/// <summary>
/// Calculate system dynamics
/// </summary>
/// <param name="voltageController">Reference to voltage controller</param>
/// <param name="state">Actual system state</param>
/// <param name="userAngle">Pendulum angle generated by user</param>
/// <param name="targetPosition">Trajectory target position</param>
/// <param name="verticalWindForce">Vertical wind force value</param>
/// <param name="horizontalWindForce">Horizontal wind formce value</param>
/// <param name="voltage">Result regulation voltage</param>
/// <returns>New system state</returns>
private OneDimensionalSystemState ExecuteSystemCalculations(IVoltageController voltageController, OneDimensionalSystemState state,
double userAngle, double targetPosition, double verticalWindForce, double horizontalWindForce, out double voltage)
{
voltageController.SetTime(systemState.Time);
voltageController.SetUserAngle(userAngle);
voltageController.SetControlError(userAngle - state.Angle, targetPosition - state.Position);
voltage = voltageController.GetVoltage();
systemState.SolverParameters.Voltage = voltage;
systemState.SolverParameters.VerticalWindForce = verticalWindForce;
systemState.SolverParameters.HorizontalWindForce = horizontalWindForce;
solver.UpdateSystemParameters(systemState.SolverParameters);
var t = systemState.ToTimeArray();
var x = state.ToStateArray();
var resultState = solver.SolveODESystem(t, x);
if (Math.Abs(resultState.Angle) > systemState.MaxAngle)
{
MessageBox.Show("Pendulum lost controllability");
dispatcherTimer.Stop();
return(null);
}
if (Math.Abs(resultState.Position) > SceneControl.simulationArea.Size / 2 - SceneControl.cart.PlatformSize / 2)
{
resultState.Position = Math.Sign(resultState.Position) * (SceneControl.simulationArea.Size / 2
- SceneControl.cart.PlatformSize / 2);
}
return(resultState);
}
/// <summary>
/// Initialization of physics controllers
/// </summary>
private void InitializeControllers()
{
xCoordVoltageController = new VoltageController();
yCoordVoltageController = new VoltageController();
windController = new WindController();
trajectoryController = new TrajectoryController();
gameController = new GameController(UpKeyboardButton, DownKeyboardButton, LeftKeyboardButton, RightKeyboardButton);
controllers = new List <IController>();
controllers.Add(xCoordVoltageController);
controllers.Add(yCoordVoltageController);
controllers.Add(windController);
controllers.Add(trajectoryController);
controllers.Add(gameController);
}
