diff --git a/ObjetosSim/Dinamicos/ucBotella.xaml b/ObjetosSim/Dinamicos/ucBotella.xaml
index 945e485..c8a25b1 100644
--- a/ObjetosSim/Dinamicos/ucBotella.xaml
+++ b/ObjetosSim/Dinamicos/ucBotella.xaml
@@ -1,12 +1,19 @@
+
+
+
+
+
+
+ Stroke="{Binding ColorButton_oculto}" Fill="Gray"
+ Width="{Binding Diametro, Converter={StaticResource MeterToPixelConverter}}" StrokeThickness="0.5"/>
\ No newline at end of file
diff --git a/ObjetosSim/Dinamicos/ucBotella.xaml.cs b/ObjetosSim/Dinamicos/ucBotella.xaml.cs
index abd3182..2720ca4 100644
--- a/ObjetosSim/Dinamicos/ucBotella.xaml.cs
+++ b/ObjetosSim/Dinamicos/ucBotella.xaml.cs
@@ -6,6 +6,7 @@ using CtrEditor.Siemens;
using CtrEditor.Simulacion;
using CommunityToolkit.Mvvm.ComponentModel;
using nkast.Aether.Physics2D.Common;
+using System.Windows.Media;
namespace CtrEditor.ObjetosSim
{
@@ -31,6 +32,9 @@ namespace CtrEditor.ObjetosSim
set => SetProperty(ref nombre, value);
}
+ [ObservableProperty]
+ private Brush colorButton_oculto;
+
[ObservableProperty]
private float diametro;
@@ -64,7 +68,7 @@ namespace CtrEditor.ObjetosSim
{
if (SimGeometria != null)
{
- SimGeometria.SetDiameter(Diametro);
+
SimGeometria.SetPosition(GetCentro());
}
}
@@ -73,30 +77,38 @@ namespace CtrEditor.ObjetosSim
{
Diametro = 0.10f;
Mass = 1;
+ ColorButton_oculto = Brushes.Gray;
+ }
+
+ public void UpdateAfterMove()
+ {
+ ActualizarGeometrias();
+ SimGeometria?.SetDiameter(Diametro);
}
public override void UpdateGeometryStart()
{
// Se llama antes de la simulacion
ActualizarGeometrias();
+ SimGeometria?.SetDiameter(Diametro);
}
- public override void SimulationStop()
- {
- // Se llama al detener la simulacion. Util para detener Storyboards
- }
-
public override void UpdateGeometryStep()
{
// Se llama antes de la simulacion
ActualizarGeometrias();
}
-
- public override void UpdatePLC(PLCModel plc, int elapsedMilliseconds) { }
-
public override void UpdateControl(int elapsedMilliseconds)
{
SetCentro(SimGeometria.Center);
-
+ if (SimGeometria.isRestricted)
+ ColorButton_oculto = Brushes.Yellow;
+ else
+ {
+ if (SimGeometria.isOnTransports > 0)
+ ColorButton_oculto = Brushes.Red;
+ else
+ ColorButton_oculto = Brushes.Gray;
+ }
if (SimGeometria.Descartar) // Ha sido marcada para remover
RemoverDesdeSimulacion = true;
}
@@ -143,6 +155,8 @@ namespace CtrEditor.ObjetosSim
{
Datos.Left = PixelToMeter.Instance.calc.PixelsToMeters(LeftPixels);
Datos.Top = PixelToMeter.Instance.calc.PixelsToMeters(TopPixels);
+ if (Datos is osBotella botella)
+ botella.UpdateAfterMove();
}
}
public void Rotate(float Angle) { }
diff --git a/ObjetosSim/Estaticos/ucTransporteGuias.xaml.cs b/ObjetosSim/Estaticos/ucTransporteGuias.xaml.cs
index 8541018..3906139 100644
--- a/ObjetosSim/Estaticos/ucTransporteGuias.xaml.cs
+++ b/ObjetosSim/Estaticos/ucTransporteGuias.xaml.cs
@@ -57,6 +57,15 @@ namespace CtrEditor.ObjetosSim
ActualizarGeometrias();
}
+ [ObservableProperty]
+ public bool esFreno;
+
+ partial void OnEsFrenoChanged(bool value)
+ {
+ if (SimGeometria != null)
+ SimGeometria.isBrake = value;
+ }
+
[ObservableProperty]
public float angulo;
[ObservableProperty]
@@ -82,6 +91,7 @@ namespace CtrEditor.ObjetosSim
SimGeometria.DistanceGuide2Guide = Alto;
SimGeometria.Speed = VelocidadActual;
+ SimGeometria.isBrake = esFreno;
ActualizarAnimacionStoryBoardTransporte(VelocidadActual);
}
}
diff --git a/ObjetosSim/osBase.cs b/ObjetosSim/osBase.cs
index 7a20424..698e9f5 100644
--- a/ObjetosSim/osBase.cs
+++ b/ObjetosSim/osBase.cs
@@ -107,25 +107,40 @@ namespace CtrEditor.ObjetosSim
[JsonIgnore]
protected PLCModel? _plc = null;
+ ///
+ ///
+ ///
+ ///
public virtual void UpdateControl(int elapsedMilliseconds) { }
- public virtual void UpdateGeometryStart()
- {
- // Se llama antes de la simulacion
- }
+ ///
+ /// Se llama antes de la simulacion
+ ///
+ public virtual void UpdateGeometryStart() { }
public virtual void SimulationStop() { }
public virtual void UpdateGeometryStep() { }
+
+ ///
+ /// Es llamada en cada Tick del reloj establecido del PLC
+ /// cuando la conexion con el PLC esta establecida
+ ///
+ ///
+ ///
public virtual void UpdatePLC(PLCModel plc, int elapsedMilliseconds) { }
+
+ ///
+ /// El UserControl ya se ha cargado y podemos obtener las coordenadas para
+ /// crear el objeto de simulacion
+ ///
public virtual void ucLoaded()
{
- // El UserControl ya se ha cargado y podemos obtener las coordenadas para
- // crear el objeto de simulacion
ActualizarLeftTop();
}
- public virtual void ucUnLoaded()
- {
- // El UserControl se esta eliminando
- // eliminar el objeto de simulacion
- }
+
+ ///
+ /// El UserControl se esta eliminando
+ /// eliminar el objeto de simulacion
+ ///
+ public virtual void ucUnLoaded() { }
[JsonIgnore]
public MainViewModel _mainViewModel;
diff --git a/Simulacion/Aether.cs b/Simulacion/Aether.cs
index f90b8d7..8ad34e0 100644
--- a/Simulacion/Aether.cs
+++ b/Simulacion/Aether.cs
@@ -13,6 +13,10 @@ using nkast.Aether.Physics2D;
using nkast.Aether.Physics2D.Dynamics;
using nkast.Aether.Physics2D.Common;
using nkast.Aether.Physics2D.Collision.Shapes;
+using nkast.Aether.Physics2D.Dynamics.Contacts;
+using nkast.Aether.Physics2D.Collision;
+using Transform = nkast.Aether.Physics2D.Common.Transform;
+using nkast.Aether.Physics2D.Dynamics.Joints;
namespace CtrEditor.Simulacion
{
@@ -23,7 +27,7 @@ namespace CtrEditor.Simulacion
public void RemoverBody()
{
- if (Body != null)
+ if (Body != null && _world.BodyList.Count>0)
{
_world.Remove(Body);
}
@@ -45,10 +49,12 @@ namespace CtrEditor.Simulacion
private float _startAngle;
private float _endAngle;
public float Speed { get; set; } // Velocidad para efectos de cinta transportadora
+ private List _deferredActions;
- public simCurve(World world, float innerRadius, float outerRadius, float startAngle, float endAngle, Vector2 position)
+ public simCurve(World world, List deferredActions, float innerRadius, float outerRadius, float startAngle, float endAngle, Vector2 position)
{
_world = world;
+ _deferredActions = deferredActions;
_innerRadius = innerRadius;
_outerRadius = outerRadius;
_startAngle = Microsoft.Xna.Framework.MathHelper.ToRadians(startAngle);
@@ -138,10 +144,12 @@ namespace CtrEditor.Simulacion
public class simDescarte : simBase
{
private float _radius;
+ private List _deferredActions;
- public simDescarte(World world, float diameter, Vector2 position)
+ public simDescarte(World world, List deferredActions, float diameter, Vector2 position)
{
_world = world;
+ _deferredActions = deferredActions;
_radius = diameter / 2;
Create(position);
}
@@ -168,11 +176,14 @@ namespace CtrEditor.Simulacion
{
public float Speed { get; set; } // Velocidad para efectos de cinta transportadora
public float DistanceGuide2Guide { get; set; }
+ public bool isBrake { get; set; }
public bool TransportWithGuides = false;
+ private List _deferredActions;
- public simTransporte(World world, float width, float height, Vector2 position, float angle = 0)
+ public simTransporte(World world, List deferredActions, float width, float height, Vector2 position, float angle = 0)
{
_world = world;
+ _deferredActions = deferredActions;
Create(width, height, position, angle);
}
@@ -213,10 +224,12 @@ namespace CtrEditor.Simulacion
public class simBarrera : simBase
{
public bool LuzCortada = false;
+ private List _deferredActions;
- public simBarrera(World world, float width, float height, Vector2 position, float angle = 0)
+ public simBarrera(World world, List deferredActions, float width, float height, Vector2 position, float angle = 0)
{
_world = world;
+ _deferredActions = deferredActions;
Create(width, height, position, angle);
}
@@ -253,9 +266,11 @@ namespace CtrEditor.Simulacion
public class simGuia : simBase
{
- public simGuia(World world, Vector2 start, Vector2 end)
+ private List _deferredActions;
+ public simGuia(World world, List deferredActions, Vector2 start, Vector2 end)
{
_world = world;
+ _deferredActions = deferredActions;
Create(start, end);
}
@@ -279,11 +294,25 @@ namespace CtrEditor.Simulacion
private float _mass;
public bool Descartar = false;
- public simBotella(World world, float diameter, Vector2 position, float mass)
+ public int isOnTransports;
+ public bool isRestricted;
+ public bool isNoMoreRestricted;
+ public float OriginalMass;
+ public simTransporte ConveyorRestrictedTo;
+ public Fixture axisRestrictedBy;
+
+ public Vector2 Speed;
+
+ PrismaticJoint _activeJoint;
+ private List _deferredActions;
+
+ public simBotella(World world, List deferredActions, float diameter, Vector2 position, float mass)
{
_world = world;
+ _deferredActions = deferredActions;
_radius = diameter / 2;
_mass = mass;
+ _activeJoint = null;
Create(position);
}
@@ -318,23 +347,26 @@ namespace CtrEditor.Simulacion
private void Create(Vector2 position)
{
RemoverBody();
- Body = _world.CreateCircle( _radius, 0.2f, position);
+ isOnTransports = 0;
+ _activeJoint = null;
+ Body = _world.CreateCircle( _radius, 1f, position);
Body.BodyType = BodyType.Dynamic;
// Restablecer manejador de eventos de colisión
Body.OnCollision += HandleCollision;
- //Body.OnSeparation += HandleOnSeparation;
+ Body.OnSeparation += HandleOnSeparation;
Body.Tag = this; // Importante para la identificación durante la colisión
// Configurar la fricción
- Body.SetFriction(0.3f);
+ Body.SetFriction(0.5f);
// Configurar amortiguamiento
- Body.LinearDamping = 0.4f; // Ajustar para controlar la reducción de la velocidad lineal
- Body.AngularDamping = 0.4f; // Ajustar para controlar la reducción de la velocidad angular
- Body.SetRestitution(0.2f); // Baja restitución para menos rebote
+ Body.LinearDamping = 4f; // Ajustar para controlar la reducción de la velocidad lineal
+ Body.AngularDamping = 1f; // Ajustar para controlar la reducción de la velocidad angular
+ Body.SetRestitution(0.3f); // Baja restitución para menos rebote
+ Body.SleepingAllowed = false;
Body.IsBullet = true;
}
@@ -349,7 +381,7 @@ namespace CtrEditor.Simulacion
Mass = mass;
}
- private bool HandleCollision(Fixture fixtureA, Fixture fixtureB, nkast.Aether.Physics2D.Dynamics.Contacts.Contact contact)
+ private bool HandleCollision(Fixture fixtureA, Fixture fixtureB, Contact contact)
{
if (fixtureB.Body.Tag is simBarrera Sensor)
{
@@ -370,60 +402,76 @@ namespace CtrEditor.Simulacion
{
simTransporte conveyor = fixtureB.Body.Tag as simTransporte;
+ isOnTransports += 1;
+
if (conveyor.Speed != 0)
{
-
- CircleShape circleShape = fixtureA.Shape as CircleShape;
- PolygonShape polygonShape = fixtureB.Shape as PolygonShape;
-
- // Obtener centro y radio del círculo
- Vector2 centroCirculo = fixtureA.Body.Position;
- float radio = circleShape.Radius;
-
- // Obtener los vértices del polígono (rectángulo)
- Vector2[] vertices = new Vector2[polygonShape.Vertices.Count];
- float cos = (float)Math.Cos(fixtureB.Body.Rotation);
- float sin = (float)Math.Sin(fixtureB.Body.Rotation);
-
- for (int i = 0; i < polygonShape.Vertices.Count; i++)
+ // Aplicar el efecto del transportador usando el porcentaje calculado
+ if (conveyor.TransportWithGuides && conveyor.isBrake)
{
- Vector2 vertex = polygonShape.Vertices[i];
- float rotatedX = vertex.X * cos - vertex.Y * sin + fixtureB.Body.Position.X;
- float rotatedY = vertex.X * sin + vertex.Y * cos + fixtureB.Body.Position.Y;
- vertices[i] = new Vector2(rotatedX, rotatedY);
+ ConveyorRestrictedTo = conveyor;
+ axisRestrictedBy = fixtureB;
+ OriginalMass = Body.Mass;
+ isRestricted = true;
+ isNoMoreRestricted = false;
}
- // Calcular el porcentaje de la superficie compartida
- float porcentajeCompartido = InterseccionCirculoRectanguloAether.CalcularSuperficieCompartida(vertices, centroCirculo, radio);
-
- // Aplicar el efecto del transportador usando el porcentaje calculado
- //if (conveyor.TransportWithGuides)
- // if (conveyor.DistanceGuide2Guide <= radio * 2)
- // CenterFixtureOnConveyor(fixtureA, conveyor);
- ApplyConveyorEffect(conveyor, fixtureA, porcentajeCompartido);
-
+ ApplyConveyorEffect(conveyor, fixtureA, 1);
}
return true; // No aplicar respuestas físicas
}
return true; // No aplicar respuestas físicas
}
+ public static bool IntersectAABBs(ref AABB aabbA, ref AABB aabbB, out AABB overlap)
+ {
+ overlap = new AABB();
+
+ float minX = Math.Max(aabbA.LowerBound.X, aabbB.LowerBound.X);
+ float minY = Math.Max(aabbA.LowerBound.Y, aabbB.LowerBound.Y);
+ float maxX = Math.Min(aabbA.UpperBound.X, aabbB.UpperBound.X);
+ float maxY = Math.Min(aabbA.UpperBound.Y, aabbB.UpperBound.Y);
+
+ if (minX < maxX && minY < maxY)
+ {
+ overlap.LowerBound = new Vector2(minX, minY);
+ overlap.UpperBound = new Vector2(maxX, maxY);
+ return true;
+ }
+ return false;
+ }
+
+ private void HandleOnSeparation(Fixture sender, Fixture fixtureB, Contact contact)
+ {
+ if (isOnTransports>0 && fixtureB.Body.Tag is simTransporte)
+ isOnTransports -= 1;
+ if (isRestricted && fixtureB == axisRestrictedBy)
+ {
+ isRestricted = false;
+ isNoMoreRestricted = true;
+ }
+ }
+
private void ApplyConveyorEffect(simTransporte conveyor, Fixture circleFixture, float porcentajeCompartido)
{
float speedMetersPerSecond = conveyor.Speed / 60.0f;
Vector2 desiredVelocity = new Vector2((float)Math.Cos(conveyor.Body.Rotation), (float)Math.Sin(conveyor.Body.Rotation)) * speedMetersPerSecond;
- circleFixture.Body.LinearVelocity += desiredVelocity * porcentajeCompartido;
+ // circleFixture.Body.ApplyForce(desiredVelocity * porcentajeCompartido);
+ Speed = desiredVelocity;
}
- private void CenterFixtureOnConveyor(Fixture fixtureA, simTransporte conveyor)
+ public void CenterFixtureOnConveyor()
{
+ if (!isRestricted || ConveyorRestrictedTo == null)
+ return;
+
// Obtener el centro del conveyor
- Vector2 conveyorCenter = conveyor.Body.Position;
+ Vector2 conveyorCenter = ConveyorRestrictedTo.Body.Position;
// Calcular el vector de la línea horizontal centrada de conveyor
- float halfDistance = conveyor.DistanceGuide2Guide / 2;
- float cos = (float)Math.Cos(conveyor.Body.Rotation);
- float sin = (float)Math.Sin(conveyor.Body.Rotation);
+ float halfDistance = ConveyorRestrictedTo.DistanceGuide2Guide / 2;
+ float cos = (float)Math.Cos(ConveyorRestrictedTo.Body.Rotation);
+ float sin = (float)Math.Sin(ConveyorRestrictedTo.Body.Rotation);
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 Cuerpos;
+ public List _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();
+ _deferredActions = new List();
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;
}
diff --git a/Simulacion/InterseccionCirculoRectangulo.cs b/Simulacion/InterseccionCirculoRectangulo.cs
index 2925ff6..f8c3667 100644
--- a/Simulacion/InterseccionCirculoRectangulo.cs
+++ b/Simulacion/InterseccionCirculoRectangulo.cs
@@ -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;
- }
-
- }
-
}