Tick Action: "U" left parenthesis, , right parenthesisUdt
every
00
Min Step Time:
ms
Expression 13: "f" Subscript, "D" , Baseline left parenthesis, "p" , right parenthesis equals left parenthesis, "p" . "z" minus "f" left parenthesis, "p" . "x" , "p" . "y" , right parenthesis , right parenthesisfDp=p.z−fp.x,p.y
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Expression 14: "f" Subscript, "D" "t" , Baseline left parenthesis, "t" , right parenthesis equals "f" Subscript, "D" , Baseline left parenthesis, "B" Subscript, "p" "t" , Baseline left parenthesis, "t" , right parenthesis , right parenthesisfDtt=fDBptt
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Expression 15: "f" Subscript, "D" "t" , Baseline left parenthesis, "t" Subscript, "I" , Baseline , right parenthesis tilde 0 left brace, 0 less than "t" Subscript, "I" , Baseline , right brace left brace, "f" Subscript, "D" "t" , Baseline prime left parenthesis, "t" Subscript, "I" , Baseline , right parenthesis less than or equal to 0 , right brace left brace, 0 less than "f" Subscript, "D" "t" , Baseline left parenthesis, "t" Subscript, "I" , Baseline minus "t" Subscript, "I" , Baseline times 2 Superscript, negative left bracket, 1...4 , right bracket , Baseline , right parenthesis , right bracefDttI~00<tIfDt′tI≤00<fDttI−tI·2−1...4
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Expression 16: "B" Subscript, "p" "t" , Baseline left parenthesis, "t" , right parenthesisBptt
16
Expression 17: "B" Subscript, "p" "t" , Baseline left parenthesis, "t" Subscript, "c" , Baseline , right parenthesisBpttc
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Expression 18: "B" Subscript, "p" "n" "e" "x" "t" , Baseline equals "f" Subscript, "P" , Baseline left parenthesis, "B" Subscript, "p" "t" , Baseline left parenthesis, "t" Subscript, "I" , Baseline , right parenthesis , right parenthesisBpnext=fPBpttI
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Expression 19: "D" Subscript, "O" "T" , Baseline left parenthesis, "a" , "b" , right parenthesis equals "a" . "x" times "b" . "x" plus "a" . "y" times "b" . "y" plus "a" . "z" times "b" . "z"DOTa,b=a.x·b.x+a.y·b.y+a.z·b.z
19
Expression 20: "B" Subscript, "n" "e" "x" "t" "n" "o" "r" "m" , Baseline equals "f" Subscript, "n" "o" "r" "m" , Baseline left parenthesis, "B" Subscript, "p" "n" "e" "x" "t" , Baseline . "x" , "B" Subscript, "p" "n" "e" "x" "t" , Baseline . "y" , right parenthesisBnextnorm=fnormBpnext.x,Bpnext.y
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Expression 21: "B" Subscript, "v" "n" "e" "x" "t" , Baseline equals "B" Subscript, "v" "t" , Baseline left parenthesis, "t" Subscript, "I" , Baseline , right parenthesis minus 2 "B" Subscript, "n" "e" "x" "t" "n" "o" "r" "m" , Baseline "D" Subscript, "O" "T" , Baseline left parenthesis, "B" Subscript, "v" "t" , Baseline left parenthesis, "t" Subscript, "I" , Baseline , right parenthesis , "B" Subscript, "n" "e" "x" "t" "n" "o" "r" "m" , Baseline , right parenthesisBvnext=BvttI−2BnextnormDOTBvttI,Bnextnorm
Expression 24: "U" Subscript, "p" , Baseline equals "B" Subscript, "p" , Baseline to "B" Subscript, "p" "n" "e" "x" "t" , Baseline , "B" Subscript, "v" , Baseline to "B" Subscript, "v" "n" "e" "x" "t" , BaselineUp=Bp→Bpnext,Bv→Bvnext
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Expression 25: "U" left parenthesis, "t" , right parenthesis equals left brace, "t" Subscript, "c" , Baseline plus StartFraction, "t" Subscript, "s" , Baseline times "t" Over 1000 , EndFraction greater than or equal to "t" Subscript, "I" , Baseline : left parenthesis, "t" Subscript, "c" , Baseline to min left parenthesis, "t" Subscript, "I" , Baseline , "t" Subscript, "c" , Baseline plus StartFraction, "t" Subscript, "s" , Baseline times "t" Over 1000 , EndFraction minus "t" Subscript, "I" , Baseline , right parenthesis , "U" Subscript, "p" , Baseline , right parenthesis , left parenthesis, "t" Subscript, "c" , Baseline to "t" Subscript, "c" , Baseline plus StartFraction, "t" Subscript, "s" , Baseline times "t" Over 1000 , EndFraction , right parenthesis , right braceUt=tc+ts·t1000≥tI:tc→mintI,tc+ts·t1000−tI,Up,tc→tc+ts·t1000
