private void AlignedCenterManager_BT1Click(object sender, EventArgs e)
{
if (posFlag == 2)//两点计算圆心
{
float arc = arc2 - arc1;
PointF p = RotateMath.RotateCenterPoint(p1, p2, arc);
posFlag = 0;
Common.ReportCmdKeyProgress(CmdKey.P0304);
repairSucessful = true;
}
else if (posFlag == 3)//三点计算圆心
{
float r = 0;
centerPos = RotateMath.RotateCenterPoint(p1, p2, p3, out r);
posFlag = 0;
repairSucessful = true;
Common.ReportCmdKeyProgress(CmdKey.P0309);
}
else
{
Common.ReportCmdKeyProgress(CmdKey.P0307);
}
cPosX.Value = centerPos.X;
cPosY.Value = centerPos.Y;
}
private void button2_Click(object sender, EventArgs e)
{
Random a = new Random();
for (int i = 0; i < 3; i++)
{
p[i].X = a.Next(pictureBox1.Width);
p[i].Y = a.Next(pictureBox1.Height);
}
double angle = a.Next(360);
angle = 180 - angle;
using (Graphics g = Graphics.FromImage(bmp))
{
g.Clear(pictureBox1.BackColor);
g.SmoothingMode = System.Drawing.Drawing2D.SmoothingMode.HighQuality;
drawPen.Color = Color.Blue;
drawPen.DashStyle = DashStyle.Dash;
drawPen1.DashStyle = DashStyle.Dash;
float r = 0;
g.DrawPolygon(drawPen, p);
drawPen.Color = Color.Green;
g.DrawLine(drawPen, new Point(0, (int)p[0].Y), new Point(pictureBox1.Width, (int)p[0].Y));
g.DrawLine(drawPen, new Point((int)p[0].X, 0), new Point((int)p[0].X, pictureBox1.Height));
drawPen.Color = Color.DarkViolet;
PointF center = RotateMath.RotateCenterPoint(p[0], p[1], p[2], out r);
g.DrawPie(drawPen, new RectangleF((float)(center.X - r), (float)(center.Y - r), (float)(2 * r), (float)(2 * r)), 0, 360);
g.DrawString("A", this.Font, drawBrush, p[0]);
g.DrawString("B", this.Font, drawBrush, p[1]);
g.DrawString("C", this.Font, drawBrush, p[2]);
g.DrawString("O", this.Font, drawBrush, center);
}
pictureBox1.Image = bmp;
}
private void Start()
{
var angleContainer = new Coordinate(1, 1, 1, 0);
var rotationMatrixFromEulerAngles = RotateMath.GetRotationMatrixFromEulerAngles(angleContainer);
_wAngle = RotateMath.ExtractAngle(rotationMatrixFromEulerAngles);
_rotationAxis = RotateMath.ExtractRotationAxis(rotationMatrixFromEulerAngles);
var rotateLabQuaternion = RotateMath.Quaternion(_rotationAxis, _wAngle);
var unityQuaternion = Quaternion.AngleAxis(_wAngle, _rotationAxis.GetAsVector3());
Debug.Log("RotateLab quaternion is: " + rotateLabQuaternion);
Debug.Log("Unity quaternion is: " + unityQuaternion.x + ", " + unityQuaternion.y + ", " + unityQuaternion.z + ", " + unityQuaternion.w);
}
void Start()
{
var rotationMatrix = RotateMath.GetRotationMatrixFromEulerAngles(new Coordinate(_anglesContainer, 0));
Debug.Log(rotationMatrix);
var extractedRotationAxis = RotateMath.ExtractRotationAxis(rotationMatrix);
var extractedAngle = RotateMath.ExtractAngle(rotationMatrix);
var quaternionCoord = RotateMath.Quaternion(extractedRotationAxis, extractedAngle);
quaternion = new Quaternion(quaternionCoord.X, quaternionCoord.Y, quaternionCoord.Z, quaternionCoord.W);
var line = new Line(new Coordinate(0, 0, 0, 1), extractedRotationAxis.GetAsVector3() * 5);
line.Draw(0.1f, Color.red);
}
private void button4_Click(object sender, EventArgs e)
{
Random a = new Random();
for (int i = 0; i < 3; i++)
{
p[i].X = a.Next(pictureBox1.Width);
p[i].Y = a.Next(pictureBox1.Height);
}
using (Graphics g = Graphics.FromImage(bmp))
{
g.Clear(pictureBox1.BackColor);
g.SmoothingMode = System.Drawing.Drawing2D.SmoothingMode.HighQuality;
drawPen.Color = Color.Blue;
drawPen.DashStyle = DashStyle.Solid;
g.DrawPolygon(drawPen, p);
drawPen.DashStyle = DashStyle.Dash;
drawPen1.DashStyle = DashStyle.Dash;
drawPen.Color = Color.Green;
g.DrawLine(drawPen, new Point(0, (int)p[1].Y), new Point(pictureBox1.Width, (int)p[1].Y));
g.DrawLine(drawPen, new Point((int)p[1].X, 0), new Point((int)p[1].X, pictureBox1.Height));
g.DrawString("A", this.Font, drawBrush, p[0]);
g.DrawString("B", this.Font, drawBrush, p[1]);
g.DrawString("C", this.Font, drawBrush, p[2]);
angle = Math.Atan((p[0].Y - p[2].Y) / (p[0].X - p[2].X));
p[0] = RotateMath.PointRotate(p[1], p[0], angle);
p[2] = RotateMath.PointRotate(p[1], p[2], angle);
PointF p1 = new PointF((p[0].X + p[2].X) / 2, (p[0].Y + p[2].Y) / 2);
g.DrawString("M'", this.Font, drawBrush, p1);
g.DrawString("A'", this.Font, drawBrush, p[0]);
g.DrawString("C'", this.Font, drawBrush, p[2]);
angle *= -180;
angle /= Math.PI;
g.DrawString("当前应旋转角度为：" + angle.ToString(), this.Font, drawBrush, new PointF(10, 10));
g.DrawString("X轴移动距离为：" + (p1.X - p[1].X).ToString(), this.Font, drawBrush, new PointF(10, 30));
g.DrawString("Y轴移动距离为：" + (p1.Y - p[1].Y).ToString(), this.Font, drawBrush, new PointF(10, 50));
drawPen.Color = Color.Cyan;
drawPen.DashStyle = DashStyle.Dash;
g.DrawPolygon(drawPen, p);
g.DrawLine(drawPen, p[1], p1);
}
pictureBox1.Image = bmp;
}
public static PointF AlignT(PointF p1, PointF p2, PointF center, out float angle)
{
angle = (float)RotateMath.GetPointsAngle(p1, p2);
try
{
if (!Globals.IsInit)
{
Common.ReportCmdKeyProgress(CmdKey.A0005);
return(p1);
}
//PointF p = Com.RotateMath.PointRotate(center, new PointF((p1.X + p2.X) / 2, (p1.Y + p2.Y) / 2), a);
PointF p = RotateMath.PointRotate(center, p1, angle);
T_Axis.AxisJogIncWork(angle);
X_Axis.JogAbs(Globals.MacData.TAdjSpeed, Globals.MacData.TAdjAcc, p.X);
Y_Axis.AxisJogAbsWork(p.Y);
return(p);
}
catch
{
Common.ReportCmdKeyProgress(CmdKey.S0091);
return(p1);
}
}
private void InitCutChannelData(CutChannel c, bool create, bool res = true)
{
if (c.Enable)
{
if (c.Fixed)
{
if (res)//长度宽度反转
{
c.Length = length;
c.Width = width;
}
else
{
c.Length = width;
c.Width = length;
}
}
else
{
c.Length = length;
c.Width = length;
}
c.PreWidth = PreWidth;//设置预划切宽度
c.BackSpeed = backSpeed;
switch (CutMode)
{
case CutMode.StandOnce:
case CutMode.Stand:
{
c.StandMode = true;
c.ReDepth = ReDepth; //划切预留一
c.ReDepth2 = ReDepth2; //配置预留二
}
break;
case CutMode.AnyChannel: //任意通道
{
c.StandMode = true;
}
break;
case CutMode.AnyStep:
{
c.StandMode = false;
}
break;
default:
{
c.StandMode = false;
}
break;
}
float angle = c.TRoatePos + c.TPosAdj;
if (Center != Globals.TabCenter)
{
c.Center = RotateMath.PointRotate(Globals.TabCenter, Center, -angle);
}
else
{
c.Center = Center;
}
c.Fixed = this.Fixed; //圆片还是方片
c.BackSpeed = backSpeed;
c.SelfPos = Globals.TestHeightValue + filmHeight + workerHeight + SelfTickness; //当前测高值+工件厚度+膜厚 + 安全预留
switch (cutDir)
{
case CutDir.Positive:
{
c.SinDir = true;
c.Dir = true;
}
break;
case CutDir.Negative:
{
c.SinDir = true;
c.Dir = false;
}
break;
case CutDir.TwoWay:
{
c.SinDir = false;
c.Dir = true;
}
break;
default:
break;
}
c.InitCutRunData(create);
}
}
void Update()
{
var quaternion = RotateMath.Quaternion(_rotationAxis, _wAngle);
transform.rotation *= new Quaternion(quaternion.X, quaternion.Y, quaternion.Z, quaternion.W);
}
