public ElementHighlighter3D()
{
meshGroup = new GroupModel3D();
material = new DiffuseMaterial {
DiffuseColor = HighlightColor
};
xrayEffect = new PostEffectMeshXRayGrid()
{
EffectName = "HighlighterXRayGrid",
DimmingFactor = 0.5,
BlendingFactor = 0.8,
GridDensity = 4,
GridColor = System.Windows.Media.Colors.Gray
};
(xrayEffect.SceneNode as NodePostEffectXRayGrid).XRayDrawingPassName = DefaultPassNames.EffectMeshDiffuseXRayGridP3;
Children.Add(meshGroup);
Children.Add(xrayEffect);
var binding = new Binding("Target.Transform")
{
RelativeSource = RelativeSource.Self
};
BindingOperations.SetBinding(this, TransformProperty, binding);
}
/// <summary>
/// Initialization
/// </summary>
public void InitializeBusinessLogic()
{
ConfigurationHelper.RegisterSettings(Properties.Settings.Default);
pointCloudViewModel = new PointcloudViewModel(new SharpDX.Size2(0, 0));
PointCloudView.ViewModel = pointCloudViewModel;
PointCloudView.InitializeScene();
DataContext = pointCloudViewModel;
// Moving Camera vertically up and turning it to look down
PointCloudView.ViewModel.SetCvmPosition(new System.Windows.Media.Media3D.Vector3D(0, 0, groundZ),
new System.Windows.Media.Media3D.Vector3D(180, 0, 90));
var planeColor = System.Windows.Media.Color.FromArgb(20, 50, 255, 50).ToColor4();
// Only points from this rectangular area are included and outliers are ignored
var scenePlane = PointcloudViewModel.CreatePlane(planeColor, groundD, groundW, new SharpDX.Vector3(0, 0, 1f));
PointCloudView.SceneRoot.Children.Add(scenePlane);
// For 3D texts
BillboardTextModel3D text = new BillboardTextModel3D();
PointCloudView.SceneRoot.Children.Add(text);
labels = new BillboardText3D();
text.Geometry = labels;
boundingBoxGroup = new GroupModel3D();
PointCloudView.SceneRoot.Children.Add(boundingBoxGroup);
rosControlBase.RosConnected += RosControlBase_RosConnected;
rosControlBase.RosDisconnected += RosControlBase_RosDisconnected;
rosControlBase.CvmDeviceInfoChaged += RosControlBase_CvmDeviceInfoChaged;
}
public BoxManipulator3D()
{
facesGroup = new GroupModel3D();
var mb = new MeshBuilder();
mb.AddFaceNX();
negX = CreateMesh(mb);
mb = new MeshBuilder();
mb.AddFaceNY();
negY = CreateMesh(mb);
mb = new MeshBuilder();
mb.AddFaceNZ();
negZ = CreateMesh(mb);
mb = new MeshBuilder();
mb.AddFacePX();
posX = CreateMesh(mb);
mb = new MeshBuilder();
mb.AddFacePY();
posY = CreateMesh(mb);
mb = new MeshBuilder();
mb.AddFacePZ();
posZ = CreateMesh(mb);
negX.Mouse3DDown += Manipulation_Mouse3DDown;
negY.Mouse3DDown += Manipulation_Mouse3DDown;
negZ.Mouse3DDown += Manipulation_Mouse3DDown;
posX.Mouse3DDown += Manipulation_Mouse3DDown;
posY.Mouse3DDown += Manipulation_Mouse3DDown;
posZ.Mouse3DDown += Manipulation_Mouse3DDown;
negX.Mouse3DMove += Manipulation_Mouse3DMove;
negY.Mouse3DMove += Manipulation_Mouse3DMove;
negZ.Mouse3DMove += Manipulation_Mouse3DMove;
posX.Mouse3DMove += Manipulation_Mouse3DMove;
posY.Mouse3DMove += Manipulation_Mouse3DMove;
posZ.Mouse3DMove += Manipulation_Mouse3DMove;
negX.Mouse3DUp += Manipulation_Mouse3DUp;
negY.Mouse3DUp += Manipulation_Mouse3DUp;
negZ.Mouse3DUp += Manipulation_Mouse3DUp;
posX.Mouse3DUp += Manipulation_Mouse3DUp;
posY.Mouse3DUp += Manipulation_Mouse3DUp;
posZ.Mouse3DUp += Manipulation_Mouse3DUp;
facesGroup.Children.Add(negX);
facesGroup.Children.Add(negY);
facesGroup.Children.Add(negZ);
facesGroup.Children.Add(posX);
facesGroup.Children.Add(posY);
facesGroup.Children.Add(posZ);
Children.Add(facesGroup);
}
private void OnWorldGenerated(object sender, EventArgs args)
{
var world = (World)sender;
WorldMeshes = new GroupModel3D();
world.Voxels.ToList().ForEach(vox =>
{
var voxel = (Voxel)vox;
CubeFace face;
MeshBuilder b = new MeshBuilder();
voxel.GetVisibleCubeFaces().ForEach(f =>
{
if (voxel.Faces.TryGetValue(f, out face))
{
b.AddCubeFace(face.CubeCenter, face.Normal, face.Up, face.Distance, face.Width, face.Height);
}
});
var mm = b.ToMesh();
var simHelper = new MeshSimplification(mm);
int size = mm.Indices.Count / 3 / 2;
var m = simHelper.Simplify(size, 7, true, true);
var mesh = new MeshGeometryModel3D
{
Geometry = mm,
CullMode = SharpDX.Direct3D11.CullMode.Back
};
var scale = new ScaleTransform3D(1, 1, 1);
var translate = new TranslateTransform3D(0, 0, 0);
var group = new Transform3DGroup();
group.Children.Add(scale);
group.Children.Add(translate);
mesh.Transform = group;
mesh.Material = voxel.PhysicalMaterial;
if (((Engine.Core.World.Material)voxel.Material).PhysicalMaterial.DiffuseColor.Alpha < 1)
{
mesh.IsTransparent = true;
}
WorldMeshes.Children.Add(mesh);
voxel.Mesh = mesh;
});
//Viewport = InitializeViewport();
//while (Viewport == null) { Debug.WriteLine($"Waiting for Viewport..."); }
}
private void DetachGroupButton_Click(object sender, RoutedEventArgs e)
{
if (tempGroup == null)
{
tempGroup = group1;
view1.Items.Remove(group1);
}
}
private void AttachGroupButton_Click(object sender, RoutedEventArgs e)
{
if (tempGroup != null)
{
view1.Items.Add(tempGroup);
tempGroup = null;
}
}
public override void Calculate()
{
if (InputPorts[0].Data == null)
{
return;
}
if (InputPorts[0].Data is string)
{
var extension = Path.GetExtension(InputPorts[0].Data as string);
var flag = false;
switch (extension)
{
case ".obj":
var currentHelixObjReader = new ObjReader();
try
{
var objModel = currentHelixObjReader.Read((string)InputPorts[0].Data);
var modelGroup = new GroupModel3D();
var modelGeometry = new Element3DCollection();
modelGeometry.AddRange(
objModel.Select(
x =>
new MeshGeometryModel3D
{
Geometry = x.Geometry as MeshGeometry3D,
Material = x.Material
}));
modelGroup.Children = modelGeometry;
Dispatcher.BeginInvoke((Action) delegate { _control.ViewPort3D.Items.Add(modelGroup); });
}
catch (Exception)
{
// ignore
}
break;
case ".stl":
var currentHelixStlReader = new StLReader();
try
{
var myModel = currentHelixStlReader.Read((string)InputPorts[0].Data);
// _control.ViewPort3D.Items.Add(myModel);
}
catch (Exception)
{
// ignore
}
break;
}
}
}
internal Region(int sourceIndex, string name, IReadOnlyList <Permutation> permutations)
{
SourceIndex = sourceIndex;
Name = name;
Permutations = permutations;
Element = new GroupModel3D();
foreach (var perm in permutations)
{
Element.Children.Add(perm.Element);
}
}
public TransformManipulator3D()
{
var rotationYMatrix = Matrix.RotationZ((float)Math.PI / 2);
var rotationZMatrix = Matrix.RotationY(-(float)Math.PI / 2);
ctrlGroup = new GroupModel3D();
#region Translation Models
translationX = new MeshGeometryModel3D()
{
Geometry = TranslationXGeometry, Material = DiffuseMaterials.Red, CullMode = CullMode.Back, PostEffects = "ManipulatorXRayGrid"
};
translationY = new MeshGeometryModel3D()
{
Geometry = TranslationXGeometry, Material = DiffuseMaterials.Green, CullMode = CullMode.Back, PostEffects = "ManipulatorXRayGrid"
};
translationZ = new MeshGeometryModel3D()
{
Geometry = TranslationXGeometry, Material = DiffuseMaterials.Blue, CullMode = CullMode.Back, PostEffects = "ManipulatorXRayGrid"
};
#if !NETFX_CORE
translationY.Transform = new Media3D.MatrixTransform3D(rotationYMatrix.ToMatrix3D());
translationZ.Transform = new Media3D.MatrixTransform3D(rotationZMatrix.ToMatrix3D());
translationX.Mouse3DDown += Translation_Mouse3DDown;
translationY.Mouse3DDown += Translation_Mouse3DDown;
translationZ.Mouse3DDown += Translation_Mouse3DDown;
translationX.Mouse3DMove += Translation_Mouse3DMove;
translationY.Mouse3DMove += Translation_Mouse3DMove;
translationZ.Mouse3DMove += Translation_Mouse3DMove;
translationX.Mouse3DUp += Manipulation_Mouse3DUp;
translationY.Mouse3DUp += Manipulation_Mouse3DUp;
translationZ.Mouse3DUp += Manipulation_Mouse3DUp;
#else
translationY.Transform3D = rotationYMatrix;
translationZ.Transform3D = rotationZMatrix;
translationX.OnMouse3DDown += Translation_Mouse3DDown;
translationY.OnMouse3DDown += Translation_Mouse3DDown;
translationZ.OnMouse3DDown += Translation_Mouse3DDown;
translationX.OnMouse3DMove += Translation_Mouse3DMove;
translationY.OnMouse3DMove += Translation_Mouse3DMove;
translationZ.OnMouse3DMove += Translation_Mouse3DMove;
translationX.OnMouse3DUp += Manipulation_Mouse3DUp;
translationY.OnMouse3DUp += Manipulation_Mouse3DUp;
translationZ.OnMouse3DUp += Manipulation_Mouse3DUp;
#endif
translationGroup = new GroupModel3D();
translationGroup.Children.Add(translationX);
translationGroup.Children.Add(translationY);
translationGroup.Children.Add(translationZ);
ctrlGroup.Children.Add(translationGroup);
#endregion
#region Rotation Models
rotationX = new MeshGeometryModel3D()
{
Geometry = RotationXGeometry, Material = DiffuseMaterials.Red, CullMode = CullMode.Back, PostEffects = "ManipulatorXRayGrid"
};
rotationY = new MeshGeometryModel3D()
{
Geometry = RotationXGeometry, Material = DiffuseMaterials.Green, CullMode = CullMode.Back, PostEffects = "ManipulatorXRayGrid"
};
rotationZ = new MeshGeometryModel3D()
{
Geometry = RotationXGeometry, Material = DiffuseMaterials.Blue, CullMode = CullMode.Back, PostEffects = "ManipulatorXRayGrid"
};
#if !NETFX_CORE
rotationY.Transform = new Media3D.MatrixTransform3D(rotationYMatrix.ToMatrix3D());
rotationZ.Transform = new Media3D.MatrixTransform3D(rotationZMatrix.ToMatrix3D());
rotationX.Mouse3DDown += Rotation_Mouse3DDown;
rotationY.Mouse3DDown += Rotation_Mouse3DDown;
rotationZ.Mouse3DDown += Rotation_Mouse3DDown;
rotationX.Mouse3DMove += Rotation_Mouse3DMove;
rotationY.Mouse3DMove += Rotation_Mouse3DMove;
rotationZ.Mouse3DMove += Rotation_Mouse3DMove;
rotationX.Mouse3DUp += Manipulation_Mouse3DUp;
rotationY.Mouse3DUp += Manipulation_Mouse3DUp;
rotationZ.Mouse3DUp += Manipulation_Mouse3DUp;
#else
rotationY.Transform3D = rotationYMatrix;
rotationZ.Transform3D = rotationZMatrix;
rotationX.OnMouse3DDown += Rotation_Mouse3DDown;
rotationY.OnMouse3DDown += Rotation_Mouse3DDown;
rotationZ.OnMouse3DDown += Rotation_Mouse3DDown;
rotationX.OnMouse3DMove += Rotation_Mouse3DMove;
rotationY.OnMouse3DMove += Rotation_Mouse3DMove;
rotationZ.OnMouse3DMove += Rotation_Mouse3DMove;
rotationX.OnMouse3DUp += Manipulation_Mouse3DUp;
rotationY.OnMouse3DUp += Manipulation_Mouse3DUp;
rotationZ.OnMouse3DUp += Manipulation_Mouse3DUp;
#endif
rotationGroup = new GroupModel3D();
rotationGroup.Children.Add(rotationX);
rotationGroup.Children.Add(rotationY);
rotationGroup.Children.Add(rotationZ);
ctrlGroup.Children.Add(rotationGroup);
#endregion
#region Scaling Models
scaleX = new MeshGeometryModel3D()
{
Geometry = ScalingGeometry, Material = DiffuseMaterials.Red, CullMode = CullMode.Back, PostEffects = "ManipulatorXRayGrid"
};
scaleY = new MeshGeometryModel3D()
{
Geometry = ScalingGeometry, Material = DiffuseMaterials.Green, CullMode = CullMode.Back, PostEffects = "ManipulatorXRayGrid"
};
scaleZ = new MeshGeometryModel3D()
{
Geometry = ScalingGeometry, Material = DiffuseMaterials.Blue, CullMode = CullMode.Back, PostEffects = "ManipulatorXRayGrid"
};
#if !NETFX_CORE
scaleY.Transform = new Media3D.MatrixTransform3D(rotationYMatrix.ToMatrix3D());
scaleZ.Transform = new Media3D.MatrixTransform3D(rotationZMatrix.ToMatrix3D());
scaleX.Mouse3DDown += Scaling_Mouse3DDown;
scaleY.Mouse3DDown += Scaling_Mouse3DDown;
scaleZ.Mouse3DDown += Scaling_Mouse3DDown;
scaleX.Mouse3DMove += Scaling_Mouse3DMove;
scaleY.Mouse3DMove += Scaling_Mouse3DMove;
scaleZ.Mouse3DMove += Scaling_Mouse3DMove;
scaleX.Mouse3DUp += Manipulation_Mouse3DUp;
scaleY.Mouse3DUp += Manipulation_Mouse3DUp;
scaleZ.Mouse3DUp += Manipulation_Mouse3DUp;
#else
scaleY.Transform3D = rotationYMatrix;
scaleZ.Transform3D = rotationZMatrix;
scaleX.OnMouse3DDown += Scaling_Mouse3DDown;
scaleY.OnMouse3DDown += Scaling_Mouse3DDown;
scaleZ.OnMouse3DDown += Scaling_Mouse3DDown;
scaleX.OnMouse3DMove += Scaling_Mouse3DMove;
scaleY.OnMouse3DMove += Scaling_Mouse3DMove;
scaleZ.OnMouse3DMove += Scaling_Mouse3DMove;
scaleX.OnMouse3DUp += Manipulation_Mouse3DUp;
scaleY.OnMouse3DUp += Manipulation_Mouse3DUp;
scaleZ.OnMouse3DUp += Manipulation_Mouse3DUp;
#endif
scaleGroup = new GroupModel3D();
scaleGroup.Children.Add(scaleX);
scaleGroup.Children.Add(scaleY);
scaleGroup.Children.Add(scaleZ);
ctrlGroup.Children.Add(scaleGroup);
#endregion
Children.Add(ctrlGroup);
xrayEffect = new PostEffectMeshXRayGrid()
{
EffectName = "ManipulatorXRayGrid",
DimmingFactor = 0.5, BlendingFactor = 0.8,
GridDensity = 4, GridColor = Media.Colors.Gray
};
(xrayEffect.SceneNode as NodePostEffectXRayGrid).XRayDrawingPassName = DefaultPassNames.EffectMeshDiffuseXRayGridP3;
Children.Add(xrayEffect);
SceneNode.OnAttached += SceneNode_OnAttached;
SceneNode.OnDetached += SceneNode_OnDetached;
}
public TransformManipulatorEx3D()
{
var rotationYMatrix = Matrix.RotationZ((float)Math.PI / 2);
var rotationZMatrix = Matrix.RotationY(-(float)Math.PI / 2);
var rotationYZMatrix = Matrix.RotationY(-(float)Math.PI / 2);
var rotationXZMatrix = Matrix.RotationX((float)Math.PI / 2);
ctrlGroup = new GroupModel3D();
#region Translation Models
translationX = GetGeometryModel(TranslationXGeometry, DiffuseMaterials.Red);
translationY = GetGeometryModel(TranslationXGeometry, DiffuseMaterials.Green);
translationZ = GetGeometryModel(TranslationXGeometry, DiffuseMaterials.Blue);
translationY.Transform = new Media3D.MatrixTransform3D(rotationYMatrix.ToMatrix3D());
translationZ.Transform = new Media3D.MatrixTransform3D(rotationZMatrix.ToMatrix3D());
translationX.Mouse3DDown += Translation_Mouse3DDown;
translationY.Mouse3DDown += Translation_Mouse3DDown;
translationZ.Mouse3DDown += Translation_Mouse3DDown;
translationX.Mouse3DMove += Translation_Mouse3DMove;
translationY.Mouse3DMove += Translation_Mouse3DMove;
translationZ.Mouse3DMove += Translation_Mouse3DMove;
translationX.Mouse3DUp += Manipulation_Mouse3DUp;
translationY.Mouse3DUp += Manipulation_Mouse3DUp;
translationZ.Mouse3DUp += Manipulation_Mouse3DUp;
translationGroup = new GroupModel3D();
translationGroup.Children.Add(translationX);
translationGroup.Children.Add(translationY);
translationGroup.Children.Add(translationZ);
ctrlGroup.Children.Add(translationGroup);
#endregion
#region Translation2D Models
translationXY = GetGeometryModel(TranslationXYGeometry, DiffuseMaterials.Blue);
translationYZ = GetGeometryModel(TranslationXYGeometry, DiffuseMaterials.Red);
translationXZ = GetGeometryModel(TranslationXYGeometry, DiffuseMaterials.Green);
translationYZ.Transform = new Media3D.MatrixTransform3D(rotationZMatrix.ToMatrix3D());
translationXZ.Transform = new Media3D.MatrixTransform3D(rotationXZMatrix.ToMatrix3D());
translationXY.Mouse3DDown += Translation_Mouse3DDown;
translationYZ.Mouse3DDown += Translation_Mouse3DDown;
translationXZ.Mouse3DDown += Translation_Mouse3DDown;
translationXY.Mouse3DMove += Translation_Mouse3DMove;
translationYZ.Mouse3DMove += Translation_Mouse3DMove;
translationXZ.Mouse3DMove += Translation_Mouse3DMove;
translationXY.Mouse3DUp += Manipulation_Mouse3DUp;
translationYZ.Mouse3DUp += Manipulation_Mouse3DUp;
translationXZ.Mouse3DUp += Manipulation_Mouse3DUp;
translation2DGroup = new GroupModel3D();
translation2DGroup.Children.Add(translationXY);
translation2DGroup.Children.Add(translationYZ);
translation2DGroup.Children.Add(translationXZ);
ctrlGroup.Children.Add(translation2DGroup);
#endregion
#region Rotation Models
rotationX = GetGeometryModel(RotationXGeometry, DiffuseMaterials.Red);
rotationY = GetGeometryModel(RotationXGeometry, DiffuseMaterials.Green);
rotationZ = GetGeometryModel(RotationXGeometry, DiffuseMaterials.Blue);
rotationY.Transform = new Media3D.MatrixTransform3D(rotationYMatrix.ToMatrix3D());
rotationZ.Transform = new Media3D.MatrixTransform3D(rotationZMatrix.ToMatrix3D());
rotationX.Mouse3DDown += Rotation_Mouse3DDown;
rotationY.Mouse3DDown += Rotation_Mouse3DDown;
rotationZ.Mouse3DDown += Rotation_Mouse3DDown;
rotationX.Mouse3DMove += Rotation_Mouse3DMove;
rotationY.Mouse3DMove += Rotation_Mouse3DMove;
rotationZ.Mouse3DMove += Rotation_Mouse3DMove;
rotationX.Mouse3DUp += Manipulation_Mouse3DUp;
rotationY.Mouse3DUp += Manipulation_Mouse3DUp;
rotationZ.Mouse3DUp += Manipulation_Mouse3DUp;
rotationGroup = new GroupModel3D();
rotationGroup.Children.Add(rotationX);
rotationGroup.Children.Add(rotationY);
rotationGroup.Children.Add(rotationZ);
ctrlGroup.Children.Add(rotationGroup);
#endregion
#region Scaling Models
scaleX = GetGeometryModel(ScalingGeometry, DiffuseMaterials.Red);
scaleY = GetGeometryModel(ScalingGeometry, DiffuseMaterials.Green);
scaleZ = GetGeometryModel(ScalingGeometry, DiffuseMaterials.Blue);
scaleY.Transform = new Media3D.MatrixTransform3D(rotationYMatrix.ToMatrix3D());
scaleZ.Transform = new Media3D.MatrixTransform3D(rotationZMatrix.ToMatrix3D());
scaleX.Mouse3DDown += Scaling_Mouse3DDown;
scaleY.Mouse3DDown += Scaling_Mouse3DDown;
scaleZ.Mouse3DDown += Scaling_Mouse3DDown;
scaleX.Mouse3DMove += Scaling_Mouse3DMove;
scaleY.Mouse3DMove += Scaling_Mouse3DMove;
scaleZ.Mouse3DMove += Scaling_Mouse3DMove;
scaleX.Mouse3DUp += Manipulation_Mouse3DUp;
scaleY.Mouse3DUp += Manipulation_Mouse3DUp;
scaleZ.Mouse3DUp += Manipulation_Mouse3DUp;
scaleGroup = new GroupModel3D();
scaleGroup.Children.Add(scaleX);
scaleGroup.Children.Add(scaleY);
scaleGroup.Children.Add(scaleZ);
ctrlGroup.Children.Add(scaleGroup);
#endregion
Children.Add(ctrlGroup);
xrayEffect = new PostEffectMeshXRayGrid()
{
EffectName = xrayEffectName,
DimmingFactor = 0.5,
BlendingFactor = 0.8,
GridDensity = 4,
GridColor = Media.Colors.Gray
};
(xrayEffect.SceneNode as NodePostEffectXRayGrid).XRayDrawingPassName = DefaultPassNames.EffectMeshDiffuseXRayGridP3;
Children.Add(xrayEffect);
SceneNode.Attached += SceneNode_OnAttached;
SceneNode.Detached += SceneNode_OnDetached;
}
