Creacion de la opcion EsFreno para los transportes
This commit is contained in:
parent
288635b9bf
commit
c66be28764
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@ -1,12 +1,19 @@
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<UserControl x:Class="CtrEditor.ObjetosSim.ucBotella"
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xmlns="http://schemas.microsoft.com/winfx/2006/xaml/presentation"
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xmlns:x="http://schemas.microsoft.com/winfx/2006/xaml"
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xmlns:vm="clr-namespace:CtrEditor.ObjetosSim"
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xmlns:convert="clr-namespace:CtrEditor.Convertidores">
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<UserControl.Resources>
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<convert:MeterToPixelConverter x:Key="MeterToPixelConverter"/>
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</UserControl.Resources>
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<UserControl.DataContext>
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<vm:osBotella/>
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</UserControl.DataContext>
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<Ellipse Height="{Binding Diametro, Converter={StaticResource MeterToPixelConverter}}"
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Stroke="red" Fill="Gray"
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Width="{Binding Diametro, Converter={StaticResource MeterToPixelConverter}}"/>
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Stroke="{Binding ColorButton_oculto}" Fill="Gray"
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Width="{Binding Diametro, Converter={StaticResource MeterToPixelConverter}}" StrokeThickness="0.5"/>
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</UserControl>
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@ -6,6 +6,7 @@ using CtrEditor.Siemens;
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using CtrEditor.Simulacion;
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using CommunityToolkit.Mvvm.ComponentModel;
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using nkast.Aether.Physics2D.Common;
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using System.Windows.Media;
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namespace CtrEditor.ObjetosSim
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{
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@ -31,6 +32,9 @@ namespace CtrEditor.ObjetosSim
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set => SetProperty(ref nombre, value);
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}
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[ObservableProperty]
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private Brush colorButton_oculto;
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[ObservableProperty]
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private float diametro;
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@ -64,7 +68,7 @@ namespace CtrEditor.ObjetosSim
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{
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if (SimGeometria != null)
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{
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SimGeometria.SetDiameter(Diametro);
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SimGeometria.SetPosition(GetCentro());
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}
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}
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@ -73,30 +77,38 @@ namespace CtrEditor.ObjetosSim
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{
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Diametro = 0.10f;
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Mass = 1;
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ColorButton_oculto = Brushes.Gray;
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}
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public void UpdateAfterMove()
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{
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ActualizarGeometrias();
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SimGeometria?.SetDiameter(Diametro);
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}
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public override void UpdateGeometryStart()
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{
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// Se llama antes de la simulacion
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ActualizarGeometrias();
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SimGeometria?.SetDiameter(Diametro);
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}
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public override void SimulationStop()
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{
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// Se llama al detener la simulacion. Util para detener Storyboards
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}
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public override void UpdateGeometryStep()
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{
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// Se llama antes de la simulacion
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ActualizarGeometrias();
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}
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public override void UpdatePLC(PLCModel plc, int elapsedMilliseconds) { }
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public override void UpdateControl(int elapsedMilliseconds)
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{
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SetCentro(SimGeometria.Center);
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if (SimGeometria.isRestricted)
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ColorButton_oculto = Brushes.Yellow;
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else
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{
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if (SimGeometria.isOnTransports > 0)
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ColorButton_oculto = Brushes.Red;
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else
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ColorButton_oculto = Brushes.Gray;
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}
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if (SimGeometria.Descartar) // Ha sido marcada para remover
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RemoverDesdeSimulacion = true;
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}
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@ -143,6 +155,8 @@ namespace CtrEditor.ObjetosSim
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{
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Datos.Left = PixelToMeter.Instance.calc.PixelsToMeters(LeftPixels);
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Datos.Top = PixelToMeter.Instance.calc.PixelsToMeters(TopPixels);
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if (Datos is osBotella botella)
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botella.UpdateAfterMove();
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}
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}
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public void Rotate(float Angle) { }
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@ -57,6 +57,15 @@ namespace CtrEditor.ObjetosSim
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ActualizarGeometrias();
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}
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[ObservableProperty]
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public bool esFreno;
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partial void OnEsFrenoChanged(bool value)
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{
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if (SimGeometria != null)
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SimGeometria.isBrake = value;
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}
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[ObservableProperty]
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public float angulo;
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[ObservableProperty]
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@ -82,6 +91,7 @@ namespace CtrEditor.ObjetosSim
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SimGeometria.DistanceGuide2Guide = Alto;
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SimGeometria.Speed = VelocidadActual;
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SimGeometria.isBrake = esFreno;
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ActualizarAnimacionStoryBoardTransporte(VelocidadActual);
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}
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}
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@ -107,25 +107,40 @@ namespace CtrEditor.ObjetosSim
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[JsonIgnore]
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protected PLCModel? _plc = null;
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/// <summary>
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///
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/// </summary>
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/// <param name="elapsedMilliseconds"></param>
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public virtual void UpdateControl(int elapsedMilliseconds) { }
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public virtual void UpdateGeometryStart()
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{
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// Se llama antes de la simulacion
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}
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/// <summary>
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/// Se llama antes de la simulacion
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/// </summary>
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public virtual void UpdateGeometryStart() { }
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public virtual void SimulationStop() { }
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public virtual void UpdateGeometryStep() { }
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/// <summary>
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/// Es llamada en cada Tick del reloj establecido del PLC
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/// cuando la conexion con el PLC esta establecida
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/// </summary>
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/// <param name="plc"></param>
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/// <param name="elapsedMilliseconds"></param>
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public virtual void UpdatePLC(PLCModel plc, int elapsedMilliseconds) { }
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/// <summary>
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/// El UserControl ya se ha cargado y podemos obtener las coordenadas para
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/// crear el objeto de simulacion
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/// </summary>
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public virtual void ucLoaded()
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{
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// El UserControl ya se ha cargado y podemos obtener las coordenadas para
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// crear el objeto de simulacion
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ActualizarLeftTop();
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}
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public virtual void ucUnLoaded()
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{
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// El UserControl se esta eliminando
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// eliminar el objeto de simulacion
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}
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/// <summary>
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/// El UserControl se esta eliminando
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/// eliminar el objeto de simulacion
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/// </summary>
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public virtual void ucUnLoaded() { }
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[JsonIgnore]
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public MainViewModel _mainViewModel;
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@ -13,6 +13,10 @@ using nkast.Aether.Physics2D;
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using nkast.Aether.Physics2D.Dynamics;
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using nkast.Aether.Physics2D.Common;
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using nkast.Aether.Physics2D.Collision.Shapes;
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using nkast.Aether.Physics2D.Dynamics.Contacts;
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using nkast.Aether.Physics2D.Collision;
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using Transform = nkast.Aether.Physics2D.Common.Transform;
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using nkast.Aether.Physics2D.Dynamics.Joints;
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namespace CtrEditor.Simulacion
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{
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@ -23,7 +27,7 @@ namespace CtrEditor.Simulacion
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public void RemoverBody()
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{
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if (Body != null)
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if (Body != null && _world.BodyList.Count>0)
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{
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_world.Remove(Body);
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}
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@ -45,10 +49,12 @@ namespace CtrEditor.Simulacion
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private float _startAngle;
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private float _endAngle;
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public float Speed { get; set; } // Velocidad para efectos de cinta transportadora
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private List<Action> _deferredActions;
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public simCurve(World world, float innerRadius, float outerRadius, float startAngle, float endAngle, Vector2 position)
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public simCurve(World world, List<Action> deferredActions, float innerRadius, float outerRadius, float startAngle, float endAngle, Vector2 position)
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{
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_world = world;
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_deferredActions = deferredActions;
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_innerRadius = innerRadius;
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_outerRadius = outerRadius;
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_startAngle = Microsoft.Xna.Framework.MathHelper.ToRadians(startAngle);
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@ -138,10 +144,12 @@ namespace CtrEditor.Simulacion
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public class simDescarte : simBase
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{
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private float _radius;
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private List<Action> _deferredActions;
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public simDescarte(World world, float diameter, Vector2 position)
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public simDescarte(World world, List<Action> deferredActions, float diameter, Vector2 position)
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{
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_world = world;
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_deferredActions = deferredActions;
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_radius = diameter / 2;
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Create(position);
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}
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@ -168,11 +176,14 @@ namespace CtrEditor.Simulacion
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{
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public float Speed { get; set; } // Velocidad para efectos de cinta transportadora
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public float DistanceGuide2Guide { get; set; }
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public bool isBrake { get; set; }
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public bool TransportWithGuides = false;
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private List<Action> _deferredActions;
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public simTransporte(World world, float width, float height, Vector2 position, float angle = 0)
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public simTransporte(World world, List<Action> deferredActions, float width, float height, Vector2 position, float angle = 0)
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{
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_world = world;
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_deferredActions = deferredActions;
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Create(width, height, position, angle);
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}
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@ -213,10 +224,12 @@ namespace CtrEditor.Simulacion
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public class simBarrera : simBase
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{
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public bool LuzCortada = false;
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private List<Action> _deferredActions;
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public simBarrera(World world, float width, float height, Vector2 position, float angle = 0)
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public simBarrera(World world, List<Action> deferredActions, float width, float height, Vector2 position, float angle = 0)
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{
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_world = world;
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_deferredActions = deferredActions;
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Create(width, height, position, angle);
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}
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@ -253,9 +266,11 @@ namespace CtrEditor.Simulacion
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public class simGuia : simBase
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{
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public simGuia(World world, Vector2 start, Vector2 end)
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private List<Action> _deferredActions;
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public simGuia(World world, List<Action> deferredActions, Vector2 start, Vector2 end)
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{
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_world = world;
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_deferredActions = deferredActions;
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Create(start, end);
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}
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@ -279,11 +294,25 @@ namespace CtrEditor.Simulacion
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private float _mass;
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public bool Descartar = false;
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public simBotella(World world, float diameter, Vector2 position, float mass)
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public int isOnTransports;
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public bool isRestricted;
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public bool isNoMoreRestricted;
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public float OriginalMass;
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public simTransporte ConveyorRestrictedTo;
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public Fixture axisRestrictedBy;
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public Vector2 Speed;
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PrismaticJoint _activeJoint;
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private List<Action> _deferredActions;
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public simBotella(World world, List<Action> deferredActions, float diameter, Vector2 position, float mass)
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{
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_world = world;
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_deferredActions = deferredActions;
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_radius = diameter / 2;
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_mass = mass;
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_activeJoint = null;
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Create(position);
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}
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@ -318,23 +347,26 @@ namespace CtrEditor.Simulacion
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private void Create(Vector2 position)
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{
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RemoverBody();
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Body = _world.CreateCircle( _radius, 0.2f, position);
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isOnTransports = 0;
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_activeJoint = null;
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Body = _world.CreateCircle( _radius, 1f, position);
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Body.BodyType = BodyType.Dynamic;
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// Restablecer manejador de eventos de colisión
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Body.OnCollision += HandleCollision;
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//Body.OnSeparation += HandleOnSeparation;
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Body.OnSeparation += HandleOnSeparation;
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Body.Tag = this; // Importante para la identificación durante la colisión
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// Configurar la fricción
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Body.SetFriction(0.3f);
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Body.SetFriction(0.5f);
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// Configurar amortiguamiento
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Body.LinearDamping = 0.4f; // Ajustar para controlar la reducción de la velocidad lineal
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Body.AngularDamping = 0.4f; // Ajustar para controlar la reducción de la velocidad angular
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Body.SetRestitution(0.2f); // Baja restitución para menos rebote
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Body.LinearDamping = 4f; // Ajustar para controlar la reducción de la velocidad lineal
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Body.AngularDamping = 1f; // Ajustar para controlar la reducción de la velocidad angular
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Body.SetRestitution(0.3f); // Baja restitución para menos rebote
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Body.SleepingAllowed = false;
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Body.IsBullet = true;
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}
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@ -349,7 +381,7 @@ namespace CtrEditor.Simulacion
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Mass = mass;
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}
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private bool HandleCollision(Fixture fixtureA, Fixture fixtureB, nkast.Aether.Physics2D.Dynamics.Contacts.Contact contact)
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private bool HandleCollision(Fixture fixtureA, Fixture fixtureB, Contact contact)
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{
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if (fixtureB.Body.Tag is simBarrera Sensor)
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{
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@ -370,60 +402,76 @@ namespace CtrEditor.Simulacion
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{
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simTransporte conveyor = fixtureB.Body.Tag as simTransporte;
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isOnTransports += 1;
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if (conveyor.Speed != 0)
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{
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CircleShape circleShape = fixtureA.Shape as CircleShape;
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PolygonShape polygonShape = fixtureB.Shape as PolygonShape;
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// Obtener centro y radio del círculo
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Vector2 centroCirculo = fixtureA.Body.Position;
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float radio = circleShape.Radius;
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// Obtener los vértices del polígono (rectángulo)
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Vector2[] vertices = new Vector2[polygonShape.Vertices.Count];
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float cos = (float)Math.Cos(fixtureB.Body.Rotation);
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float sin = (float)Math.Sin(fixtureB.Body.Rotation);
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for (int i = 0; i < polygonShape.Vertices.Count; i++)
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// Aplicar el efecto del transportador usando el porcentaje calculado
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if (conveyor.TransportWithGuides && conveyor.isBrake)
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{
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Vector2 vertex = polygonShape.Vertices[i];
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float rotatedX = vertex.X * cos - vertex.Y * sin + fixtureB.Body.Position.X;
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float rotatedY = vertex.X * sin + vertex.Y * cos + fixtureB.Body.Position.Y;
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vertices[i] = new Vector2(rotatedX, rotatedY);
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ConveyorRestrictedTo = conveyor;
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axisRestrictedBy = fixtureB;
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OriginalMass = Body.Mass;
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isRestricted = true;
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isNoMoreRestricted = false;
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}
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// Calcular el porcentaje de la superficie compartida
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float porcentajeCompartido = InterseccionCirculoRectanguloAether.CalcularSuperficieCompartida(vertices, centroCirculo, radio);
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// Aplicar el efecto del transportador usando el porcentaje calculado
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//if (conveyor.TransportWithGuides)
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// if (conveyor.DistanceGuide2Guide <= radio * 2)
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// CenterFixtureOnConveyor(fixtureA, conveyor);
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ApplyConveyorEffect(conveyor, fixtureA, porcentajeCompartido);
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ApplyConveyorEffect(conveyor, fixtureA, 1);
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}
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return true; // No aplicar respuestas físicas
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}
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return true; // No aplicar respuestas físicas
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}
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public static bool IntersectAABBs(ref AABB aabbA, ref AABB aabbB, out AABB overlap)
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{
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overlap = new AABB();
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float minX = Math.Max(aabbA.LowerBound.X, aabbB.LowerBound.X);
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float minY = Math.Max(aabbA.LowerBound.Y, aabbB.LowerBound.Y);
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float maxX = Math.Min(aabbA.UpperBound.X, aabbB.UpperBound.X);
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float maxY = Math.Min(aabbA.UpperBound.Y, aabbB.UpperBound.Y);
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if (minX < maxX && minY < maxY)
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{
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overlap.LowerBound = new Vector2(minX, minY);
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overlap.UpperBound = new Vector2(maxX, maxY);
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return true;
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}
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return false;
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}
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private void HandleOnSeparation(Fixture sender, Fixture fixtureB, Contact contact)
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{
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if (isOnTransports>0 && fixtureB.Body.Tag is simTransporte)
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isOnTransports -= 1;
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if (isRestricted && fixtureB == axisRestrictedBy)
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{
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isRestricted = false;
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isNoMoreRestricted = true;
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}
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}
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private void ApplyConveyorEffect(simTransporte conveyor, Fixture circleFixture, float porcentajeCompartido)
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{
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float speedMetersPerSecond = conveyor.Speed / 60.0f;
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Vector2 desiredVelocity = new Vector2((float)Math.Cos(conveyor.Body.Rotation), (float)Math.Sin(conveyor.Body.Rotation)) * speedMetersPerSecond;
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circleFixture.Body.LinearVelocity += desiredVelocity * porcentajeCompartido;
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// circleFixture.Body.ApplyForce(desiredVelocity * porcentajeCompartido);
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Speed = desiredVelocity;
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}
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private void CenterFixtureOnConveyor(Fixture fixtureA, simTransporte conveyor)
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public void CenterFixtureOnConveyor()
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{
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if (!isRestricted || ConveyorRestrictedTo == null)
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return;
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// Obtener el centro del conveyor
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Vector2 conveyorCenter = conveyor.Body.Position;
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Vector2 conveyorCenter = ConveyorRestrictedTo.Body.Position;
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// Calcular el vector de la línea horizontal centrada de conveyor
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float halfDistance = conveyor.DistanceGuide2Guide / 2;
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float cos = (float)Math.Cos(conveyor.Body.Rotation);
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float sin = (float)Math.Sin(conveyor.Body.Rotation);
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float halfDistance = ConveyorRestrictedTo.DistanceGuide2Guide / 2;
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float cos = (float)Math.Cos(ConveyorRestrictedTo.Body.Rotation);
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float sin = (float)Math.Sin(ConveyorRestrictedTo.Body.Rotation);
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|
||||
Vector2 offset = new Vector2(halfDistance * cos, halfDistance * sin);
|
||||
|
||||
|
|
@ -432,11 +480,11 @@ namespace CtrEditor.Simulacion
|
|||
Vector2 lineEnd = conveyorCenter + offset;
|
||||
|
||||
// Proyectar el centro de fixtureA sobre la línea horizontal
|
||||
Vector2 fixtureCenter = fixtureA.Body.Position;
|
||||
Vector2 fixtureCenter = Body.Position;
|
||||
Vector2 closestPoint = ProjectPointOntoLine(fixtureCenter, lineStart, lineEnd);
|
||||
|
||||
// Mover fixtureA al punto más cercano en la línea horizontal
|
||||
fixtureA.Body.Position = closestPoint;
|
||||
Body.Position = closestPoint;
|
||||
}
|
||||
|
||||
private Vector2 ProjectPointOntoLine(Vector2 point, Vector2 lineStart, Vector2 lineEnd)
|
||||
|
|
@ -456,6 +504,7 @@ namespace CtrEditor.Simulacion
|
|||
private World world;
|
||||
private Canvas simulationCanvas;
|
||||
public List<simBase> Cuerpos;
|
||||
public List<Action> _deferredActions;
|
||||
|
||||
private Stopwatch stopwatch;
|
||||
private double stopwatch_last;
|
||||
|
|
@ -466,6 +515,7 @@ namespace CtrEditor.Simulacion
|
|||
{
|
||||
world = new World(new Vector2(0, 0)); // Vector2.Zero
|
||||
Cuerpos = new List<simBase>();
|
||||
_deferredActions = new List<Action>();
|
||||
stopwatch = new Stopwatch();
|
||||
stopwatch.Start();
|
||||
}
|
||||
|
|
@ -477,6 +527,8 @@ namespace CtrEditor.Simulacion
|
|||
if (Cuerpos.Count > 0)
|
||||
Cuerpos.Clear();
|
||||
}
|
||||
// ******************************************************************************************************************************************
|
||||
// ******************************************************************************************************************************************
|
||||
|
||||
public void Step()
|
||||
{
|
||||
|
|
@ -486,6 +538,33 @@ namespace CtrEditor.Simulacion
|
|||
|
||||
// Pasar el tiempo transcurrido al método Step
|
||||
world.Step(elapsedMilliseconds / 1000.0f);
|
||||
|
||||
|
||||
foreach (var cuerpo in Cuerpos)
|
||||
{
|
||||
if (cuerpo is simBotella botella)
|
||||
{
|
||||
if (botella.isOnTransports > 0)
|
||||
botella.Body.LinearVelocity = botella.Speed;
|
||||
if (botella.isRestricted)
|
||||
{
|
||||
botella.CenterFixtureOnConveyor();
|
||||
botella.Body.Inertia = 0;
|
||||
botella.Body.Mass = 20;
|
||||
} else if (botella.isNoMoreRestricted)
|
||||
{
|
||||
botella.isNoMoreRestricted = false;
|
||||
botella.Body.Mass = botella.OriginalMass;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// Procesa las acciones diferidas
|
||||
foreach (var action in _deferredActions)
|
||||
{
|
||||
action();
|
||||
}
|
||||
_deferredActions.Clear();
|
||||
}
|
||||
|
||||
public void Remove(simBase Objeto)
|
||||
|
|
@ -499,42 +578,42 @@ namespace CtrEditor.Simulacion
|
|||
|
||||
public simCurve AddCurve(float innerRadius, float outerRadius, float startAngle, float endAngle, Vector2 position)
|
||||
{
|
||||
simCurve curva = new simCurve(world, innerRadius, outerRadius, startAngle, endAngle, position);
|
||||
simCurve curva = new simCurve(world, _deferredActions, innerRadius, outerRadius, startAngle, endAngle, position);
|
||||
Cuerpos.Add(curva);
|
||||
return curva;
|
||||
}
|
||||
|
||||
public simBotella AddCircle(float diameter, Vector2 position, float mass)
|
||||
{
|
||||
simBotella circle = new simBotella(world, diameter, position, mass);
|
||||
simBotella circle = new simBotella(world, _deferredActions, diameter, position, mass);
|
||||
Cuerpos.Add(circle);
|
||||
return circle;
|
||||
}
|
||||
|
||||
public simTransporte AddRectangle(float width, float height, Vector2 position, float angle)
|
||||
{
|
||||
simTransporte rectangle = new simTransporte(world, width, height, position, angle);
|
||||
simTransporte rectangle = new simTransporte(world, _deferredActions, width, height, position, angle);
|
||||
Cuerpos.Add(rectangle);
|
||||
return rectangle;
|
||||
}
|
||||
|
||||
public simBarrera AddBarrera(float width, float height, Vector2 position, float angle)
|
||||
{
|
||||
simBarrera rectangle = new simBarrera(world, width, height, position, angle);
|
||||
simBarrera rectangle = new simBarrera(world, _deferredActions, width, height, position, angle);
|
||||
Cuerpos.Add(rectangle);
|
||||
return rectangle;
|
||||
}
|
||||
|
||||
public simGuia AddLine(Vector2 start, Vector2 end)
|
||||
{
|
||||
simGuia line = new simGuia(world, start, end);
|
||||
simGuia line = new simGuia(world, _deferredActions, start, end);
|
||||
Cuerpos.Add(line);
|
||||
return line;
|
||||
}
|
||||
|
||||
public simDescarte AddDescarte(float diameter, Vector2 position)
|
||||
{
|
||||
simDescarte descarte = new simDescarte(world, diameter, position);
|
||||
simDescarte descarte = new simDescarte(world, _deferredActions, diameter, position);
|
||||
Cuerpos.Add(descarte);
|
||||
return descarte;
|
||||
}
|
||||
|
|
|
|||
|
|
@ -68,67 +68,6 @@ namespace CtrEditor.Simulacion
|
|||
}
|
||||
|
||||
}
|
||||
|
||||
internal class InterseccionCirculoRectanguloAether
|
||||
{
|
||||
// Definición de la función CalcularSuperficieCompartida
|
||||
public static float CalcularSuperficieCompartida(nkast.Aether.Physics2D.Common.Vector2[] vertices, nkast.Aether.Physics2D.Common.Vector2 center, float r)
|
||||
{
|
||||
float totalCircleArea = (float)Math.PI * r * r;
|
||||
|
||||
// Distancia a líneas ajustado
|
||||
float[] distances = new float[4];
|
||||
for (int i = 0; i < 4; i++)
|
||||
{
|
||||
distances[i] = DistanceFromLine(center, vertices[i], vertices[(i + 1) % 4]);
|
||||
}
|
||||
|
||||
float minDistance = float.MaxValue;
|
||||
foreach (var dist in distances)
|
||||
{
|
||||
if (Math.Abs(dist) < Math.Abs(minDistance))
|
||||
minDistance = dist;
|
||||
}
|
||||
float d = Math.Abs(minDistance);
|
||||
|
||||
float sharedArea = 0;
|
||||
if (Array.TrueForAll(distances, dist => Math.Abs(dist) > r))
|
||||
{
|
||||
sharedArea = totalCircleArea;
|
||||
}
|
||||
else if (d < r)
|
||||
{
|
||||
float cosTheta = Math.Min(1, d / r);
|
||||
float sinTheta = (float)Math.Sqrt(Math.Max(0, r * r - d * d));
|
||||
if (minDistance < 0) // El centro está dentro del rectángulo
|
||||
{
|
||||
float areaOutside = r * r * (float)Math.Acos(cosTheta) - d * sinTheta;
|
||||
sharedArea = totalCircleArea - areaOutside;
|
||||
}
|
||||
else // El centro está fuera del rectángulo
|
||||
{
|
||||
sharedArea = r * r * (float)Math.Acos(cosTheta) - d * sinTheta;
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
sharedArea = 0;
|
||||
}
|
||||
|
||||
return sharedArea / totalCircleArea;
|
||||
}
|
||||
|
||||
public static float DistanceFromLine(nkast.Aether.Physics2D.Common.Vector2 point, nkast.Aether.Physics2D.Common.Vector2 start, nkast.Aether.Physics2D.Common.Vector2 end)
|
||||
{
|
||||
float A = end.Y - start.Y;
|
||||
float B = start.X - end.X;
|
||||
float C = end.X * start.Y - start.X * end.Y;
|
||||
float distance = (A * point.X + B * point.Y + C) / (float)Math.Sqrt(A * A + B * B);
|
||||
return distance;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
|
|
|||
Loading…
Reference in New Issue