public static PlaneProbeViewModel Create(MachineElementViewModel parent, Point3D point, double width = 100.0, double height = 100.0)
{
var t = parent.GetChainTansform();
var p = t.Invert().Transform(point);
var builder = new MeshBuilder();
var points = new List <Point3D>()
{
p + new Vector3D(-width / 2.0, -height / 2.0, 0.0),
p + new Vector3D(-width / 2.0, height / 2.0, 0.0),
p + new Vector3D(width / 2.0, height / 2.0, 0.0),
p + new Vector3D(width / 2.0, -height / 2.0, 0.0)
};
builder.AddPolygon(points);
return(new PlaneProbeViewModel()
{
X = p.X,
Y = p.Y,
Z = p.Z,
SizeX = width,
SizeY = height,
Parent = parent,
MeshGeometry = builder.ToMesh(),
Fill = Brushes.Yellow
});
}
private static MachineElementViewModel CreateViewModel(Models.MachineElement me)
{
MachineElementViewModel vm;
switch (me.ToolHolderType)
{
case MachineModels.Enums.ToolHolderType.None:
vm = new MachineElementViewModel();
break;
case MachineModels.Enums.ToolHolderType.Static:
vm = new StaticToolHolderViewModel().UpdateFromModel(me.ToolHolderData);
break;
case MachineModels.Enums.ToolHolderType.AutoSource:
vm = new AutoSourceToolHolderViewModel().UpdateFromModel(me.ToolHolderData);
break;
case MachineModels.Enums.ToolHolderType.AutoSink:
vm = new AutoSinkToolHolderViewModel().UpdateFromModel(me.ToolHolderData);
break;
default:
throw new NotImplementedException();
}
vm.Visible = true;
return(vm);
}
public static MachineElementViewModel ToViewModel(this MachineModels.Models.MachineElement me, MachineElementViewModel parentViewModel = null)
{
var vm = new MachineElementViewModel()
{
Name = me.Name,
ModelFile = me.ModelFile,
Color = me.Color.Convert(),
LinkToParentType = me.LinkToParentType,
LinkToParentData = me.LinkToParentData.Convert(),
Parent = parentViewModel,
ToolHolderType = me.ToolHolderType,
ToolHolderData = me.ToolHolderData?.ToViewModel(),
ColliderGeometry = me.ColiderType,
Collider = me.Collider.ToViewMode(),
HasPanelHolder = me.HasPanelHolder,
PanelHolder = me.PanelHolder.ToViewModel(),
InserterType = me.InserterType,
InserterData = me.Inserter.ToViewModel()
};
vm.Children = me.Children.Convert(vm);
if (vm.Model != null)
{
vm.Model.Transform = new System.Windows.Media.Media3D.MatrixTransform3D(me.TrasformationMatrix3D.Convert());
}
return(vm);
}
public static MachineElementViewModel ToViewModel(this BaseInserter m, MachineElementViewModel parent = null)
{
InserterBaseViewModel vm = null;
if (m is Inserter ins)
{
var insVm = new InserterViewModel()
{
Length = ins.Length,
Diameter = ins.Diameter,
LoaderLinkId = ins.LoaderLinkId,
DischargerLinkId = ins.DischargerLinkId
};
vm = insVm;
}
else if (m is Injector inj)
{
vm = new InjectorViewModel();
}
vm?.UpdateFrom(m);
if (vm != null && parent != null)
{
vm.Parent = parent;
}
return(vm);
}
public static PlaneProbeViewModel Create(MachineElementViewModel parent, Point3D point, double width = 100.0, double height = 100.0)
{
var t = parent.GetChainTansform();
var p = t.Inverse.Transform(point);
//var builder = new MeshBuilder();
//var points = new List<Point3D>()
//{
// p + new Vector3D(-width / 2.0, -height / 2.0, 0.0),
// p + new Vector3D(-width / 2.0, height / 2.0, 0.0),
// p + new Vector3D(width / 2.0, height / 2.0, 0.0),
// p + new Vector3D(width / 2.0, -height / 2.0, 0.0)
//};
//builder.AddPolygon(points);
//return new PlaneProbeViewModel()
//{
// X = p.X,
// Y = p.Y,
// Z = p.Z,
// SizeX = width,
// SizeY = height,
// Parent = parent,
// MeshGeometry = builder.ToMesh(),
// Fill = Brushes.Yellow
//};
return(null);
}
public static MachineElementViewModel ToViewModel(this Collider m, MachineElementViewModel parent = null)
{
MachineElementViewModel vm = null;
if (m is PointsCollider pcm)
{
switch (pcm.Type)
{
case MachineModels.Enums.ColliderType.Presser:
{
var pcvm = new PointsColliderViewModel()
{
Type = ConvertColliderType(pcm.Type),
Radius = pcm.Radius,
Points = pcm.Points.Select((p) => p.ToPoint3D()).ToList(),
Parent = parent,
Material = PhongMaterials.Green
};
pcvm.Geometry = GetMeshGeometry(pcvm.Radius, pcvm.Points);
AttachProbeToLinkForPresser(pcvm);
vm = pcvm;
}
break;
case MachineModels.Enums.ColliderType.Gripper:
{
var pcvm = new PointsColliderViewModel()
{
Type = ConvertColliderType(pcm.Type),
Radius = pcm.Radius,
Points = pcm.Points.Select((p) => p.ToPoint3D()).ToList(),
Parent = parent,
Material = PhongMaterials.Red
};
pcvm.Geometry = GetMeshGeometry(pcvm.Radius, pcvm.Points);
AttachProbeToLink(pcvm);
vm = pcvm;
}
break;
case MachineModels.Enums.ColliderType.Detect:
default:
throw new NotImplementedException();
}
}
else
{
throw new ArgumentException("Unexpected collider type!");
}
return(vm);
}
private static void AddParentTansform(MachineElementViewModel vm, Transform3DGroup tg)
{
tg.Children.Add(vm.Transform);
if (vm.Parent != null)
{
AddParentTansform(vm.Parent, tg);
}
}
private static void UpdateFromModel(Models.MachineElement me, MachineElementViewModel vm)
{
vm.Name = me.Name;
vm.Geometry = LoadGeometry(me.ModelFile);
vm.Transform = ConvertTransform(me.TrasformationMatrix3D);
vm.Material = me.Color.ToMaterial();
vm.LinkToParent = me.LinkToParentData.Convert();
if (vm.LinkToParent != null)
{
vm.LinkToParent.Description = vm.Name;
}
vm.ApplyLinkAction();
}
public static Transform3D GetChainTansform(this MachineElementViewModel vm)
{
if (vm != null)
{
var tg = new Transform3DGroup();
AddParentTansform(vm, tg);
return(tg);
}
else
{
return(null);
}
}
public static void ManageToolActivation(this MachineElementViewModel vm, bool value)
{
if (vm is ToolHolderViewModel thvm)
{
thvm.ActiveTool = value;
}
else
{
foreach (var item in vm.Children)
{
var child = item as MachineElementViewModel;
child.ManageToolActivation(value);
}
}
}
public static PanelHolderViewModel ToViewModel(this PanelHolder m, MachineElementViewModel parent = null)
{
var builder = new HelixToolkit.Wpf.MeshBuilder();
builder.AddSphere(m.Position.ToPoint3D(), 10.0);
//return new PanelHolderViewModel()
return(new WorkablePanelViewModel()
{
PanelHolderId = m.Id,
Name = m.Name,
Corner = m.Corner,
Position = m.Position.ToPoint3D(),
Parent = parent,
MeshGeometry = builder.ToMesh(),
Material = HelixToolkit.Wpf.Materials.Blue
});
}
private static MachineElementViewModel GetFirstAncestorWithPneumaticLink(MachineElementViewModel vm)
{
if (vm != null)
{
if ((vm.LinkToParent != null) && (vm.LinkToParent is MachineViewModels.ViewModels.Links.TwoPositionLinkViewModel))
{
return(vm);
}
else
{
return(GetFirstAncestorWithPneumaticLink(vm.Parent));
}
}
else
{
return(null);
}
}
public static void ApplyLinkAction(this MachineElementViewModel vm)
{
if (vm.LinkToParent != null)
{
switch (vm.LinkToParent.LinkType)
{
case LinkType.LinearPosition:
ApplyLinearPositionLinkAction(vm);
break;
case LinkType.LinearPneumatic:
ApplyLinearPneumaticLinkAction(vm);
break;
case LinkType.RotaryPneumatic:
ApplyRotationPneumaticLinkAction(vm);
break;
default:
throw new ArgumentException();
}
}
}
public static MachineElement ToModel(this MachineElementViewModel vm)
{
var mv3d = vm.Model as System.Windows.Media.Media3D.ModelVisual3D;
return(new MachineElement()
{
Name = vm.Name,
ModelFile = vm.ModelFile,
Color = vm.Color.Convert(),
TrasformationMatrix3D = Convert((mv3d != null) ? mv3d.Transform.Value : System.Windows.Media.Media3D.Matrix3D.Identity),
Children = vm.Children.Convert(),
LinkToParentType = vm.LinkToParentType,
LinkToParentData = vm.LinkToParentData.Convert(),
ToolHolderType = vm.ToolHolderType,
ToolHolderData = vm.ToolHolderData?.ToModel(),
ColiderType = vm.ColliderGeometry,
Collider = vm.Collider.ToModel(),
HasPanelHolder = vm.HasPanelHolder,
PanelHolder = vm.PanelHolder.ToModel(),
InserterType = vm.InserterType,
Inserter = vm.InserterData.ToModel()
});
}
public static PointProbeViewModel Create(MachineElementViewModel parent, Point3D point, double radius = 5.0)
{
var t = parent.GetChainTansform();
var p = t.Invert().Transform(point);
var builder = new MeshBuilder();
builder.AddSphere(p, radius);
var vm = new PointProbeViewModel()
{
X = p.X,
Y = p.Y,
Z = p.Z,
Radius = radius,
Parent = parent,
MeshGeometry = builder.ToMesh(),
Fill = Brushes.Yellow
};
vm._onIsSelectedChanged = (b) => vm.Fill = b ? Brushes.Red : Brushes.Yellow;
vm.PropertyChanged += (s, e) => vm.OnPropertyChanged(s, e);
return(vm);
}
private static MachineElementViewModel GetFirstAncestorWithLinearPositionLink(MachineElementViewModel vm, MachineModels.Enums.LinkDirection direction)
{
if (vm != null)
{
if ((vm.LinkToParent != null) &&
(vm.LinkToParent is MachineViewModels.ViewModels.Links.LinearPositionViewModel lpvm) &&
(lpvm.Direction == direction))
{
return(vm);
}
else
{
return(GetFirstAncestorWithLinearPositionLink(vm.Parent, direction));
}
}
else
{
return(null);
}
}
private static void ApplyLinearPneumaticLinkAction(Transform3DGroup transformGroup, LinearPneumaticViewModel vm, MachineElementViewModel mevm)
{
if (transformGroup != null)
{
var tt = new TranslateTransform3D();
transformGroup.Children.Add(tt);
var setAction = GetSetTraslationAction(vm, tt);
vm.SetPosition = setAction;
vm.GetPosition = GetGetTraslationFuncion(vm, tt);
vm.ValueChanged += (s, e) =>
{
var onPos = vm.OnPos;
var offPos = vm.OffPos;
var tOn = vm.TOn;
var tOff = vm.TOff;
var toolActivator = vm.ToolActivator;
var lmevm = mevm;
var inserterId = vm.InserterId;
EvaluateLinkDataByCollision(vm, e, ref onPos, offPos, ref tOn, ref tOff);
if (vm.IsGradualTransactionEnabled)
{
var to = e ? onPos : offPos;
var t = e ? tOn : tOff;
vm.OnMovementStarting?.Invoke(vm);
vm.SetPosition = (d) =>
{
setAction(d);
if (d == to)
{
vm.OnMovementCompleted?.Invoke(vm);
if (toolActivator)
{
lmevm.ManageToolActivation(e);
}
if (inserterId > 0)
{
vm.ManageInserter(e);
}
}
};
LinearLinkMovementManager.Add(vm.Id, vm.Pos, to, t);
}
else
{
var v = e ? onPos : offPos;
vm.OnMovementStarting?.Invoke(vm);
setAction(v);
vm.OnMovementCompleted?.Invoke(vm);
if (toolActivator)
{
lmevm.ManageToolActivation(e);
}
if (inserterId > 0)
{
vm.ManageInserter(e);
}
}
};
}
}
private static ObservableCollection <MachineElementViewModel> Convert(this IList <MachineElement> elements, MachineElementViewModel parentViewModel)
{
return(new ObservableCollection <MachineElementViewModel>(elements.Select((e) => e.ToViewModel(parentViewModel))));
}
public static MachineViewModels.ViewModels.Links.ILinkViewModel Convert(this ILink link, MachineElementViewModel mevm, Transform3DGroup transformGroup, Point3D rotationCenter)
{
if (link == null)
{
return(null);
}
if (link is LinearPosition linPos)
{
var vm = new LinearPositionViewModel();
var action = GetLinearPositionLinkAction(transformGroup, linPos.Direction, linPos.Pos);
MachineViewModels.Extensions.LinkExtensions.UpdateViewModel(vm, linPos);
vm.Description = mevm.Name;
if (action != null)
{
vm.ValueChanged += (s, e) => action(e);
}
return(vm);
}
else if (link is LinearPneumatic pnmPos)
{
var vm = new LinearPneumaticViewModel();
MachineViewModels.Extensions.LinkExtensions.UpdateViewModel(vm, pnmPos);
vm.Description = mevm.Name;
ApplyLinearPneumaticLinkAction(transformGroup, vm, mevm);
return(vm);
}
else if (link is RotaryPneumatic pnmRot)
{
var vm = new RotaryPneumaticViewModel();
MachineViewModels.Extensions.LinkExtensions.UpdateViewModel(vm, pnmRot);
vm.Description = mevm.Name;
ApplyRotaryPneumaticLinkAction(transformGroup, rotationCenter, vm);
return(vm);
}
else
{
throw new NotImplementedException();
}
}
