// Make the ground mesh.
private void MakeGround(double groundY)
{
MeshGeometry3D groundMesh = new MeshGeometry3D();
const double dx = 15;
const double dy = 1;
const double dz = dx;
Point3D corner = new Point3D(-dx / 2, groundY - dy, -dz / 2);
groundMesh.AddBoxWrapped(corner, D3.XVector(dx), D3.YVector(dy), D3.ZVector(dz));
Point[] topCoords =
{
new Point(0.1, 0.1),
new Point(0.1, 0.9),
new Point(0.9, 0.9),
new Point(0.9, 0.1),
};
Point[] frontCoords =
{
new Point(0.0, 0.1),
new Point(0.0, 0.9),
new Point(0.1, 0.9),
new Point(0.1, 0.1),
};
Point[] leftCoords =
{
new Point(0.9, 0.0),
new Point(0.1, 0.0),
new Point(0.1, 0.1),
new Point(0.9, 0.1),
};
Point[] rightCoords =
{
new Point(0.1, 1.0),
new Point(0.9, 1.0),
new Point(0.9, 0.9),
new Point(0.1, 0.9),
};
Point[] backCoords =
{
new Point(1.0, 0.9),
new Point(1.0, 0.1),
new Point(0.9, 0.1),
new Point(0.9, 0.9),
};
Point[] bottomCoords =
{
new Point(0.9, 0.1),
new Point(0.9, 0.9),
new Point(0.1, 0.9),
new Point(0.1, 0.1),
};
groundMesh.AddBox(corner, D3.XVector(dx), D3.YVector(dy), D3.ZVector(dz),
frontCoords, leftCoords, rightCoords, backCoords, topCoords, bottomCoords);
MainGroup.Children.Add(groundMesh.MakeModel("rock.jpg"));
}
// Define the model.
private void DefineModel()
{
// Axes.
//MainGroup.Children.Add(MeshExtensions.XAxisModel(5, 0.1));
//MainGroup.Children.Add(MeshExtensions.YAxisModel(12, 0.1));
//MainGroup.Children.Add(MeshExtensions.ZAxisModel(5, 0.1));
//MainGroup.Children.Add(MeshExtensions.OriginModel(0.12));
// Make the ground.
const double groundY = -5;
MakeGround(groundY);
// This group represents the whole robot.
RobotGroup = new Model3DGroup();
MainGroup.Children.Add(RobotGroup);
// Various robot dimensions.
const double headR = 1.5; // Head radius.
const double neckLen = headR; // Neck length.
const double backLen = 3 * headR; // Back length.
const double shouW = 3 * headR; // Shoulder width.
const double uaLen = 2 * headR; // Upper arm length.
const double laLen = 2 * headR; // Lower arm length
const double hipsW = 2 * headR; // Hip width.
const double ulLen = 2 * headR; // Upper leg length.
const double llLen = 2 * headR; // Lower leg length.
const double boneR = 0.3; // Bone radius.
const double jointR = 0.4; // Joint radius.
const double height = 2 * headR + neckLen + backLen + ulLen + llLen;
const double headY = height - headR; // Distance from center of head to ground.
Brush boneBrush = Brushes.PowderBlue;
// This group represents the whole robot.
RobotGroup = new Model3DGroup();
MainGroup.Children.Add(RobotGroup);
RobotGroup.Transform = new TranslateTransform3D(0, headY + groundY, 0);
// Head.
// Skull.
MeshGeometry3D skullMesh = new MeshGeometry3D();
skullMesh.AddSphere(D3.Origin, headR, 20, 10, true);
GeometryModel3D skullModel = skullMesh.MakeModel(boneBrush);
// Nose.
MeshGeometry3D noseMesh = new MeshGeometry3D();
Point3D noseCenter = new Point3D(0, 0, headR);
Point3D[] nosePoints = G3.MakePolygonPoints(10, noseCenter,
D3.XVector(headR * 0.2), D3.YVector(headR * 0.2));
Vector3D noseAxis = new Vector3D(0, 0, headR);
noseMesh.AddConeFrustum(noseCenter, nosePoints, noseAxis, headR * 0.5);
GeometryModel3D noseModel = noseMesh.MakeModel(Brushes.Orange);
// Eyes and smile.
MeshGeometry3D eyeMesh = new MeshGeometry3D();
Point3D eyeCenter = SphericalToCartesian(headR, -Math.PI * 0.2, Math.PI * 0.4);
eyeMesh.AddSphere(eyeCenter, headR * 0.2, 10, 5, false);
eyeCenter = SphericalToCartesian(headR, Math.PI * 0.2, Math.PI * 0.4);
eyeMesh.AddSphere(eyeCenter, headR * 0.2, 10, 5, false);
eyeCenter = SphericalToCartesian(headR, Math.PI * 0, Math.PI * 0.7);
eyeMesh.AddSphere(eyeCenter, headR * 0.1, 10, 5, false);
eyeCenter = SphericalToCartesian(headR, Math.PI * 0.1, Math.PI * 0.67);
eyeMesh.AddSphere(eyeCenter, headR * 0.1, 10, 5, false);
eyeCenter = SphericalToCartesian(headR, -Math.PI * 0.1, Math.PI * 0.67);
eyeMesh.AddSphere(eyeCenter, headR * 0.1, 10, 5, false);
eyeCenter = SphericalToCartesian(headR, Math.PI * 0.15, Math.PI * 0.6);
eyeMesh.AddSphere(eyeCenter, headR * 0.1, 10, 5, false);
eyeCenter = SphericalToCartesian(headR, -Math.PI * 0.15, Math.PI * 0.6);
eyeMesh.AddSphere(eyeCenter, headR * 0.1, 10, 5, false);
GeometryModel3D eyeModel = eyeMesh.MakeModel(Brushes.Black);
// Hat.
MeshGeometry3D hatMesh = new MeshGeometry3D();
Point3D hatCenter = new Point3D(0, headR * 0.75, 0);
hatMesh.AddSphere(hatCenter, headR * 0.75, 20, 10, true);
const double hatR = headR * 1.2;
Point3D[] hatPgon = G3.MakePolygonPoints(20, hatCenter,
D3.XVector(hatR), D3.ZVector(hatR));
hatMesh.AddCylinder(hatPgon, D3.YVector(-0.2), true);
GeometryModel3D hatModel = hatMesh.MakeModel(Brushes.SaddleBrown);
// Head groups.
HeadGroup = JoinBones(RobotGroup, null);
HeadGroup.Children.Add(skullModel);
HeadGroup.Children.Add(noseModel);
HeadGroup.Children.Add(eyeModel);
HeadGroup.Children.Add(hatModel);
// Neck.
MeshGeometry3D neckMesh = new MeshGeometry3D();
Point3D[] neckPgon = G3.MakePolygonPoints(10, D3.Origin,
D3.XVector(boneR), D3.ZVector(boneR));
neckMesh.AddCylinder(neckPgon, D3.YVector(-neckLen), true);
GeometryModel3D neckModel = neckMesh.MakeModel(boneBrush);
NeckGroup = JoinBones(HeadGroup, new TranslateTransform3D(0, -headR, 0));
NeckGroup.Children.Add(neckModel);
// Shoulders.
MeshGeometry3D shoulderMesh = new MeshGeometry3D();
Point3D[] shouldersPgon = G3.MakePolygonPoints(10,
new Point3D(-shouW / 2, 0, 0), D3.ZVector(boneR), D3.YVector(-boneR));
shoulderMesh.AddCylinder(shouldersPgon, D3.XVector(shouW), true);
GeometryModel3D shoulderModel = shoulderMesh.MakeModel(boneBrush);
ShoulderGroup = JoinBones(NeckGroup, new TranslateTransform3D(0, -neckLen, 0));
ShoulderGroup.Children.Add(shoulderModel);
// Left upper arm.
MeshGeometry3D luArmMesh = new MeshGeometry3D();
luArmMesh.AddCylinder(neckPgon, D3.YVector(-uaLen), true);
luArmMesh.AddSphere(D3.Origin, jointR, 10, 5, true);
GeometryModel3D luArmModel = luArmMesh.MakeModel(boneBrush);
LuArmGroup = JoinBones(ShoulderGroup, new TranslateTransform3D(shouW / 2, 0, 0));
LuArmGroup.Children.Add(luArmModel);
// Right upper arm.
MeshGeometry3D ruArmMesh = new MeshGeometry3D();
ruArmMesh.AddCylinder(neckPgon, D3.YVector(-uaLen), true);
ruArmMesh.AddSphere(D3.Origin, jointR, 10, 5, true);
GeometryModel3D ruArmModel = ruArmMesh.MakeModel(boneBrush);
RuArmGroup = JoinBones(ShoulderGroup, new TranslateTransform3D(-shouW / 2, 0, 0));
RuArmGroup.Children.Add(ruArmModel);
// Left lower arm.
MeshGeometry3D llArmMesh = new MeshGeometry3D();
llArmMesh.AddCylinder(neckPgon, D3.YVector(-laLen), true);
llArmMesh.AddSphere(D3.Origin, jointR, 10, 5, true);
GeometryModel3D llArmModel = llArmMesh.MakeModel(boneBrush);
LlArmGroup = JoinBones(LuArmGroup, new TranslateTransform3D(0, -uaLen, 0));
LlArmGroup.Children.Add(llArmModel);
// Right lower arm.
MeshGeometry3D rlArmMesh = new MeshGeometry3D();
rlArmMesh.AddCylinder(neckPgon, D3.YVector(-laLen), true);
rlArmMesh.AddSphere(D3.Origin, jointR, 10, 5, true);
GeometryModel3D rlArmModel = rlArmMesh.MakeModel(boneBrush);
RlArmGroup = JoinBones(RuArmGroup, new TranslateTransform3D(0, -uaLen, 0));
RlArmGroup.Children.Add(rlArmModel);
// Back and hips.
MeshGeometry3D backMesh = new MeshGeometry3D();
backMesh.AddCylinder(neckPgon, D3.YVector(-backLen), true);
GeometryModel3D backModel = backMesh.MakeModel(boneBrush);
MeshGeometry3D hipsMesh = new MeshGeometry3D();
Point3D[] hipsPgon = G3.MakePolygonPoints(10,
new Point3D(-hipsW / 2, -backLen, 0), D3.ZVector(boneR), D3.YVector(-boneR));
hipsMesh.AddCylinder(hipsPgon, D3.XVector(hipsW), true);
GeometryModel3D hipsModel = hipsMesh.MakeModel(boneBrush);
BackGroup = JoinBones(NeckGroup, new TranslateTransform3D(0, -neckLen, 0));
BackGroup.Children.Add(backModel);
BackGroup.Children.Add(hipsModel);
// Left upper leg.
MeshGeometry3D luLegMesh = new MeshGeometry3D();
luLegMesh.AddCylinder(neckPgon, D3.YVector(-ulLen), true);
luLegMesh.AddSphere(D3.Origin, jointR, 10, 5, true);
GeometryModel3D luLegModel = luLegMesh.MakeModel(boneBrush);
LuLegGroup = JoinBones(BackGroup, new TranslateTransform3D(-hipsW / 2, -backLen, 0));
LuLegGroup.Children.Add(luLegModel);
// Right upper leg.
MeshGeometry3D ruLegMesh = new MeshGeometry3D();
ruLegMesh.AddCylinder(neckPgon, D3.YVector(-ulLen), true);
ruLegMesh.AddSphere(D3.Origin, jointR, 10, 5, true);
GeometryModel3D ruLegModel = ruLegMesh.MakeModel(boneBrush);
RuLegGroup = JoinBones(BackGroup, new TranslateTransform3D(hipsW / 2, -backLen, 0));
RuLegGroup.Children.Add(ruLegModel);
// Left lower leg.
MeshGeometry3D llLegMesh = new MeshGeometry3D();
llLegMesh.AddCylinder(neckPgon, D3.YVector(-llLen), true);
llLegMesh.AddSphere(D3.Origin, jointR, 10, 5, true);
GeometryModel3D llLegModel = llLegMesh.MakeModel(boneBrush);
LlLegGroup = JoinBones(LuLegGroup, new TranslateTransform3D(0, -ulLen, 0));
LlLegGroup.Children.Add(llLegModel);
// Right lower leg.
MeshGeometry3D rlLegMesh = new MeshGeometry3D();
rlLegMesh.AddCylinder(neckPgon, D3.YVector(-llLen), true);
rlLegMesh.AddSphere(D3.Origin, jointR, 10, 5, true);
GeometryModel3D rlLegModel = rlLegMesh.MakeModel(boneBrush);
RlLegGroup = JoinBones(RuLegGroup, new TranslateTransform3D(0, -ulLen, 0));
RlLegGroup.Children.Add(rlLegModel);
}