protected override void OnLoad()
{
//var unptr = Assimp.Unmanaged.AssimpLibrary.Instance.ImportFile(JointPath, Assimp.PostProcessSteps.None, Assimp.Unmanaged.AssimpLibrary.Instance.CreatePropertyStore());
//var manptr = Assimp.Scene.FromUnmanagedScene(unptr);
//var ptr = Assimp.Unmanaged.AssimpLibrary.Instance.ApplyPostProcessing(unptr, Assimp.PostProcessSteps.Triangulate);
//manptr = Assimp.Scene.FromUnmanagedScene(ptr);
_dummyColliders = new Collider[100];
_dummyTasks = new Thread[100];
//for (int i = 0; i < 2; i++)
//{
// int index = i;
// _dummyColliders[index] = PhysicsHandler.CreateKinematicCollider(new BoxShape(0.5f));
// _dummyTasks[index] = new Thread(() =>
// {
// while (true)
// {
// var mat = Matrix.Identity;
// _dummyColliders[index].Body.WorldTransform = mat;
// _dummyColliders[index].Body.MotionState.SetWorldTransform(ref mat);
// }
// });
// _dummyTasks[index].Start();
//}
ManipulatorHandler.LoadDefaultModels();
ShaderHandler.InitializeShaders();
// attach ImGUI to this window
_imGui = new MainWindowImGui(this); // TODO: make static?
// Camera is 6 units back and has the proper aspect ratio
_camera = new Camera((float)(0.75 * Size.X / Size.Y), new Vector3(-5, 3, 5), -15, -45);
InputHandler.TranslationalWidget = new TranslationalWidget(Vector3.Zero, new (Vector3, Vector4)[3]
private void RenderManipulatorsWindow()
{
// manipulators window
if (ImGui.Begin("Manipulators",
ImGuiWindowFlags.NoCollapse |
ImGuiWindowFlags.NoMove |
ImGuiWindowFlags.NoResize |
ImGuiWindowFlags.HorizontalScrollbar))
{
ImGui.SetWindowPos(new System.Numerics.Vector2(0, 19));
ImGui.SetWindowSize(new System.Numerics.Vector2((int)(0.25 * Window.Size.X - 2), (int)(0.5 * (Window.Size.Y - 19))));
if (ImGui.Button("Create"))
{
ImGui.OpenPopup("ManipulatorCreate");
}
ImGui.SameLine();
if (ImGui.Button("Remove"))
{
if (InputHandler.CurrentSelectedObject is Manipulator manipulator)
{
ManipulatorHandler.Remove(manipulator);
}
}
if (ImGui.BeginPopup("ManipulatorCreate"))
{
int linksNumber = ManipulatorHandler.DefaultLinksNumber;
ImGui.InputInt("Links number", ref linksNumber);
float linksLength = ManipulatorHandler.DefaultLinksLength;
ImGui.InputFloat("Links length", ref linksLength);
if (linksNumber < 2 || linksLength <= 0)
{
// TODO: handle unallowed cases
}
else
{
// memoize parameters
ManipulatorHandler.DefaultLinksNumber = linksNumber;
ManipulatorHandler.DefaultLinksLength = linksLength;
if (ImGui.Button("Create"))
{
MainWindow.CreateDefaultManipulator();
ImGui.CloseCurrentPopup();
}
}
ImGui.EndPopup();
}
ImGui.Separator();
ImGui.PushStyleVar(ImGuiStyleVar.ChildRounding, 5);
if (ImGui.BeginChild("ManipulatorList", ImGui.GetContentRegionAvail(), true))
{
if (ManipulatorHandler.Count != 0)
{
for (int i = 0; i < ManipulatorHandler.Count; i++)
{
var manipulator = ManipulatorHandler.Manipulators[i];
bool manipulatorTreeNodeOpen = ImGui.TreeNodeEx($"Manipulator {i}", _baseTreeNodeFlags | GetTreeNodeSelectionFlag(manipulator));
if (ImGui.IsItemDeactivated() && !ImGui.IsItemToggledOpen())
{
UpdateSelection(manipulator);
}
if (manipulatorTreeNodeOpen) // TODO: refactor, perhaps move all updates to UpdateFrame
{
for (int j = 0; j < manipulator.Links.Length; j++)
{
var joint = manipulator.Joints[j];
ImGui.TreeNodeEx($"Joint {j}", _baseTreeLeafFlags | GetTreeNodeSelectionFlag(joint));
if (ImGui.IsItemDeactivated())
{
UpdateSelection(joint);
}
var link = manipulator.Links[j];
ImGui.TreeNodeEx($"Link {j}", _baseTreeLeafFlags | GetTreeNodeSelectionFlag(link));
if (ImGui.IsItemDeactivated())
{
UpdateSelection(link);
}
}
var gripper = manipulator.Joints[manipulator.Joints.Length - 1];
ImGui.TreeNodeEx($"Gripper", _baseTreeLeafFlags | GetTreeNodeSelectionFlag(gripper));
if (ImGui.IsItemDeactivated())
{
UpdateSelection(gripper);
}
ImGui.TreePop();
}
}
}
else
{
ImGui.Text("Empty.");
}
ImGui.EndChild();
}
ImGui.End();
}
}
