public static Point GetCoord(TransformationMatrix tM, CoordinatesMatrix cM)
{
var res = new Point
{
X = tM.TransMatrix[0, 0] * cM.Vector[0] + tM.TransMatrix[0, 1] * cM.Vector[1] +
tM.TransMatrix[0, 2] * cM.Vector[2],
Y = tM.TransMatrix[1, 0] * cM.Vector[0] + tM.TransMatrix[1, 1] * cM.Vector[1] +
tM.TransMatrix[1, 2] * cM.Vector[2]
};
tM.X = res.X;
tM.Y = res.Y;
return(res);
}
public void OnObjectChanged(Object obj)
{
var cJ = _listManager.ChainList[0].Visual as VisualJoint;
_centerPoint = Calculations.MinusPoint(cJ.Coordinate, _centerPoint);
Calculations.ChangeMas(_centerPoint);
_centerPoint = cJ.Coordinate;
if (obj.Id != _listManager.ChainList.Count - 1)
{
switch (obj)
{
case Joint modifiedJoint:
{
var currentAngle = modifiedJoint.CurrentAngle;
for (var i = modifiedJoint.Id + 1; i < _listManager.ChainList.Count; i += 2)
{
if (!(_listManager.ChainList[i] is Segment currentSegment))
{
continue;
}
if (!(_listManager.ChainList[i - 1] is Joint prevJoint))
{
throw new ArgumentNullException(nameof(prevJoint));
}
var tM = new TransformationMatrix(currentAngle, _listManager.ChainList, i);
var cM = new CoordinatesMatrix(currentSegment, prevJoint);
var visualSegment = (VisualSegment)_listManager.ChainList[i].Visual;
var coordinates = Calculations.GetCoord(tM, cM);
if (i + 1 < _listManager.ChainList.Count)
{
if (_listManager.ChainList[i + 1].Visual is VisualJoint vj)
{
vj.Coordinate = coordinates;
}
}
visualSegment.End = coordinates;
Calculations.CoordMas[i] = coordinates;
if (i + 1 < Calculations.CoordMas.Count)
{
Calculations.CoordMas[i + 1] = coordinates;
}
}
break;
}
case Segment modifiedSegment:
{
Calculations.LengthMas[obj.Id / 2] = modifiedSegment.Length * Calculations.CoefficientOfScale;
if (!(_listManager.ChainList[obj.Id - 1] is Joint prevJoint))
{
throw new ArgumentNullException(nameof(prevJoint));
}
var visualSegment = (VisualSegment)modifiedSegment.Visual;
var tM = new TransformationMatrix(prevJoint.CurrentAngle, _listManager.ChainList, obj.Id);
var cM = new CoordinatesMatrix(modifiedSegment, prevJoint);
var coordinates = Calculations.GetCoord(tM, cM);
Calculations.CoordMas[obj.Id] = Calculations.GetCoord(tM, cM);
Calculations.CoordMas[obj.Id + 1] = Calculations.GetCoord(tM, cM);
var dX = coordinates.X - visualSegment.End.X;
var dY = coordinates.Y - visualSegment.End.Y;
visualSegment.End = coordinates;
for (var i = obj.Id + 2; i < _listManager.ChainList.Count; i += 2)
{
if (!(_listManager.ChainList[i].Visual is VisualSegment currentVisualSegment))
{
continue;
}
var x = currentVisualSegment.End.X + dX;
var y = currentVisualSegment.End.Y + dY;
var newCoordinates = new Point(x, y);
currentVisualSegment.End = newCoordinates;
Calculations.CoordMas[i] = newCoordinates;
if (i + 1 < Calculations.CoordMas.Count)
{
Calculations.CoordMas[i + 1] = newCoordinates;
}
}
break;
}
}
}
else
{
if (obj.Id == 0)
{
if (!Calculations.CoordMas.Any())
{
var j = (VisualJoint)_listManager.ChainList[0].Visual;
Calculations.CoordMas.Add(j.Coordinate);
}
}
else
{
switch (obj)
{
case Joint _:
{
var newSegmentCoordinatesEnd = Calculations.CoordMas[obj.Id - 1];
if (obj.Id < Calculations.CoordMas.Count)
{
Calculations.CoordMas[obj.Id] = newSegmentCoordinatesEnd;
}
else
{
Calculations.CoordMas.Add(newSegmentCoordinatesEnd);
}
break;
}
case Segment lastSegment:
{
if (!(_listManager.ChainList[obj.Id - 1] is Joint prevJoint))
{
throw new ArgumentNullException(nameof(prevJoint));
}
var lastVisualSegment = (VisualSegment)lastSegment.Visual;
var tM = new TransformationMatrix(prevJoint.CurrentAngle, _listManager.ChainList, obj.Id);
if (obj.Id / 2 == Calculations.LengthMas.Count)
{
Calculations.LengthMas.Add(Calculations.CoefficientOfScale * lastSegment.Length);
}
var cM = new CoordinatesMatrix(lastSegment, prevJoint);
var coordinates = Calculations.GetCoord(tM, cM);
lastVisualSegment.End = coordinates;
if (obj.Id < Calculations.CoordMas.Count)
{
Calculations.CoordMas[obj.Id] = coordinates;
}
else
{
Calculations.CoordMas.Add(coordinates);
}
break;
}
}
}
}
if (_listManager.ChainList.Count > 1)
{
RescaleIfNeeded();
}
ConnectObjects(obj.Id);
SetInterseced();
}
