// Define the model.
private void DefineModel()
{
// Axes.
//MainGroup.Children.Add(MeshExtensions.XAxisModel(4, 0.1));
//MainGroup.Children.Add(MeshExtensions.YAxisModel(4, 0.1));
//MainGroup.Children.Add(MeshExtensions.ZAxisModel(4, 0.1));
//MainGroup.Children.Add(MeshExtensions.OriginModel(0.12));
// Make the ground.
MeshGeometry3D groundMesh = new MeshGeometry3D();
const double dx = 4;
const double dy = 1;
const double dz = dx;
const double groundY = -2;
Point3D corner = new Point3D(-dx / 2, groundY - dy, -dz / 2);
Point[] topCoords =
{
new Point(0, 0),
new Point(0, dz),
new Point(dx, dz),
new Point(dx, 0),
};
Point[] sideCoords =
{
new Point(0, 0),
new Point(0, dz),
new Point(dy, dz),
new Point(dy, 0),
};
groundMesh.AddBox(corner, D3.XVector(dx), D3.YVector(dy), D3.ZVector(dz),
sideCoords, sideCoords, sideCoords, sideCoords, topCoords, topCoords);
MainGroup.Children.Add(groundMesh.MakeModel("metal.jpg"));
// This group represents the whole robot.
RobotGroup = new Model3DGroup();
MainGroup.Children.Add(RobotGroup);
// Base.
const double baseWidth = 0.4;
const double baseLength = 2.5;
MeshGeometry3D baseMesh = new MeshGeometry3D();
baseMesh.AddBox(new Point3D(-baseWidth / 2, 0, -baseWidth / 2),
D3.XVector(baseWidth), D3.YVector(baseLength), D3.ZVector(baseWidth));
GeometryModel3D baseModel = baseMesh.MakeModel(Brushes.Pink);
const int numCyl = 20;
const double bJointWidth = 0.5;
const double bJointRadius = 0.5;
Point3D[] bPgon = G3.MakePolygonPoints(numCyl, new Point3D(0, 0, 0),
D3.XVector(bJointRadius), D3.ZVector(-bJointRadius));
baseMesh.AddCylinder(bPgon, D3.YVector(bJointWidth), true);
BaseGroup = JoinBones(RobotGroup, new TranslateTransform3D(0, groundY, 0));
BaseGroup.Children.Add(baseModel);
// Shoulder.
const double shoulderWidth = 0.4;
const double shoulderLength = 2;
MeshGeometry3D shoulderMesh = new MeshGeometry3D();
shoulderMesh.AddBox(new Point3D(-shoulderWidth / 2, 0, -shoulderWidth / 2),
D3.XVector(shoulderWidth), D3.YVector(shoulderLength), D3.ZVector(shoulderWidth));
const double sJointWidth = 0.5;
const double sJointRadius = 0.4;
Point3D[] sPgon = G3.MakePolygonPoints(numCyl, new Point3D(0, 0, -sJointWidth / 2),
D3.XVector(sJointRadius), D3.YVector(sJointRadius));
shoulderMesh.AddCylinder(sPgon, D3.ZVector(sJointWidth), true);
GeometryModel3D shoulderModel = shoulderMesh.MakeModel(Brushes.LightGreen);
ShoulderGroup = JoinBones(BaseGroup, new TranslateTransform3D(0, baseLength, 0));
ShoulderGroup.Children.Add(shoulderModel);
// Elbow.
const double elbowWidth = 0.4;
const double elbowLength = 1.5;
MeshGeometry3D elbowMesh = new MeshGeometry3D();
elbowMesh.AddBox(new Point3D(-elbowWidth / 2, 0, -elbowWidth / 2),
D3.XVector(elbowWidth), D3.YVector(elbowLength), D3.ZVector(elbowWidth));
const double eJointWidth = 0.5;
const double eJointRadius = 0.4;
Point3D[] ePgon = G3.MakePolygonPoints(numCyl, new Point3D(0, 0, -eJointWidth / 2),
D3.XVector(eJointRadius), D3.YVector(eJointRadius));
elbowMesh.AddCylinder(ePgon, D3.ZVector(eJointWidth), true);
GeometryModel3D elbowModel = elbowMesh.MakeModel(Brushes.LightBlue);
ElbowGroup = JoinBones(ShoulderGroup, new TranslateTransform3D(0, shoulderLength, 0));
ElbowGroup.Children.Add(elbowModel);
// Wrist.
const double wDx = 1.5;
const double wDy = 0.2;
const double wDz = 0.4;
MeshGeometry3D wristMesh = new MeshGeometry3D();
wristMesh.AddBox(new Point3D(-wDx / 2, 0, -wDz / 2),
D3.XVector(wDx), D3.YVector(wDy), D3.ZVector(wDz));
const double wJointRadius = 0.3;
Point3D[] wPgon = G3.MakePolygonPoints(numCyl, new Point3D(0, -wDy / 2, 0),
D3.XVector(wJointRadius), D3.ZVector(-wJointRadius));
wristMesh.AddCylinder(wPgon, D3.YVector(wDy), true);
GeometryModel3D wristModel = wristMesh.MakeModel(Brushes.Red);
WristGroup = JoinBones(ElbowGroup, new TranslateTransform3D(0, elbowLength, 0));
WristGroup.Children.Add(wristModel);
// Finger 1.
const double fDx = 0.1;
const double fDy = 0.5;
const double fDz = 0.2;
MeshGeometry3D finger1Mesh = new MeshGeometry3D();
finger1Mesh.AddBox(new Point3D(-fDx / 2, 0, -fDz / 2),
D3.XVector(fDx), D3.YVector(fDy), D3.ZVector(fDz));
GeometryModel3D finger1Model = finger1Mesh.MakeModel(Brushes.Green);
Finger1Group = JoinBones(WristGroup, new TranslateTransform3D(-fDx / 2, wDy, 0));
Finger1Group.Children.Add(finger1Model);
// Finger 2.
MeshGeometry3D finger2Mesh = new MeshGeometry3D();
finger2Mesh.AddBox(new Point3D(-fDx / 2, 0, -fDz / 2),
D3.XVector(fDx), D3.YVector(fDy), D3.ZVector(fDz));
GeometryModel3D finger2Model = finger2Mesh.MakeModel(Brushes.Green);
Finger2Group = JoinBones(WristGroup, new TranslateTransform3D(fDx / 2, wDy, 0));
Finger2Group.Children.Add(finger2Model);
}
private void elbowSlider_ValueChanged(object sender, RoutedPropertyChangedEventArgs <double> e)
{
ElbowGroup.Transform = D3.Rotate(D3.ZVector(), D3.Origin, elbowSlider.Value);
}
