public Joint() : base("joint", false)
{
Origin = new Origin("Joint", false);
Parent = new ParentLink();
Child = new ChildLink();
Axis = new Axis();
Limit = new Limit();
Calibration = new Calibration();
Dynamics = new Dynamics();
Safety = new SafetyController();
Mimic = new Mimic();
NameAttribute = new URDFAttribute("name", true, "");
TypeAttribute = new URDFAttribute("type", true, "");
Attributes.Add(NameAttribute);
Attributes.Add(TypeAttribute);
ChildElements.Add(Origin);
ChildElements.Add(Parent);
ChildElements.Add(Child);
ChildElements.Add(Axis);
ChildElements.Add(Limit);
ChildElements.Add(Calibration);
ChildElements.Add(Dynamics);
ChildElements.Add(Safety);
ChildElements.Add(Mimic);
}
/// <summary>
/// Used to add the Childs the element to current instance.
/// </summary>
/// <typeparam name="T">Model</typeparam>
/// <returns></returns>
public T ChildElement <T>() where T : HtmlTag, new()
{
var child = new T();
ChildElements.Add(child);
return(child);
}
public Robot() : base("robot", true)
{
BaseLink = new Link(null);
NameAttribute = new URDFAttribute("name", true, "");
ChildElements.Add(BaseLink);
Attributes.Add(NameAttribute);
}
public Collision() : base("collision", false)
{
Origin = new Origin(false);
Geometry = new Geometry();
ChildElements.Add(Origin);
ChildElements.Add(Geometry);
}
public void AddChild(ListElement element)
{
if (ChildElements.Contains(element) == false)
{
element.ParentElement = this;
ChildElements.Add(element);
}
}
public Inertial() : base("inertial", false)
{
Origin = new Origin("Inertia", false);
Mass = new Mass();
Inertia = new Inertia();
ChildElements.Add(Origin);
ChildElements.Add(Mass);
ChildElements.Add(Inertia);
}
public Material() : base("material", false)
{
Color = new Color();
Texture = new Texture();
NameAttribute = new URDFAttribute("name", true, "");
Attributes.Add(NameAttribute);
ChildElements.Add(Color);
ChildElements.Add(Texture);
}
public Visual() : base("visual", false)
{
Origin = new Origin(false);
Geometry = new Geometry();
Material = new Material();
ChildElements.Add(Origin);
ChildElements.Add(Geometry);
ChildElements.Add(Material);
}
public GraphComponent(RectangleF Rect, Color color, int Spacing = 1, bool Dots = false) : base(Rect)
{
this.Dots = Dots;
this.spacing = Spacing;
Color = color;
this.Rect = Rect;
Array = new double[(int)Rect.Width / spacing];
StartIndex = Array.Length;
TextRect = new Rectangle((int)Rect.Width, 0, TextDisplayWidth, (int)Rect.Height);
TextDisplay = new TextDisplay(TextRect);
ChildElements.Add(TextDisplay);
}
public ColorEditor(RectangleF Rect) : base(Rect)
{
float Padding = 10;
float X = Padding;
ColorScaleSlider = new Slider(new RectangleF(X, Padding, 30, Rect.Height - Padding * 2));
ColorScaleSlider.Value = 0.5;
ChildElements.Add(ColorScaleSlider);
X += ColorScaleSlider.Rect.Width + Padding;
MainCircleOuterRadius = Rect.Height / 2 - Padding;
MainCirclePosition = new Vector2(X + MainCircleOuterRadius, Padding + MainCircleOuterRadius);
X += MainCircleOuterRadius * 2 + Padding;
InnerCircleRadius = MainCircleOuterRadius * 0.3f;
MainCircleInnerRadius = MainCircleOuterRadius * 0.6f;
ColorPalette[0] = Color4.Orange;
ColorPalette[1] = Color4.DarkBlue;
ColorPalette[2] = Color4.Cyan;
PalettePositions[0] = 0.0f;
PalettePositions[1] = 0.33f;
PalettePositions[2] = 0.66f;
CurrentPaletteSize = 3;
InteriorColor = Color.Black;
DragEvent += MainDrag;
MouseDownEvent += MouseDown;
HoverEvent += MouseHover;
MouseUpEvent += MouseUp;
float SliderHeight = (Rect.Height - Padding * 4) / 3;
Color[] Colors = new Color[] { Color.Red, Color.Lime, Color.Blue };
for (int i = 0; i < 3; i++)
{
ColorSliders[i] = new Slider(new RectangleF(X, Padding + (SliderHeight + Padding) * i, 140, SliderHeight));
ColorSliders[i].BackgroundColor = Colors[i];
ChildElements.Add(ColorSliders[i]);
}
X += 140 + Padding;
DotStrengthSlider = new Slider(new RectangleF(X, Padding, 30, Rect.Height - Padding * 2));
DotStrengthSlider.Value = 1;
X += 30 + Padding;
ChildElements.Add(DotStrengthSlider);
ColorScaleSlider.SliderEvent += ScaleSliderChanged;
DistanceColoringButton = new FractalWindow(new RectangleF(X, Padding, 50, 50));
DistanceColoringButton.Controller.CameraPos = new Complex(-0.037896351914748, 0.682660083979483);
DistanceColoringButton.Controller.Zoom = 0.005;
DistanceColoringButton.EnableInteraction = false;
DistanceColoringButton.MouseDownEvent += DistanceColorButtonClicked;
DistanceColoringButton.Controller.DistanceEstimateEnabled = true;
DistanceColoringButton.Controller.ColorScale = 5;
ChildElements.Add(DistanceColoringButton);
}
public ConfigurationElementCollection GetCollection(string collectionName)
{
var child = ChildElements[collectionName];
if (child != null)
{
return(child.GetCollection());
}
var schema = Schema.ChildElementSchemas[collectionName];
if (schema == null)
{
return(null);
}
var result = new ConfigurationElementCollection(collectionName, schema, this, this.InnerEntity, null);
ChildElements.Add(result);
return(result.GetCollection());
}
public Link() : base("link", true)
{
Parent = null;
Children = new List <Link>();
SWComponents = new List <Component2>();
SWComponentPIDs = new List <byte[]>();
NameAttribute = new URDFAttribute("name", true, "");
Inertial = new Inertial();
Visual = new Visual();
Collision = new Collision();
Joint = new Joint();
isFixedFrame = false;
Attributes.Add(NameAttribute);
ChildElements.Add(Inertial);
ChildElements.Add(Visual);
ChildElements.Add(Collision);
ChildElements.Add(Joint);
}
void AddVariable(char v)
{
Complex pv = 0;
ParameterValues.Add(pv);
var container = new ParameterContainer();
container.variable = v;
container.variableDisplay = new TextDisplay(new RectangleF(10, 0, VariableDisplaySize, VariableDisplaySize));
container.variableDisplay.PrepareWrite();
container.variableDisplay.DrawCenteredText(v.ToString(), Brushes.Black, 10);
container.variableDisplay.PrepareDraw();
ChildElements.Add(container.variableDisplay);
container.numberDisplay = new TextDisplay(new RectangleF(20 + VariableDisplaySize, 0, Rect.Width - VariableDisplaySize * 2 - 30, VariableDisplaySize));
container.numberDisplay.PrepareWrite();
container.numberDisplay.DrawCenteredText(pv.ToString(), Brushes.Black, 8);
container.numberDisplay.PrepareDraw();
container.numberDisplay.DrawFrame = false;
ChildElements.Add(container.numberDisplay);
parameterContainers.Add(container);
}
public void AddChild(IGuiElement element)
{
element.Parent = this;
ChildElements.Add(element);
}
/// <summary>
/// Used to Add the specified child to the current instance.
/// </summary>
/// <param name="child">The child.</param>
/// <returns>Current HtmlTag instance</returns>
public HtmlTag Add(HtmlTag child)
{
ChildElements.Add(child);
return(this);
}
internal virtual void AddChild(ConfigurationElement child)
{
ChildElements.Add(child);
}
public ExampleLocationComponent(float x, float y, AutoZoomController zoomController, Main M) : base(new RectangleF(x, y, Width, Height))
{
this.M = M;
this.zoomController = zoomController;
string Data = Resources.ExampleLocations;
string[] lines = Data.Split(new string[] { "\r", "\n" }, StringSplitOptions.RemoveEmptyEntries);
List <ExampleLocationStructs> locations = new List <ExampleLocationStructs>();
for (int i = lines.Length - 1; i >= 0; i--)
{
string[] parts = lines[i].Split(':');
if (parts[0] == "function")
{
var exampleFunction = new ExampleFunctionStruct();
exampleFunction.exampleLocations = locations;
exampleFunction.functionString = parts[1];
locations = new List <ExampleLocationStructs>();
Examples.Insert(0, exampleFunction);
}
else if (parts[0] == "location")
{
var exampleLocation = new ExampleLocationStructs();
string[] locationParts = parts[1].Split('|');
exampleLocation.position = new Complex();
if (!double.TryParse(locationParts[0], out exampleLocation.position.real))
{
Console.WriteLine(locationParts[0] + " is not a valid double");
break;
}
if (!double.TryParse(locationParts[1], out exampleLocation.position.imag))
{
Console.WriteLine(locationParts[1] + " is not a valid double");
break;
}
if (!double.TryParse(locationParts[2], out exampleLocation.zoom))
{
Console.WriteLine(locationParts[2] + " is not a valid double");
break;
}
if (!int.TryParse(locationParts[3], out exampleLocation.iter))
{
Console.WriteLine(locationParts[3] + " is not a valid integer");
break;
}
locations.Add(exampleLocation);
}
else
{
Console.WriteLine(parts[0] + " is not a valid modifier");
break;
}
}
for (int i = 0; i < ExampleLocationWindows.Length; i++)
{
ExampleLocationWindows[i] = new FractalWindow(new RectangleF(10 + SideButtonWidth + (FractalWindowSize + 10) * i, FractalWindowSize + 32, FractalWindowSize, FractalWindowSize));
ChildElements.Add(ExampleLocationWindows[i]);
ExampleLocationWindows[i].EnableInteraction = false;
ExampleLocationWindows[i].MouseDownEvent += FractalWindowClick;
}
int X = (FractalWindowSize + 10) * (ExampleLocationWindows.Length - 1);
FunctionFractalWindow = new FractalWindow(new RectangleF(10 + SideButtonWidth + X, 10, FractalWindowSize, FractalWindowSize));
FunctionFractalWindow.EnableInteraction = false;
FunctionFractalWindow.MouseDownEvent += FractalWindowClick;
ChildElements.Add(FunctionFractalWindow);
polynomialDisplay = new TextDisplay(new RectangleF(10 + SideButtonWidth, 10, X - 10, FractalWindowSize));
polynomialDisplay.PrepareDraw();
ChildElements.Add(polynomialDisplay);
currentExample = Examples[0];
MouseDownEvent += MainWindowClicked;
}
public void SetBaseLink(Link link)
{
BaseLink = link;
ChildElements.Clear();
ChildElements.Add(link);
}
/// <summary>
/// Appends <paramref name="domElement"/> to the end of the list of child elements of
/// this <see cref="DomElement"/>.
/// </summary>
/// <param name="domElement">Child element to be added.</param>
public virtual void AppendChild(DomElement domElement)
{
ChildElements.Add(domElement);
}
public Geometry() : base("geometry", true)
{
Mesh = new Mesh();
ChildElements.Add(Mesh);
}
