public PathFigure LinearPath(int index, TimeSortedList JointParameters, JointData jData, double offsetX, double offsetY)
{
var start = new System.Windows.Point(JointParameters[0].Value[index, 0] + offsetX, JointParameters[0].Value[index, 1] + offsetY);
var points = new PointCollection();
for (int i = 1; i < JointParameters.Count; i++)
{
var x = JointParameters[i].Value[index, 0] + offsetX;
var y = JointParameters[i].Value[index, 1] + offsetY;
points.Add(new System.Windows.Point(x, y));
}
#region see if path should be closed
//var last_i = JointParameters.Count - 1;
////find a good time step value.
//var timeStepLast = JointParameters.Times[last_i] - JointParameters.Times[last_i - 1];
//timeStepLast += JointParameters.Times[1] - JointParameters.Times[0];
//timeStepLast /= 2;
//var xLast = JointParameters[last_i].Value[index, 2] * timeStepLast +
// JointParameters[last_i].Value[index, 4] * timeStepLast * timeStepLast / 2;
//var yLast = JointParameters[last_i].Value[index, 3] * timeStepLast +
// JointParameters[last_i].Value[index, 5] * timeStepLast * timeStepLast / 2;
//var closePath = (Math.Abs(xLast - start.X) + Math.Abs(yLast - start.Y) < 100 * Constants.epsilon);
#endregion
return(new PathFigure
{
StartPoint = start,
Segments = new PathSegmentCollection {
new PolyLineSegment {
Points = points
}
},
IsClosed = _isClosed
});
}
public InputRPJointShape(double jointSize, double strokeThickness, double xPosition, double yPosition, double xAxisOffset,
double yAxisOffset, double angle, bool isGround, int jointNum, JointData jointData)
: base(2 * jointSize, 2 * jointSize, strokeThickness, xPosition,
yPosition, xAxisOffset, yAxisOffset, angle, "PMoveArrows", "PRotateArrows", jointData)
{
jointShape = new Ellipse
{
Width = 2 * jointSize,
Height = 2 * jointSize,
Fill = new SolidColorBrush(Colors.Transparent),
Stroke = new SolidColorBrush(Colors.Black),
StrokeThickness = strokeThickness,
RenderTransformOrigin = new Point(0.5, 0.5),
RenderTransform = new TranslateTransform
{
X = -jointSize,
Y = -jointSize
}
};
Children.Add(jointShape);
}
internal void ParseData(Boolean ForceRerunOfSimulation = false)
{
try
{
#region table validation
if (JointsInfo == null)
{
return;
}
numJoints = TrimEmptyJoints();
if (pmks != null && !ForceRerunOfSimulation && SameTopology() && SameParameters())
{
return;
}
DefineInputDriver();
DefineLinkIDs();
if (!(GroundLinkFound() && DuplicateLinkNames() && DefinePositions() && DefineJointTypeList() && DataListsSameLength()))
{
return;
}
pmks = new Simulator(LinkIDs, JointTypes, drivingIndex, InitPositions);
JointData.UpdateRandomRange(InitPositions);
mainViewer.ClearDynamicShapesAndBindings();
PlayButton_Unchecked(null, null);
if (pmks.IsDyadic)
{
status("The mechanism is comprised of only of dyads.");
}
else
{
status("The mechanism has non-dyadic loops.");
}
int dof = pmks.DegreesOfFreedom;
App.main.fileAndEditPanel.ReportDOF(dof);
status("Degrees of freedom = " + dof);
if (dof == 1)
{
if (JointsInfo.Data[drivingIndex].JointTypeString.Equals("P", StringComparison.InvariantCultureIgnoreCase))
{
pmks.InputSpeed = Speed;
globalSettings.SpeedHeaderTextBlock.Text = "Speed (unit/sec)";
if (AnalysisStep == AnalysisType.error)
{
pmks.MaxSmoothingError = Error;
}
else
{
pmks.DeltaAngle = AngleIncrement;
}
}
else
{
pmks.InputSpeed = DisplayConstants.RadiansPerSecToRPM * Speed;
globalSettings.SpeedHeaderTextBlock.Text = "Speed (rpm)";
if (AnalysisStep == AnalysisType.error)
{
pmks.MaxSmoothingError = Error;
}
else
{
pmks.DeltaAngle = AngleIncrement / DisplayConstants.RadiansToDegrees;
}
}
}
else
{
mainViewer.UpdateRanges(InitPositions);
mainViewer.UpdateScaleAndCenter();
mainViewer.DrawStaticShapes(pmks, JointsInfo.Data);
return;
}
}
catch (Exception e)
{
status("Incomplete or incorrect data: \n" + e.InnerException);
return;
}
#endregion
try
{
#region Simulation of mechanism
status("Analyzing...");
var now = DateTime.Now;
pmks.FindFullMovement();
status("...done (" + (DateTime.Now - now).TotalMilliseconds.ToString() + "ms).");
switch (pmks.CycleType)
{
case CycleTypes.LessThanFullCycle:
status("Input cannot rotate a full 360 degrees.");
break;
case CycleTypes.OneCycle:
status("Mechanism is completely cyclic with input.");
break;
case CycleTypes.MoreThanOneCycle:
status(
"Input rotates a full 360 degrees but motion is not yet cyclic (more rotations are required).");
break;
}
#endregion
#region draw curves
status("Drawing...");
now = DateTime.Now;
if (pmks.LinkParameters == null || pmks.JointParameters == null || pmks.JointParameters.Count < 2)
{
status("The mechanism does not move.");
// return;
}
mainViewer.UpdateRanges(pmks);
mainViewer.FindVelocityAndAccelerationScalers(pmks);
mainViewer.UpdateScaleAndCenter();
mainViewer.DrawStaticShapes(pmks, JointsInfo.Data);
mainViewer.DrawDynamicShapes(pmks, JointsInfo.Data, timeSlider);
status("...done (" + (DateTime.Now - now).TotalMilliseconds + "ms).");
PlayButton_Checked(null, null);
#endregion
}
catch (Exception e)
{
status(e.Message);
}
}
public PathFigure QuadraticPath(int index, TimeSortedList JointParameters, JointData jData, double offsetX, double offsetY)
{
var start = new System.Windows.Point(JointParameters[0].Value[index, 0] + offsetX, JointParameters[0].Value[index, 1] + offsetY);
var points = new PointCollection();
for (int i = 1; i < JointParameters.Count; i++)
{
var x1 = JointParameters[i - 1].Value[index, 0] + offsetX;
var y1 = JointParameters[i - 1].Value[index, 1] + offsetY;
var v_1x = JointParameters[i - 1].Value[index, 2];
var v_1y = JointParameters[i - 1].Value[index, 3];
var x2 = JointParameters[i].Value[index, 0] + offsetX;
var y2 = JointParameters[i].Value[index, 1] + offsetY;
var v_2x = JointParameters[i].Value[index, 2];
var v_2y = JointParameters[i].Value[index, 3];
var interPt = Constants.solveViaIntersectingLines(v_1y / v_1x, new Point(x1, y1),
v_2y / v_2x, new Point(x2, y2));
if (double.IsNaN(interPt.X) || double.IsNaN(interPt.Y))
{
points.Add(new System.Windows.Point((x1 + x2) / 2, (y1 + y2) / 2));
}
else
{
points.Add(new System.Windows.Point(interPt.X, interPt.Y));
}
points.Add(new System.Windows.Point(x2, y2));
}
if (_isClosed)
{
var x1 = JointParameters[JointParameters.LastIndex].Value[index, 0] + offsetX;
var y1 = JointParameters[JointParameters.LastIndex].Value[index, 1] + offsetY;
var v_1x = JointParameters[JointParameters.LastIndex].Value[index, 2];
var v_1y = JointParameters[JointParameters.LastIndex].Value[index, 3];
var x2 = JointParameters[0].Value[index, 0] + offsetX;
var y2 = JointParameters[0].Value[index, 1] + offsetY;
var v_2x = JointParameters[0].Value[index, 2];
var v_2y = JointParameters[0].Value[index, 3];
var interPt = Constants.solveViaIntersectingLines(v_1y / v_1x, new Point(x1, y1),
v_2y / v_2x, new Point(x2, y2));
if (double.IsNaN(interPt.X) || double.IsNaN(interPt.Y))
{
points.Add(new System.Windows.Point((x1 + x2) / 2, (y1 + y2) / 2));
}
else
{
points.Add(new System.Windows.Point(interPt.X, interPt.Y));
}
points.Add(new System.Windows.Point(x2, y2));
}
#region see if path should be closed
//var last_i = JointParameters.Count - 1;
////find a good time step value.
//var timeStepLast = JointParameters.Times[last_i] - JointParameters.Times[last_i - 1];
//timeStepLast += JointParameters.Times[1] - JointParameters.Times[0];
//timeStepLast /= 2;
//var xLast = JointParameters[last_i].Value[index, 2] * timeStepLast +
// JointParameters[last_i].Value[index, 4] * timeStepLast * timeStepLast / 2;
//var yLast = JointParameters[last_i].Value[index, 3] * timeStepLast +
// JointParameters[last_i].Value[index, 5] * timeStepLast * timeStepLast / 2;
//var closePath = (Math.Abs(xLast - start.X) + Math.Abs(yLast - start.Y) < 100 * Constants.epsilon);
#endregion
return(new PathFigure
{
StartPoint = start,
Segments = new PathSegmentCollection {
new PolyQuadraticBezierSegment {
Points = points
}
},
IsClosed = _isClosed
});
}
public InputRJointShape(double radius, double strokeThickness, double xPosition, double yPosition, double xAxisOffset,
double yAxisOffset, bool isGround, bool isDriver, int jointNum, JointData jointData)
: base(2 * radius, 2 * radius, strokeThickness, xPosition, yPosition, xAxisOffset, yAxisOffset, 0, "MoveArrows", "", jointData)
{
/* now draw the actual joint */
var fillBrush = /*isGround ? new SolidColorBrush(Colors.Black) :*/ new SolidColorBrush(Colors.Transparent);
jointShape = new Ellipse
{
Width = 2 * radius,
Height = 2 * radius,
Stroke = (isDriver) ? new SolidColorBrush(Colors.Green) : new SolidColorBrush(Colors.Black),
StrokeThickness = (isDriver) ? 3 * strokeThickness : strokeThickness,
Fill = fillBrush,
RenderTransform = new TranslateTransform
{
X = -radius,
Y = -radius
}
};
Children.Add(jointShape);
}
internal void DrawStaticShapes(Simulator pmks, ObservableCollection <JointData> jointData)
{
Children.Clear();
Children.Add(axes);
initialPositionIcons.Clear();
for (int index = 0; index < pmks.Joints.Count; index++)
{
var j = pmks.Joints[index];
var isDriver = (index == App.main.drivingIndex);
JointData jointRowData = (index < jointData.Count) ? jointData[index] : null;
InputJointBaseShape inputJointBaseShape = null;
switch (j.TypeOfJoint)
{
case JointType.R:
inputJointBaseShape =
new InputRJointShape(jointSize, penThick, j.xInitial, j.yInitial, XAxisOffset,
YAxisOffset, j.IsGround, isDriver, index, jointRowData);
break;
case JointType.P:
inputJointBaseShape =
new InputPJointShape(jointSize, penThick, j.xInitial, j.yInitial, XAxisOffset,
YAxisOffset, j.SlideAngleInitial, j.IsGround, isDriver, index, jointRowData);
break;
case JointType.RP:
inputJointBaseShape =
new InputRPJointShape(jointSize, penThick, j.xInitial, j.yInitial, XAxisOffset,
YAxisOffset, j.SlideAngleInitial, j.IsGround, index, jointRowData);
break;
case JointType.G:
inputJointBaseShape = new InputGJointShape(jointSize, penThick, j.xInitial, j.yInitial, XAxisOffset,
YAxisOffset, j.SlideAngleInitial, j.IsGround, index, jointRowData);
break;
}
Children.Add(inputJointBaseShape);
initialPositionIcons.Add(inputJointBaseShape);
}
/* remove old ground shapes */
Children.Remove(groundLinkShape);
groundLinkShape = new GroundLinkShape(pmks.GroundLink, XAxisOffset, YAxisOffset, penThick, jointSize,
DisplayConstants.DefaultBufferRadius / ScaleFactor);
Children.Add(groundLinkShape);
/* now add the link shapes */
for (int i = 0; i < pmks.NumLinks; i++)
{
if (!pmks.Links[i].name.Equals("ground"))
{
Children.Add(new LinkShape(i, pmks.Links[i], XAxisOffset, YAxisOffset, penThick, jointSize, null,
DisplayConstants.DefaultBufferRadius / ScaleFactor));
}
}
if (TargetPath != null)
{
Children.Remove(TargetPath);
TargetPath.RenderTransform
= new TranslateTransform {
X = XAxisOffset, Y = YAxisOffset
};
Children.Add(TargetPath);
}
}
public InputPJointShape(double jointSize, double strokeThickness, double xPosition, double yPosition, double xAxisOffset,
double yAxisOffset, double angle, bool isGround, bool isDriver, int jointNum, JointData jointData)
: base(2 * jointSize * DisplayConstants.SliderRectangleWidthIncrease, 2 * jointSize, strokeThickness, xPosition,
yPosition, xAxisOffset, yAxisOffset, angle, "PMoveArrows", "PRotateArrows", jointData)
{
jointShape = new Rectangle
{
Width = 2 * jointSize * DisplayConstants.SliderRectangleWidthIncrease,
Height = 2 * jointSize,
Fill = (isGround) ? new SolidColorBrush(Colors.White) : new SolidColorBrush(Colors.Transparent),
Stroke = (isDriver) ? new SolidColorBrush(Colors.Green) : new SolidColorBrush(Colors.Black),
StrokeThickness = (isDriver) ? 3 * strokeThickness : strokeThickness,
RenderTransformOrigin = new Point(0.5, 0.5),
RenderTransform = new TranslateTransform
{
X = -jointSize * DisplayConstants.SliderRectangleWidthIncrease,
Y = -jointSize
}
};
Children.Add(jointShape);
}
