/// <summary>
/// Simple function to update the size of the cylinder which visualizes the current separation distance.
/// </summary>
/// <param name="robot"></param>The robot for which the update should be made.
private void UpdateVisualizationDistance(IRobot robot)
{
if (robot != null && robot.IsValid && app.World.FindComponent("SeparationVisualization_" + robot.Name) != null)
{
ISimComponent comp = app.World.FindComponent("SeparationVisualization_" + robot.Name);
ISimNode node = robot.Component.FindNode("mountplate");
Matrix matrix = comp.TransformationInReference;
matrix.SetP(new Vector3(node.TransformationInWorld.Px, node.TransformationInWorld.Py, 201));
comp.TransformationInReference = matrix;
ICylinderFeature cylinder = (ICylinderFeature)app.World.FindComponent("SeparationVisualization_" + robot.Name).FindFeature("SeparationVisualization");
if (robotList[robot].currentSeperationDistance <= 100)
{
cylinder.GetProperty("Radius").Value = "100";
comp.GetProperty("SeparationDistance").Value = "100";
}
else
{
cylinder.GetProperty("Radius").Value =
robotList[robot].currentSeperationDistance.ToString();
comp.GetProperty("SeparationDistance").Value = robotList[robot].currentSeperationDistance;
}
cylinder.Rebuild();
}
else
{
ms.AppendMessage("UpdateVisualizationDistance: Failed to find robot component!", MessageLevel.Warning);
}
}
/// <summary>
/// Visualization of Separation Distance. A cylinder feature is added to the robot if not already present.
/// Initial values are set.
/// </summary>
/// <param name="robot"></param>The robot for which the separation distance should be visualized.
/// <param name="initialRadius"></param>The initial radius for the cylinder.
private void VisualizeSeperationDistance(IRobot robot, double initialRadius)
{
if (robot != null && robot.IsValid && app.World.FindComponent("SeparationVisualization_" + robot.Name) == null)
{
ISimComponent component = app.World.CreateComponent("SeparationVisualization_" + robot.Name);
component.CreateProperty(typeof(Double), PropertyConstraintType.NotSpecified, "SeparationDistance");
ISimNode node = robot.Component.FindNode("mountplate");
Matrix matrix = component.TransformationInReference;
matrix.SetP(new Vector3(node.TransformationInWorld.Px, node.TransformationInWorld.Py, 201));
component.TransformationInReference = matrix;
ICylinderFeature seperationVisualization = component.RootNode.RootFeature.CreateFeature <ICylinderFeature>();
// true would remove the top and bottom of the cylinder, but backfaces of the inside of the cylinder are not rendered
//seperationVisualization.GetProperty("Caps").Value = false;
seperationVisualization.GetProperty("Height").Value = "3000.0";
seperationVisualization.GetProperty("Sections").Value = "36.0";
seperationVisualization.GetProperty("Radius").Value = initialRadius.ToString();
seperationVisualization.GetProperty("Material").Value = app.FindMaterial("transp_yellow", false);
seperationVisualization.SetName("SeparationVisualization");
}
}
