor.ToFloatArray());
}
void UpdateConfig()
{
try
{
if (this.TxtBoxKp.InvokeRequired)
{
this.Invoke(new UpdateConfigCallback(UpdateConfig));
}
else
{
TxtBoxKp.Text = Kp.ToString();
TxtBoxKi.Text = Ki.ToString();
TxtBoxKd.Text = Kd.ToString();
TxtBoxErrorMax.Text = ErrorMax.ToString();
TxtBoxPWMPeriod.Text = PWMPeriod.ToString();
TxtBoxIntMax.Text = IntMax.ToString();
}
}
catch (Exception ex)
{
return;
}
}
public void Save(ConfigNode node)
{
node.SetValue("Kp", Kp.ToString());
node.SetValue("Ki", Ki.ToString());
node.SetValue("Kd", Kd.ToString());
}
// ~FGPID();
public override bool Run()
{
double I_out_delta = 0.0;
double Dval = 0;
input = inputNodes[0].GetDoubleValue();
if (ProcessVariableDot != null)
{
Dval = ProcessVariableDot.GetValue();
}
else
{
Dval = (input - Input_prev) / dt;
}
// Do not continue to integrate the input to the integrator if a wind-up
// condition is sensed - that is, if the property pointed to by the trigger
// element is non-zero. Reset the integrator to 0.0 if the Trigger value
// is negative.
double test = 0.0;
if (Trigger != null)
{
test = Trigger.GetValue();
}
if (Math.Abs(test) < 0.000001)
{
switch (IntType)
{
case eIntegrateType.eRectEuler:
I_out_delta = input; // Normal rectangular integrator
break;
case eIntegrateType.eTrapezoidal:
I_out_delta = 0.5 * (input + Input_prev); // Trapezoidal integrator
break;
case eIntegrateType.eAdamsBashforth2:
I_out_delta = 1.5 * input - 0.5 * Input_prev; // 2nd order Adams Bashforth integrator
break;
case eIntegrateType.eAdamsBashforth3: // 3rd order Adams Bashforth integrator
I_out_delta = (23.0 * input - 16.0 * Input_prev + 5.0 * Input_prev2) / 12.0;
break;
case eIntegrateType.eNone:
// No integrator is defined or used.
I_out_delta = 0.0;
break;
}
}
if (test < 0.0)
{
I_out_total = 0.0; // Reset integrator to 0.0
}
I_out_total += Ki.GetValue() * dt * I_out_delta;
if (IsStandard)
{
output = Kp.GetValue() * (input + I_out_total + Kd.GetValue() * Dval);
}
else
{
output = Kp.GetValue() * input + I_out_total + Kd.GetValue() * Dval;
}
Input_prev2 = test < 0.0 ? 0.0 : Input_prev;
Input_prev = input;
Clip();
SetOutput();
return(true);
}
private void derivativeSlider_Scroll(object sender, EventArgs e)
{
Kd = (float)derivativeSlider.Value / 20.0f;
dLabel.Text = Kd.ToString();
}
