protected internal override void WarmStart()
{
//Take the accumulated impulse and transform it into world space impulses using the jacobians by P = JT * lambda
//(where P is the impulse, JT is the transposed jacobian matrix, and lambda is the accumulated impulse).
//Recall the jacobian takes impulses from world space into constraint space, and transpose takes them from constraint space into world space.
Vector3 impulse;
if (!ConnectionA.Pinned) //Treat pinned elements as if they have infinite inertia.
{
//Compute and apply linear impulse for A.
Matrix3x3.Transform(ref accumulatedImpulse, ref linearJacobianA, out impulse);
ConnectionA.ApplyLinearImpulse(ref impulse);
//Compute and apply angular impulse for A.
Matrix3x3.Transform(ref accumulatedImpulse, ref angularJacobianA, out impulse);
ConnectionA.ApplyAngularImpulse(ref impulse);
}
if (!ConnectionB.Pinned) //Treat pinned elements as if they have infinite inertia.
{
//Compute and apply linear impulse for B.
Matrix3x3.Transform(ref accumulatedImpulse, ref linearJacobianB, out impulse);
ConnectionB.ApplyLinearImpulse(ref impulse);
//Compute and apply angular impulse for B.
Matrix3x3.Transform(ref accumulatedImpulse, ref angularJacobianB, out impulse);
ConnectionB.ApplyAngularImpulse(ref impulse);
}
}
public bool TryOpenPrinterConnection()
{
try
{
lock (connectionHelper)
{
if (connection == null)
{
connection = GetConnection();
if (connection == null)
{
return(false);
}
}
var startTime = DateTime.Now;
if (connection.Connected == false)
{
connection.Open();
myEventLog.LogInfo($"打开打印机连接花费时间:{(DateTime.Now - startTime).TotalMilliseconds}");
myEventLog.LogInfo("成功打开打印机连接！");
}
}
return(true);
}
catch (Exception ex)
{
//MessageBox.Show("与打印机连接出错！");
myEventLog.LogError("打开打印机连接出错！", ex);
return(false);
}
}
/// <summary>
/// 重启打印机
/// </summary>
internal void ResetPrinter()
{
if (TryOpenPrinterConnection())
{
if (printer != null)
{
lock (printerHelper)
{
printer.Reset();
printer = null;
}
lock (connectionHelper)
{
connection = null;
}
//printer = GetPrinter();
myEventLog.Log.Warn("正在重置打印机状态！");
}
}
}
/// <summary>
/// 获取打印机状态
/// </summary>
/// <returns></returns>
public PrinterStatus GetPrinterStatus()
{
lock (connectionHelper)
{
connection = null;
}
lock (printerHelper)
{
printer = null;
}
PrinterStatus printerStatus = null;
if (TryOpenPrinterConnection())
{
printer = GetPrinter();
if (printer != null)
{
try
{
ZebraPrinterLinkOs linkOsPrinter = ZebraPrinterFactory.CreateLinkOsPrinter(printer);
printerStatus = (linkOsPrinter != null) ? linkOsPrinter.GetCurrentStatus() : printer.GetCurrentStatus();
}
catch (Exception ex)
{
myEventLog.LogError("获取打印机状态出错！", ex);
}
finally
{
}
}
}
return(printerStatus);
}
protected internal override void SolveVelocityIteration()
{
//Compute the 'relative' linear and angular velocities. For single bone constraints, it's based entirely on the one bone's velocities!
//They have to be pulled into constraint space first to compute the necessary impulse, though.
Vector3 linearContributionA;
Matrix3x3.TransformTranspose(ref ConnectionA.linearVelocity, ref linearJacobianA, out linearContributionA);
Vector3 angularContributionA;
Matrix3x3.TransformTranspose(ref ConnectionA.angularVelocity, ref angularJacobianA, out angularContributionA);
Vector3 linearContributionB;
Matrix3x3.TransformTranspose(ref ConnectionB.linearVelocity, ref linearJacobianB, out linearContributionB);
Vector3 angularContributionB;
Matrix3x3.TransformTranspose(ref ConnectionB.angularVelocity, ref angularJacobianB, out angularContributionB);
//The constraint velocity error will be the velocity we try to remove.
Vector3 constraintVelocityError;
Vector3.Add(ref linearContributionA, ref angularContributionA, out constraintVelocityError);
Vector3.Add(ref constraintVelocityError, ref linearContributionB, out constraintVelocityError);
Vector3.Add(ref constraintVelocityError, ref angularContributionB, out constraintVelocityError);
//However, we need to take into account two extra sources of velocities which modify our target velocity away from zero.
//First, the velocity bias from position correction:
Vector3.Subtract(ref constraintVelocityError, ref velocityBias, out constraintVelocityError);
//And second, the bias from softness:
Vector3 softnessBias;
Vector3.Multiply(ref accumulatedImpulse, -softness, out softnessBias);
Vector3.Subtract(ref constraintVelocityError, ref softnessBias, out constraintVelocityError);
//By now, the constraint velocity error contains all the velocity we want to get rid of.
//Convert it into an impulse using the effective mass matrix.
Vector3 constraintSpaceImpulse;
Matrix3x3.Transform(ref constraintVelocityError, ref effectiveMass, out constraintSpaceImpulse);
Vector3.Negate(ref constraintSpaceImpulse, out constraintSpaceImpulse);
//Add the constraint space impulse to the accumulated impulse so that warm starting and softness work properly.
Vector3 preadd = accumulatedImpulse;
Vector3.Add(ref constraintSpaceImpulse, ref accumulatedImpulse, out accumulatedImpulse);
//But wait! The accumulated impulse may exceed this constraint's capacity! Check to make sure!
float impulseSquared = accumulatedImpulse.LengthSquared;
if (impulseSquared > maximumImpulseSquared)
{
//Oops! Clamp that down.
Vector3.Multiply(ref accumulatedImpulse, maximumImpulse / (float)Math.Sqrt(impulseSquared), out accumulatedImpulse);
//Update the impulse based upon the clamped accumulated impulse and the original, pre-add accumulated impulse.
Vector3.Subtract(ref accumulatedImpulse, ref preadd, out constraintSpaceImpulse);
}
//The constraint space impulse now represents the impulse we want to apply to the bone... but in constraint space.
//Bring it out to world space using the transposed jacobian.
if (!ConnectionA.Pinned)//Treat pinned elements as if they have infinite inertia.
{
Vector3 linearImpulseA;
Matrix3x3.Transform(ref constraintSpaceImpulse, ref linearJacobianA, out linearImpulseA);
Vector3 angularImpulseA;
Matrix3x3.Transform(ref constraintSpaceImpulse, ref angularJacobianA, out angularImpulseA);
//Apply them!
ConnectionA.ApplyLinearImpulse(ref linearImpulseA);
ConnectionA.ApplyAngularImpulse(ref angularImpulseA);
}
if (!ConnectionB.Pinned)//Treat pinned elements as if they have infinite inertia.
{
Vector3 linearImpulseB;
Matrix3x3.Transform(ref constraintSpaceImpulse, ref linearJacobianB, out linearImpulseB);
Vector3 angularImpulseB;
Matrix3x3.Transform(ref constraintSpaceImpulse, ref angularJacobianB, out angularImpulseB);
//Apply them!
ConnectionB.ApplyLinearImpulse(ref linearImpulseB);
ConnectionB.ApplyAngularImpulse(ref angularImpulseB);
}
}
