public MultiSegmentSpring(AnimatTools.Framework.DataObject doParent)
: base(doParent)
{
m_thDataTypes.DataTypes.Clear();
m_thDataTypes.DataTypes.Add(new AnimatTools.DataObjects.DataType("Tension", "Tension", "Newtons", "N", 0, 1000));
m_thDataTypes.DataTypes.Add(new AnimatTools.DataObjects.DataType("SpringTension", "Spring Tension", "Newtons", "N", 0, 1000));
m_thDataTypes.DataTypes.Add(new AnimatTools.DataObjects.DataType("DampingTension", "Damping Tension", "Newtons", "N", 0, 1000));
m_thDataTypes.DataTypes.Add(new AnimatTools.DataObjects.DataType("SpringLength", "Spring Length", "Meters", "m", 0, 1));
m_thDataTypes.DataTypes.Add(new AnimatTools.DataObjects.DataType("Vspring", "Spring Velocity", "m/s", "m/s", -3, 3));
m_thDataTypes.DataTypes.Add(new AnimatTools.DataObjects.DataType("Displacement", "Muscle Displacement", "Meters", "m", 0, 1));
m_thDataTypes.DataTypes.Add(new AnimatTools.DataObjects.DataType("DisplacementRatio", "Muscle Displacement Ratio", "", "", -1, 1));
m_thDataTypes.DataTypes.Add(new AnimatTools.DataObjects.DataType("Enable", "Enable", "", "", 0, 1));
m_thDataTypes.DataTypes.Add(new AnimatTools.DataObjects.DataType("Aspring", "Acceleration", "m/s^2", "m/s^2", -100, 100));
m_thDataTypes.DataTypes.Add(new AnimatTools.DataObjects.DataType("PotEnergy", "Potential Energy", "J", "J", -10, 10));
m_thDataTypes.ID = "Tension";
//Holdover stuff from using the muscle base class
m_StimTension = new AnimatTools.DataObjects.Gains.MuscleGains.StimulusTension(this);
m_LengthTension = new AnimatTools.DataObjects.Gains.MuscleGains.LengthTension(this);
m_LengthTension.ShowLcePercentage = false;
m_snNaturalLength = new AnimatTools.Framework.ScaledNumber(this, "NaturalLength", 1, AnimatTools.Framework.ScaledNumber.enumNumericScale.None, "meters", "m");
m_snStiffness = new AnimatTools.Framework.ScaledNumber(this, "Stiffness", 50, AnimatTools.Framework.ScaledNumber.enumNumericScale.Kilo, "N/m", "N/m");
m_snDamping = new AnimatTools.Framework.ScaledNumber(this, "Damping", 1, AnimatTools.Framework.ScaledNumber.enumNumericScale.Kilo, "g/s", "g/s");
m_thIncomingDataType = new AnimatTools.DataObjects.DataType("Enabled", "Enabled", "", "", 0, 1, ScaledNumber.enumNumericScale.None, ScaledNumber.enumNumericScale.None);
}
public Spring(AnimatTools.Framework.DataObject doParent)
: base(doParent)
{
Color = System.Drawing.Color.NavajoWhite;
m_snNaturalLength = new AnimatTools.Framework.ScaledNumber(this, "NaturalLength", "meters", "m");
m_snStiffness = new AnimatTools.Framework.ScaledNumber(this, "Stiffness", 50, AnimatTools.Framework.ScaledNumber.enumNumericScale.Kilo, "N/m", "N/m");
m_snDamping = new AnimatTools.Framework.ScaledNumber(this, "Damping", 1, AnimatTools.Framework.ScaledNumber.enumNumericScale.Kilo, "g/s", "g/s");
if(Util.Environment != null)
m_snNaturalLength.SetFromValue(1, (int) Util.Environment.DisplayDistanceUnits);
AnimatTools.DataObjects.Physical.PhysicalStructure doStruct = null;
if(doParent != null && doParent is AnimatTools.DataObjects.Physical.BodyPart)
{
AnimatTools.DataObjects.Physical.BodyPart bpPart = (AnimatTools.DataObjects.Physical.BodyPart) doParent;
doStruct = bpPart.ParentStructure;
}
m_tpBodyPartType = typeof(VortexAnimatTools.DataObjects.Physical.RigidBodies.MuscleAttachment);
m_thPrimaryAttachment = new AnimatTools.TypeHelpers.LinkedBodyPartList(doStruct, null, m_tpBodyPartType);
m_thSecondaryAttachment = new AnimatTools.TypeHelpers.LinkedBodyPartList(doStruct, null, m_tpBodyPartType);
m_snSpringLength = new AnimatTools.Framework.ScaledNumber(this, "SpringLength", 0, AnimatTools.Framework.ScaledNumber.enumNumericScale.None, "Meters", "m");
m_thDataTypes.DataTypes.Clear();
m_thDataTypes.DataTypes.Add(new AnimatTools.DataObjects.DataType("SpringLength", "Spring Length", "Meters", "m", -10, 10));
m_thDataTypes.DataTypes.Add(new AnimatTools.DataObjects.DataType("Displacement", "Displacement", "Meters", "m", -10, 10));
m_thDataTypes.DataTypes.Add(new AnimatTools.DataObjects.DataType("Tension", "Tension", "Newtons", "N", -1000, 1000));
m_thDataTypes.DataTypes.Add(new AnimatTools.DataObjects.DataType("Energy", "Energy", "Joules", "J", -10, 10));
m_thDataTypes.DataTypes.Add(new AnimatTools.DataObjects.DataType("Enable", "Enable", "", "", 0, 1));
m_thDataTypes.ID = "SpringLength";
m_thIncomingDataType = new AnimatTools.DataObjects.DataType("Enabled", "Enabled", "", "", 0, 1, ScaledNumber.enumNumericScale.None, ScaledNumber.enumNumericScale.None);
}
public LinearHillMuscle(AnimatTools.Framework.DataObject doParent)
: base(doParent)
{
m_thDataTypes.DataTypes.Clear();
m_thDataTypes.DataTypes.Add(new AnimatTools.DataObjects.DataType("Tension", "Tension", "Newtons", "N", 0, 1000));
m_thDataTypes.DataTypes.Add(new AnimatTools.DataObjects.DataType("Tdot", "Change in Tension", "Newtons per second", "N/s", 0, 1000));
m_thDataTypes.DataTypes.Add(new AnimatTools.DataObjects.DataType("MuscleLength", "Muscle Length", "Meters", "m", 0, 1));
m_thDataTypes.DataTypes.Add(new AnimatTools.DataObjects.DataType("SeLength", "Se Length", "Meters", "m", 0, 1));
m_thDataTypes.DataTypes.Add(new AnimatTools.DataObjects.DataType("SeDisplacement", "Se Displacement", "Meters", "m", 0, 1));
m_thDataTypes.DataTypes.Add(new AnimatTools.DataObjects.DataType("PeLength", "Pe Length", "Meters", "m", 0, 1));
m_thDataTypes.DataTypes.Add(new AnimatTools.DataObjects.DataType("A", "A", "Newtons", "N", 0, 1000));
m_thDataTypes.DataTypes.Add(new AnimatTools.DataObjects.DataType("Activation", "Activation", "", "", 0, 1000));
m_thDataTypes.DataTypes.Add(new AnimatTools.DataObjects.DataType("Vmuscle", "Muscle Velocity", "m/s", "m/s", -3, 3));
m_thDataTypes.DataTypes.Add(new AnimatTools.DataObjects.DataType("Vse", "Se Velocity", "m/s", "m/s", -3, 3));
m_thDataTypes.DataTypes.Add(new AnimatTools.DataObjects.DataType("Vpe", "Pe Velocity", "m/s", "m/s", -3, 3));
m_thDataTypes.DataTypes.Add(new AnimatTools.DataObjects.DataType("AvgVmuscle", "Averaged Muscle Velocity", "m/s", "m/s", -3, 3));
m_thDataTypes.DataTypes.Add(new AnimatTools.DataObjects.DataType("MembraneVoltage", "Membrane Voltage", "Volts", "V", -100, 100, ScaledNumber.enumNumericScale.milli, ScaledNumber.enumNumericScale.milli));
m_thDataTypes.DataTypes.Add(new AnimatTools.DataObjects.DataType("Displacement", "Muscle Displacement", "Meters", "m", 0, 1));
m_thDataTypes.DataTypes.Add(new AnimatTools.DataObjects.DataType("DisplacementRatio", "Muscle Displacement Ratio", "", "", -1, 1));
m_thDataTypes.DataTypes.Add(new AnimatTools.DataObjects.DataType("Enable", "Enable", "", "", 0, 1));
m_thDataTypes.DataTypes.Add(new AnimatTools.DataObjects.DataType("Ib", "Ib Discharge Rate", "Spikes/s", "Spikes/s", 0, 1000));
m_thDataTypes.DataTypes.Add(new AnimatTools.DataObjects.DataType("Tl", "Tension-Length Percentage", "%", "%", 0, 1000));
m_thDataTypes.ID = "Tension";
m_thIncomingDataType = new AnimatTools.DataObjects.DataType("MembraneVoltage", "Membrane Voltage", "Volts", "V", -100, 100, ScaledNumber.enumNumericScale.milli, ScaledNumber.enumNumericScale.milli);
m_StimTension = new AnimatTools.DataObjects.Gains.MuscleGains.StimulusTension(this);
m_LengthTension = new AnimatTools.DataObjects.Gains.MuscleGains.LengthTension(this);
m_LengthTension.ShowLcePercentage = false;
m_snMaxTension = new AnimatTools.Framework.ScaledNumber(this, "MaxTension", 100, AnimatTools.Framework.ScaledNumber.enumNumericScale.None, "Newtons", "N");
m_snMuscleLength = new AnimatTools.Framework.ScaledNumber(this, "MuscleLength", 0, AnimatTools.Framework.ScaledNumber.enumNumericScale.None, "Meters", "m");
m_snKse = new AnimatTools.Framework.ScaledNumber(this, "Kse", 10, AnimatTools.Framework.ScaledNumber.enumNumericScale.None, "Newtons per meter", "N/m");
m_snKpe = new AnimatTools.Framework.ScaledNumber(this, "Kpe", 1, AnimatTools.Framework.ScaledNumber.enumNumericScale.None, "Newtons per meter", "N/m");
m_snB = new AnimatTools.Framework.ScaledNumber(this, "B", 1, AnimatTools.Framework.ScaledNumber.enumNumericScale.None, "Newton-seconds per meter", "Ns/m");
m_snPeLengthPercentage = new AnimatTools.Framework.ScaledNumber(this, "PeLengthPercentage", 90, AnimatTools.Framework.ScaledNumber.enumNumericScale.None, "%", "%");
m_snMinPeLengthPercentage = new AnimatTools.Framework.ScaledNumber(this, "MinPeLengthPercentage", 5, AnimatTools.Framework.ScaledNumber.enumNumericScale.None, "%", "%");
m_snIbDischargeConstant = new AnimatTools.Framework.ScaledNumber(this, "Ib Discharge Constant", 100, AnimatTools.Framework.ScaledNumber.enumNumericScale.None, "Spikes/sN", "Spikes/sN");
}
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
}
