private void BtnRefresh_Click(object sender, RoutedEventArgs e)
{
Boxs[0] = new box(new RotateTransform3D(new AxisAngleRotation3D(new Vector3D(0, 0, 1), -45), new Point3D(0, 0, 0)), new TranslateTransform3D(-700, -2600, joints[8].model.Bounds.SizeZ + 60));
Boxs[1] = new box(new RotateTransform3D(new AxisAngleRotation3D(new Vector3D(0, 0, 1), 45), new Point3D(0, 0, 0)), new TranslateTransform3D(700, -1240, joints[9].model.Bounds.SizeZ + 60));
Boxs[2] = new box(new RotateTransform3D(new AxisAngleRotation3D(new Vector3D(0, 0, 1), 45), new Point3D(0, 0, 0)), new TranslateTransform3D(560, -3840, joints[10].model.Bounds.SizeZ + 60));
Boxs[3] = new box(new RotateTransform3D(new AxisAngleRotation3D(new Vector3D(0, 0, 1), -45), new Point3D(0, 0, 0)), new TranslateTransform3D(1960, -2500, joints[11].model.Bounds.SizeZ + 60));
double[] angles = { joints[0].angle, joints[1].angle, joints[2].angle, joints[3].angle, joints[4].angle, joints[5].angle = 70 };
ForwardKinematics(angles);
}
public MainWindow()
{
InitializeComponent();
basePath = "res\\arm\\obj\\";
List <string> modelsNames = new List <string>();
modelsNames.Add(MODEL_PATH1);
modelsNames.Add(MODEL_PATH2);
modelsNames.Add(MODEL_PATH3);
modelsNames.Add(MODEL_PATH4);
modelsNames.Add(MODEL_PATH5);
modelsNames.Add(MODEL_PATH6);
modelsNames.Add(MODEL_PATH7);
modelsNames.Add(MODEL_PATH8);
modelsNames.Add(MODEL_PATH9);
modelsNames.Add(MODEL_PATH9);
modelsNames.Add(MODEL_PATH9);
modelsNames.Add(MODEL_PATH9);
RoboticArm.Content = Initialize_Environment(modelsNames);
var builder = new MeshBuilder(true, true);
var position = new Point3D(0, 0, 0);
builder.AddSphere(position, 50, 15, 15);
visual = new ModelVisual3D();
Map.Fill = new ImageBrush(new BitmapImage(new Uri("res\\image\\map.png", UriKind.Relative)));
viewPort3d.RotateGesture = new MouseGesture(MouseAction.RightClick);
viewPort3d.PanGesture = new MouseGesture(MouseAction.LeftClick);
viewPort3d.Children.Add(visual);
viewPort3d.Children.Add(RoboticArm);
viewPort3d.Camera.LookDirection = new Vector3D(-14000, 0, -14000);
viewPort3d.Camera.UpDirection = new Vector3D(0.0, 0.0, 1.0);
viewPort3d.Camera.Position = new Point3D(13700, -200, 14000);
Boxs = new box[4];
Boxs[0] = new box(new RotateTransform3D(new AxisAngleRotation3D(new Vector3D(0, 0, 1), -45), new Point3D(0, 0, 0)), new TranslateTransform3D(-700, -2600, joints[8].model.Bounds.SizeZ + 60));
Boxs[1] = new box(new RotateTransform3D(new AxisAngleRotation3D(new Vector3D(0, 0, 1), 45), new Point3D(0, 0, 0)), new TranslateTransform3D(700, -1240, joints[9].model.Bounds.SizeZ + 60));
Boxs[2] = new box(new RotateTransform3D(new AxisAngleRotation3D(new Vector3D(0, 0, 1), 45), new Point3D(0, 0, 0)), new TranslateTransform3D(560, -3840, joints[10].model.Bounds.SizeZ + 60));
Boxs[3] = new box(new RotateTransform3D(new AxisAngleRotation3D(new Vector3D(0, 0, 1), -45), new Point3D(0, 0, 0)), new TranslateTransform3D(1960, -2500, joints[11].model.Bounds.SizeZ + 60));
double[] angles = { joints[0].angle, joints[1].angle, joints[2].angle, joints[3].angle = 90, joints[4].angle, joints[5].angle = 70 };
ForwardKinematics(angles);
RenderTimer = new System.Windows.Forms.Timer();
RenderTimer.Interval = 5;
RenderTimer.Tick += new System.EventHandler(RenderTimer_Tick);
RenderTimer.Start();
}
private void BtnClearAll_Click(object sender, RoutedEventArgs e)
{
lastRobotCommand = null;
Boxs[0] = new box(new RotateTransform3D(new AxisAngleRotation3D(new Vector3D(0, 0, 1), -45), new Point3D(0, 0, 0)), new TranslateTransform3D(-700, -2600, joints[8].model.Bounds.SizeZ + 60));
Boxs[1] = new box(new RotateTransform3D(new AxisAngleRotation3D(new Vector3D(0, 0, 1), 45), new Point3D(0, 0, 0)), new TranslateTransform3D(700, -1240, joints[9].model.Bounds.SizeZ + 60));
Boxs[2] = new box(new RotateTransform3D(new AxisAngleRotation3D(new Vector3D(0, 0, 1), 45), new Point3D(0, 0, 0)), new TranslateTransform3D(560, -3840, joints[10].model.Bounds.SizeZ + 60));
Boxs[3] = new box(new RotateTransform3D(new AxisAngleRotation3D(new Vector3D(0, 0, 1), -45), new Point3D(0, 0, 0)), new TranslateTransform3D(1960, -2500, joints[11].model.Bounds.SizeZ + 60));
double[] angles = { joints[0].angle = 0, joints[1].angle = 0, joints[2].angle = 0, joints[3].angle = 90, joints[4].angle = 0, joints[5].angle = 70 };
ForwardKinematics(angles);
CommandQueue.Items.Clear();
TbStatus.Text = TbLastN.Text = "0";
TbM11.Text = TbM12.Text = TbM13.Text = TbM14.Text = TbM15.Text = TbM16.Text = "0";
TbT11.Text = TbT12.Text = TbT13.Text = TbT14.Text = TbT15.Text = TbT16.Text = "0";
TbL11.Text = TbL12.Text = TbL13.Text = TbL14.Text = TbL15.Text = TbL16.Text = "0";
TbMR1n.Text = TbMR1x.Text = TbMR1y.Text = TbMR1t.Text = TbMR1g.Text = TbMR1l.Text = "0";
TbMR2n.Text = TbMR2x.Text = TbMR2y.Text = TbMR2t.Text = TbMR2g.Text = TbMR2l.Text = "0";
TbLogRobotSimulator.Text = "";
}
