public static AxisStruct PosToAngle(AxisStruct start, double x, double y, double z, double n, double o, double a)
{
AxisStruct ag = new AxisStruct();
ag.X = x;
ag.Y = y;
ag.Z = z;
ag.N = n;
ag.O = o;
ag.A = a;
ag.angle = PosToAngle(start.angle, x, y, z, n, o, a);
return(ag);
}
public AxisStruct(AxisStruct old)
{
angle = new double[6];
X = Y = Z = N = O = A;
for (int i = 0; i < 6; i++)
{
angle[i] = old.angle[i];
}
X = old.X;
Y = old.Y;
Z = old.Z;
N = old.N;
O = old.O;
A = old.A;
}
public static AxisStruct AngleToPos(double[] angle)
{
AxisStruct ax = new AxisStruct();
double[,] mx = (double[, ])Axis.Foper(angle);
double[] pos = new double[3];
ax.X = mx[0, 3];
ax.Y = mx[1, 3];
ax.Z = mx[2, 3];
for (int i = 0; i < 6; i++)
{
ax.angle[i] = angle[i];
}
return(ax);
}
public override bool Equals(object obj)
{
if (obj is AxisStruct)
{
AxisStruct a = (AxisStruct)obj;
if (this.X != a.X)
{
return(false);
}
if (this.Y != a.Y)
{
return(false);
}
if (this.Z != a.Z)
{
return(false);
}
if (this.N != a.N)
{
return(false);
}
if (this.O != a.O)
{
return(false);
}
if (this.A != a.A)
{
return(false);
}
for (int i = 0; i < 6; i++)
{
if (this.angle[i] != a.angle[i])
{
return(false);
}
}
return(true);
}
return(false);
//return base.Equals(obj);
}
public static object DrawLine(AxisStruct g, AxisStruct g2, char color = 'r', int w = 1, int count = 15)
{
object[] output;
//output = new object[4];
//MWArray[] input;
//output = new MWArray[4];
//input = new MWArray[7];
//input[0] = new MWNumericArray(g.angle);
//input[1] = new MWNumericArray(g.getXYZ());
//input[2] = new MWNumericArray(g.getNOA());
//input[3] = new MWNumericArray(g2.getXYZ());
//input[4] = new MWNumericArray(g2.getNOA());
//input[5] = new MWCharArray(color);
//input[6] = new MWNumericArray(w);
output = Axis.LineQ(4, g.angle, g.getXYZ(), g.getNOA(), g2.getXYZ(), g2.getNOA(), color, (double)w);
if (((double[, ])output[0])[0, 0] == 0)
{
return(output[3]);
}
return(null);
}
public static List <double[]> PointToPointLineAngle(AxisStruct LastG, AxisStruct G, double range = 0.1, double deg = 1, bool MultThread = false)
{
double[] v = new double[6];
double[] d = new double[6];
double[] lastag = G.angle;
List <double[]> anglelist = new List <double[]>();
v[0] = LastG.X;
v[1] = LastG.Y;
v[2] = LastG.Z;
v[3] = v[4] = v[5] = 0;
d[0] = G.X;
d[1] = G.Y;
d[2] = G.Z;
d[3] = d[4] = d[5] = 0;
Line.Setup(v, d, range);
if (Line.Count == 1)
{
v[0] = v[1] = v[2] = 0;
d[0] = d[1] = d[2] = 0;
v[3] = LastG.N;
v[4] = LastG.O;
v[5] = LastG.A;
d[3] = G.N;
d[4] = G.O;
d[5] = G.A;
Line.Setup(v, d, deg);
v[0] = LastG.X;
v[1] = LastG.Y;
v[2] = LastG.Z;
d[0] = G.X;
d[1] = G.Y;
d[2] = G.Z;
}
v[3] = LastG.N;
v[4] = LastG.O;
v[5] = LastG.A;
d[3] = G.N;
d[4] = G.O;
d[5] = G.A;
Line.Setup(v, d, Line.Count);
G = new AxisStruct();
while (!Line.isEmpty())
{
double[] list = Line.GetData();
G.X = list[0];
G.Y = list[1];
G.Z = list[2];
G.N = list[3];
G.O = list[4];
G.A = list[5];
double[] pag = PosToAngle(LastG, G);
if (pag != null)
{
lastag = pag;
}
anglelist.Add(lastag);
G.angle = lastag;
LastG = G;
}
return(anglelist);
}
public static double[] PosToAngle(AxisStruct start, AxisStruct dest)
{
return(PosToAngle(start.angle, dest.X, dest.Y, dest.Z, dest.N, dest.O, dest.A));
}
public static double[] PosToAngle(AxisStruct st)
{
return(PosToAngle(st.X, st.Y, st.Z, st.N, st.O, st.A));
}
