937 lines
34 KiB
Markdown
937 lines
34 KiB
Markdown
using System;
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using System.Collections.Generic;
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using System.Diagnostics;
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using System.Linq;
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using System.Windows;
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using System.Windows.Controls;
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using System.Windows.Media;
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using System.Windows.Shapes;
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using BulletSharp;
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using BulletSharp.Math;
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namespace CtrEditor.Simulacion
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{
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public class simBase
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{
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public RigidBody Body { get; protected set; }
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public DiscreteDynamicsWorld _world;
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public void RemoverBody()
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{
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if (Body != null && _world != null)
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{
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_world.RemoveRigidBody(Body);
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Body?.Dispose();
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Body = null;
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}
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}
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public static float Min(float Value, float Min = 0.01f)
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{
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return Value < Min ? Min : Value;
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}
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public static float GradosARadianes(float grados)
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{
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return (float)(grados * (Math.PI / 180));
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}
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public static float RadianesAGrados(float radianes)
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{
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return (float)(radianes * (180 / Math.PI));
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}
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public void SetPosition(float x, float y)
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{
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if (Body != null)
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{
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var transform = Body.WorldTransform;
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transform.Origin = new Vector3(x, y, 0);
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Body.WorldTransform = transform;
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Body.Activate();
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}
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}
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public void SetPosition(Vector3 centro)
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{
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try
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{
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if (Body != null)
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{
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var transform = Body.WorldTransform;
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transform.Origin = centro;
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Body.WorldTransform = transform;
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Body.Activate();
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}
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}
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catch
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{
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}
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}
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public Vector3 GetPosition()
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{
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return Body?.WorldTransform.Origin ?? Vector3.Zero;
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}
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}
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public class simCurve : simBase
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{
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private float _innerRadius;
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private float _outerRadius;
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private float _startAngle;
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private float _endAngle;
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public float Speed { get; set; }
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private List<Action> _deferredActions;
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public simCurve(DiscreteDynamicsWorld world, List<Action> deferredActions, float innerRadius, float outerRadius, float startAngle, float endAngle, Vector3 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 = GradosARadianes(startAngle);
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_endAngle = GradosARadianes(endAngle);
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Create(position);
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}
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public void Create(float innerRadius, float outerRadius, float startAngle, float endAngle, Vector3 position)
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{
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if (_world == null)
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return;
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_innerRadius = innerRadius;
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_outerRadius = outerRadius;
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_startAngle = GradosARadianes(startAngle);
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_endAngle = GradosARadianes(endAngle);
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Create(position);
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}
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public void Create(Vector3 position)
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{
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RemoverBody();
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// Crear una forma compuesta para la curva
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var compoundShape = new CompoundShape();
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// Crear segmentos de la curva como cajas pequeñas
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int segments = 32;
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float angleStep = (_endAngle - _startAngle) / segments;
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float thickness = 0.1f; // Grosor de la curva
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for (int i = 0; i < segments; i++)
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{
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float angle = _startAngle + i * angleStep;
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float midRadius = (_innerRadius + _outerRadius) / 2f;
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float segmentWidth = (_outerRadius - _innerRadius);
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float segmentLength = midRadius * angleStep;
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var segmentShape = new BoxShape(segmentLength / 2f, segmentWidth / 2f, thickness / 2f);
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var segmentTransform = Matrix.Identity;
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segmentTransform.Origin = new Vector3(
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midRadius * (float)Math.Cos(angle),
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midRadius * (float)Math.Sin(angle),
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0
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);
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segmentTransform = Matrix.RotationZ(angle) * segmentTransform;
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compoundShape.AddChildShape(segmentTransform, segmentShape);
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}
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var motionState = new DefaultMotionState(Matrix.Translation(position));
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var rbInfo = new RigidBodyConstructionInfo(0, motionState, compoundShape, Vector3.Zero);
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Body = new RigidBody(rbInfo);
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Body.UserObject = this;
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Body.CollisionFlags |= CollisionFlags.NoContactResponse; // Sensor
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_world.AddRigidBody(Body);
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}
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public void SetSpeed(float speed)
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{
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Speed = speed;
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}
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public void ApplyCurveEffect(RigidBody bottle)
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{
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Vector3 centerToBottle = bottle.WorldTransform.Origin - Body.WorldTransform.Origin;
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float distanceToCenter = centerToBottle.Length;
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if (distanceToCenter >= _innerRadius && distanceToCenter <= _outerRadius)
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{
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float overlapPercentage = CalculateAngleOverlap(bottle);
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if (overlapPercentage > 0)
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{
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float speedMetersPerSecond = Speed / 60.0f;
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Vector3 tangent = new Vector3(-centerToBottle.Y, centerToBottle.X, 0);
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tangent.Normalize();
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if (speedMetersPerSecond < 0)
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tangent = -tangent;
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Vector3 currentVelocity = bottle.LinearVelocity;
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float currentSpeed = currentVelocity.Length;
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float conveyorSpeed = Math.Abs(speedMetersPerSecond);
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float targetSpeed = Math.Max(currentSpeed, conveyorSpeed);
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Vector3 currentDir = currentVelocity;
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if (currentDir.LengthSquared > 0)
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currentDir.Normalize();
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else
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currentDir = tangent;
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Vector3 newDirection = currentDir * (1 - overlapPercentage) + tangent * overlapPercentage;
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newDirection.Normalize();
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bottle.LinearVelocity = newDirection * targetSpeed;
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}
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}
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}
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private float CalculateAngleOverlap(RigidBody bottle)
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{
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Vector3 centerToBottle = bottle.WorldTransform.Origin - Body.WorldTransform.Origin;
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float bottleAngle = (float)Math.Atan2(centerToBottle.Y, centerToBottle.X);
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float normalizedBottleAngle = bottleAngle < 0 ? bottleAngle + 2 * (float)Math.PI : bottleAngle;
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float normalizedStartAngle = _startAngle < 0 ? _startAngle + 2 * (float)Math.PI : _startAngle;
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float normalizedEndAngle = _endAngle < 0 ? _endAngle + 2 * (float)Math.PI : _endAngle;
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if (normalizedStartAngle > normalizedEndAngle)
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{
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if (!(normalizedBottleAngle >= normalizedStartAngle || normalizedBottleAngle <= normalizedEndAngle))
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return 0;
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}
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else
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{
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if (normalizedBottleAngle < normalizedStartAngle || normalizedBottleAngle > normalizedEndAngle)
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return 0;
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}
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float distanceToCenter = centerToBottle.Length;
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if (distanceToCenter < _innerRadius || distanceToCenter > _outerRadius)
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return 0;
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float angleFromStart, angleToEnd, totalAngle;
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if (normalizedStartAngle > normalizedEndAngle)
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{
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totalAngle = (2 * (float)Math.PI - normalizedStartAngle) + normalizedEndAngle;
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if (normalizedBottleAngle >= normalizedStartAngle)
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{
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angleFromStart = normalizedBottleAngle - normalizedStartAngle;
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angleToEnd = (2 * (float)Math.PI - normalizedBottleAngle) + normalizedEndAngle;
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}
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else
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{
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angleFromStart = (2 * (float)Math.PI - normalizedStartAngle) + normalizedBottleAngle;
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angleToEnd = normalizedEndAngle - normalizedBottleAngle;
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}
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}
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else
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{
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angleFromStart = normalizedBottleAngle - normalizedStartAngle;
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angleToEnd = normalizedEndAngle - normalizedBottleAngle;
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totalAngle = normalizedEndAngle - normalizedStartAngle;
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}
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float minAngleDistance = Math.Min(angleFromStart, angleToEnd);
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float overlapPercentage = Math.Min(minAngleDistance / (totalAngle * 0.1f), 1.0f);
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return overlapPercentage;
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}
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}
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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(DiscreteDynamicsWorld world, List<Action> deferredActions, float diameter, Vector3 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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public void SetDiameter(float diameter)
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{
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if (diameter <= 0)
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diameter = 0.01f;
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_radius = diameter / 2;
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Create(Body.WorldTransform.Origin);
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}
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public void Create(Vector3 position)
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{
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RemoverBody();
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var shape = new CylinderShape(_radius, _radius, 0.1f); // Cilindro plano para simular círculo 2D
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var motionState = new DefaultMotionState(Matrix.Translation(position));
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var rbInfo = new RigidBodyConstructionInfo(0, motionState, shape, Vector3.Zero);
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Body = new RigidBody(rbInfo);
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Body.UserObject = this;
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Body.CollisionFlags |= CollisionFlags.NoContactResponse; // Sensor
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_world.AddRigidBody(Body);
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}
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}
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public class simTransporte : simBase
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{
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public float Speed { get; set; }
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public float Friction { get; set; }
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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 float Width { get; set; }
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public float Height { get; set; }
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public simTransporte(DiscreteDynamicsWorld world, List<Action> deferredActions, float width, float height, Vector3 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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public float Angle
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{
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get
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{
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var rotation = Body.WorldTransform.GetBasis();
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return RadianesAGrados((float)Math.Atan2(rotation.M21, rotation.M11));
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}
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set
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{
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var transform = Body.WorldTransform;
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transform.Basis = Matrix3x3.CreateRotationZ(GradosARadianes(value));
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Body.WorldTransform = transform;
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}
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}
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public new void SetPosition(float x, float y)
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{
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var transform = Body.WorldTransform;
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transform.Origin = new Vector3(x, y, 0);
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Body.WorldTransform = transform;
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}
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public void SetSpeed(float speed)
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{
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Speed = speed;
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}
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public void SetDimensions(float width, float height)
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{
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RemoverBody();
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Create(width, height, Body.WorldTransform.Origin, Angle);
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}
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public void Create(float width, float height, Vector3 position, float angle = 0)
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{
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RemoverBody();
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Width = width;
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Height = height;
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Friction = 0.1f;
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var shape = new BoxShape(width / 2, height / 2, 0.05f); // Caja plana para simular rectángulo 2D
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var transform = Matrix.Translation(position) * Matrix.RotationZ(GradosARadianes(angle));
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var motionState = new DefaultMotionState(transform);
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var rbInfo = new RigidBodyConstructionInfo(0, motionState, shape, Vector3.Zero);
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Body = new RigidBody(rbInfo);
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Body.UserObject = this;
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Body.CollisionFlags |= CollisionFlags.NoContactResponse; // Sensor
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_world.AddRigidBody(Body);
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}
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}
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public class simBarrera : simBase
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{
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public float Distancia;
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public int LuzCortada;
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public bool LuzCortadaNeck;
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public bool DetectNeck;
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public List<simBotella> ListSimBotellaContact;
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float _height;
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private List<Action> _deferredActions;
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public simBarrera(DiscreteDynamicsWorld world, List<Action> deferredActions, float width, float height, Vector3 position, float angle = 0, bool detectectNeck = false)
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{
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_world = world;
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_height = Min(height);
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DetectNeck = detectectNeck;
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_deferredActions = deferredActions;
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ListSimBotellaContact = new List<simBotella>();
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Create(Min(width), _height, position, angle);
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}
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public float Angle
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{
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get
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{
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var rotation = Body.WorldTransform.GetBasis();
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return RadianesAGrados((float)Math.Atan2(rotation.M21, rotation.M11));
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}
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set
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{
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var transform = Body.WorldTransform;
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transform.Basis = Matrix3x3.CreateRotationZ(GradosARadianes(value));
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Body.WorldTransform = transform;
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}
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}
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public new void SetPosition(float x, float y)
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{
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var transform = Body.WorldTransform;
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transform.Origin = new Vector3(x, y, 0);
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Body.WorldTransform = transform;
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}
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public void SetDimensions(float width, float height)
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{
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RemoverBody();
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Create(Min(width), Min(height), Body.WorldTransform.Origin, Angle);
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}
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public void Create(float width, float height, Vector3 position, float angle = 0, bool detectectNeck = false)
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{
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RemoverBody();
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_height = Min(height);
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DetectNeck = detectectNeck;
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var shape = new BoxShape(Min(width) / 2, _height / 2, 0.05f);
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var transform = Matrix.Translation(position) * Matrix.RotationZ(GradosARadianes(angle));
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var motionState = new DefaultMotionState(transform);
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var rbInfo = new RigidBodyConstructionInfo(0, motionState, shape, Vector3.Zero);
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Body = new RigidBody(rbInfo);
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Body.UserObject = this;
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Body.CollisionFlags |= CollisionFlags.NoContactResponse; // Sensor
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_world.AddRigidBody(Body);
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LuzCortada = 0;
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}
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public void CheckIfNecksIsTouching()
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{
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if (LuzCortada == 0)
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return;
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foreach (var botella in ListSimBotellaContact)
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{
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Vector3 sensorCenter = Body.WorldTransform.Origin;
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float halfHeight = _height / 2;
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var rotation = Body.WorldTransform.GetBasis();
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float cos = rotation.M11;
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float sin = rotation.M21;
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Vector3 lineStart = sensorCenter + new Vector3(-halfHeight * cos, halfHeight * sin, 0);
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Vector3 lineEnd = sensorCenter + new Vector3(halfHeight * cos, -halfHeight * sin, 0);
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Vector3 fixtureCenter = botella.Body.WorldTransform.Origin;
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Vector3 closestPoint = ProjectPointOntoLine(fixtureCenter, lineStart, lineEnd);
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float distance = (closestPoint - fixtureCenter).Length;
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Distancia = distance;
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if (distance <= botella._neckRadius)
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{
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LuzCortadaNeck = true;
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return;
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}
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}
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LuzCortadaNeck = false;
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}
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private Vector3 ProjectPointOntoLine(Vector3 point, Vector3 lineStart, Vector3 lineEnd)
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{
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Vector3 lineDirection = lineEnd - lineStart;
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lineDirection.Normalize();
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Vector3 pointToLineStart = point - lineStart;
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float projectionLength = Vector3.Dot(pointToLineStart, lineDirection);
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return lineStart + projectionLength * lineDirection;
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}
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}
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public class simGuia : simBase
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{
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private List<Action> _deferredActions;
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public simGuia(DiscreteDynamicsWorld world, List<Action> deferredActions, Vector3 start, Vector3 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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public void Create(Vector3 start, Vector3 end)
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{
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RemoverBody();
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Vector3 center = (start + end) / 2;
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Vector3 direction = end - start;
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float length = direction.Length;
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var shape = new BoxShape(length / 2, 0.01f, 0.05f); // Línea como caja muy delgada
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float angle = (float)Math.Atan2(direction.Y, direction.X);
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var transform = Matrix.Translation(center) * Matrix.RotationZ(angle);
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var motionState = new DefaultMotionState(transform);
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var rbInfo = new RigidBodyConstructionInfo(0, motionState, shape, Vector3.Zero);
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Body = new RigidBody(rbInfo);
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Body.UserObject = this;
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_world.AddRigidBody(Body);
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}
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public void UpdateVertices(Vector3 newStart, Vector3 newEnd)
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{
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Create(newStart, newEnd);
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}
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}
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public class simBotella : simBase
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{
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public float Radius;
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private float _mass;
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public bool Descartar = false;
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public int isOnTransports;
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public List<simBase> ListOnTransports;
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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 RigidBody axisRestrictedBy;
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public float OverlapPercentage;
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public float _neckRadius;
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private List<Action> _deferredActions;
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private DiscreteDynamicsWorld _worldRef;
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public simBotella(DiscreteDynamicsWorld world, List<Action> deferredActions, float diameter, Vector3 position, float mass, float neckRadius = 0)
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{
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_world = world;
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_worldRef = world;
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ListOnTransports = new List<simBase>();
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_deferredActions = deferredActions;
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diameter = Min(diameter, 0.01f);
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Radius = diameter / 2;
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_mass = mass;
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if (neckRadius <= 0)
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neckRadius = diameter / 4;
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_neckRadius = neckRadius;
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Create(position);
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}
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public float CenterX => Body.WorldTransform.Origin.X;
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public float CenterY => Body.WorldTransform.Origin.Y;
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public Vector3 Center => Body.WorldTransform.Origin;
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public float Mass
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{
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get
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{
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if (_mass <= 0)
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_mass = 1;
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return _mass;
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}
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set
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{
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_mass = value;
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}
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}
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private void Create(Vector3 position)
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{
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RemoverBody();
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isOnTransports = 0;
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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();
|
|
}
|
|
}
|
|
} |