public override void UpdateBackground(SynchronizationContext context)
{
if (snekStage == null)
{
return;
}
var tube = CreateTube(snekStage.CurrentPosition, out var endPoint);
var deflectionTube = CreateTube(snekStage.CurrentPosition + snekStage.TensionInput, out _, true);
var lb = new LineBuilder();
lb.AddLine(Vector3.Zero, new Vector3(0, 0, endPoint.Z));
lb.AddLine(new Vector3(0, 0, endPoint.Z), new Vector3(0, endPoint.Y, endPoint.Z));
lb.AddLine(new Vector3(0, endPoint.Y, endPoint.Z), new Vector3(endPoint.X, endPoint.Y, endPoint.Z));
var lineGeom = lb.ToLineGeometry3D();
lineGeom.Colors = new Color4Collection(new [] {
Colors.Blue.ToColor4(),
Colors.Blue.ToColor4(),
Colors.Green.ToColor4(),
Colors.Green.ToColor4(),
Colors.Red.ToColor4(),
Colors.Red.ToColor4(),
});
context.Send(_ => {
_model.Geometry = tube;
_deflectionModel.Geometry = deflectionTube;
_refLines.Geometry = lineGeom;
}, null);
}
public void AddDisplayLines(ref LineBuilder _b)
{
if (_b == null)
{
return;
}
this.Update();
int nrP = this.polygon.Count;
for (int i = 0; i < nrP; i++)
{
_b.AddLine(this.polygon[i].ToVector3(), this.polygon[(i + 1) % nrP].ToVector3());
}
if (this.holes != null)
{
foreach (List <Point3D> hole in this.holes)
{
int nrPH = hole.Count;
for (int j = 0; j < nrPH; j++)
{
_b.AddLine(hole[j].ToVector3(), hole[(j + 1) % nrPH].ToVector3());
}
}
}
}
private void CreateArrows(float gridMaxX, float gridMinX, float gridMaxY, float gridMinY, float gridMaxZ, float gridMinZ)
{
var offset = 20;
var width = 10;
Vector3 p0 = new Vector3(gridMinX, gridMaxY, gridMinZ);
//y
Vector3 px1 = new Vector3(gridMinX, gridMinY, gridMinZ);
Vector3 px2 = new Vector3(gridMinX + width, gridMinY + offset, gridMinZ);
Vector3 px3 = new Vector3(gridMinX - width, gridMinY + offset, gridMinZ);
//x
Vector3 py1 = new Vector3(gridMaxX, gridMaxY, gridMinZ);
Vector3 py2 = new Vector3(gridMaxX - offset, gridMaxY + width, gridMinZ);
Vector3 py3 = new Vector3(gridMaxX - offset, gridMaxY - width, gridMinZ);
//z
Vector3 pz1 = new Vector3(gridMinX, gridMaxY, gridMaxZ);
Vector3 pz2 = new Vector3(gridMinX + width, gridMaxY, gridMaxZ - offset);
Vector3 pz3 = new Vector3(gridMinX - width, gridMaxY, gridMaxZ - offset);
arrows.AddLine(p0, px1);
arrows.AddLine(px1, px2);
arrows.AddLine(px1, px3);
arrows.AddLine(p0, py1);
arrows.AddLine(py1, py2);
arrows.AddLine(py1, py3);
arrows.AddLine(p0, pz1);
arrows.AddLine(pz1, pz2);
arrows.AddLine(pz1, pz3);
}
public static LineGeometry3D GetIntersectionMarker(Vector3 _point, float _size)
{
Vector3 topL = _point - Vector3.UnitX * _size * 0.5f + Vector3.UnitZ * _size * 0.5f;
Vector3 topR = _point + Vector3.UnitX * _size * 0.5f + Vector3.UnitZ * _size * 0.5f;
Vector3 bottomL = _point - Vector3.UnitX * _size * 0.5f - Vector3.UnitZ * _size * 0.5f;
Vector3 bottomR = _point + Vector3.UnitX * _size * 0.5f - Vector3.UnitZ * _size * 0.5f;
LineBuilder b = new LineBuilder();
b.AddLine(bottomL, topR);
b.AddLine(bottomR, topL);
return(b.ToLineGeometry3D());
}
public static void CreateAxes(LineBuilder arrows, float gridMaxX, float gridMinX, float gridMaxY, float gridMinY, float gridMaxZ, float gridMinZ)
{
Vector3 p0 = new Vector3(0, 0, 0);
//x
Vector3 px1 = new Vector3(gridMaxX - gridMinX, 0, 0);
//y
Vector3 py1 = new Vector3(0, gridMaxY - gridMinY, 0);
//z
var z = (gridMaxX - gridMinX) > (gridMaxY - gridMinY) ? (gridMaxX - gridMinX) : (gridMaxY - gridMinY);
Vector3 pz1 = new Vector3(0, 0, Math.Abs(z / 5));
arrows.AddLine(p0, px1);
arrows.AddLine(p0, py1);
arrows.AddLine(p0, pz1);
}
public static void CreateGrid(LineBuilder gridLines, double gridMaxX, double gridMinX, double gridMaxY, double gridMinY, double gridMinZ)
{
for (double i = 1; i < (int)(gridMaxY - gridMinY); i += 50) // creating grid
{
Vector3 p1 = new Vector3(0, (float)i, 0);
Vector3 p2 = new Vector3((float)(gridMaxX - gridMinX), (float)i, 0);
gridLines.AddLine(p1, p2);
}
for (double i = 1; i < (int)(gridMaxX - gridMinX); i += 50) // creating grid
{
Vector3 p1 = new Vector3((float)i, 0, 0);
Vector3 p2 = new Vector3((float)i, (float)(gridMaxY - gridMinY), 0);
gridLines.AddLine(p1, p2);
}
}
public static LineGeometry3D GetMidPointMarker(Vector3 _point, float _size)
{
Vector3 top = _point + Vector3.UnitZ * _size * 0.5f;
Vector3 bottomL = _point - Vector3.UnitX * _size * 0.5f * (float)Math.Cos(Math.PI / 6)
- Vector3.UnitZ * _size * 0.5f * (float)Math.Sin(Math.PI / 6);
Vector3 bottomR = _point + Vector3.UnitX * _size * 0.5f * (float)Math.Cos(Math.PI / 6)
- Vector3.UnitZ * _size * 0.5f * (float)Math.Sin(Math.PI / 6);
LineBuilder b = new LineBuilder();
b.AddLine(bottomL, bottomR);
b.AddLine(bottomR, top);
b.AddLine(top, bottomL);
return(b.ToLineGeometry3D());
}
public object Convert(object[] values, Type targetType, object parameter, CultureInfo culture)
{
if ((values != null) && (values.Count() == 2) && (values[0] is MDB.Point p1) && (values[1] is MDB.Point p2))
{
var builder = new LineBuilder();
var v1 = new SharpDX.Vector3((float)p1.X, (float)p1.Y, (float)p1.Z);
var v2 = new SharpDX.Vector3((float)p2.X, (float)p2.Y, (float)p2.Z);
var d = v2 - v1;
var n = d.Normalized();
var len = d.Length();
if ((parameter != null) && (len <= 10.0))
{
v2 += n * 6.0f;
v1 -= n * 6.0f;
}
builder.AddLine(v1, v2);
return(builder.ToLineGeometry3D());
}
else
{
return(null);
}
}
public MainViewModel()
{
EffectsManager = new DefaultEffectsManager();
Camera = new PerspectiveCamera {
};
// 座標面の作成
GridGeometry3D = LineBuilder.GenerateGrid(10);
LineBuilder lineBuilderX = new LineBuilder();
lineBuilderX.AddLine(new Vector3(0, 0, 0), new Vector3(1, 0, 0));
AxisX = lineBuilderX.ToLineGeometry3D();
LineBuilder lineBuilderY = new LineBuilder();
lineBuilderY.AddLine(new Vector3(0, 0, 0), new Vector3(0, 1, 0));
AxisY = lineBuilderY.ToLineGeometry3D();
LineBuilder lineBuilderZ = new LineBuilder();
lineBuilderZ.AddLine(new Vector3(0, 0, 0), new Vector3(0, 0, 1));
AxisZ = lineBuilderZ.ToLineGeometry3D();
// 座標面のトランスフォーム作成
GridGeometry3DTransform = new System.Windows.Media.Media3D.TranslateTransform3D(-5, 0, -5);
}
public override LineGeometry3D Build(double _startMarkerSize = 0.1)
{
if (this.contour == null)
{
if (this.quad == null)
{
this.contour = null;
return(null);
}
int n = this.quad.Count;
if (n < 3)
{
this.contour = null;
return(null);
}
LineBuilder b = new LineBuilder();
for (int i = 0; i < n; i++)
{
b.AddLine(this.quad[i], this.quad[(i + 1) % n]);
}
this.contour = b.ToLineGeometry3D();
}
return(this.contour);
}
private void RenderPath()
{
LineBuilder lb = new LineBuilder();
var startv3 = StartBall.Transform.ToVector3();
var endv3 = EndBall.Transform.ToVector3();
var start = new DHVertex()
{
x = startv3.X, y = startv3.Y, z = startv3.Z
};
var end = new DHVertex()
{
x = endv3.X, y = endv3.Y, z = endv3.Z
};
DHPath path = new DHPath();
if (dh.FindPath(true, start, end, path))
{
if (path.Length > 1)
{
var vs = path.GetPathData();
for (int i = 0; i < path.Length - 1; i++)
{
Vector3 v = new Vector3((float)vs[i].x, (float)vs[i].y, (float)vs[i].z);
Vector3 nv = new Vector3((float)vs[i + 1].x, (float)vs[i + 1].y, (float)vs[i + 1].z);
lb.AddLine(new Vector3(v.X, v.Y + 1, v.Z), new Vector3(nv.X, nv.Y + 1, nv.Z));
}
}
WayPath.Geometry = lb.ToLineGeometry3D();
}
//playersGroup.Children.Clear();
//playersGroup.Children.Add(WayPath);
}
/// <summary>
/// The on children changed.
/// </summary>
protected virtual void OnChildrenChanged()
{
this.translateXL.Length = 0.5;
this.translateYL.Length = 0.5;
this.translateZL.Length = 0.5;
this.translateXR.Length = 0.5;
this.translateYR.Length = 0.5;
this.translateZR.Length = 0.5;
this.Children.Clear();
if (this.CanTranslateX)
{
this.Children.Add(this.translateXL);
this.Children.Add(this.translateXR);
}
if (this.CanTranslateY)
{
this.Children.Add(this.translateYL);
this.Children.Add(this.translateYR);
}
if (this.CanTranslateZ)
{
this.Children.Add(this.translateZL);
this.Children.Add(this.translateZR);
}
{
var g = new LineBuilder();
g.AddLine(new Vector3(0, 0, 0), new Vector3(1, 0, 0));
g.AddLine(new Vector3(1, 0, 0), new Vector3(1, 1, 0));
g.AddLine(new Vector3(1, 1, 0), new Vector3(0, 1, 0));
g.AddLine(new Vector3(0, 1, 0), new Vector3(0, 0, 0));
this.selectionBounds = new LineGeometryModel3D()
{
Thickness = 3,
Smoothness = 2,
Color = System.Windows.Media.Colors.Red,
IsThrowingShadow = false,
Geometry = g.ToLineGeometry3D(),
};
this.Children.Add(this.selectionBounds);
}
}
public MainViewModel()
{
EffectsManager = new DefaultEffectsManager();
// titles
this.Title = "Post Processing Effects Demo";
this.SubTitle = "WPF & SharpDX";
// ----------------------------------------------
// camera setup
this.Camera = new PerspectiveCamera {
Position = new Point3D(0, -30, 0),
LookDirection = new Vector3D(0, 30, 0),
UpDirection = new Vector3D(0, 0, 1)
};
var m1 = Load3ds("suzanne.obj").Select(x => x.Geometry).ToArray();
MeshModel1 = m1[0];
var m2 = Load3ds("skeleton.3ds").Select(x => x.Geometry).ToArray();
MeshModel2 = m2[0];
Model1Transform = new Media3D.TranslateTransform3D(new Vector3D(7, 0, 0));
Model2Transform = new Media3D.TranslateTransform3D(new Vector3D(-5, 0, 0));
var builder = new MeshBuilder();
builder.AddBox(new Vector3(0, 0, -5), 15, 15, 0.2);
FloorModel = builder.ToMesh();
builder = new MeshBuilder();
builder.AddSphere(new Vector3(0, 0, 0), 1);
MeshModel3 = builder.ToMesh();
var lineBuilder = new LineBuilder();
lineBuilder.AddLine(Vector3.Zero, Vector3.UnitX * 5);
lineBuilder.AddLine(Vector3.Zero, Vector3.UnitY * 5);
lineBuilder.AddLine(Vector3.Zero, Vector3.UnitZ * 5);
LineModel = lineBuilder.ToLineGeometry3D();
LineModel.Colors = new Color4Collection()
{
new Color4(1, 0, 0, 1), new Color4(1, 0, 0, 1), new Color4(0, 1, 0, 1), new Color4(0, 1, 0, 1), new Color4(0, 0, 1, 1), new Color4(0, 0, 1, 1),
};
}
public override LineGeometry3D Build(double _startMarkerSize = 0.1)
{
this.ValidateGeometry();
if (!this.IsValid)
{
return(null);
}
int n = this.Coords0.Count;
LineBuilder b1 = new LineBuilder();
b1.AddBox(this.Coords0[0].ToVector3(), _startMarkerSize, _startMarkerSize, _startMarkerSize);
b1.AddLine(this.Coords0[0].ToVector3(), this.Coords1[0].ToVector3());
if (n == 1)
{
b1.AddBox(this.Coords1[0].ToVector3(), _startMarkerSize, _startMarkerSize, _startMarkerSize);
}
int nextInd = this.Connected[0];
if (nextInd == -1 && n > 1)
{
b1.AddBox(this.Coords1[0].ToVector3(), _startMarkerSize, _startMarkerSize, _startMarkerSize);
}
for (int i = 1; i < n; i++)
{
// next segment regardless of connectivity
b1.AddLine(this.Coords0[i].ToVector3(), this.Coords1[i].ToVector3());
// mark end of connected segment
nextInd = this.Connected[i];
if (nextInd == -1)
{
b1.AddBox(this.Coords1[i].ToVector3(), _startMarkerSize, _startMarkerSize, _startMarkerSize);
if (i < (n - 1))
{
b1.AddBox(this.Coords0[i + 1].ToVector3(), _startMarkerSize, _startMarkerSize, _startMarkerSize);
}
}
}
return(b1.ToLineGeometry3D());
}
private void InitializeCoordinates()
{
var builder = new LineBuilder();
builder.AddLine(Vector3.Zero, Vector3.UnitX * 5);
builder.AddLine(Vector3.Zero, Vector3.UnitY * 5);
builder.AddLine(Vector3.Zero, Vector3.UnitZ * 5);
Coordinate = builder.ToLineGeometry3D();
Coordinate.Colors = new Color4Collection(Enumerable.Repeat <Color4>(Color.White, 6));
Coordinate.Colors[0] = Coordinate.Colors[1] = Color.Red;
Coordinate.Colors[2] = Coordinate.Colors[3] = Color.Green;
Coordinate.Colors[4] = Coordinate.Colors[5] = Color.Blue;
CoordinateText = new BillboardText3D();
CoordinateText.TextInfo.Add(new TextInfo("X", Vector3.UnitX * 6));
CoordinateText.TextInfo.Add(new TextInfo("Y", Vector3.UnitY * 6));
CoordinateText.TextInfo.Add(new TextInfo("Z", Vector3.UnitZ * 6));
}
private void CreateGrid(double gridMaxX, double gridMinX, double gridMaxY, double gridMinY, double gridMinZ)
{
for (double i = gridMinY; i < gridMaxY - 10; i += (gridMaxY - gridMinY) / 10) // tworzenie siatki
{
Vector3 p1 = new Vector3((float)gridMaxX, (float)i, (float)gridMinZ);
Vector3 p2 = new Vector3((float)gridMinX, (float)i, (float)gridMinZ);
lines.AddLine(p1, p2);
}
}
public object Convert(object value, Type targetType, object parameter, CultureInfo culture)
{
if ((value is MVMIH.IElementHandle eh) && (parameter is string str) && int.TryParse(str, out int idx))
{
GetPoints(eh, idx, out Vector3 p0, out Vector3 p1);
var builder = new LineBuilder();
builder.AddLine(p0, p1);
return(builder.ToLineGeometry3D());
}
public IKHexapod(Vector3 center_point)
{
var e1 = new LineBuilder();
e1.Add(true,
new Vector3(-Config.HALF_X2LENGTH, 0, 0),
new Vector3(-Config.HALF_X1LENGTH, 0, Config.HALF_ZLENGTH),
new Vector3(Config.HALF_X1LENGTH, 0, Config.HALF_ZLENGTH),
new Vector3(Config.HALF_X2LENGTH, 0, 0),
new Vector3(Config.HALF_X1LENGTH, 0, -Config.HALF_ZLENGTH),
new Vector3(-Config.HALF_X1LENGTH, 0, -Config.HALF_ZLENGTH));
e1.Add(true, new Vector3(-Config.HALF_X2LENGTH, Config.BODY_HIGH, 0),
new Vector3(-Config.HALF_X1LENGTH, Config.BODY_HIGH, Config.HALF_ZLENGTH),
new Vector3(Config.HALF_X1LENGTH, Config.BODY_HIGH, Config.HALF_ZLENGTH),
new Vector3(Config.HALF_X2LENGTH, Config.BODY_HIGH, 0),
new Vector3(Config.HALF_X1LENGTH, Config.BODY_HIGH, -Config.HALF_ZLENGTH),
new Vector3(-Config.HALF_X1LENGTH, Config.BODY_HIGH, -Config.HALF_ZLENGTH));
e1.AddLine(
new Vector3(Config.HALF_X1LENGTH, Config.BODY_HIGH, -Config.HALF_ZLENGTH),
new Vector3(Config.HALF_X1LENGTH, 0, -Config.HALF_ZLENGTH));
e1.AddLine(
new Vector3(Config.HALF_X2LENGTH, Config.BODY_HIGH, 0),
new Vector3(Config.HALF_X2LENGTH, 0, 0));
e1.AddLine(
new Vector3(Config.HALF_X1LENGTH, Config.BODY_HIGH, Config.HALF_ZLENGTH),
new Vector3(Config.HALF_X1LENGTH, 0, Config.HALF_ZLENGTH));
e1.AddLine(
new Vector3(-Config.HALF_X1LENGTH, Config.BODY_HIGH, Config.HALF_ZLENGTH),
new Vector3(-Config.HALF_X1LENGTH, 0, Config.HALF_ZLENGTH));
e1.AddLine(
new Vector3(-Config.HALF_X2LENGTH, Config.BODY_HIGH, 0),
new Vector3(-Config.HALF_X2LENGTH, 0, 0));
e1.AddLine(
new Vector3(-Config.HALF_X1LENGTH, Config.BODY_HIGH, -Config.HALF_ZLENGTH),
new Vector3(-Config.HALF_X1LENGTH, 0, -Config.HALF_ZLENGTH));
//var leg = new IKLeg(0, new Vector3(), 1, 1, 1);
Leg1 = new IKLeg(1,
new Vector3(Config.HALF_X1LENGTH, Config.TIBIA_LENGTH, -Config.HALF_ZLENGTH),
Config.COXA_LENGTH, Config.FEMUR_LENGTH, Config.TIBIA_LENGTH);
Leg2 = new IKLeg(2,
new Vector3(Config.HALF_X2LENGTH, Config.TIBIA_LENGTH, 0),
Config.COXA_LENGTH, Config.FEMUR_LENGTH, Config.TIBIA_LENGTH);
Leg3 = new IKLeg(3,
new Vector3(Config.HALF_X1LENGTH, Config.TIBIA_LENGTH, Config.HALF_ZLENGTH),
Config.COXA_LENGTH, Config.FEMUR_LENGTH, Config.TIBIA_LENGTH);
Leg4 = new IKLeg(4,
new Vector3(-Config.HALF_X1LENGTH, Config.TIBIA_LENGTH, Config.HALF_ZLENGTH),
Config.COXA_LENGTH, Config.FEMUR_LENGTH, Config.TIBIA_LENGTH);
Leg5 = new IKLeg(5,
new Vector3(-Config.HALF_X2LENGTH, Config.TIBIA_LENGTH, 0),
Config.COXA_LENGTH, Config.FEMUR_LENGTH, Config.TIBIA_LENGTH);
Leg6 = new IKLeg(6,
new Vector3(-Config.HALF_X1LENGTH, Config.TIBIA_LENGTH, -Config.HALF_ZLENGTH),
Config.COXA_LENGTH, Config.FEMUR_LENGTH, Config.TIBIA_LENGTH);
ModelSkeleton = e1.ToLineGeometry3D();
SkeletonTransform = new System.Windows.Media.Media3D.TranslateTransform3D(center_point.ToVector3D());
Calculate();
}
/// <summary>
/// Generates a square grid with a step of 1.0
/// </summary>
/// <returns></returns>
public static LineGeometry3D GenerateGrid(Vector3 plane, int min = 0, int max = 10)
{
var grid = new LineBuilder();
//int width = max - min;
if (plane == Vector3.UnitX)
{
for (int i = min; i <= max; i++)
{
grid.AddLine(new Vector3(0, i, min), new Vector3(0, i, max));
grid.AddLine(new Vector3(0, min, i), new Vector3(0, max, i));
}
}
else if (plane == Vector3.UnitY)
{
for (int i = min; i <= max; i++)
{
grid.AddLine(new Vector3(i, 0, min), new Vector3(i, 0, max));
grid.AddLine(new Vector3(min, 0, i), new Vector3(max, 0, i));
}
}
else
{
for (int i = min; i <= max; i++)
{
grid.AddLine(new Vector3(i, min, 0), new Vector3(i, max, 0));
grid.AddLine(new Vector3(min, i, 0), new Vector3(max, i, 0));
}
}
return(grid.ToLineGeometry3D());
}
public override LineGeometry3D BuildSelectionGeometry()
{
if (this.TextChanged)
{
this.TextToGeometry();
}
base.ValidateGeometry();
if (!this.IsValid)
{
return(null);
}
LineBuilder b1 = new LineBuilder();
b1.AddLine(TextBounds.Minimum, new Vector3(TextBounds.Maximum.X, TextBounds.Minimum.Y, TextBounds.Minimum.Z));
b1.AddLine(new Vector3(TextBounds.Maximum.X, TextBounds.Minimum.Y, TextBounds.Minimum.Z), TextBounds.Maximum);
b1.AddLine(TextBounds.Maximum, new Vector3(TextBounds.Minimum.X, TextBounds.Maximum.Y, TextBounds.Maximum.Z));
b1.AddLine(new Vector3(TextBounds.Minimum.X, TextBounds.Maximum.Y, TextBounds.Maximum.Z), TextBounds.Minimum);
return(b1.ToLineGeometry3D());
}
public MainViewModel()
{
EffectsManager = new DefaultEffectsManager();
Camera = new OrthographicCamera()
{
Position = new Point3D(0, 0, -5), LookDirection = new Vector3D(0, 0, 5), UpDirection = new Vector3D(0, 1, 0)
};
LoadTeapotCommand = new RelayCommand((o) => { Load(0); });
LoadSkullCommand = new RelayCommand((o) => { Load(1); });
LoadCloudCommand = new RelayCommand((o) => { Load(2); });
LoadBeetleCommand = new RelayCommand((o) => { Load(3); });
var builder = new MeshBuilder();
//builder.AddBox(new Vector3(0, 0, 0), 2, 2, 0.001);
builder.AddSphere(Vector3.Zero, 0.1);
builder.AddBox(Vector3.UnitX, 0.2, 0.2, 0.2);
MeshModel = builder.ToMesh();
MeshMaterial = PhongMaterials.Yellow;
var lineBuilder = new LineBuilder();
lineBuilder.AddLine(Vector3.Zero, Vector3.UnitX * 1.5f);
lineBuilder.AddLine(Vector3.Zero, Vector3.UnitY * 1.5f);
lineBuilder.AddLine(Vector3.Zero, Vector3.UnitZ * 1.5f);
AxisModel = lineBuilder.ToLineGeometry3D();
AxisModel.Colors = new Color4Collection(AxisModel.Positions.Count);
AxisModel.Colors.Add(Colors.Red.ToColor4());
AxisModel.Colors.Add(Colors.Red.ToColor4());
AxisModel.Colors.Add(Colors.Green.ToColor4());
AxisModel.Colors.Add(Colors.Green.ToColor4());
AxisModel.Colors.Add(Colors.Blue.ToColor4());
AxisModel.Colors.Add(Colors.Blue.ToColor4());
AxisModelMaterial = new LineArrowHeadMaterial()
{
Color = Colors.White, ArrowSize = 0.05
};
//Load(0);
}
public object Convert(object[] values, Type targetType, object parameter, CultureInfo culture)
{
if ((values != null) && (values.Count() == 3) && (values[0] is double x) && (values[1] is double y) && (values[2] is double z))
{
var builder = new LineBuilder();
var p0 = new SharpDX.Vector3();
var p1 = new SharpDX.Vector3(0.0f, 0.0f, (float)(z / 2.0));
var p2 = new SharpDX.Vector3(0.0f, (float)y, (float)(z / 2.0));
var p3 = new SharpDX.Vector3((float)x, (float)y, (float)(z / 2.0));
var p4 = new SharpDX.Vector3((float)x, (float)y, (float)z);
builder.AddLine(p0, p1);
builder.AddLine(p1, p2);
builder.AddLine(p2, p3);
builder.AddLine(p3, p4);
return(builder.ToLineGeometry3D());
}
else
{
return(null);
}
}
private static Geometry3D BuildGrid()
{
float spacing = 20;
var grid = new LineBuilder();
for (int x = -2; x <= 2; x++)
{
grid.AddLine(new Vector3(x, -2, 0) * spacing, new Vector3(x, 2, 0) * spacing);
grid.AddLine(new Vector3(x, -2, 5) * spacing, new Vector3(x, -2, 0) * spacing);
}
for (int y = -2; y <= 2; y++)
{
grid.AddLine(new Vector3(-2, y, 0) * spacing, new Vector3(2, y, 0) * spacing);
}
for (int z = 1; z <= 5; z++)
{
grid.AddLine(new Vector3(-2, -2, z) * spacing, new Vector3(2, -2, z) * spacing);
}
return(grid.ToLineGeometry3D());
}
public void LoadMap(string bytesFileName)
{
bool succ = false;
if (dh.MapLoaded)
{
dh.Unload();
}
succ = dh.Load(bytesFileName);
if (succ)
{
DHTriangle[] triangles = dh.GetTriangles();
DHVertex[] verts = dh.GetVertexes();
var lb = new LineBuilder();
groundGroup.Children.Clear();
mViewModel.ModelTransform = new TranslateTransform3D();
for (int i = 0; i < triangles.Length; i++)
{
var node = triangles[i];
lb.AddLine(MapReader.U2V(node.vertices0), MapReader.U2V(node.vertices1));
lb.AddLine(MapReader.U2V(node.vertices1), MapReader.U2V(node.vertices2));
lb.AddLine(MapReader.U2V(node.vertices2), MapReader.U2V(node.vertices0));
MeshGeometryModel3D mgm = MapReader.MakeMeshGeometryModel3DUnity(node, mViewModel.Material);
groundGroup.Children.Add(mgm);
mgm.Attach(mViewModel.modelView.RenderHost);
}
mViewModel.LineGeometry = lb.ToLineGeometry3D();
lineTriangulatedPolygon.Geometry = mViewModel.LineGeometry;
}
//icon = AddOrUpdatePlayerPosition("player", 0, 0, 0, 0.5f, 0, 0, 0);
//icon.LastUpdateTime = DateTime.Now.AddSeconds(1);
//Ray r = new Ray(mViewModel.Camera.Position,);
}
private void Grbl_GcodeLineChanged(object sender, EventArgs e)
{
GcodeLine gcodeline = (GcodeLine)sender;
Vector3 frompoint = new Vector3((float)(X0 + gcodeline.Xfrom), (float)(Y0 + gcodeline.Yfrom), (float)(Z0 + gcodeline.Zfrom));
Vector3 topoint = new Vector3((float)(X0 + gcodeline.Xto), (float)(Y0 + gcodeline.Yto), (float)(Z0 + gcodeline.Zto));
Vector3 centerpoint = new Vector3((float)(X0 + gcodeline.Xcenter), (float)(Y0 + gcodeline.Ycenter), (float)(Z0 + gcodeline.Zcenter));
if (!float.IsNaN(frompoint.X) & !float.IsNaN(frompoint.Y) & !float.IsNaN(frompoint.Z) & !float.IsNaN(topoint.X) & !float.IsNaN(topoint.Y) & !float.IsNaN(topoint.Z))
{
if (gcodeline.IsCuttingMotion)
{
if (gcodeline.IsLinearMotion)
{
localprocessed.AddLine(frompoint, topoint);
}
else
{
ArcPointSegment(ref localprocessed, frompoint, topoint, centerpoint, (bool)gcodeline.IsCW);
}
}
else
{
if (gcodeline.IsLinearMotion)
{
localprocessed.AddLine(frompoint, topoint);
}
else
{
ArcPointSegment(ref localprocessed, frompoint, topoint, centerpoint, (bool)gcodeline.IsCW);
}
}
}
Processed = localprocessed.ToLineGeometry3D();
}
public void UpdateSLAMPointCloud()
{
int Error = 0;
var pose = new List <HelixToolkit.Wpf.SharpDX.Geometry3D.Line>();
var line = new LineBuilder();
Vector3 previousPose = new Vector3(Convert.ToSingle(poseX), Convert.ToSingle(poseY), Convert.ToSingle(poseZ));
while (IsSLAMOn)
{
var vc = new Vector3Collection();
var id = new IntCollection();
var cc = new Color4Collection();
var poseVect = new List <double[]>();
var colorVect = new List <double[]>();
Vector3 currentPose = new Vector3(Convert.ToSingle(poseX), Convert.ToSingle(poseY), Convert.ToSingle(poseZ));
line.AddLine(previousPose, currentPose);
SLAMPoseInfo = line.ToLineGeometry3D();
previousPose = currentPose;
try
{
RealsenseControl.GetSLAMPointCloud(ref poseVect, ref colorVect, T265ToLACCOffset.X, T265ToLACCOffset.Y, T265ToLACCOffset.Z);
for (int i = 0; i < poseVect.Count; i++)
{
vc.Add(new Vector3(Convert.ToSingle(poseVect[i][0]), Convert.ToSingle(poseVect[i][1]), Convert.ToSingle(poseVect[i][2])));
cc.Add(new Color4(0.1f, 0.1f, 0.1f, 0.5f));
//cc.Add(new Color4(Convert.ToSingle(colorVect[i][0]), Convert.ToSingle(colorVect[i][1]), Convert.ToSingle(colorVect[i][2]), 0.5f));
id.Add(i);
}
SLAMPointCloud = new PointGeometry3D()
{
Positions = vc, Indices = id, Colors = cc
};
}
catch
{
Error++;
Trace.WriteLine("Error Count is " + Error);
}
Thread.Sleep(50);
}
}
private void ArcPointSegment(ref LineBuilder _routerpath, Vector3 startpoint, Vector3 endpoint, Vector3 centerpoint, bool clockwise)
{
int numberoflinesinsegment = 5;
float radius = Radius(centerpoint, startpoint);
float startangle = Angle(centerpoint, startpoint, true);
float endangle = Angle(centerpoint, endpoint, true);
endangle = endangle == 0 ? (float)Math.PI * 2 : endangle;
float arclength = (!clockwise && endangle < startangle) ? (float)((Math.PI * 2 - startangle) + endangle) : ((clockwise && endangle > startangle) ? (float)((Math.PI * 2 - endangle) + startangle) : (float)Math.Abs(endangle - startangle));
Vector3 endoflinesegment = endpoint;
float angle;
float dz = (endpoint.Z - startpoint.Z) / numberoflinesinsegment;
List <Vector3> vectors = new List <Vector3>();
for (int i = 0; i < numberoflinesinsegment; i++)
{
if (i > 1)
{
vectors.Add(endoflinesegment);
}
angle = clockwise ? (startangle - i * arclength / numberoflinesinsegment) : (startangle + i * arclength / numberoflinesinsegment);
angle = (angle >= Math.PI * 2) ? angle - (float)Math.PI * 2 : angle;
endoflinesegment.X = (float)Math.Cos(angle) * radius + centerpoint.X;
endoflinesegment.Y = (float)Math.Sin(angle) * radius + centerpoint.Y;
endoflinesegment.Z += dz;
vectors.Add(endoflinesegment);
}
vectors.Add(endoflinesegment);
vectors.Add(endpoint);
for (int x = 1; x < vectors.Count; x++)
{
_routerpath.AddLine(vectors[x - 1], vectors[x]);
}
}
public virtual LineGeometry3D BuildSelectionGeometry()
{
this.ValidateGeometry();
if (!this.IsValid)
{
return(null);
}
int n = this.Coords0.Count;
LineBuilder b1 = new LineBuilder();
for (int i = 0; i < n; i++)
{
b1.AddLine(this.Coords0[i].ToVector3(), this.Coords1[i].ToVector3());
}
return(b1.ToLineGeometry3D());
}
public override LineGeometry3D Build(double _startMarkerSize = 0.1)
{
List <Vector3> coords = this.OwnerPolygon.ExtractOpeningGeometry(this.idInOwner);
LineBuilder b = new LineBuilder();
if (coords.Count > 1)
{
// show opening on polygon
b.AddLine(coords[0], coords[1]);
b.AddBox(coords[0], _startMarkerSize, _startMarkerSize, _startMarkerSize);
b.AddBox(coords[1], _startMarkerSize, _startMarkerSize, _startMarkerSize);
// show owner vertex
b.AddBox(this.OwnerPolygon.Polygon_Coords[this.IndInOwner].ToVector3(),
_startMarkerSize, _startMarkerSize, _startMarkerSize);
}
return(b.ToLineGeometry3D());
}
//////////////////////////////////////////////////////////////////////////////////////////////////////////////
// =========================================== GEOMETRY DEFINITIONS ======================================= //
//////////////////////////////////////////////////////////////////////////////////////////////////////////////
#region GEOMETRY DEFINITIONS
private void UpdateGeometry()
{
// show the defining polygons
LineBuilder b = new LineBuilder();
int n = coords_polygons.Count;
if (n > 0)
{
for (int i = 0; i < n; i++)
{
// transfer current polygon
List <Point3D> cp = coords_polygons[i];
int m = cp.Count;
if (m > 0)
{
// lines
for (int j = 0; j < m; j++)
{
b.AddLine(cp[j % m].ToVector3(), cp[(j + 1) % m].ToVector3());
}
// start maker
b.AddBox(cp[0].ToVector3(), START_MARKER, 0, START_MARKER);
}
}
}
this.polygons.Geometry = b.ToLineGeometry3D();
// show the resulting volume
Vector3[] ar1 = CommonExtensions.ConvertPoint3DArToVector3Ar(this.coords_polygons[0].ToArray());
Vector3[] ar2 = CommonExtensions.ConvertPoint3DArToVector3Ar(this.coords_polygons[1].ToArray());
List <List <Vector3> > coords_poly_asV3 = CommonExtensions.ConvertPoints3DListListToVector3ListList(this.coords_polygons);
bool capBottom = false;
bool capTop = true;
HelixToolkit.SharpDX.Wpf.MeshGeometry3D volMesh =
MeshesCustom.MeshFromNPolygons(coords_poly_asV3, this.reverse_polygons, capBottom, capTop);
this.volume.Geometry = volMesh;
this.volumeNormals.Geometry = MeshesCustom.GetVertexNormalsAsLines(volMesh, 0.25f);
this.volumeEdges.Geometry = MeshesCustom.GetEdgesAsLines(volMesh);
}
/// <summary>
/// The on children changed.
/// </summary>
protected virtual void OnChildrenChanged()
{
this.translateXL.Length = 0.5;
this.translateYL.Length = 0.5;
this.translateZL.Length = 0.5;
this.translateXR.Length = 0.5;
this.translateYR.Length = 0.5;
this.translateZR.Length = 0.5;
this.Children.Clear();
if (this.CanTranslateX)
{
this.Children.Add(this.translateXL);
this.Children.Add(this.translateXR);
}
if (this.CanTranslateY)
{
this.Children.Add(this.translateYL);
this.Children.Add(this.translateYR);
}
if (this.CanTranslateZ)
{
this.Children.Add(this.translateZL);
this.Children.Add(this.translateZR);
}
{
var g = new LineBuilder();
g.AddLine(new Vector3(0, 0, 0), new Vector3(1, 0, 0));
g.AddLine(new Vector3(1, 0, 0), new Vector3(1, 1, 0));
g.AddLine(new Vector3(1, 1, 0), new Vector3(0, 1, 0));
g.AddLine(new Vector3(0, 1, 0), new Vector3(0, 0, 0));
this.selectionBounds = new LineGeometryModel3D()
{
Thickness = 3,
Smoothness = 2,
Color = Color.Red,
IsThrowingShadow = false,
Geometry = g.ToLineGeometry3D(),
};
this.Children.Add(this.selectionBounds);
}
}
