/// <summary>
/// Initialization
/// </summary>
public void InitializeBusinessLogic()
{
ConfigurationHelper.RegisterSettings(Properties.Settings.Default);
pointCloudViewModel = new PointcloudViewModel(new SharpDX.Size2(0, 0));
PointCloudView.ViewModel = pointCloudViewModel;
PointCloudView.InitializeScene();
DataContext = pointCloudViewModel;
// Moving Camera vertically up and turning it to look down
PointCloudView.ViewModel.SetCvmPosition(new System.Windows.Media.Media3D.Vector3D(0, 0, groundZ),
new System.Windows.Media.Media3D.Vector3D(180, 0, 90));
var planeColor = System.Windows.Media.Color.FromArgb(20, 50, 255, 50).ToColor4();
// Only points from this rectangular area are included and outliers are ignored
var scenePlane = PointcloudViewModel.CreatePlane(planeColor, groundD, groundW, new SharpDX.Vector3(0, 0, 1f));
PointCloudView.SceneRoot.Children.Add(scenePlane);
// For 3D texts
BillboardTextModel3D text = new BillboardTextModel3D();
PointCloudView.SceneRoot.Children.Add(text);
labels = new BillboardText3D();
text.Geometry = labels;
boundingBoxGroup = new GroupModel3D();
PointCloudView.SceneRoot.Children.Add(boundingBoxGroup);
rosControlBase.RosConnected += RosControlBase_RosConnected;
rosControlBase.RosDisconnected += RosControlBase_RosDisconnected;
rosControlBase.CvmDeviceInfoChaged += RosControlBase_CvmDeviceInfoChaged;
}
public DynaShapeDisplay(Solver solver)
{
this.solver = solver;
pointGeometry = new PointGeometry3D
{
Positions = new Vector3Collection(),
Indices = new IntCollection(),
Colors = new Color4Collection()
};
lineGeometry = new LineGeometry3D()
{
Positions = new Vector3Collection(),
Indices = new IntCollection(),
Colors = new Color4Collection()
};
billboardText = new BillboardText3D();
DynaShapeViewExtension.DynamoWindow.Dispatcher.Invoke(
() =>
{
pointModel = new PointGeometryModel3D
{
Size = new Size(5, 5),
Figure = PointGeometryModel3D.PointFigure.Ellipse,
Color = Color.White,
};
lineModel = new LineGeometryModel3D
{
Thickness = 0.5,
Color = Color.White,
};
billboardTextModel = new BillboardTextModel3D()
{
};
},
DispatcherPriority.Send);
DynaShapeViewExtension.ViewModel.RequestViewRefresh += RequestViewRefreshHandler;
DynaShapeViewExtension.DynamoWindow.Closed += (sender, args) => Dispose();
}
private void CreateOrUpdateText(string baseId, Vector3 pt, IRenderPackage rp)
{
var textId = baseId + TextKey;
BillboardTextModel3D bbText;
if (Model3DDictionary.ContainsKey(textId))
{
bbText = Model3DDictionary[textId] as BillboardTextModel3D;
}
else
{
bbText = new BillboardTextModel3D()
{
Geometry = HelixRenderPackage.InitText3D(),
};
Model3DDictionary.Add(textId, bbText);
}
var geom = bbText.Geometry as BillboardText3D;
geom.TextInfo.Add(new TextInfo(HelixRenderPackage.CleanTag(rp.Description),
new Vector3(pt.X + 0.025f, pt.Y + 0.025f, pt.Z + 0.025f)));
}
/// <summary>
/// Use the render packages returned from the visualization manager to update the visuals.
/// The visualization event arguments will contain a set of render packages and an id representing
/// the associated node. Visualizations for the background preview will return an empty id.
/// </summary>
/// <param name="e"></param>
public void RenderDrawables(VisualizationEventArgs e)
{
//check the id, if the id is meant for another watch,
//then ignore it
if (e.Id != _id)
{
Attach();
NotifyPropertyChanged("");
return;
}
// Don't render if the user's system is incapable.
if (renderingTier == 0)
{
return;
}
#if DEBUG
renderTimer.Start();
#endif
Text = null;
var packages = e.Packages.Concat(e.SelectedPackages)
.Cast <HelixRenderPackage>().Where(rp => rp.MeshVertexCount % 3 == 0);
var text = HelixRenderPackage.InitText3D();
var aggParams = new PackageAggregationParams
{
Packages = packages,
Text = text
};
AggregateRenderPackages(aggParams);
#if DEBUG
renderTimer.Stop();
Debug.WriteLine(string.Format("RENDER: {0} ellapsed for compiling assets for rendering.", renderTimer.Elapsed));
renderTimer.Reset();
renderTimer.Start();
#endif
//Helix render the packages in certain order. Here, the BillBoardText has to be rendered
//after rendering all the geometry. Otherwise, the Text will not get rendered at the right
//position. Also, BillBoardText gets attached only once. It is not removed from the tree everytime.
//Instead, only the geometry gets updated every time. Once it is attached (after the geometry), helix
// renders the text at the right position.
if (Text != null && Text.TextInfo.Any())
{
BillboardTextModel3D billboardText3D = new BillboardTextModel3D
{
Transform = Model1Transform
};
if (model3DDictionary != null && !model3DDictionary.ContainsKey("BillBoardText"))
{
model3DDictionary.Add("BillBoardText", billboardText3D);
}
var billBoardModel3D = model3DDictionary["BillBoardText"] as BillboardTextModel3D;
billBoardModel3D.Geometry = Text;
if (!billBoardModel3D.IsAttached)
{
billBoardModel3D.Attach(View.RenderHost);
}
}
else
{
if (model3DDictionary != null && model3DDictionary.ContainsKey("BillBoardText"))
{
var billBoardModel3D = model3DDictionary["BillBoardText"] as BillboardTextModel3D;
billBoardModel3D.Geometry = Text;
}
}
//This is required for Dynamo to send property changed notifications to helix.
NotifyPropertyChanged("");
}
