private void EvaluateReleasePanel(IPneumaticLinkViewModel pneumaticLinkViewModel)
{
Messenger.Send(new GetPanelMessage()
{
SetPanel = (pvm) =>
{
pvm.HookingHandle.Unhook(this);
_isGripping = false;
}
});
}
private static Matrix3D GetPenumaticLinkTransformation(IPneumaticLinkViewModel link)
{
switch (link.Type)
{
case LinkType.Linear:
return(GetLinearTransformation(link.Direction, link.Value));
case LinkType.Rotary:
return(GetRataryTransformation(link.Direction, link.Value));
default:
throw new ArgumentOutOfRangeException();
}
}
private void EvaluateReleasePanel(IPneumaticLinkViewModel pneumaticLinkViewModel)
{
if (_parallelLink != null)
{
_parallelLink.ValueChanged -= ParallelLinkValueChanged;
}
foreach (var item in _orthogonalLinks)
{
item.ValueChanged -= OrthogonalLinkValueChanged;
}
_orthogonalLinks.Clear();
}
private void EvaluatePanelCollision(IPneumaticLinkViewModel link)
{
Messenger.Send(new GetPanelMessage()
{
SetPanel = (pvm) =>
{
var th = GetInstance <IColliderHelperFactory>();
var ch = th.GetColliderHelper(this, pvm);
if (ch.Intersect(out double d) && IsGripping(link, d))
{
link.DynOnPos = d;
pvm.HookingHandle.Hook(this);
_isGripping = true;
}
}
});
private void EvaluatePanelCollision(IPneumaticLinkViewModel link)
{
Messenger.Send(new GetPanelMessage()
{
SetPanel = (pvm) =>
{
var th = GetInstance <IColliderHelperFactory>();
var ch = th.GetColliderHelper(this, pvm);
if (ch.Intersect(out double d))
{
_intersectionDistance = d;
ApplyPression(link, d);
_initialized = true;
}
_presserLink = link;
InitializeParallelChange();
InitializeOrthogonalChange(pvm);
}
});
