public void Should_FailEqualityForDifferentNumericValues()
{
var numericItem = new U1(1);
var numericItem2 = new U1(2);
Assert.IsFalse(numericItem.Equals(numericItem2));
}
public override int GetHashCode()
{
int hash = 1;
if (U1 != 0)
{
hash ^= U1.GetHashCode();
}
if (U2 != 0)
{
hash ^= U2.GetHashCode();
}
if (U3.Length != 0)
{
hash ^= U3.GetHashCode();
}
if (U4.Length != 0)
{
hash ^= U4.GetHashCode();
}
if (_unknownFields != null)
{
hash ^= _unknownFields.GetHashCode();
}
return(hash);
}
public void Should_FailEqualityForDifferetObjectTypes()
{
var numericItem = new U1(1);
var obj = "test";
Assert.IsFalse(numericItem.Equals(obj));
}
public void Should_FailEqualityForDifferentDataTypes()
{
var numericItem = new U1(1);
var numericItem2 = new F4(5);
Assert.IsFalse(numericItem.Equals(numericItem2));
}
public void Should_BeEqualIfNumericItemsEqual()
{
var numericItem = new U1(1);
var numericItem2 = new U1(1);
Assert.IsTrue(numericItem.Equals(numericItem2));
}
public override int GetHashCode()
{
int hash = 1;
if (U1 != 0L)
{
hash ^= U1.GetHashCode();
}
if (U2 != 0L)
{
hash ^= U2.GetHashCode();
}
if (U3 != 0L)
{
hash ^= U3.GetHashCode();
}
if (U4 != 0L)
{
hash ^= U4.GetHashCode();
}
if (U5 != 0L)
{
hash ^= U5.GetHashCode();
}
if (ItemSetId != 0L)
{
hash ^= ItemSetId.GetHashCode();
}
if (_unknownFields != null)
{
hash ^= _unknownFields.GetHashCode();
}
return(hash);
}
public void Should_CreateCorrectU1Item()
{
var numericItem = new U1(1);
Assert.IsTrue(numericItem.Value == 1);
Assert.IsTrue(numericItem.Type == Format.U1);
}
public override int GetHashCode()
{
int hash = 1;
if (U1 != 0)
{
hash ^= U1.GetHashCode();
}
if (U2 != 0)
{
hash ^= U2.GetHashCode();
}
if (Passive1Id != 0)
{
hash ^= Passive1Id.GetHashCode();
}
if (Passive2Id != 0)
{
hash ^= Passive2Id.GetHashCode();
}
if (Passive3Id != 0)
{
hash ^= Passive3Id.GetHashCode();
}
if (Passive4Id != 0)
{
hash ^= Passive4Id.GetHashCode();
}
if (_unknownFields != null)
{
hash ^= _unknownFields.GetHashCode();
}
return(hash);
}
int z = 0; //flag
private void recountBtn_Click(object sender, EventArgs e)
{
I1 -= 0.09;
I2 -= 0.09;
I3 -= 0.09;
I4 -= 0.09;
I5 -= 0.09;
I6 -= 0.09;
I1tb.Text = I1.ToString();
I2tb.Text = I2.ToString();
I3tb.Text = I3.ToString();
I4tb.Text = I4.ToString();
I5tb.Text = I5.ToString();
I6tb.Text = I6.ToString();
U2 = I2 * EU * IV / ((IV + I2 + I1) * (I2 + I3 + I4 + I5 - Math.Pow(I2, 2) / (IV + I2 + I1) - Math.Pow((I4 + I5), 2) / (I4 + I5 + I6)));
U1 = U2 * I2 / (IV + I2 + I1) + EU * IV / (IV + I2 + I1);
U3 = U2 * (I4 + I5) / (I4 + I5 + I6);
U1 = Math.Round(U1, 3);
U2 = Math.Round(U2, 3);
U3 = Math.Round(U3, 3);
U1label.Text = "U1 = " + U1.ToString();
U2label.Text = "U2 = " + U2.ToString();
U3label.Text = "U3 = " + U3.ToString();
if (z == 1)
{
F1 = Math.Round(Math.Pow(U11 - U1, 2), 3);
}
if (z == 2)
{
F1 = Math.Round(Math.Pow(U22 - U2, 2), 3);
}
if (z == 3)
{
F1 = Math.Round(Math.Pow(U33 - U3, 2), 3);
}
if (F1 < F)
{
FTB.Text = F1.ToString();
F = F1;
logsRTB.AppendText("Целевая функция уменьшается F=" + F1.ToString() + "\n");
logsRTB.ScrollToCaret();
}
else
{
logsRTB.AppendText("Целевая функция увеличилась F=" + F1.ToString() + "\n");
logsRTB.ScrollToCaret();
recountBtn.Enabled = false;
}
Fz = 0;
calculateGrad();
calculateHessian();
}
public override string GetStepParameters()
{
var parameters = new List <string>();
parameters.Add(BasisSurface != null ? BasisSurface.ToStepValue() : "$");
parameters.Add(U1 != null ? U1.ToStepValue() : "$");
parameters.Add(V1 != null ? V1.ToStepValue() : "$");
parameters.Add(U2 != null ? U2.ToStepValue() : "$");
parameters.Add(V2 != null ? V2.ToStepValue() : "$");
parameters.Add(Usense != null ? Usense.ToStepValue() : "$");
parameters.Add(Vsense != null ? Vsense.ToStepValue() : "$");
return(string.Join(", ", parameters.ToArray()));
}
public List <GraphPoint> Imlicite()
{
var tempResult = new double[N + 1][];
for (int i = 0; i <= N; i++)
{
tempResult[i] = new double[K + 1];
}
// initialize board conditions
for (int i = 0; i <= N; i++)
{
tempResult[i][0] = U0.Value(XArg(i));
}
for (int n = 0; n <= K - 1; n++)
{
tempResult[0][n + 1] = U1.Value(TimeArg(n + 1));
tempResult[N][n + 1] = U2.Value(TimeArg(n + 1));
}
for (int n = 0; n < K; n++)
{
for (int i = 1; i < N; i++)
{
tempResult[i][n + 1] = tempResult[i][n] +
Gamma * (tempResult[i + 1][n] - 2 * tempResult[i][n] + tempResult[i - 1][n]) +
Tao * Fxt.Value(XArg(i), TimeArg(n));
}
}
var result = new List <GraphPoint>();
for (int i = 0; i <= N; i++)
{
result.Add(new GraphPoint
{
X = XArg(i),
Y = tempResult[i][K]
});
}
return(result);
}
private void btConnexion_Click(object sender, EventArgs e)
{
string pseudo = Convert.ToString(txtPseudo.Text);
string MDP = Convert.ToString(txtMDP.Text);
foreach (Utilisateur U1 in DonneesClass.GetListUtilisateur())
{
if (U1.GetPseudo() == pseudo && U1.GetMDP() == MDP)
{
MessageBox.Show("Authentification réussite");
DonneesClass.SetUtilisateur(U1);
Menu frmMenu = new Menu();
if (frmMenu.ShowDialog() == DialogResult.OK)
{
}
}
}
}
public override ArrayList GetItemInfo()
{
ArrayList itemInfo = new ArrayList
{
new InputText(this, "P1:", P1.ToString(), true, "p1"),
new InputText(this, "U1:", U1.ToString(), true, "u1"),
new InputText(this, "V1:", V1.ToString(), true, "v1"),
new InputText(this, "P2:", P2.ToString(), true, "p2"),
new InputText(this, "U2:", U2.ToString(), true, "u2"),
new InputText(this, "V2:", V2.ToString(), true, "v2"),
new InputText(this, "P3:", P3.ToString(), true, "p3"),
new InputText(this, "U3:", U3.ToString(), true, "u3"),
new InputText(this, "V3:", V3.ToString(), true, "v3"),
new InputText(this, "Material:", Enum.GetName(typeof(P3DMaterial), Material), false, ""),
};
return(itemInfo);
}
public override int GetHashCode()
{
int hash = 1;
if (U1 != 0)
{
hash ^= U1.GetHashCode();
}
if (U2 != 0)
{
hash ^= U2.GetHashCode();
}
if (Name.Length != 0)
{
hash ^= Name.GetHashCode();
}
if (U4.Length != 0)
{
hash ^= U4.GetHashCode();
}
if (U5.Length != 0)
{
hash ^= U5.GetHashCode();
}
if (TexBig.Length != 0)
{
hash ^= TexBig.GetHashCode();
}
if (TexSmall.Length != 0)
{
hash ^= TexSmall.GetHashCode();
}
if (_unknownFields != null)
{
hash ^= _unknownFields.GetHashCode();
}
return(hash);
}
private void button1_Click(object sender, EventArgs e)
{
IV = Double.Parse(Ivtb.Text);
I1 = Double.Parse(I1tb.Text);
I2 = Double.Parse(I2tb.Text);
I3 = Double.Parse(I3tb.Text);
I4 = Double.Parse(I4tb.Text);
I5 = Double.Parse(I5tb.Text);
I6 = Double.Parse(I6tb.Text);
EU = Double.Parse(Etb.Text);
U2 = I2 * EU * IV / ((IV + I2 + I1) * (I2 + I3 + I4 + I5 - Math.Pow(I2, 2) / (IV + I2 + I1) - Math.Pow((I4 + I5), 2) / (I4 + I5 + I6)));
U1 = U2 * I2 / (IV + I2 + I1) + EU * IV / (IV + I2 + I1);
U3 = U2 * (I4 + I5) / (I4 + I5 + I6);
U2 = Math.Round(U2, 3);
U1 = Math.Round(U1, 3);
U3 = Math.Round(U3, 3);
U1label.Text = "U1 = " + U1.ToString();
U2label.Text = "U2 = " + U2.ToString();
U3label.Text = "U3 = " + U3.ToString();
}
static int Main()
{
//This testcase ensures that we correctly generate one ReadUInt16() call
//instead of two due to a bug in fgmorph which transformed a call result
//as an index of an array incorrectly resulting in an unexpected index
U1[] u1 = new U1[1];
U2[] u2 = new U2[2];
u2[1] = new U2();
U1 obj = u1[ReadUInt16()];
if (obj == null)
{
Console.WriteLine("PASS!");
return(100);
}
else
{
Console.WriteLine("FAIL!");
Console.WriteLine("obj is not null.");
return(101);
}
}
static int Main()
{
//This testcase ensures that we correctly generate one ReadUInt16() call
//instead of two due to a bug in fgmorph which transformed a call result
//as an index of an array incorrectly resulting in an unexpected index
U1[] u1 = new U1[1];
U2[] u2 = new U2[2];
u2[1] = new U2();
U1 obj = u1[ReadUInt16()];
if (obj == null)
{
Console.WriteLine("PASS!");
return 100;
}
else
{
Console.WriteLine("FAIL!");
Console.WriteLine("obj is not null.");
return 101;
}
}
public void problemConfig(int _np1, int _np2, int _layout_type)
{
setProblemClass();
_np = this.Ranks.Length;
this._np1 = _np1;
this._np2 = _np2;
_ntdivnp = ((nx * ny) / _np) * nz;
this._layout_type = _layout_type;
int layout_0D = Constants.layout_0D;
int layout_1D = Constants.layout_1D;
int layout_2D = Constants.layout_2D;
// if(_np1 == 1 && _np2 == 1) {
// _layout_type = layout_0D;
// }
// else if(_np1 == 1) {
// _layout_type = layout_1D;
// }
// else {
// _layout_type = layout_2D;
// }
if (_layout_type == layout_0D)
{
for (int i = 0; i < 3; i++)
{
_dims[0, i] = nx;
_dims[1, i] = ny;
_dims[2, i] = nz;
}
}
else if (_layout_type == layout_1D)
{
_dims[0, 0] = nx;
_dims[1, 0] = ny;
_dims[2, 0] = nz;
_dims[0, 1] = nx;
_dims[1, 1] = ny;
_dims[2, 1] = nz;
_dims[0, 2] = nz;
_dims[1, 2] = nx;
_dims[2, 2] = ny;
}
else if (_layout_type == layout_2D)
{
_dims[0, 0] = nx;
_dims[1, 0] = ny;
_dims[2, 0] = nz;
_dims[0, 1] = ny;
_dims[1, 1] = nx;
_dims[2, 1] = nz;
_dims[0, 2] = nz;
_dims[1, 2] = nx;
_dims[2, 2] = ny;
}
_dims[1, 0] = _dims[1, 0] / _np1;
_dims[2, 0] = _dims[2, 0] / _np2;
_dims[1, 1] = _dims[1, 1] / _np1;
_dims[2, 1] = _dims[2, 1] / _np2;
_dims[1, 2] = _dims[1, 2] / _np1;
_dims[2, 2] = _dims[2, 2] / _np2;
U0.initialize_field("u0", _dims[1, 0], _dims[2, 0], _dims[0, 0], 2);
U1.initialize_field("u1", _dims[1, 0], _dims[2, 0], _dims[0, 0], 2);
U2.initialize_field("u2", _dims[1, 0], _dims[2, 0], _dims[0, 0], 2);
_u = new double[nx, 2];
_twiddle = new double[_ntdivnp];
}
public override int GetHashCode()
{
int hash = 1;
if (U1 != 0)
{
hash ^= U1.GetHashCode();
}
if (U2 != 0)
{
hash ^= U2.GetHashCode();
}
if (U3 != 0)
{
hash ^= U3.GetHashCode();
}
if (U4 != 0)
{
hash ^= U4.GetHashCode();
}
if (U5 != 0)
{
hash ^= U5.GetHashCode();
}
if (U6 != 0)
{
hash ^= U6.GetHashCode();
}
if (U7 != 0)
{
hash ^= U7.GetHashCode();
}
if (U8 != 0)
{
hash ^= U8.GetHashCode();
}
if (U9 != 0)
{
hash ^= U9.GetHashCode();
}
if (U10 != 0)
{
hash ^= U10.GetHashCode();
}
if (U11 != 0)
{
hash ^= U11.GetHashCode();
}
if (U12 != 0)
{
hash ^= U12.GetHashCode();
}
if (U13 != 0)
{
hash ^= U13.GetHashCode();
}
if (_unknownFields != null)
{
hash ^= _unknownFields.GetHashCode();
}
return(hash);
}
public void Should_FailEqualityForNull()
{
var numericItem = new U1(1);
Assert.IsFalse(numericItem.Equals(null));
}
/// <summary>
/// Inits the velocity constraints using the specified step
/// </summary>
/// <param name="step">The step</param>
internal override void InitVelocityConstraints(TimeStep step)
{
Body body1 = Body1;
Body body2 = Body2;
Vec2 mulR1 = Box2DXMath.Mul(body1.GetXForm().R, LocalAnchor1 - body1.GetLocalCenter());
Vec2 mulR2 = Box2DXMath.Mul(body2.GetXForm().R, LocalAnchor2 - body2.GetLocalCenter());
Vec2 body1SweepC = body1.Sweep.C + mulR1;
Vec2 body2SweepC = body2.Sweep.C + mulR2;
Vec2 groundAnchor1 = Ground.GetXForm().Position + GroundAnchor1;
Vec2 groundAnchor2 = Ground.GetXForm().Position + GroundAnchor2;
// Get the pulley axes.
U1 = body1SweepC - groundAnchor1;
U2 = body2SweepC - groundAnchor2;
float length1 = U1.Length();
float length2 = U2.Length();
if (length1 > Settings.LinearSlop)
{
U1 *= 1.0f / length1;
}
else
{
U1.SetZero();
}
if (length2 > Settings.LinearSlop)
{
U2 *= 1.0f / length2;
}
else
{
U2.SetZero();
}
float c = Constant - length1 - Ratio * length2;
if (c > 0.0f)
{
State = LimitState.InactiveLimit;
Impulse = 0.0f;
}
else
{
State = LimitState.AtUpperLimit;
}
if (length1 < MaxLength1)
{
LimitState1 = LimitState.InactiveLimit;
LimitImpulse1 = 0.0f;
}
else
{
LimitState1 = LimitState.AtUpperLimit;
}
if (length2 < MaxLength2)
{
LimitState2 = LimitState.InactiveLimit;
LimitImpulse2 = 0.0f;
}
else
{
LimitState2 = LimitState.AtUpperLimit;
}
// Compute effective mass.
float cr1U1 = Vec2.Cross(mulR1, U1);
float cr2U2 = Vec2.Cross(mulR2, U2);
LimitMass1 = body1.InvMass + body1.InvI * cr1U1 * cr1U1;
LimitMass2 = body2.InvMass + body2.InvI * cr2U2 * cr2U2;
PulleyMass = LimitMass1 + Ratio * Ratio * LimitMass2;
Box2DxDebug.Assert(LimitMass1 > Settings.FltEpsilon);
Box2DxDebug.Assert(LimitMass2 > Settings.FltEpsilon);
Box2DxDebug.Assert(PulleyMass > Settings.FltEpsilon);
LimitMass1 = 1.0f / LimitMass1;
LimitMass2 = 1.0f / LimitMass2;
PulleyMass = 1.0f / PulleyMass;
if (step.WarmStarting)
{
// Scale impulses to support variable time steps.
Impulse *= step.DtRatio;
LimitImpulse1 *= step.DtRatio;
LimitImpulse2 *= step.DtRatio;
// Warm starting.
Vec2 p1 = -(Impulse + LimitImpulse1) * U1;
Vec2 p2 = (-Ratio * Impulse - LimitImpulse2) * U2;
body1.LinearVelocity += body1.InvMass * p1;
body1.AngularVelocity += body1.InvI * Vec2.Cross(mulR1, p1);
body2.LinearVelocity += body2.InvMass * p2;
body2.AngularVelocity += body2.InvI * Vec2.Cross(mulR2, p2);
}
else
{
Impulse = 0.0f;
LimitImpulse1 = 0.0f;
LimitImpulse2 = 0.0f;
}
}
// B.3 pg 62
public override ECPoint Add(ECPoint b)
{
if (this.IsInfinity)
{
return(b);
}
if (b.IsInfinity)
{
return(this);
}
if (this == b)
{
return(Twice());
}
ECCurve curve = this.Curve;
int coord = curve.CoordinateSystem;
ECFieldElement X1 = this.RawXCoord, Y1 = this.RawYCoord;
ECFieldElement X2 = b.RawXCoord, Y2 = b.RawYCoord;
switch (coord)
{
case ECCurve.COORD_AFFINE:
{
ECFieldElement dx = X2.Subtract(X1), dy = Y2.Subtract(Y1);
if (dx.IsZero)
{
if (dy.IsZero)
{
// this == b, i.e. this must be doubled
return(Twice());
}
// this == -b, i.e. the result is the point at infinity
return(Curve.Infinity);
}
ECFieldElement gamma = dy.Divide(dx);
ECFieldElement X3 = gamma.Square().Subtract(X1).Subtract(X2);
ECFieldElement Y3 = gamma.Multiply(X1.Subtract(X3)).Subtract(Y1);
return(new FpPoint(Curve, X3, Y3, IsCompressed));
}
case ECCurve.COORD_HOMOGENEOUS:
{
ECFieldElement Z1 = this.RawZCoords[0];
ECFieldElement Z2 = b.RawZCoords[0];
bool Z1IsOne = Z1.IsOne;
bool Z2IsOne = Z2.IsOne;
ECFieldElement u1 = Z1IsOne ? Y2 : Y2.Multiply(Z1);
ECFieldElement u2 = Z2IsOne ? Y1 : Y1.Multiply(Z2);
ECFieldElement u = u1.Subtract(u2);
ECFieldElement v1 = Z1IsOne ? X2 : X2.Multiply(Z1);
ECFieldElement v2 = Z2IsOne ? X1 : X1.Multiply(Z2);
ECFieldElement v = v1.Subtract(v2);
// Check if b == this or b == -this
if (v.IsZero)
{
if (u.IsZero)
{
// this == b, i.e. this must be doubled
return(this.Twice());
}
// this == -b, i.e. the result is the point at infinity
return(curve.Infinity);
}
// TODO Optimize for when w == 1
ECFieldElement w = Z1IsOne ? Z2 : Z2IsOne ? Z1 : Z1.Multiply(Z2);
ECFieldElement vSquared = v.Square();
ECFieldElement vCubed = vSquared.Multiply(v);
ECFieldElement vSquaredV2 = vSquared.Multiply(v2);
ECFieldElement A = u.Square().Multiply(w).Subtract(vCubed).Subtract(Two(vSquaredV2));
ECFieldElement X3 = v.Multiply(A);
ECFieldElement Y3 = vSquaredV2.Subtract(A).Multiply(u).Subtract(vCubed.Multiply(u2));
ECFieldElement Z3 = vCubed.Multiply(w);
return(new FpPoint(curve, X3, Y3, new ECFieldElement[] { Z3 }, IsCompressed));
}
case ECCurve.COORD_JACOBIAN:
case ECCurve.COORD_JACOBIAN_MODIFIED:
{
ECFieldElement Z1 = this.RawZCoords[0];
ECFieldElement Z2 = b.RawZCoords[0];
bool Z1IsOne = Z1.IsOne;
ECFieldElement X3, Y3, Z3, Z3Squared = null;
if (!Z1IsOne && Z1.Equals(Z2))
{
// TODO Make this available as public method coZAdd?
ECFieldElement dx = X1.Subtract(X2), dy = Y1.Subtract(Y2);
if (dx.IsZero)
{
if (dy.IsZero)
{
return(Twice());
}
return(curve.Infinity);
}
ECFieldElement C = dx.Square();
ECFieldElement W1 = X1.Multiply(C), W2 = X2.Multiply(C);
ECFieldElement A1 = W1.Subtract(W2).Multiply(Y1);
X3 = dy.Square().Subtract(W1).Subtract(W2);
Y3 = W1.Subtract(X3).Multiply(dy).Subtract(A1);
Z3 = dx;
if (Z1IsOne)
{
Z3Squared = C;
}
else
{
Z3 = Z3.Multiply(Z1);
}
}
else
{
ECFieldElement Z1Squared, U2, S2;
if (Z1IsOne)
{
Z1Squared = Z1; U2 = X2; S2 = Y2;
}
else
{
Z1Squared = Z1.Square();
U2 = Z1Squared.Multiply(X2);
ECFieldElement Z1Cubed = Z1Squared.Multiply(Z1);
S2 = Z1Cubed.Multiply(Y2);
}
bool Z2IsOne = Z2.IsOne;
ECFieldElement Z2Squared, U1, S1;
if (Z2IsOne)
{
Z2Squared = Z2; U1 = X1; S1 = Y1;
}
else
{
Z2Squared = Z2.Square();
U1 = Z2Squared.Multiply(X1);
ECFieldElement Z2Cubed = Z2Squared.Multiply(Z2);
S1 = Z2Cubed.Multiply(Y1);
}
ECFieldElement H = U1.Subtract(U2);
ECFieldElement R = S1.Subtract(S2);
// Check if b == this or b == -this
if (H.IsZero)
{
if (R.IsZero)
{
// this == b, i.e. this must be doubled
return(this.Twice());
}
// this == -b, i.e. the result is the point at infinity
return(curve.Infinity);
}
ECFieldElement HSquared = H.Square();
ECFieldElement G = HSquared.Multiply(H);
ECFieldElement V = HSquared.Multiply(U1);
X3 = R.Square().Add(G).Subtract(Two(V));
Y3 = V.Subtract(X3).Multiply(R).Subtract(S1.Multiply(G));
Z3 = H;
if (!Z1IsOne)
{
Z3 = Z3.Multiply(Z1);
}
if (!Z2IsOne)
{
Z3 = Z3.Multiply(Z2);
}
// Alternative calculation of Z3 using fast square
//X3 = four(X3);
//Y3 = eight(Y3);
//Z3 = doubleProductFromSquares(Z1, Z2, Z1Squared, Z2Squared).multiply(H);
if (Z3 == H)
{
Z3Squared = HSquared;
}
}
ECFieldElement[] zs;
if (coord == ECCurve.COORD_JACOBIAN_MODIFIED)
{
// TODO If the result will only be used in a subsequent addition, we don't need W3
ECFieldElement W3 = CalculateJacobianModifiedW(Z3, Z3Squared);
zs = new ECFieldElement[] { Z3, W3 };
}
else
{
zs = new ECFieldElement[] { Z3 };
}
return(new FpPoint(curve, X3, Y3, zs, IsCompressed));
}
default:
{
throw new InvalidOperationException("unsupported coordinate system");
}
}
}
/// <summary>
/// Describes whether this instance solve position constraints
/// </summary>
/// <param name="baumgarte">The baumgarte</param>
/// <returns>The bool</returns>
internal override bool SolvePositionConstraints(float baumgarte)
{
Body body1 = Body1;
Body body2 = Body2;
Vec2 groundAnchor1 = Ground.GetXForm().Position + GroundAnchor1;
Vec2 groundAnchor2 = Ground.GetXForm().Position + GroundAnchor2;
float linearError = 0.0f;
if (State == LimitState.AtUpperLimit)
{
Vec2 mulR1 = Box2DXMath.Mul(body1.GetXForm().R, LocalAnchor1 - body1.GetLocalCenter());
Vec2 mulR2 = Box2DXMath.Mul(body2.GetXForm().R, LocalAnchor2 - body2.GetLocalCenter());
Vec2 body1SweepC = body1.Sweep.C + mulR1;
Vec2 body2SweepC = body2.Sweep.C + mulR2;
// Get the pulley axes.
U1 = body1SweepC - groundAnchor1;
U2 = body2SweepC - groundAnchor2;
float length1 = U1.Length();
float length2 = U2.Length();
if (length1 > Settings.LinearSlop)
{
U1 *= 1.0f / length1;
}
else
{
U1.SetZero();
}
if (length2 > Settings.LinearSlop)
{
U2 *= 1.0f / length2;
}
else
{
U2.SetZero();
}
float c = Constant - length1 - Ratio * length2;
linearError = Box2DXMath.Max(linearError, -c);
c = Box2DXMath.Clamp(c + Settings.LinearSlop, -Settings.MaxLinearCorrection, 0.0f);
float impulse = -PulleyMass * c;
Vec2 p1 = -impulse * U1;
Vec2 p2 = -Ratio * impulse * U2;
body1.Sweep.C += body1.InvMass * p1;
body1.Sweep.A += body1.InvI * Vec2.Cross(mulR1, p1);
body2.Sweep.C += body2.InvMass * p2;
body2.Sweep.A += body2.InvI * Vec2.Cross(mulR2, p2);
body1.SynchronizeTransform();
body2.SynchronizeTransform();
}
if (LimitState1 == LimitState.AtUpperLimit)
{
Vec2 mulR1 = Box2DXMath.Mul(body1.GetXForm().R, LocalAnchor1 - body1.GetLocalCenter());
Vec2 body1SweepC = body1.Sweep.C + mulR1;
U1 = body1SweepC - groundAnchor1;
float length1 = U1.Length();
if (length1 > Settings.LinearSlop)
{
U1 *= 1.0f / length1;
}
else
{
U1.SetZero();
}
float c = MaxLength1 - length1;
linearError = Box2DXMath.Max(linearError, -c);
c = Box2DXMath.Clamp(c + Settings.LinearSlop, -Settings.MaxLinearCorrection, 0.0f);
float impulse = -LimitMass1 * c;
Vec2 p1 = -impulse * U1;
body1.Sweep.C += body1.InvMass * p1;
body1.Sweep.A += body1.InvI * Vec2.Cross(mulR1, p1);
body1.SynchronizeTransform();
}
if (LimitState2 == LimitState.AtUpperLimit)
{
Vec2 mulR2 = Box2DXMath.Mul(body2.GetXForm().R, LocalAnchor2 - body2.GetLocalCenter());
Vec2 body2SweepC = body2.Sweep.C + mulR2;
U2 = body2SweepC - groundAnchor2;
float length2 = U2.Length();
if (length2 > Settings.LinearSlop)
{
U2 *= 1.0f / length2;
}
else
{
U2.SetZero();
}
float c = MaxLength2 - length2;
linearError = Box2DXMath.Max(linearError, -c);
c = Box2DXMath.Clamp(c + Settings.LinearSlop, -Settings.MaxLinearCorrection, 0.0f);
float impulse = -LimitMass2 * c;
Vec2 p2 = -impulse * U2;
body2.Sweep.C += body2.InvMass * p2;
body2.Sweep.A += body2.InvI * Vec2.Cross(mulR2, p2);
body2.SynchronizeTransform();
}
return(linearError < Settings.LinearSlop);
}
public List <GraphPoint> NotImplicite()
{
var tempResult = new double[N + 1][];
for (int i = 0; i <= N; i++)
{
tempResult[i] = new double[K + 1];
}
// initialize board conditions
for (int i = 0; i <= N; i++)
{
tempResult[i][0] = U0.Value(XArg(i));
}
for (int n = 0; n <= K - 1; n++)
{
tempResult[0][n + 1] = U1.Value(TimeArg(n + 1));
tempResult[N][n + 1] = U2.Value(TimeArg(n + 1));
}
var A = new double[N - 2];
var B = new double[N - 2];
var C = new double[N - 2];
var D = new double[N - 2];
double xi1, xi2, mu1, mu2;
for (int i = 1; i <= N - 1 - 2; i++)
{
A[i] = Gamma;
B[i] = Gamma;
C[i] = (1 + 2 * Gamma);
}
for (int n = 0; n <= K - 1; n++)
{
for (int i = 2; i <= N - 1 - 1; i++)
{
D[i - 1] = tempResult[i][n] + Tao * Fxt.Value(XArg(i), TimeArg(n));
}
xi1 = Gamma / (1 + 2 * Gamma);
mu1 = (tempResult[1][n] + Tao * Fxt.Value(XArg(1), TimeArg(n)) + Gamma * tempResult[0][n]) / (1 + 2 * Gamma);
xi2 = Gamma / (1 + 2 * Gamma);
mu2 = (tempResult[N - 1][n] + Tao * Fxt.Value(XArg(N - 1), TimeArg(n)) + Gamma * tempResult[N][n]) / (1 + 2 * Gamma);
var tempY = MetodProgonki(N - 2, A, B, C, D, xi1, mu1, xi2, mu2);
for (int i = 1; i <= N - 1; i++)
{
tempResult[i][n + 1] = tempY[i - 1];
}
}
var result = new List <GraphPoint>();
for (int i = 0; i <= N; i++)
{
result.Add(new GraphPoint
{
X = XArg(i),
Y = tempResult[i][K]
});
}
return(result);
}