public static CylPosition Transform(CylPosition cylPosition, Transform3D transform)
{
return(new CylPosition(
transform.transform(cylPosition.XYZ),
HalfAxis.ToHalfAxis(
transform.transformRot(HalfAxis.ToVector3D(cylPosition.Direction))
)
));
}
public Cylinder(uint pickId, CylinderProperties cylProperties, CylPosition cylPosition)
{
_pickId = pickId;
_radiusOuter = cylProperties.RadiusOuter;
_radiusInner = cylProperties.RadiusInner;
_height = cylProperties.Height;
_colorTop = cylProperties.ColorTop;
_colorWallOuter = cylProperties.ColorWallOuter;
_colorWallInner = cylProperties.ColorWallInner;
_cylPosition = cylPosition;
}
public BBox3D BBoxOffset(Vector3D offset)
{
var bb = BBox3D.Initial;
foreach (var cp in Positions)
{
CylPosition cpOffset = cp + offset;
bb.Extend(cpOffset.BBox(CylRadius, CylLength));
}
return(bb);
}
public bool IntersectWithContent(CylPosition cylPosition)
{
Vector3D cylDirection = HalfAxis.ToVector3D(cylPosition.Direction);
foreach (CylPosition c in Positions)
{
Vector3D vDiff = c.XYZ - cylPosition.XYZ;
double axisProj = Vector3D.DotProduct(cylDirection, vDiff);
Vector3D vDiffProj = vDiff - axisProj * cylDirection;
if (axisProj < CylLength && vDiffProj.GetLength() < CylRadius)
{
return(true);
}
}
return(false);
}
public void AddPosition(CylLoad load, CylPosition pos)
{
Matrix4D matRot = Matrix4D.Identity;
Vector3D vTranslation = Vector3D.Zero;
if (_swapped)
{
matRot = new Matrix4D(
0.0, -1.0, 0.0, 0.0
, 1.0, 0.0, 0.0, 0.0
, 0.0, 0.0, 1.0, 0.0
, 0.0, 0.0, 0.0, 1.0
);
vTranslation = new Vector3D(load.PalletLength, 0.0, 0.0);
matRot.M14 = vTranslation[0];
matRot.M24 = vTranslation[1];
matRot.M34 = vTranslation[2];
}
load.Add(pos.Transform(new Transform3D(matRot)));
}
public static CylPosition Transform(CylPosition cylPosition, Transform3D transform)
{
return new CylPosition(
transform.transform(cylPosition._vPosition),
HalfAxis.ToHalfAxis(
transform.transformRot(HalfAxis.ToVector3D(cylPosition._axis))
)
);
}
public bool IsValidPosition(CylPosition cylPosition)
{
switch (cylPosition.Direction)
{
case HalfAxis.HAxis.AXIS_X_N:
if (cylPosition.XYZ.X - CylLength < 0.0)
{
return(false);
}
if (cylPosition.XYZ.X > StackingLength)
{
return(false);
}
if (cylPosition.XYZ.Y - CylRadius < 0.0)
{
return(false);
}
if (cylPosition.XYZ.Y + CylRadius > StackingWidth)
{
return(false);
}
break;
case HalfAxis.HAxis.AXIS_X_P:
if (cylPosition.XYZ.X < 0.0)
{
return(false);
}
if (cylPosition.XYZ.X - CylLength > StackingLength)
{
return(false);
}
if (cylPosition.XYZ.Y - CylRadius < 0.0)
{
return(false);
}
if (cylPosition.XYZ.Y + CylRadius > StackingWidth)
{
return(false);
}
break;
case HalfAxis.HAxis.AXIS_Y_N:
if (cylPosition.XYZ.Y - CylLength < 0)
{
return(false);
}
if (cylPosition.XYZ.Y > StackingWidth)
{
return(false);
}
if (cylPosition.XYZ.X - CylRadius < 0)
{
return(false);
}
if (cylPosition.XYZ.X + CylRadius > StackingLength)
{
return(false);
}
break;
case HalfAxis.HAxis.AXIS_Y_P:
if (cylPosition.XYZ.Y < 0)
{
return(false);
}
if (cylPosition.XYZ.Y + CylLength > StackingWidth)
{
return(false);
}
if (cylPosition.XYZ.X - CylRadius < 0)
{
return(false);
}
if (cylPosition.XYZ.X + CylRadius > StackingLength)
{
return(false);
}
break;
default:
return(false);
}
return(true);
}