public void AddCs(double x, double y, double z)
{
this.Dispatcher.Invoke(() =>
{
var t = new CoordinateSystemVisual3D();
modelVisual3D.Children.Add(t);
});
}
public Node(int Number)
{
x = 0.0;
y = 0.0;
z = 0.0;
number = Number;
csv3d = new CoordinateSystemVisual3D();
}
/// <summary>
/// Disegna assi su scena
/// </summary>
private void DrawAxis(double factor = 10)
{
var cooDim = view.GetCooAxisDim();
if (double.IsNaN(cooDim))
{
return;
}
var coo = new CoordinateSystemVisual3D {
ArrowLengths = cooDim / factor
};
var g = new HelixToolkit.DefaultLightsVisual3D();
view.Add(g);
view.Add(coo);
}
public CoordinateSystemVisual3D GetCoordinateSystem(bool onlyNew = false)
{
bool newCoordinateSystem = false;
if (_CoordinateSystemVisual3D == null)
{
newCoordinateSystem = true;
_CoordinateSystemVisual3D = new CoordinateSystemVisual3D();
_CoordinateSystemVisual3D.ArrowLengths = 0.05;
_CoordinateSystemVisual3D.Transform = new MatrixTransform3D(Frame.T_base_world.Inverse().Matrix3D);
}
if (onlyNew && newCoordinateSystem || !onlyNew)
{
return(_CoordinateSystemVisual3D);
}
else
{
return(null);
}
}
public void AddCs(Vector3D position, Vector3D target)
{
this.Dispatcher.Invoke(() =>
{
var ld = (target - position);
ld.Normalize();
Vector3D x = ld;
Vector3D z = new Vector3D(0.0, 0.0, 1.0);
Vector3D y = Vector3D.CrossProduct(x, z);
z = Vector3D.CrossProduct(x, y);
var t = new CoordinateSystemVisual3D();
var cm = BuildCosinesMatrix(x, y, z);
Transform3DGroup tg = new Transform3DGroup();
tg.Children.Add(new MatrixTransform3D(cm));
tg.Children.Add(new TranslateTransform3D(position.X, position.Y, position.Z));
t.Transform = tg;
modelVisual3D.Children.Add(t);
});
}
private void CreateViewport()
{
_SyncContext.Send(d =>
{
_SlamModel3D = new SlamModel3D(_SyncContext, false);
_Viewport3d = new HelixViewport3D();
_Viewport3d.Background = System.Windows.Media.Brushes.White;
_Viewport3d.Camera = new PerspectiveCamera(new Point3D(0, 1, 0.3), new Vector3D(0, -1, -0.3), new Vector3D(0, 0, 1), 45);
_Viewport3d.Children.Add(new DefaultLights());
_Viewport3d.Children.Add(new CoordinateSystemVisual3D()
{
ArrowLengths = 0.1
});
_ModelVisual3d = new ModelVisual3D();
_Viewport3d.Children.Add(_ModelVisual3d);
_CameraPosition = new CoordinateSystemVisual3D();
_CameraPosition.ArrowLengths = 0.1;
_Viewport3d.Children.Add(_CameraPosition);
_TrajectoryKeyFrame = new LinesVisual3D();
_TrajectoryKeyFrame.Color = System.Windows.Media.Colors.Gold;
_TrajectoryKeyFrame.Thickness = 3;
_Viewport3d.Children.Add(_TrajectoryKeyFrame);
_TrajectoryFrame = new LinesVisual3D();
_TrajectoryFrame.Color = System.Windows.Media.Colors.OrangeRed;
_TrajectoryFrame.Thickness = 2;
_Viewport3d.Children.Add(_TrajectoryFrame);
}, null);
}
