private Selection(SelectionType type, TemplateRef selectedTemplate, int?selectedEdgeId, PatchRef selectedPatch)
{
_selectedTemplate = selectedTemplate;
_selectedPatch = selectedPatch;
_selectedEdgeId = selectedEdgeId;
_type = type;
}
public void AddElement(TemplateRef tmpl, Visual3D element)
{
if (!elements.ContainsKey(tmpl))
{
elements[tmpl] = new List <Visual3D>();
}
elements[tmpl].Add(element);
}
public Vector3D this[TemplateRef tmpl] {
get {
if (translations.ContainsKey(tmpl))
{
return(translations[tmpl]);
}
return(new Vector3D(0, 0, 0));
}
}
//edit by czq end
public static void GenWaperAPI()
{
try
{
TemplateRef template_ref = ScriptableObject.CreateInstance <TemplateRef>();
if (template_ref.LuaClassWrap == null)
{
return;
}
Generator.GetGenConfig(Utils.GetAllTypes());
ExportLuaApi(Generator.LuaCallCSharp);
}
catch
{
}
}
public void Translate(TemplateRef tmpl, Vector3D by)
{
if (!translations.ContainsKey(tmpl))
{
translations[tmpl] = new Vector3D(0, 0, 0);
}
translations[tmpl] += by;
foreach (var visual in elements[tmpl])
{
//Console.WriteLine("AAAAA: " + tmpl.Debuggable.getDebugInfo().shortDescription);
Vector3D offset = this[tmpl];
if (offset.Y + lowestZ[tmpl] < 0)
{
offset.Y = -lowestZ[tmpl];
}
visual.Transform = new TranslateTransform3D(offset);
}
}
public static Selection Patch(TemplateRef template, PatchRef patchRef)
{
return(new Selection(SelectionType.Patch, template, null, patchRef));
}
public static Selection Edge(TemplateRef template, int edgeId)
{
return(new Selection(SelectionType.Edge, template, edgeId, PatchRef.Null));
}
public static Selection Template(TemplateRef template)
{
return(new Selection(SelectionType.Template, template, null, PatchRef.Null));
}
public void Execute(string command)
{
if (command.StartsWith("rotate "))
{
string[] split = command.Split(' ');
Vector3D axis = new Vector3D(double.Parse(split[1]), double.Parse(split[2]), double.Parse(split[3]));
Quaternion q = new Quaternion(axis, double.Parse(split[4]));
var tmpl = UiStates.Selection.SelectedTemplate;
if (!tmpl.IsNull)
{
UiInstance.Rotate(tmpl, q, tmpl.Center);
}
else
{
Console.WriteLine("No template selected.");
}
}
else if (command.StartsWith("translate "))
{
string[] split = command.Split(' ');
Vector3D trans = double.Parse(split[4]) * new Vector3D(double.Parse(split[1]), double.Parse(split[2]), double.Parse(split[3]));
var tmpl = UiStates.Selection.SelectedTemplate;
if (!tmpl.IsNull)
{
UiInstance.Translate(tmpl, trans);
}
else
{
Console.WriteLine("No template selected.");
}
}
else if (command.StartsWith("scad example"))
{
UiInstance.makeExampleScadTemplate();
}
else if (command == "reflect on")
{
OverlapPreventionHack.SetAlwaysReflect(true);
}
else if (command == "reflect off")
{
OverlapPreventionHack.SetAlwaysReflect(false);
}
else if (command == "test label selection")
{
JointLayout layout = new JointLayout();
layout.RobotShape = new List <Point> {
new Point(0, 10), new Point(10, 10), new Point(10, 0), new Point(0, 0)
};
layout.Joints = new List <Point> {
new Point(0, 10), new Point(10, 10), new Point(10, 0), new Point(0, 0)
};
List <JointLabeling> labelings = new List <JointLabeling> {
new JointLabeling {
JointLabels = new List <int> {
1, 3, 2, 4
}
},
new JointLabeling {
JointLabels = new List <int> {
1, 2, 2, 4
}
},
new JointLabeling {
JointLabels = new List <int> {
1, 1, 2, 4
}
},
new JointLabeling {
JointLabels = new List <int> {
1, 1, 3, 4
}
}
};
//MainWindow.configurationChooser.Choose(UiInstance, layout, labelings, 1, 40);
}
else if (command.StartsWith("add constraint "))
{
// Example:
// add constraint 2(#0) + -3(#1) + (#3) = 0
// Means that
// Suppose the selected template has parameters defined as:
// param #0 = width, param #1 = height, param #2 = depth, param #3 = radius
// Then this means 2 * width - 3 * height + radius = 0
Regex regex = new Regex("^(.*)([=<>])(.+)$");
string exprWithoutSpaces = command.Substring("add constraint ".Length).Replace(" ", "");
Match match = regex.Match(exprWithoutSpaces);
if (match.Success)
{
string expr = match.Groups[1].Value;
string oper = match.Groups[2].Value;
string constant = match.Groups[3].Value;
string[] terms = expr.Split('+');
Regex termRegex = new Regex(@"^(.*)[(]#(\d+)[)]$");
try
{
Tuple <double, int>[] parsedTerms = terms.Select(term =>
{
Match termMatch = termRegex.Match(term);
if (termMatch.Success)
{
string coeffStr = termMatch.Groups[1].Value;
string indexStr = termMatch.Groups[2].Value;
double coeff = coeffStr == "" ? 1 : coeffStr == "-" ? -1 : double.Parse(coeffStr);
int index = int.Parse(indexStr);
return(Tuple.Create(coeff, index));
}
else
{
throw new ArgumentException("Invalid term: " + term);
}
}).ToArray();
bool isEquality = oper == "=";
double constantTerm = double.Parse(constant);
if (oper == ">")
{
parsedTerms = parsedTerms.Select(t => Tuple.Create(-t.Item1, t.Item2)).ToArray();
constantTerm = -constantTerm;
}
TemplateRef selectedTemplate = UiStates.Selection.SelectedTemplate;
if (selectedTemplate.IsNull)
{
MessageBox.Show("Must select a template first.");
return;
}
selectedTemplate.AddConstraint(parsedTerms, constantTerm, isEquality);
}
catch (ArgumentException ex)
{
MessageBox.Show(ex.Message);
return;
}
catch (FormatException ex)
{
MessageBox.Show(ex.Message);
return;
}
}
else
{
MessageBox.Show("Invalid command");
}
}
}
public static void Draw(UIStates uiStates, Dictionary <TemplateRef, Drawing> drawings, Canvas canvas, TemplateRef selectedTemplate, Action <TemplateRef> selectionCallback)
{
canvas.Children.Clear();
//finding bounding box
double xmin, xmax, ymin, ymax;
List <double> Xs = new List <double>();
List <double> Ys = new List <double>();
foreach (var drawing in drawings.Values)
{
foreach (var face in drawing.faces)
{
foreach (var point in face.points)
{
Xs.Add(point.X);
Ys.Add(point.Y);
}
}
}
if (Xs.Count == 0 || Ys.Count == 0)
{
return;
}
xmin = Xs.Min();
xmax = Xs.Max();
ymin = Ys.Min();
ymax = Ys.Max();
double width = canvas.ActualWidth;
double height = canvas.ActualHeight;
double marginRatio = 0.1;
double scale = Math.Min(width * (1 - marginRatio) / (xmax - xmin), height * (1 - marginRatio) / (ymax - ymin));
Vector pCenter = 0.5 * new Vector(xmax + xmin, ymax + ymin);
Vector center = 0.5 * new Vector(width, height);
Vector translate = center - pCenter;
Matrix matrix = Matrix.Identity;
matrix.Translate(-pCenter.X, -pCenter.Y);
matrix.Scale(scale, scale);
matrix.Translate(pCenter.X, pCenter.Y);
matrix.Translate(translate.X, translate.Y);
//matrix.Scale(scale, scale);
// adding polygons
Dictionary <TemplateRef, Polygon> polygons = new Dictionary <TemplateRef, Polygon>();
int seletedIndex = 0;
foreach (var kvp in drawings)
{
var template = kvp.Key;
var drawing = kvp.Value;
foreach (var face in drawing.faces)
{
if (template.Equals(selectedTemplate))
{
seletedIndex = polygons.Count;
}
Polygon polygon = new Polygon();
foreach (var point in face.points)
{
polygon.Points.Add(point * matrix);
}
polygons[template] = polygon;
canvas.Children.Add(polygon);
}
}
Vector vec = new Vector(0, 0);
foreach (var kvp in polygons)
{
TemplateRef template = kvp.Key;
Polygon A = kvp.Value;
bool intersect = false;
foreach (var B in polygons.Values)
{
if (A != B)
{
if (uiStates.ShowOverlaps && CollisionDetector.PolygonCollision(A, B, vec).Intersect == true)
{
intersect = true;
}
}
}
if (selectedTemplate.IsAncestorOf(template))
{
A.Fill = selectedFill;
A.Stroke = Brushes.Black;
}
else if (intersect == true)
{
A.Stroke = Brushes.Red;
A.StrokeThickness = 2;
A.Fill = polygonFill;
}
else
{
A.Stroke = Brushes.Black;
A.Fill = Brushes.Linen;
}
//adding mouse click event handler
A.MouseDown += (sender, args) =>
{
selectionCallback(template);
};
Brush old = null;
A.MouseEnter += (sender, args) =>
{
old = A.Fill;
A.Fill = hoverFill;
};
A.MouseLeave += (sender, args) =>
{
A.Fill = old;
};
}
}
