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Antes de cambiar Motor de Fisica

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Miguel 2025-06-26 08:24:25 +02:00
parent 2cb90ec2dc
commit d259f53081
3 changed files with 945 additions and 249 deletions
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using System;
using System.Collections.Generic;
using System.Diagnostics;
using System.Linq;
using System.Windows;
using System.Windows.Controls;
using System.Windows.Media;
using System.Windows.Shapes;
using BulletSharp;
using BulletSharp.Math;
namespace CtrEditor.Simulacion
{
public class simBase
{
public RigidBody Body { get; protected set; }
public DiscreteDynamicsWorld _world;
public void RemoverBody()
{
if (Body != null && _world != null)
{
_world.RemoveRigidBody(Body);
Body?.Dispose();
Body = null;
}
}
public static float Min(float Value, float Min = 0.01f)
{
return Value < Min ? Min : Value;
}
public static float GradosARadianes(float grados)
{
return (float)(grados * (Math.PI / 180));
}
public static float RadianesAGrados(float radianes)
{
return (float)(radianes * (180 / Math.PI));
}
public void SetPosition(float x, float y)
{
if (Body != null)
{
var transform = Body.WorldTransform;
transform.Origin = new Vector3(x, y, 0);
Body.WorldTransform = transform;
Body.Activate();
}
}
public void SetPosition(Vector3 centro)
{
try
{
if (Body != null)
{
var transform = Body.WorldTransform;
transform.Origin = centro;
Body.WorldTransform = transform;
Body.Activate();
}
}
catch
{
}
}
public Vector3 GetPosition()
{
return Body?.WorldTransform.Origin ?? Vector3.Zero;
}
}
public class simCurve : simBase
{
private float _innerRadius;
private float _outerRadius;
private float _startAngle;
private float _endAngle;
public float Speed { get; set; }
private List<Action> _deferredActions;
public simCurve(DiscreteDynamicsWorld world, List<Action> deferredActions, float innerRadius, float outerRadius, float startAngle, float endAngle, Vector3 position)
{
_world = world;
_deferredActions = deferredActions;
_innerRadius = innerRadius;
_outerRadius = outerRadius;
_startAngle = GradosARadianes(startAngle);
_endAngle = GradosARadianes(endAngle);
Create(position);
}
public void Create(float innerRadius, float outerRadius, float startAngle, float endAngle, Vector3 position)
{
if (_world == null)
return;
_innerRadius = innerRadius;
_outerRadius = outerRadius;
_startAngle = GradosARadianes(startAngle);
_endAngle = GradosARadianes(endAngle);
Create(position);
}
public void Create(Vector3 position)
{
RemoverBody();
// Crear una forma compuesta para la curva
var compoundShape = new CompoundShape();
// Crear segmentos de la curva como cajas pequeñas
int segments = 32;
float angleStep = (_endAngle - _startAngle) / segments;
float thickness = 0.1f; // Grosor de la curva
for (int i = 0; i < segments; i++)
{
float angle = _startAngle + i * angleStep;
float midRadius = (_innerRadius + _outerRadius) / 2f;
float segmentWidth = (_outerRadius - _innerRadius);
float segmentLength = midRadius * angleStep;
var segmentShape = new BoxShape(segmentLength / 2f, segmentWidth / 2f, thickness / 2f);
var segmentTransform = Matrix.Identity;
segmentTransform.Origin = new Vector3(
midRadius * (float)Math.Cos(angle),
midRadius * (float)Math.Sin(angle),
0
);
segmentTransform = Matrix.RotationZ(angle) * segmentTransform;
compoundShape.AddChildShape(segmentTransform, segmentShape);
}
var motionState = new DefaultMotionState(Matrix.Translation(position));
var rbInfo = new RigidBodyConstructionInfo(0, motionState, compoundShape, Vector3.Zero);
Body = new RigidBody(rbInfo);
Body.UserObject = this;
Body.CollisionFlags |= CollisionFlags.NoContactResponse; // Sensor
_world.AddRigidBody(Body);
}
public void SetSpeed(float speed)
{
Speed = speed;
}
public void ApplyCurveEffect(RigidBody bottle)
{
Vector3 centerToBottle = bottle.WorldTransform.Origin - Body.WorldTransform.Origin;
float distanceToCenter = centerToBottle.Length;
if (distanceToCenter >= _innerRadius && distanceToCenter <= _outerRadius)
{
float overlapPercentage = CalculateAngleOverlap(bottle);
if (overlapPercentage > 0)
{
float speedMetersPerSecond = Speed / 60.0f;
Vector3 tangent = new Vector3(-centerToBottle.Y, centerToBottle.X, 0);
tangent.Normalize();
if (speedMetersPerSecond < 0)
tangent = -tangent;
Vector3 currentVelocity = bottle.LinearVelocity;
float currentSpeed = currentVelocity.Length;
float conveyorSpeed = Math.Abs(speedMetersPerSecond);
float targetSpeed = Math.Max(currentSpeed, conveyorSpeed);
Vector3 currentDir = currentVelocity;
if (currentDir.LengthSquared > 0)
currentDir.Normalize();
else
currentDir = tangent;
Vector3 newDirection = currentDir * (1 - overlapPercentage) + tangent * overlapPercentage;
newDirection.Normalize();
bottle.LinearVelocity = newDirection * targetSpeed;
}
}
}
private float CalculateAngleOverlap(RigidBody bottle)
{
Vector3 centerToBottle = bottle.WorldTransform.Origin - Body.WorldTransform.Origin;
float bottleAngle = (float)Math.Atan2(centerToBottle.Y, centerToBottle.X);
float normalizedBottleAngle = bottleAngle < 0 ? bottleAngle + 2 * (float)Math.PI : bottleAngle;
float normalizedStartAngle = _startAngle < 0 ? _startAngle + 2 * (float)Math.PI : _startAngle;
float normalizedEndAngle = _endAngle < 0 ? _endAngle + 2 * (float)Math.PI : _endAngle;
if (normalizedStartAngle > normalizedEndAngle)
{
if (!(normalizedBottleAngle >= normalizedStartAngle || normalizedBottleAngle <= normalizedEndAngle))
return 0;
}
else
{
if (normalizedBottleAngle < normalizedStartAngle || normalizedBottleAngle > normalizedEndAngle)
return 0;
}
float distanceToCenter = centerToBottle.Length;
if (distanceToCenter < _innerRadius || distanceToCenter > _outerRadius)
return 0;
float angleFromStart, angleToEnd, totalAngle;
if (normalizedStartAngle > normalizedEndAngle)
{
totalAngle = (2 * (float)Math.PI - normalizedStartAngle) + normalizedEndAngle;
if (normalizedBottleAngle >= normalizedStartAngle)
{
angleFromStart = normalizedBottleAngle - normalizedStartAngle;
angleToEnd = (2 * (float)Math.PI - normalizedBottleAngle) + normalizedEndAngle;
}
else
{
angleFromStart = (2 * (float)Math.PI - normalizedStartAngle) + normalizedBottleAngle;
angleToEnd = normalizedEndAngle - normalizedBottleAngle;
}
}
else
{
angleFromStart = normalizedBottleAngle - normalizedStartAngle;
angleToEnd = normalizedEndAngle - normalizedBottleAngle;
totalAngle = normalizedEndAngle - normalizedStartAngle;
}
float minAngleDistance = Math.Min(angleFromStart, angleToEnd);
float overlapPercentage = Math.Min(minAngleDistance / (totalAngle * 0.1f), 1.0f);
return overlapPercentage;
}
}
public class simDescarte : simBase
{
private float _radius;
private List<Action> _deferredActions;
public simDescarte(DiscreteDynamicsWorld world, List<Action> deferredActions, float diameter, Vector3 position)
{
_world = world;
_deferredActions = deferredActions;
_radius = diameter / 2;
Create(position);
}
public void SetDiameter(float diameter)
{
if (diameter <= 0)
diameter = 0.01f;
_radius = diameter / 2;
Create(Body.WorldTransform.Origin);
}
public void Create(Vector3 position)
{
RemoverBody();
var shape = new CylinderShape(_radius, _radius, 0.1f); // Cilindro plano para simular círculo 2D
var motionState = new DefaultMotionState(Matrix.Translation(position));
var rbInfo = new RigidBodyConstructionInfo(0, motionState, shape, Vector3.Zero);
Body = new RigidBody(rbInfo);
Body.UserObject = this;
Body.CollisionFlags |= CollisionFlags.NoContactResponse; // Sensor
_world.AddRigidBody(Body);
}
}
public class simTransporte : simBase
{
public float Speed { get; set; }
public float Friction { get; set; }
public float DistanceGuide2Guide { get; set; }
public bool isBrake { get; set; }
public bool TransportWithGuides = false;
private List<Action> _deferredActions;
public float Width { get; set; }
public float Height { get; set; }
public simTransporte(DiscreteDynamicsWorld world, List<Action> deferredActions, float width, float height, Vector3 position, float angle = 0)
{
_world = world;
_deferredActions = deferredActions;
Create(width, height, position, angle);
}
public float Angle
{
get
{
var rotation = Body.WorldTransform.GetBasis();
return RadianesAGrados((float)Math.Atan2(rotation.M21, rotation.M11));
}
set
{
var transform = Body.WorldTransform;
transform.Basis = Matrix3x3.CreateRotationZ(GradosARadianes(value));
Body.WorldTransform = transform;
}
}
public new void SetPosition(float x, float y)
{
var transform = Body.WorldTransform;
transform.Origin = new Vector3(x, y, 0);
Body.WorldTransform = transform;
}
public void SetSpeed(float speed)
{
Speed = speed;
}
public void SetDimensions(float width, float height)
{
RemoverBody();
Create(width, height, Body.WorldTransform.Origin, Angle);
}
public void Create(float width, float height, Vector3 position, float angle = 0)
{
RemoverBody();
Width = width;
Height = height;
Friction = 0.1f;
var shape = new BoxShape(width / 2, height / 2, 0.05f); // Caja plana para simular rectángulo 2D
var transform = Matrix.Translation(position) * Matrix.RotationZ(GradosARadianes(angle));
var motionState = new DefaultMotionState(transform);
var rbInfo = new RigidBodyConstructionInfo(0, motionState, shape, Vector3.Zero);
Body = new RigidBody(rbInfo);
Body.UserObject = this;
Body.CollisionFlags |= CollisionFlags.NoContactResponse; // Sensor
_world.AddRigidBody(Body);
}
}
public class simBarrera : simBase
{
public float Distancia;
public int LuzCortada;
public bool LuzCortadaNeck;
public bool DetectNeck;
public List<simBotella> ListSimBotellaContact;
float _height;
private List<Action> _deferredActions;
public simBarrera(DiscreteDynamicsWorld world, List<Action> deferredActions, float width, float height, Vector3 position, float angle = 0, bool detectectNeck = false)
{
_world = world;
_height = Min(height);
DetectNeck = detectectNeck;
_deferredActions = deferredActions;
ListSimBotellaContact = new List<simBotella>();
Create(Min(width), _height, position, angle);
}
public float Angle
{
get
{
var rotation = Body.WorldTransform.GetBasis();
return RadianesAGrados((float)Math.Atan2(rotation.M21, rotation.M11));
}
set
{
var transform = Body.WorldTransform;
transform.Basis = Matrix3x3.CreateRotationZ(GradosARadianes(value));
Body.WorldTransform = transform;
}
}
public new void SetPosition(float x, float y)
{
var transform = Body.WorldTransform;
transform.Origin = new Vector3(x, y, 0);
Body.WorldTransform = transform;
}
public void SetDimensions(float width, float height)
{
RemoverBody();
Create(Min(width), Min(height), Body.WorldTransform.Origin, Angle);
}
public void Create(float width, float height, Vector3 position, float angle = 0, bool detectectNeck = false)
{
RemoverBody();
_height = Min(height);
DetectNeck = detectectNeck;
var shape = new BoxShape(Min(width) / 2, _height / 2, 0.05f);
var transform = Matrix.Translation(position) * Matrix.RotationZ(GradosARadianes(angle));
var motionState = new DefaultMotionState(transform);
var rbInfo = new RigidBodyConstructionInfo(0, motionState, shape, Vector3.Zero);
Body = new RigidBody(rbInfo);
Body.UserObject = this;
Body.CollisionFlags |= CollisionFlags.NoContactResponse; // Sensor
_world.AddRigidBody(Body);
LuzCortada = 0;
}
public void CheckIfNecksIsTouching()
{
if (LuzCortada == 0)
return;
foreach (var botella in ListSimBotellaContact)
{
Vector3 sensorCenter = Body.WorldTransform.Origin;
float halfHeight = _height / 2;
var rotation = Body.WorldTransform.GetBasis();
float cos = rotation.M11;
float sin = rotation.M21;
Vector3 lineStart = sensorCenter + new Vector3(-halfHeight * cos, halfHeight * sin, 0);
Vector3 lineEnd = sensorCenter + new Vector3(halfHeight * cos, -halfHeight * sin, 0);
Vector3 fixtureCenter = botella.Body.WorldTransform.Origin;
Vector3 closestPoint = ProjectPointOntoLine(fixtureCenter, lineStart, lineEnd);
float distance = (closestPoint - fixtureCenter).Length;
Distancia = distance;
if (distance <= botella._neckRadius)
{
LuzCortadaNeck = true;
return;
}
}
LuzCortadaNeck = false;
}
private Vector3 ProjectPointOntoLine(Vector3 point, Vector3 lineStart, Vector3 lineEnd)
{
Vector3 lineDirection = lineEnd - lineStart;
lineDirection.Normalize();
Vector3 pointToLineStart = point - lineStart;
float projectionLength = Vector3.Dot(pointToLineStart, lineDirection);
return lineStart + projectionLength * lineDirection;
}
}
public class simGuia : simBase
{
private List<Action> _deferredActions;
public simGuia(DiscreteDynamicsWorld world, List<Action> deferredActions, Vector3 start, Vector3 end)
{
_world = world;
_deferredActions = deferredActions;
Create(start, end);
}
public void Create(Vector3 start, Vector3 end)
{
RemoverBody();
Vector3 center = (start + end) / 2;
Vector3 direction = end - start;
float length = direction.Length;
var shape = new BoxShape(length / 2, 0.01f, 0.05f); // Línea como caja muy delgada
float angle = (float)Math.Atan2(direction.Y, direction.X);
var transform = Matrix.Translation(center) * Matrix.RotationZ(angle);
var motionState = new DefaultMotionState(transform);
var rbInfo = new RigidBodyConstructionInfo(0, motionState, shape, Vector3.Zero);
Body = new RigidBody(rbInfo);
Body.UserObject = this;
_world.AddRigidBody(Body);
}
public void UpdateVertices(Vector3 newStart, Vector3 newEnd)
{
Create(newStart, newEnd);
}
}
public class simBotella : simBase
{
public float Radius;
private float _mass;
public bool Descartar = false;
public int isOnTransports;
public List<simBase> ListOnTransports;
public bool isRestricted;
public bool isNoMoreRestricted;
public float OriginalMass;
public simTransporte ConveyorRestrictedTo;
public RigidBody axisRestrictedBy;
public float OverlapPercentage;
public float _neckRadius;
private List<Action> _deferredActions;
private DiscreteDynamicsWorld _worldRef;
public simBotella(DiscreteDynamicsWorld world, List<Action> deferredActions, float diameter, Vector3 position, float mass, float neckRadius = 0)
{
_world = world;
_worldRef = world;
ListOnTransports = new List<simBase>();
_deferredActions = deferredActions;
diameter = Min(diameter, 0.01f);
Radius = diameter / 2;
_mass = mass;
if (neckRadius <= 0)
neckRadius = diameter / 4;
_neckRadius = neckRadius;
Create(position);
}
public float CenterX => Body.WorldTransform.Origin.X;
public float CenterY => Body.WorldTransform.Origin.Y;
public Vector3 Center => Body.WorldTransform.Origin;
public float Mass
{
get
{
if (_mass <= 0)
_mass = 1;
return _mass;
}
set
{
_mass = value;
}
}
private void Create(Vector3 position)
{
RemoverBody();
isOnTransports = 0;
var shape = new CylinderShape(Radius, Radius, 0.1f); // Cilindro para simular círculo 2D
var motionState = new DefaultMotionState(Matrix.Translation(position));
Vector3 inertia;
shape.CalculateLocalInertia(_mass, out inertia);
var rbInfo = new RigidBodyConstructionInfo(_mass, motionState, shape, inertia);
Body = new RigidBody(rbInfo);
Body.UserObject = this;
Body.SetDamping(3f, 1f); // Linear y angular damping
Body.SetSleepingThresholds(0, 0); // No dormir
Body.CcdMotionThreshold = 1e-7f;
Body.CcdSweptSphereRadius = Radius * 0.2f;
_world.AddRigidBody(Body);
}
public void SetDiameter(float diameter)
{
diameter = Min(diameter, 0.01f);
Radius = diameter / 2;
Create(Body.WorldTransform.Origin);
}
public void SetMass(float mass)
{
Mass = mass;
}
public void ApplyConveyorSpeed(float deltaTime_s)
{
foreach (var transporte in ListOnTransports)
{
if (transporte is simTransporte conveyorRect)
ApplyConveyorEffect(deltaTime_s, conveyorRect);
if (transporte is simCurve conveyorCurve)
conveyorCurve.ApplyCurveEffect(Body);
}
}
private bool ApplyConveyorEffect(float deltaTime_s, simTransporte conveyor)
{
float overlapPercentage = CalculateOverlapedArea(this, conveyor);
OverlapPercentage = overlapPercentage;
float speedMetersPerSecond = conveyor.Speed / 60.0f;
var rotation = conveyor.Body.WorldTransform.GetBasis();
Vector3 desiredVelocity = new Vector3(rotation.M11, rotation.M21, 0) * speedMetersPerSecond;
Vector3 currentVelocity = Body.LinearVelocity;
Vector3 velocityDifference = desiredVelocity - currentVelocity;
float proporcionalVelocityNeeded = 1 - CalculateProportion(currentVelocity, desiredVelocity);
float frictionCoefficient;
switch (proporcionalVelocityNeeded)
{
case > 0.3f:
frictionCoefficient = conveyor.Friction * overlapPercentage;
break;
default:
frictionCoefficient = proporcionalVelocityNeeded * overlapPercentage;
break;
}
if (isRestricted && conveyor == ConveyorRestrictedTo && overlapPercentage > 0.5f)
{
Body.LinearVelocity = desiredVelocity;
return true;
}
Body.LinearVelocity += frictionCoefficient * desiredVelocity;
return false;
}
public float CalculateOverlapedArea(simBotella botella, simTransporte conveyor)
{
// Implementación simplificada del cálculo de área superpuesta
Vector3 bottlePos = botella.Body.WorldTransform.Origin;
Vector3 conveyorPos = conveyor.Body.WorldTransform.Origin;
// Transformar posición de botella al espacio local del transportador
Matrix invTransform = conveyor.Body.WorldTransform.Inverse();
Vector3 localBottlePos = Vector3.TransformCoordinate(bottlePos, invTransform);
// Verificar si la botella está dentro del rectángulo del transportador
float halfWidth = conveyor.Width / 2;
float halfHeight = conveyor.Height / 2;
if (Math.Abs(localBottlePos.X) <= halfWidth + botella.Radius &&
Math.Abs(localBottlePos.Y) <= halfHeight + botella.Radius)
{
// Calcular área superpuesta aproximada
float overlapX = Math.Max(0, Math.Min(halfWidth, localBottlePos.X + botella.Radius) - Math.Max(-halfWidth, localBottlePos.X - botella.Radius));
float overlapY = Math.Max(0, Math.Min(halfHeight, localBottlePos.Y + botella.Radius) - Math.Max(-halfHeight, localBottlePos.Y - botella.Radius));
float overlapArea = overlapX * overlapY;
float bottleArea = (float)(Math.PI * botella.Radius * botella.Radius);
return Math.Min(1.0f, overlapArea / bottleArea);
}
return 0;
}
public static float CalculateProportion(Vector3 currentVelocity, Vector3 desiredVelocity)
{
float dotProduct = Vector3.Dot(desiredVelocity, currentVelocity);
float magnitudeV1Squared = desiredVelocity.LengthSquared;
if (magnitudeV1Squared == 0)
return 0;
float proportion = dotProduct / magnitudeV1Squared;
return proportion;
}
public void CenterFixtureOnConveyor()
{
if (!isRestricted || ConveyorRestrictedTo == null)
return;
Vector3 conveyorCenter = ConveyorRestrictedTo.Body.WorldTransform.Origin;
float halfDistance = ConveyorRestrictedTo.DistanceGuide2Guide / 2;
var rotation = ConveyorRestrictedTo.Body.WorldTransform.GetBasis();
Vector3 offset = new Vector3(halfDistance * rotation.M11, halfDistance * rotation.M21, 0);
Vector3 lineStart = conveyorCenter - offset;
Vector3 lineEnd = conveyorCenter + offset;
Vector3 fixtureCenter = Body.WorldTransform.Origin;
Vector3 closestPoint = ProjectPointOntoLine(fixtureCenter, lineStart, lineEnd);
var transform = Body.WorldTransform;
transform.Origin = closestPoint;
Body.WorldTransform = transform;
}
private Vector3 ProjectPointOntoLine(Vector3 point, Vector3 lineStart, Vector3 lineEnd)
{
Vector3 lineDirection = lineEnd - lineStart;
lineDirection.Normalize();
Vector3 pointToLineStart = point - lineStart;
float projectionLength = Vector3.Dot(pointToLineStart, lineDirection);
return lineStart + projectionLength * lineDirection;
}
public bool IsOnAnyTransport()
{
return isOnTransports > 0;
}
}
public class SimulationManagerFP
{
private DiscreteDynamicsWorld world;
private Canvas simulationCanvas;
public List<simBase> Cuerpos;
public List<Action> _deferredActions;
private Stopwatch stopwatch;
private double stopwatch_last;
// Componentes de Bullet Physics
private DefaultCollisionConfiguration collisionConfiguration;
private CollisionDispatcher dispatcher;
private DbvtBroadphase broadphase;
private SequentialImpulseConstraintSolver solver;
public Canvas DebugCanvas { get => simulationCanvas; set => simulationCanvas = value; }
public SimulationManagerFP()
{
// Inicializar Bullet Physics
collisionConfiguration = new DefaultCollisionConfiguration();
dispatcher = new CollisionDispatcher(collisionConfiguration);
broadphase = new DbvtBroadphase();
solver = new SequentialImpulseConstraintSolver();
world = new DiscreteDynamicsWorld(dispatcher, broadphase, solver, collisionConfiguration);
world.Gravity = new Vector3(0, 0, 0); // Sin gravedad para simular 2D
Cuerpos = new List<simBase>();
_deferredActions = new List<Action>();
stopwatch = new Stopwatch();
stopwatch.Start();
}
public void Clear()
{
if (world.NumCollisionObjects > 0)
{
for (int i = world.NumCollisionObjects - 1; i >= 0; i--)
{
var obj = world.CollisionObjectArray[i];
var body = RigidBody.Upcast(obj);
if (body != null && body.MotionState != null)
{
body.MotionState.Dispose();
}
world.RemoveCollisionObject(obj);
obj.Dispose();
}
}
if (Cuerpos.Count > 0)
Cuerpos.Clear();
}
public void Start()
{
stopwatch.Start();
stopwatch_last = stopwatch.Elapsed.TotalMilliseconds;
}
public void Step()
{
float elapsedMilliseconds = (float)(stopwatch.Elapsed.TotalMilliseconds - stopwatch_last);
stopwatch_last = stopwatch.Elapsed.TotalMilliseconds;
world.StepSimulation(elapsedMilliseconds / 1000.0f, 10);
// Detectar colisiones manualmente para sensores
CheckCollisions();
foreach (var cuerpo in Cuerpos)
{
if (cuerpo is simBotella botella)
{
botella.ApplyConveyorSpeed(elapsedMilliseconds / 1000);
if (botella.isRestricted)
{
botella.CenterFixtureOnConveyor();
botella.Body.SetMassProps(100, Vector3.Zero);
}
else if (botella.isNoMoreRestricted)
{
botella.isNoMoreRestricted = false;
botella.Body.SetMassProps(botella.OriginalMass, Vector3.Zero);
}
}
else if (cuerpo is simBarrera barrera)
barrera.CheckIfNecksIsTouching();
}
foreach (var action in _deferredActions)
{
action();
}
_deferredActions.Clear();
}
private void CheckCollisions()
{
int numManifolds = world.Dispatcher.NumManifolds;
for (int i = 0; i < numManifolds; i++)
{
PersistentManifold contactManifold = world.Dispatcher.GetManifoldByIndexInternal(i);
var obA = contactManifold.Body0;
var obB = contactManifold.Body1;
var bodyA = RigidBody.Upcast(obA);
var bodyB = RigidBody.Upcast(obB);
if (bodyA?.UserObject is simBotella botella && bodyB?.UserObject is simBase other)
{
HandleCollision(botella, other, bodyB);
}
else if (bodyB?.UserObject is simBotella botella2 && bodyA?.UserObject is simBase other2)
{
HandleCollision(botella2, other2, bodyA);
}
}
}
private void HandleCollision(simBotella botella, simBase other, RigidBody otherBody)
{
switch (other)
{
case simBarrera sensor:
if (!sensor.ListSimBotellaContact.Contains(botella))
{
sensor.LuzCortada += 1;
sensor.ListSimBotellaContact.Add(botella);
}
break;
case simCurve curve:
if (!botella.ListOnTransports.Contains(curve))
{
botella.isOnTransports += 1;
botella.ListOnTransports.Add(curve);
}
break;
case simDescarte:
botella.Descartar = true;
break;
case simTransporte conveyor:
if (!botella.ListOnTransports.Contains(conveyor))
{
botella.isOnTransports += 1;
botella.ListOnTransports.Add(conveyor);
if (conveyor.TransportWithGuides && conveyor.isBrake)
{
botella.ConveyorRestrictedTo = conveyor;
botella.axisRestrictedBy = otherBody;
botella.OriginalMass = botella.Body.Mass;
botella.isRestricted = true;
botella.isNoMoreRestricted = false;
}
}
break;
}
}
public void Remove(simBase Objeto)
{
if (Objeto != null)
{
Objeto.RemoverBody();
Cuerpos.Remove(Objeto);
}
}
public simCurve AddCurve(float innerRadius, float outerRadius, float startAngle, float endAngle, Vector3 position)
{
simCurve curva = new simCurve(world, _deferredActions, innerRadius, outerRadius, startAngle, endAngle, position);
Cuerpos.Add(curva);
return curva;
}
public simBotella AddCircle(float diameter, Vector3 position, float mass)
{
simBotella circle = new simBotella(world, _deferredActions, diameter, position, mass);
Cuerpos.Add(circle);
return circle;
}
public simTransporte AddRectangle(float width, float height, Vector3 position, float angle)
{
simTransporte rectangle = new simTransporte(world, _deferredActions, width, height, position, angle);
Cuerpos.Add(rectangle);
return rectangle;
}
public simBarrera AddBarrera(float width, float height, Vector3 position, float angle, bool detectarCuello)
{
simBarrera rectangle = new simBarrera(world, _deferredActions, width, height, position, angle, detectarCuello);
Cuerpos.Add(rectangle);
return rectangle;
}
public simGuia AddLine(Vector3 start, Vector3 end)
{
simGuia line = new simGuia(world, _deferredActions, start, end);
Cuerpos.Add(line);
return line;
}
public simDescarte AddDescarte(float diameter, Vector3 position)
{
simDescarte descarte = new simDescarte(world, _deferredActions, diameter, position);
Cuerpos.Add(descarte);
return descarte;
}
~SimulationManagerFP()
{
Clear();
world?.Dispose();
solver?.Dispose();
broadphase?.Dispose();
dispatcher?.Dispose();
collisionConfiguration?.Dispose();
}
}
}

2
ObjetosSim/SensoresComandos/ucEncoderMotorLineal.xaml
View File

@ -11,6 +11,6 @@
<Grid Width="50" Height="50"> <Grid Width="50" Height="50">
<Ellipse Fill="{Binding Color_oculto}" Stroke="DarkGray" StrokeThickness="2" Width="30" Height="30" /> <Ellipse Fill="{Binding Color_oculto}" Stroke="DarkGray" StrokeThickness="2" Width="30" Height="30" />
<Label Content="{Binding Valor_Actual}" VerticalAlignment="Center" HorizontalAlignment="Center" FontSize="8" />
</Grid> </Grid>
</UserControl> </UserControl>

255
Simulacion/Aether.cs
View File

@ -514,9 +514,6 @@ namespace CtrEditor.Simulacion
public float OverlapPercentage; public float OverlapPercentage;
public float _neckRadius; public float _neckRadius;
PrismaticJoint _activeJoint; PrismaticJoint _activeJoint;
public bool isBeingPressedByOtherBottles;
public int bottleContactCount;
public float debugPenetrationLevel; // Para debug: nivel de penetración actual
private List<Action> _deferredActions; private List<Action> _deferredActions;
public simBotella(World world, List<Action> deferredActions, float diameter, Vector2 position, float mass, float neckRadius = 0) public simBotella(World world, List<Action> deferredActions, float diameter, Vector2 position, float mass, float neckRadius = 0)
{ {
@ -586,8 +583,6 @@ namespace CtrEditor.Simulacion
RemoverBody(); RemoverBody();
isOnTransports = 0; isOnTransports = 0;
_activeJoint = null; _activeJoint = null;
isBeingPressedByOtherBottles = false;
bottleContactCount = 0;
Body = _world.CreateCircle(Radius, 1f, position); Body = _world.CreateCircle(Radius, 1f, position);
Body.BodyType = BodyType.Dynamic; Body.BodyType = BodyType.Dynamic;
// Restablecer manejador de eventos de colisión // Restablecer manejador de eventos de colisión
@ -597,8 +592,8 @@ namespace CtrEditor.Simulacion
// Configurar la fricción // Configurar la fricción
//Body.SetFriction(0.2f); //Body.SetFriction(0.2f);
// Configurar amortiguamiento // Configurar amortiguamiento
Body.LinearDamping = 3f; // Ajustar para controlar la reducción de la velocidad lineal Body.LinearDamping = 5f; // Ajustar para controlar la reducción de la velocidad lineal
Body.AngularDamping = 1f; // Ajustar para controlar la reducción de la velocidad angular Body.AngularDamping = 21f; // Ajustar para controlar la reducción de la velocidad angular
//Body.SetRestitution(0f); // Baja restitución para menos rebote //Body.SetRestitution(0f); // Baja restitución para menos rebote
Body.SleepingAllowed = false; Body.SleepingAllowed = false;
Body.IsBullet = true; Body.IsBullet = true;
@ -653,11 +648,6 @@ namespace CtrEditor.Simulacion
return true; // No aplicar respuestas físicas return true; // No aplicar respuestas físicas
} }
else if (fixtureB.Body.Tag is simBotella)
{
bottleContactCount++;
return true; // Permitir respuestas físicas entre botellas
}
return true; // No aplicar respuestas físicas return true; // No aplicar respuestas físicas
} }
@ -712,11 +702,6 @@ namespace CtrEditor.Simulacion
Sensor.LuzCortada -= 1; Sensor.LuzCortada -= 1;
Sensor.ListSimBotellaContact.Remove(this); Sensor.ListSimBotellaContact.Remove(this);
} }
if (fixtureB.Body.Tag is simBotella)
{
bottleContactCount = Math.Max(0, bottleContactCount - 1);
}
} }
/// <summary> /// <summary>
@ -768,17 +753,8 @@ namespace CtrEditor.Simulacion
return true; return true;
} }
// Si la botella está siendo presionada por múltiples botellas, reducir la aplicación de fuerza // Aplicar la fuerza de fricción en función del porcentaje de superficie sobrepuesta
float pressureReductionFactor = 1.0f; Body.LinearVelocity += frictionCoefficient * desiredVelocity;
if (isBeingPressedByOtherBottles)
{
// Reducir el factor basándose en la cantidad de contactos
pressureReductionFactor = Math.Max(0.1f, 1.0f / (1.0f + bottleContactCount * 0.5f));
}
// Aplicar la fuerza de fricción en función del porcentaje de superficie sobrepuesta y la presión
Vector2 finalVelocityChange = frictionCoefficient * desiredVelocity * pressureReductionFactor;
Body.LinearVelocity += finalVelocityChange;
//Body.ApplyForce(frictionForce * overlapPercentage); //Body.ApplyForce(frictionForce * overlapPercentage);
return false; return false;
} }
@ -866,9 +842,6 @@ namespace CtrEditor.Simulacion
_deferredActions = new List<Action>(); _deferredActions = new List<Action>();
stopwatch = new Stopwatch(); stopwatch = new Stopwatch();
stopwatch.Start(); stopwatch.Start();
// Configurar el callback PreSolve para manejar contactos entre botellas
world.ContactManager.PreSolve += OnPreSolve;
} }
public void Clear() public void Clear()
@ -889,20 +862,13 @@ namespace CtrEditor.Simulacion
public void Step() public void Step()
{ {
// Resetear las flags de presión al inicio del frame
ResetBottlePressureFlags();
// Verificar y corregir el espaciado entre botellas antes del step
PreventBottleOverlapping();
// Actualizar el estado de presión basado en contactos reales
UpdateBottlePressureStatus();
// Detener el cronómetro y obtener el tiempo transcurrido en milisegundos // Detener el cronómetro y obtener el tiempo transcurrido en milisegundos
float elapsedMilliseconds = (float)(stopwatch.Elapsed.TotalMilliseconds - stopwatch_last); float elapsedMilliseconds = (float)(stopwatch.Elapsed.TotalMilliseconds - stopwatch_last);
stopwatch_last = stopwatch.Elapsed.TotalMilliseconds; stopwatch_last = stopwatch.Elapsed.TotalMilliseconds;
// Pasar el tiempo transcurrido al método Step // Pasar el tiempo transcurrido al método Step
world.Step(elapsedMilliseconds / 1000.0f); world.Step(elapsedMilliseconds / 1000.0f);
foreach (var cuerpo in Cuerpos) foreach (var cuerpo in Cuerpos)
{ {
if (cuerpo is simBotella botella) if (cuerpo is simBotella botella)
@ -912,7 +878,7 @@ namespace CtrEditor.Simulacion
{ {
botella.CenterFixtureOnConveyor(); botella.CenterFixtureOnConveyor();
botella.Body.Inertia = 0; botella.Body.Inertia = 0;
botella.Body.Mass = botella.OriginalMass * 100; botella.Body.Mass = 100;
} }
else if (botella.isNoMoreRestricted) else if (botella.isNoMoreRestricted)
{ {
@ -1084,212 +1050,5 @@ namespace CtrEditor.Simulacion
return polygon; return polygon;
} }
private void OnPreSolve(Contact contact, ref nkast.Aether.Physics2D.Collision.Manifold oldManifold)
{
var fixtureA = contact.FixtureA;
var fixtureB = contact.FixtureB;
// Verificar si el contacto es entre dos botellas
if (fixtureA.Body.Tag is simBotella botellaA && fixtureB.Body.Tag is simBotella botellaB)
{
// Calcular la distancia entre centros de las botellas
Vector2 centerA = botellaA.Body.Position;
Vector2 centerB = botellaB.Body.Position;
Vector2 direction = centerB - centerA;
float distance = direction.Length();
// Distancia mínima permitida (suma de radios + margen de seguridad)
float minDistance = botellaA.Radius + botellaB.Radius + 0.01f; // 1cm de margen
// Calcular la velocidad relativa
Vector2 relativeVelocity = botellaB.Body.LinearVelocity - botellaA.Body.LinearVelocity;
float relativeSpeed = relativeVelocity.Length();
// Solo marcar como presionadas si hay verdadera interpenetración O múltiples contactos
if (distance < minDistance * 0.95f) // Solo si están muy cerca (interpenetración significativa)
{
botellaA.isBeingPressedByOtherBottles = true;
botellaB.isBeingPressedByOtherBottles = true;
// Ajustar propiedades del contacto para reducir fuerzas explosivas
float penetrationRatio = Math.Max(0, (minDistance - distance) / minDistance);
// Reducir restitución progresivamente según la penetración
contact.Restitution = Math.Min(contact.Restitution, 0.1f * (1.0f - penetrationRatio));
// Aumentar fricción para disipar energía
contact.Friction = Math.Max(contact.Friction, 0.7f + penetrationRatio * 0.2f);
}
// Si la velocidad relativa es muy alta, también ajustar contacto
if (relativeSpeed > 2.0f)
{
contact.Restitution = 0.0f; // Sin rebote
contact.Friction = Math.Max(contact.Friction, 0.9f);
}
}
}
public void ResetBottlePressureFlags()
{
foreach (var cuerpo in Cuerpos)
{
if (cuerpo is simBotella botella)
{
botella.isBeingPressedByOtherBottles = false;
}
}
}
private void UpdateBottlePressureStatus()
{
var botellas = new List<simBotella>();
// Recopilar todas las botellas
foreach (var cuerpo in Cuerpos)
{
if (cuerpo is simBotella botella)
{
botellas.Add(botella);
}
}
// Verificar el estado de presión de cada botella basado en sus contactos reales
foreach (var botella in botellas)
{
int proximityCount = 0;
float totalPenetration = 0;
foreach (var otherBottle in botellas)
{
if (botella == otherBottle) continue;
Vector2 direction = otherBottle.Body.Position - botella.Body.Position;
float distance = direction.Length();
float minDistance = botella.Radius + otherBottle.Radius + 0.01f; // 1cm margen
if (distance < minDistance)
{
proximityCount++;
totalPenetration += (minDistance - distance);
}
}
// Actualizar información de debug
botella.debugPenetrationLevel = totalPenetration;
// Solo marcar como presionada si tiene múltiples contactos cercanos O penetración significativa
// Y además la botella está en un transportador (para evitar marcar botellas libres)
if ((proximityCount >= 2 || totalPenetration > 0.01f) && botella.IsOnAnyTransport())
{
botella.isBeingPressedByOtherBottles = true;
}
}
}
private void PreventBottleOverlapping()
{
var botellas = new List<simBotella>();
// Recopilar todas las botellas
foreach (var cuerpo in Cuerpos)
{
if (cuerpo is simBotella botella)
{
botellas.Add(botella);
}
}
// Verificar cada par de botellas múltiples veces para resolver interpenetraciones complejas
int iterations = 3; // Múltiples iteraciones para resolver conflictos
for (int iter = 0; iter < iterations; iter++)
{
bool anyCorrection = false;
for (int i = 0; i < botellas.Count; i++)
{
for (int j = i + 1; j < botellas.Count; j++)
{
var botellaA = botellas[i];
var botellaB = botellas[j];
Vector2 centerA = botellaA.Body.Position;
Vector2 centerB = botellaB.Body.Position;
Vector2 direction = centerB - centerA;
float distance = direction.Length();
// Distancia mínima permitida (suma de radios + margen de seguridad)
float minDistance = botellaA.Radius + botellaB.Radius + 0.005f; // 5mm de margen
// Si están demasiado cerca
if (distance < minDistance && distance > 0.001f)
{
anyCorrection = true;
// Normalizar la dirección
direction.Normalize();
// Calcular la corrección necesaria
float penetration = minDistance - distance;
float correction = penetration * 0.5f;
// Factor de corrección que decrece con las iteraciones
float correctionFactor = 0.3f / (iter + 1); // Más agresivo en la primera iteración
Vector2 correctionVector = direction * correction * correctionFactor;
// Aplicar corrección considerando masas (botellas más pesadas se mueven menos)
float massA = botellaA.Body.Mass;
float massB = botellaB.Body.Mass;
float totalMass = massA + massB;
float ratioA = massB / totalMass; // Botella más liviana se mueve más
float ratioB = massA / totalMass;
// Solo mover si las botellas no están restringidas por transportadores
if (!botellaA.isRestricted)
{
Vector2 newPosA = centerA - correctionVector * ratioA;
if (!float.IsNaN(newPosA.X) && !float.IsNaN(newPosA.Y))
{
botellaA.Body.Position = newPosA;
}
}
if (!botellaB.isRestricted)
{
Vector2 newPosB = centerB + correctionVector * ratioB;
if (!float.IsNaN(newPosB.X) && !float.IsNaN(newPosB.Y))
{
botellaB.Body.Position = newPosB;
}
}
// Solo marcar como presionadas si hay interpenetración significativa
if (penetration > 0.005f) // Solo si penetran más de 5mm
{
botellaA.isBeingPressedByOtherBottles = true;
botellaB.isBeingPressedByOtherBottles = true;
}
// Reducir velocidades para evitar acumulación de energía
float velocityDamping = 0.9f;
if (penetration > 0.01f) // Si la penetración es significativa (> 1cm)
{
velocityDamping = 0.7f; // Reducción más agresiva
}
botellaA.Body.LinearVelocity *= velocityDamping;
botellaB.Body.LinearVelocity *= velocityDamping;
}
}
}
// Si no hubo correcciones en esta iteración, podemos parar
if (!anyCorrection)
break;
}
}
} }
} }