Convertidores/Converters.cs

@@ -38,7 +38,6 @@ namespace CtrEditor.Convertidores
             if (parameter != null)
                 if (parameter.ToString() == "0.5") factor = 0.5f;
                 else if (parameter.ToString() == "-0.5") factor = -0.5f;
-                else if (parameter.ToString() == "1.5") factor = 1.5f;
 
             return PixelToMeter.Instance.calc.MetersToPixels(meters) * factor;
         }
@@ -50,7 +49,6 @@ namespace CtrEditor.Convertidores
             if (parameter != null)
                 if (parameter.ToString() == "0.5") factor = 0.5f;
                 else if (parameter.ToString() == "-0.5") factor = -0.5f;
-                else if (parameter.ToString() == "1.5") factor = 1.5f;
 
             return PixelToMeter.Instance.calc.PixelsToMeters(pixels) * factor;
         }

MainViewModel.cs

@@ -58,7 +58,6 @@ namespace CtrEditor
 
             // Inicializa el PLCViewModel
             _plcViewModelData = new PLCViewModel();
-            _plcViewModelData.RefreshEvent += OnRefreshEvent;
 
             InitializeTipoSimulableList();
 
@@ -131,37 +130,30 @@ namespace CtrEditor
             simulationManager.Debug_DrawInitialBodies();
 
             _timerSimulacion.Start();
-            simulationManager.stopwatch.Start();
         }
 
         private void StopSimulation()
         {
             _timerSimulacion.Stop();
-            simulationManager.stopwatch.Stop();
         }
 
         private void OnTickSimulacion(object sender, EventArgs e)
         {
 
             foreach (var objetoSimulable in ObjetosSimulables)
+            {
+                if (_plcViewModelData.IsConnected)
+                    objetoSimulable.UpdatePLC(_plcViewModelData.PLCInterface);
                 objetoSimulable.UpdateGeometryStep();
+            }
 
-            simulationManager.Step();
+            simulationManager.Step((float)_timerSimulacion.Interval.TotalMilliseconds);
 
             foreach (var objetoSimulable in ObjetosSimulables)
                 objetoSimulable.UpdateControl();
 
         }
 
-        private void OnRefreshEvent(object sender, EventArgs e)
-        {
-            foreach (var objetoSimulable in ObjetosSimulables)
-            {
-                if (_plcViewModelData.IsConnected)
-                    objetoSimulable.UpdatePLC(_plcViewModelData.PLCInterface);
-            }
-        }
-
         //protected virtual void OnTickSimulacion(TickSimulacionEventArgs e)
         //{
         //    TickSimulacion?.Invoke(this, e);
@@ -293,7 +285,6 @@ namespace CtrEditor
             try
             {
                 ObjetosSimulables.Clear();
-                simulationManager.Clear();
                 if (_selectedImage != null)
                 {
                     string jsonPath = datosDeTrabajo.ObtenerPathImagenConExtension(_selectedImage, ".json");

MainWindow.xaml

@@ -3,9 +3,8 @@
         xmlns="http://schemas.microsoft.com/winfx/2006/xaml/presentation"
         xmlns:i="http://schemas.microsoft.com/xaml/behaviors"
         xmlns:x="http://schemas.microsoft.com/winfx/2006/xaml"
-        xmlns:Siemens="clr-namespace:CtrEditor.Siemens"
+        xmlns:Siemens="clr-namespace:CtrEditor.Siemens" x:Class="CtrEditor.MainWindow"
         xmlns:convert="clr-namespace:CtrEditor.Convertidores"
-        xmlns:ObjetosSim="clr-namespace:CtrEditor.ObjetosSim" x:Class="CtrEditor.MainWindow"
         Height="900" Width="1600"
         ResizeMode="CanResize" Title="{Binding directorioTrabajo}">
 

MainWindow.xaml.cs

@@ -19,8 +19,6 @@ using Label = System.Windows.Controls.Label;
 using MouseEventArgs = System.Windows.Input.MouseEventArgs;
 using TextBox = System.Windows.Controls.TextBox;
 using UserControl = System.Windows.Controls.UserControl;
-using CheckBox = System.Windows.Controls.CheckBox;
-using Orientation = System.Windows.Controls.Orientation;
 //using OpenCvSharp;
 
 
@@ -418,72 +416,40 @@ namespace CtrEditor
 
             foreach (var property in properties)
             {
-                var grid = new Grid();
+                if (property.PropertyType == typeof(float) || property.PropertyType == typeof(string))
-                grid.ColumnDefinitions.Add(new ColumnDefinition { Width = GridLength.Auto });
-                grid.ColumnDefinitions.Add(new ColumnDefinition { Width = new GridLength(1, GridUnitType.Star) });
-
-                var label = new Label
                 {
-                    Content = property.Name + ":",
+                    var label = new Label { Content = property.Name };
-                    Margin = new Thickness(0, 0, 5, 0),
+                    var textBox = new TextBox { Width = 200, Margin = new Thickness(0) };
-                    VerticalAlignment = VerticalAlignment.Center
-                };
-
-                if (property.PropertyType == typeof(float) || property.PropertyType == typeof(string) || property.PropertyType == typeof(int))
-                {
-                    var textBox = new TextBox
-                    {
-                        Margin = new Thickness(0),
-                        MinWidth = 200,
-                        VerticalContentAlignment = VerticalAlignment.Center
-                    };
 
                     var binding = new Binding(property.Name)
                     {
                         Source = selectedObject,
                         Mode = BindingMode.TwoWay,
-                        UpdateSourceTrigger = UpdateSourceTrigger.LostFocus
+                        UpdateSourceTrigger = UpdateSourceTrigger.LostFocus, // Actualizar solo al perder el foco
+                        //Converter = (FloatToFormattedStringConverter)Resources["floatFormatter"] // Usar el convertidor
                     };
 
+                    // Aplicar el convertidor solo a propiedades float
                     if (property.PropertyType == typeof(float))
                     {
-                        binding.Converter = (FloatToFormattedStringConverter)Resources["floatFormatter"];
-                    }
-
                         textBox.SetBinding(TextBox.TextProperty, binding);
-
-                    Grid.SetColumn(label, 0);
-                    Grid.SetColumn(textBox, 1);
-
-                    grid.Children.Add(label);
-                    grid.Children.Add(textBox);
                     }
-                else if (property.PropertyType == typeof(bool))
+                    else
                     {
-                    var checkBox = new CheckBox
+                        textBox.SetBinding(TextBox.TextProperty, new Binding(property.Name)
-                    {
-                        Margin = new Thickness(5, 0, 0, 0),
-                        VerticalAlignment = VerticalAlignment.Center
-                    };
-
-                    var binding = new Binding(property.Name)
                         {
                             Source = selectedObject,
-                        Mode = BindingMode.TwoWay
+                            Mode = BindingMode.TwoWay,
-                    };
+                            UpdateSourceTrigger = UpdateSourceTrigger.LostFocus
-
+                        });
-                    checkBox.SetBinding(CheckBox.IsCheckedProperty, binding);
-
-                    Grid.SetColumn(label, 0);
-                    Grid.SetColumn(checkBox, 1);
-
-                    grid.Children.Add(label);
-                    grid.Children.Add(checkBox);
                     }
 
-                PanelEdicion.Children.Add(grid);
+                    PanelEdicion.Children.Add(label);
+                    PanelEdicion.Children.Add(textBox);
                 }
             }
+        }
+
 
         private void MainWindow_Closed(object sender, EventArgs e)
         {

ObjetosSim/UserControlFactory.cs

@@ -25,8 +25,6 @@ namespace CtrEditor.ObjetosSim
             //    return new ucTransporteCurva();
             if (tipoObjeto == typeof(osVMmotorSim ))
                 return new ucVMmotorSim();
-            if (tipoObjeto == typeof(osBoton))
-                return new ucBoton();
 
             // Puedes añadir más condiciones para otros tipos
 
@@ -47,8 +45,6 @@ namespace CtrEditor.ObjetosSim
             //    return new osTransporteCurva();
             if (tipoObjeto == typeof(osVMmotorSim))
                 return new osVMmotorSim();
-            if (tipoObjeto == typeof(osBoton))
-                return new osBoton();
 
 
             // Puedes añadir más condiciones para otros tipos

ObjetosSim/ucBoton.xaml

@@ -1,49 +0,0 @@
-<UserControl x:Class="CtrEditor.ObjetosSim.ucBoton"
-             xmlns="http://schemas.microsoft.com/winfx/2006/xaml/presentation"
-             xmlns:x="http://schemas.microsoft.com/winfx/2006/xaml"
-             xmlns:i="http://schemas.microsoft.com/xaml/behaviors"
-             xmlns:ei="http://schemas.microsoft.com/xaml/behaviors"
-             xmlns:mc="http://schemas.openxmlformats.org/markup-compatibility/2006" 
-             xmlns:d="http://schemas.microsoft.com/expression/blend/2008" 
-             xmlns:convert="clr-namespace:CtrEditor.Convertidores"
-             mc:Ignorable="d">
-   
-    <UserControl.Resources>
-        <convert:MeterToPixelConverter x:Key="MeterToPixelConverter"/>
-    </UserControl.Resources>
-
-    <Grid>
-        <Rectangle x:Name="BackgroundRectangle"
-                   Fill="LightGray"
-                   Width="{Binding Tamano, Converter={StaticResource MeterToPixelConverter}}"
-                   Height="{Binding Tamano, Converter={StaticResource MeterToPixelConverter}, ConverterParameter=1.5}"
-                   VerticalAlignment="Top"
-                   HorizontalAlignment="Left"
-                   />
-        <Button Content="Button"
-                Width="{Binding Tamano, Converter={StaticResource MeterToPixelConverter}}"
-                Height="{Binding Tamano, Converter={StaticResource MeterToPixelConverter}}"
-                Background="{Binding Color}"
-                HorizontalAlignment="Left"
-                VerticalAlignment="Bottom"
-                MouseLeftButtonDown="Button_MouseLeftButtonDown"
-                MouseLeftButtonUp="Button_MouseLeftButtonUp">
-            <i:Interaction.Triggers>
-                <i:EventTrigger EventName="MouseLeftButtonDown">
-                    <ei:InvokeCommandAction Command="{Binding ButtonDownCommand}" />
-                </i:EventTrigger>
-                <i:EventTrigger EventName="MouseLeftButtonUp">
-                    <ei:InvokeCommandAction Command="{Binding ButtonUpCommand}" />
-                </i:EventTrigger>
-            </i:Interaction.Triggers>
-            <Button.Template>
-                <ControlTemplate TargetType="Button">
-                    <Grid>
-                        <Ellipse Fill="{TemplateBinding Background}" Stroke="{TemplateBinding BorderBrush}" StrokeThickness="2"/>
-                        <ContentPresenter HorizontalAlignment="Center" VerticalAlignment="Center"/>
-                    </Grid>
-                </ControlTemplate>
-            </Button.Template>
-        </Button>
-    </Grid>
-</UserControl>

ObjetosSim/ucBoton.xaml.cs

@@ -1,216 +0,0 @@
-using CtrEditor.Convertidores;
-using CtrEditor.Siemens;
-using System;
-using System.Collections.Generic;
-using System.Linq;
-using System.Text;
-using System.Threading.Tasks;
-using System.Windows;
-using System.Windows.Controls;
-using System.Windows.Data;
-using System.Windows.Documents;
-using System.Windows.Input;
-using System.Windows.Media;
-using System.Windows.Media.Imaging;
-using System.Windows.Navigation;
-using System.Windows.Shapes;
-
-namespace CtrEditor.ObjetosSim
-{
-    /// <summary>
-    /// Interaction logic for ucBoton.xaml
-    /// </summary>
-    public class osBoton : osBase
-    {
-        // Otros datos y métodos relevantes para la simulación
-
-        private string _nombre = "Boton";
-        private float _tamano;
-        private float _left;
-        private float _top;
-        private bool _estado;
-        private string _tag;
-
-        private Brush _color;
-        public Brush Color
-        {
-            get => _color;
-            set
-            {
-                _color = value;
-                OnPropertyChanged(nameof(Color));
-            }
-        }
-
-        public ICommand ButtonClickCommand { get; }
-        public ICommand ButtonDownCommand { get; }
-        public ICommand ButtonUpCommand { get; }
-
-        public override float Left
-        {
-            get => _left;
-            set
-            {
-                _left = value;
-                CanvasSetLeftinMeter(value);
-                OnPropertyChanged(nameof(Left));
-            }
-        }
-        public override float Top
-        {
-            get => _top;
-            set
-            {
-                _top = value;
-                CanvasSetTopinMeter(value);
-                OnPropertyChanged(nameof(Top));
-            }
-        }
-        public float Tamano
-        {
-            get => _tamano;
-            set
-            {
-                _tamano = value;
-                OnPropertyChanged(nameof(Tamano));
-            }
-        }
-        public bool Estado
-        {
-            get => _estado;
-            set
-            {
-                _estado = value;
-                OnPropertyChanged(nameof(Estado));
-            }
-        }
-
-        public override string Nombre
-        {
-            get => _nombre;
-            set
-            {
-                if (_nombre != value)
-                {
-                    _nombre = value;
-                    OnPropertyChanged(nameof(Nombre));
-                }
-            }
-        }
-        public string Tag
-        {
-            get => _tag;
-            set
-            {
-                if (_tag != value)
-                {
-                    _tag = value;
-                    OnPropertyChanged(nameof(Tag));
-                }
-            }
-        }
-
-        private void OnButtonClick()
-        {
-            // Handle the click event here
-            // Example: Change color on click
-            Color = Brushes.LightGreen;
-
-        }
-
-        private void OnButtonDown()
-        {
-            Estado = true;
-        }
-
-        private void OnButtonUp()
-        {
-            Estado = false;
-        }
-
-        public osBoton()
-        {
-            Tamano = 0.30f;
-            Estado = false;
-            Tag = "M50.0";
-            // Set initial color
-            Color = Brushes.LightBlue;
-
-            // Initialize the command
-            ButtonClickCommand = new RelayCommand(OnButtonClick);
-            ButtonDownCommand = new RelayCommand(OnButtonDown);
-            ButtonUpCommand = new RelayCommand(OnButtonUp);
-        }
-
-        public override void UpdateGeometryStart()
-        {
-            // Se llama antes de la simulacion
-
-        }
-        public override void UpdateGeometryStep()
-        {
-        }
-        public override void UpdatePLC(PLCModel plc)
-        {
-            plc.EscribirTagBool(Tag, Estado);
-        }
-
-        public override void UpdateControl()
-        {
-
-        }
-        public override void ucLoaded()
-        {
-            // El UserControl ya se ha cargado y podemos obtener las coordenadas para 
-            // crear el objeto de simulacion
-        }
-
-    }
-
-    public partial class ucBoton : UserControl, IDataContainer
-    {
-        public osBase? Datos { get; set; }
-
-        public ucBoton()
-        {
-            InitializeComponent();
-            this.Loaded += OnLoaded;
-        }
-        private void OnLoaded(object sender, RoutedEventArgs e)
-        {
-            Datos?.ucLoaded();
-        }
-        private void Button_MouseLeftButtonDown(object sender, MouseButtonEventArgs e)
-        {
-            if (Datos is osBoton osBotonData)
-            {
-                osBotonData.ButtonDownCommand.Execute(null);
-                Mouse.Capture((UIElement)sender);
-            }
-        }
-
-        private void Button_MouseLeftButtonUp(object sender, MouseButtonEventArgs e)
-        {
-            if (Datos is osBoton osBotonData)
-            {
-                osBotonData.ButtonUpCommand.Execute(null);
-                Mouse.Capture(null); // Release mouse capture
-            }
-        }
-        public void Resize(float width, float height) { }
-        public void Move(float LeftPixels, float TopPixels)
-        {
-            if (Datos != null)
-            {
-                Datos.Left = PixelToMeter.Instance.calc.PixelsToMeters(LeftPixels);
-                Datos.Top = PixelToMeter.Instance.calc.PixelsToMeters(TopPixels);
-            }
-        }
-        public void Rotate(float Angle) { }
-        public void Highlight(bool State) { }
-        public int ZIndex()
-        {
-            return 10;
-        }
-    }
-}

ObjetosSim/ucVMmotorSim.xaml.cs

@@ -21,22 +21,6 @@ namespace CtrEditor.ObjetosSim
     /// <summary>
     /// Interaction logic for ucVMmotorSim.xaml
     /// </summary>
-    /// 
-    public class VMSimMotor
-    {
-        public bool _STATUS_VFD_Ready;
-        public float STATUS_VFD_ACT_Speed_Hz;
-        public bool Motor_Running;
-        public bool STATUS_VFD_Trip;
-        public bool STATUS_VFD_Warning;
-        public bool STATUS_VFD_Coasting;
-        public bool OUT_Run;
-        public bool OUT_Stop;
-        public bool OUT_Reversal;
-        public float OUT_OUT_VFD_REQ_Speed_Hz;
-    }
-
-
     public class osVMmotorSim : osBase
     {
         
@@ -47,12 +31,7 @@ namespace CtrEditor.ObjetosSim
         private float _tamano;
         private float _left;
         private float _top;
-        private int _numeroMotor;
+        private float _numeroMotor;
-        private float _ratio;
-        private float _velocidad;
-        private bool _encendido;
-        public VMSimMotor motState = new VMSimMotor();
-
 
         public float Tamano
         {
@@ -64,17 +43,7 @@ namespace CtrEditor.ObjetosSim
             }
         }
 
-        public bool Encendido
+        public float PLC_NumeroMotor
-        {
-            get => _encendido;
-            set
-            {
-                _encendido = value;
-                OnPropertyChanged(nameof(Encendido));
-            }
-        }
-
-        public int PLC_NumeroMotor
         {
             get => _numeroMotor;
             set
@@ -119,22 +88,6 @@ namespace CtrEditor.ObjetosSim
             }
         }
 
-        public float Ratio {
-            get => _ratio;
-            set {
-                _ratio = value;
-                OnPropertyChanged(nameof(Ratio));
-            }
-        }
-
-        public float Velocidad {
-            get => _velocidad;
-            set {
-                _velocidad = value; 
-                OnPropertyChanged(nameof(Velocidad));
-            }
-        }
-
         public osVMmotorSim()
         {
             Tamano = 0.30f;
@@ -149,49 +102,7 @@ namespace CtrEditor.ObjetosSim
         public override void UpdateGeometryStep()
         {
         }
-        public override void UpdatePLC(PLCModel plc) {
+        public override void UpdatePLC(PLCModel plc) {   }
-            var index = 0;
-            switch (PLC_NumeroMotor)
-            {
-                case < 100: 
-                    index = (int)PLC_NumeroMotor-30+300;
-                    break;
-            }
-
-            motState.OUT_Run = plc.LeerTagBool($"\"DB MotorSimulate\".Motors[{index}].OUT.Run");
-            motState.OUT_Reversal = plc.LeerTagBool($"\"DB MotorSimulate\".Motors[{index}].OUT.\"Reversal Direction\"");
-            motState.OUT_OUT_VFD_REQ_Speed_Hz = (float)plc.LeerTagInt16($"\"DB MotorSimulate\".Motors[{index}].OUT.OUT_VFD_REQ_Speed_Hz");
-
-            if (Encendido)
-            {
-                motState._STATUS_VFD_Ready = true;
-                motState.Motor_Running = true;
-                motState.STATUS_VFD_Trip = false;
-                motState.STATUS_VFD_Warning = false;
-                motState.STATUS_VFD_Coasting = false;
-                if (motState.STATUS_VFD_ACT_Speed_Hz < motState.OUT_OUT_VFD_REQ_Speed_Hz)
-                    motState.STATUS_VFD_ACT_Speed_Hz += motState.OUT_OUT_VFD_REQ_Speed_Hz / 375 ; // Simulate Ramp
-            } else
-            {
-                motState._STATUS_VFD_Ready = false;
-                motState.Motor_Running = false;
-                motState.STATUS_VFD_Trip = true;
-                motState.STATUS_VFD_Warning = false;
-                motState.STATUS_VFD_Coasting = false;
-                if (motState.STATUS_VFD_ACT_Speed_Hz > 0)
-                    motState.STATUS_VFD_ACT_Speed_Hz -= 1; // Simulate Ramp
-            }
-
-            plc.EscribirTagBool($"\"DB MotorSimulate\".Motors[{index}].STATUS_VFD_Ready", motState._STATUS_VFD_Ready);
-            plc.EscribirTagBool($"\"DB MotorSimulate\".Motors[{index}].Motor_Running", motState.Motor_Running);
-            plc.EscribirTagBool($"\"DB MotorSimulate\".Motors[{index}].STATUS_VFD_Trip", motState.STATUS_VFD_Trip);
-            plc.EscribirTagBool($"\"DB MotorSimulate\".Motors[{index}].STATUS_VFD_Warning", motState.STATUS_VFD_Warning);
-            plc.EscribirTagBool($"\"DB MotorSimulate\".Motors[{index}].STATUS_VFD_Coasting", motState.STATUS_VFD_Coasting);
-
-            plc.EscribirTagInt16($"\"DB MotorSimulate\".Motors[{index}].STATUS_VFD_ACT_Speed_Hz",(int)motState.STATUS_VFD_ACT_Speed_Hz);
-
-            Velocidad = motState.STATUS_VFD_ACT_Speed_Hz/10;
-        }
 
         public override void UpdateControl()
         {
@@ -212,11 +123,6 @@ namespace CtrEditor.ObjetosSim
         public ucVMmotorSim()
         {
             InitializeComponent();
-            this.Loaded += OnLoaded;
-        }
-        private void OnLoaded(object sender, RoutedEventArgs e)
-        {
-            Datos?.ucLoaded();
         }
         public void Resize(float width, float height) { }
         public void Move(float LeftPixels, float TopPixels)

Siemens/PLCControl.xaml.cs

@@ -36,8 +36,6 @@ namespace CtrEditor.Siemens
 
         public event PropertyChangedEventHandler PropertyChanged;
 
-        public event EventHandler RefreshEvent;
-
         public PLCViewModel()
         {
             IsConnected = false;
@@ -121,6 +119,7 @@ namespace CtrEditor.Siemens
         private void Instance_OnSoftwareConfigurationChanged(IInstance instance, SOnSoftwareConfigChangedParameter event_param)
         {
             PLCInterface.UpdateTagList();
+
         }
 
         private void Disconnect()
@@ -135,12 +134,10 @@ namespace CtrEditor.Siemens
         {
             if (PLCInterface.Instance != null)
             {
-                CpuTime = PLCInterface.LeerTagInt16("\"DB HMI\".CPU_Scan_Time")?.ToString() ?? "N/A";
+                
+                CpuTime = PLCInterface.LeerInt16("\"DB HMI\".CPU_Scan_Time")?.ToString() ?? "N/A";                
                 LastError = PLCInterface.LastError;
             }
-
-            // Disparar el evento RefreshEvent
-            RefreshEvent?.Invoke(this, EventArgs.Empty);
         }
 
         private void OnPropertyChanged([CallerMemberName] string propertyName = null)
@@ -205,18 +202,6 @@ namespace CtrEditor.Siemens
                 LastError = pTag + ":" + ex.Message;
             }
         }
-        public void EscribirTagInt16(string pTag, int pValue)
-        {
-            try
-            {
-                Instance?.WriteInt16(pTag,(short) pValue);
-            }
-            catch (Exception ex)
-            {
-                LastError = pTag + ":" + ex.Message;
-            }
-        }
-
         public bool LeerTagBool(string pTag)
         {
             try
@@ -230,7 +215,7 @@ namespace CtrEditor.Siemens
             }
         }
 
-        public int? LeerTagInt16(string pTag)
+        public int? LeerInt16(string pTag)
         {
             try
             {

Simulacion/FPhysics.cs

@@ -1,20 +1,31 @@
 using System;
 using System.Collections.Generic;
+using System.DirectoryServices;
 using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+using System.Windows;
 using System.Windows.Controls;
+using System.Windows.Documents;
+using System.Windows.Forms;
 using System.Windows.Media;
 using System.Windows.Shapes;
-using FarseerPhysics.Dynamics;
-using FarseerPhysics.Factories;
-using FarseerPhysics.Collision.Shapes;
-using Microsoft.Xna.Framework;
 using CtrEditor.Convertidores;
+using CtrEditor.ObjetosSim;
+using FarseerPhysics.Collision.Shapes;
 using FarseerPhysics.Common;
-using System.Windows;
+using FarseerPhysics.Dynamics;
-using System.Diagnostics;
+using FarseerPhysics.Dynamics.Contacts;
+using FarseerPhysics.Factories;
+using Microsoft.Xna.Framework;
+using OpenCvSharp;
+using Siemens.Simatic.Simulation.Runtime;
+using static System.Windows.Forms.DataFormats;
+using Point = System.Windows.Point;
 
 namespace CtrEditor.Simulacion
 {
+
     public class simRectangle
     {
         public Body Body { get; private set; }
@@ -45,16 +56,17 @@ namespace CtrEditor.Simulacion
 
         public void SetDimensions(float width, float height)
         {
+            // Primero, elimina el fixture antiguo
             Body.DestroyFixture(Body.FixtureList[0]);
 
+            // Crea un nuevo fixture con las nuevas dimensiones
             var newShape = new PolygonShape(PolygonTools.CreateRectangle(width / 2, height / 2), 1f);
             Body.CreateFixture(newShape);
         }
 
         public void Create(float width, float height, Vector2 position, float angle = 0)
         {
-            if (Body != null)
+            if (Body != null) { 
-            {
                 _world.RemoveBody(Body);
             }
             Body = BodyFactory.CreateRectangle(_world, width, height, 1f, position);
@@ -63,8 +75,12 @@ namespace CtrEditor.Simulacion
             Body.Rotation = MathHelper.ToRadians(angle);
             Body.UserData = this; // Importante para la identificación durante la colisión
         }
+
+
+        // Otros métodos según sea necesario, como mover, rotar, etc.
     }
 
+
     public class simLine
     {
         public Body Body { get; private set; }
@@ -93,6 +109,8 @@ namespace CtrEditor.Simulacion
         }
     }
 
+
+
     public class simCircle
     {
         public Body Body { get; private set; }
@@ -127,8 +145,7 @@ namespace CtrEditor.Simulacion
 
         public float Mass
         {
-            get
+            get { 
-            {
                 if (_mass <= 0)
                     _mass = 1;
                 return _mass;
@@ -142,12 +159,12 @@ namespace CtrEditor.Simulacion
             {
                 _world.RemoveBody(Body);  // Remover el cuerpo anterior si existe
             }
-            Body = BodyFactory.CreateCircle(_world, _radius, 1f, position);
+            Body = BodyFactory.CreateCircle(_world, _radius, 10f, position);
             Body.BodyType = BodyType.Dynamic;
 
             // Restablecer manejador de eventos de colisión
             Body.OnCollision += HandleCollision;
-            //Body.OnSeparation += HandleOnSeparation;
+            Body.OnSeparation += HandleOnSeparation;
 
             Body.UserData = this; // Importante para la identificación durante la colisión
 
@@ -155,14 +172,20 @@ namespace CtrEditor.Simulacion
             Body.Friction = 0.5f;  // Ajustar según sea necesario para tu simulación
 
             // Configurar amortiguamiento
-            Body.LinearDamping = 0f;  // Ajustar para controlar la reducción de la velocidad lineal
+            Body.LinearDamping = 0.01f;  // Ajustar para controlar la reducción de la velocidad lineal
-            Body.AngularDamping = 0f;  // Ajustar para controlar la reducción de la velocidad angular
+            Body.AngularDamping = 1f;  // Ajustar para controlar la reducción de la velocidad angular
             Body.Restitution = 0.2f;  // Baja restitución para menos rebote
             Body.IsBullet = true;      
         }
 
+        private void HandleOnSeparation(Fixture fixtureA, Fixture fixtureB)
+        {
+            Body.LinearDamping = 5f;  // Ajustar para controlar la reducción de la velocidad lineal
+        }
+
         public void SetPosition(float x, float y)
         {
+            // Usar el ángulo actual, ya que no es relevante para un círculo en este contexto
             Body.SetTransform(new Vector2(x, y), Body.Rotation);
         }
 
@@ -177,30 +200,38 @@ namespace CtrEditor.Simulacion
             Mass = mass;
         }
 
+
         private bool HandleCollision(Fixture fixtureA, Fixture fixtureB, FarseerPhysics.Dynamics.Contacts.Contact contact)
         {
             if (fixtureB.Body.UserData is simRectangle)
             {
                 simRectangle conveyor = fixtureB.Body.UserData as simRectangle;
-                ApplyConveyorEffect(conveyor, fixtureA);
+                ApplyConveyorEffect(conveyor, fixtureA, contact);
-                return true; // No aplicar respuestas físicas
+                return true; // No aplicar respuestas fisicas
             }
-            return true; // No aplicar respuestas físicas
+            return true; // No aplicar respuestas fisicas
         }
 
-        private void HandleOnSeparation(Fixture fixtureA, Fixture fixtureB)
+        private void ApplyConveyorEffect(simRectangle conveyor, Fixture circleFixture, FarseerPhysics.Dynamics.Contacts.Contact contact)
-        {
-            // Aquí puedes restablecer cualquier estado si es necesario al separarse de un simRectangle
-        }
-
-        private void ApplyConveyorEffect(simRectangle conveyor, Fixture circleFixture)
         {
+            // Calcular la velocidad deseada en metros por segundo
             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;
+
+            // Calcular la fuerza necesaria para alcanzar esa velocidad
+            Vector2 velocityChange = desiredVelocity - circleFixture.Body.LinearVelocity;
+            float timeStep = 1.0f / 60.0f;  // Asumiendo 60 Hz de tasa de actualización
+            Vector2 acceleration = velocityChange / timeStep;
+            Vector2 force = acceleration / Mass;
+
+            // Aplicar la fuerza al círculo
+            circleFixture.Body.ApplyForce(force);
         }
+
+
     }
 
+
     public class SimulationManagerFP
     {
         private World world;
@@ -208,7 +239,6 @@ namespace CtrEditor.Simulacion
         public List<simCircle> circles;
         public List<simRectangle> rectangles;
         public List<simLine> lines;
-        public Stopwatch stopwatch;
 
         public Canvas DebugCanvas { get => simulationCanvas; set => simulationCanvas = value; }
 
@@ -218,30 +248,7 @@ namespace CtrEditor.Simulacion
             circles = new List<simCircle>();
             rectangles = new List<simRectangle>();
             lines = new List<simLine>();
-            stopwatch = new Stopwatch();
         }
-
-        public void Clear()
-        {
-            circles.Clear();
-            rectangles.Clear();
-            lines.Clear();
-            world.Clear();
-        }
-
-        public void Step()
-        {
-            // Detener el cronómetro y obtener el tiempo transcurrido en milisegundos
-            stopwatch.Stop();
-            float elapsedMilliseconds = (float)stopwatch.Elapsed.TotalMilliseconds;
-
-            // Reiniciar el cronómetro para la próxima medición
-            stopwatch.Restart();
-
-            // Pasar el tiempo transcurrido al método Step
-            world.Step(elapsedMilliseconds / 1000.0f);
-        }
-
         public simCircle AddCircle(float diameter, Vector2 position, float mass)
         {
             simCircle circle = new simCircle(world, diameter, position, mass);
@@ -249,6 +256,7 @@ namespace CtrEditor.Simulacion
             return circle;
         }
 
+
         public simRectangle AddRectangle(float width, float height, Vector2 position, float angle)
         {
             simRectangle rectangle = new simRectangle(world, width, height, position, angle);
@@ -263,6 +271,14 @@ namespace CtrEditor.Simulacion
             return line;
         }
 
+        // Otros métodos para agregar círculos y ejecutar la simulación
+
+        public void Step(float timeStep)
+        {            
+            world.Step(timeStep/1000.0f);
+            // Actualiza y gestiona otras lógicas si es necesario
+        }
+
         public void Debug_DrawInitialBodies()
         {
             ClearSimulationShapes();
@@ -353,6 +369,7 @@ namespace CtrEditor.Simulacion
 
             foreach (Vector2 vertex in polyShape.Vertices)
             {
+                // Aplicar la rotación alrededor del origen y luego trasladar
                 float rotatedX = vertex.X * cos - vertex.Y * sin + fixture.Body.Position.X;
                 float rotatedY = vertex.X * sin + vertex.Y * cos + fixture.Body.Position.Y;
 
@@ -361,5 +378,10 @@ namespace CtrEditor.Simulacion
 
             return polygon;
         }
+
+
+
     }
+
+
 }