private void InitializeScene()
        {
            linearInterpolator = new LinearInterpolator();
            sphericalLinearInterpolator = new SphericalLinearInterpolator();
            realTimeInterpolator = new RealTimeInterpolator();

            const double maxVal = 8;

            var arrowX = new ArrowVisual3D();
            arrowX.Direction = new Vector3D(1, 0, 0);
            arrowX.Point1 = new Point3D(0, 0, 0);
            arrowX.Point2 = new Point3D(maxVal, 0, 0);
            arrowX.Diameter = 0.1;
            arrowX.Fill = System.Windows.Media.Brushes.Black;
            HelixViewportLeft.Children.Add(arrowX);

            arrowX = new ArrowVisual3D();
            arrowX.Direction = new Vector3D(1, 0, 0);
            arrowX.Point1 = new Point3D(0, 0, 0);
            arrowX.Point2 = new Point3D(maxVal, 0, 0);
            arrowX.Diameter = 0.1;
            arrowX.Fill = System.Windows.Media.Brushes.Black;
            HelixViewportRight.Children.Add(arrowX);

            var arrowMX = new ArrowVisual3D();
            arrowMX.Direction = new Vector3D(-1, 0, 0);
            arrowMX.Point1 = new Point3D(0, 0, 0);
            arrowMX.Point2 = new Point3D(-maxVal, 0, 0);
            arrowMX.Diameter = 0.1;
            arrowMX.Fill = System.Windows.Media.Brushes.Black;
            HelixViewportLeft.Children.Add(arrowMX);

            arrowMX = new ArrowVisual3D();
            arrowMX.Direction = new Vector3D(-1, 0, 0);
            arrowMX.Point1 = new Point3D(0, 0, 0);
            arrowMX.Point2 = new Point3D(-maxVal, 0, 0);
            arrowMX.Diameter = 0.1;
            arrowMX.Fill = System.Windows.Media.Brushes.Black;
            HelixViewportRight.Children.Add(arrowMX);

            var arrowY = new ArrowVisual3D();
            arrowY.Direction = new Vector3D(0, 1, 0);
            arrowY.Point1 = new Point3D(0, 0, 0);
            arrowY.Point2 = new Point3D(0, maxVal, 0);
            arrowY.Diameter = 0.1;
            arrowY.Fill = System.Windows.Media.Brushes.Black;
            HelixViewportLeft.Children.Add(arrowY);

            arrowY = new ArrowVisual3D();
            arrowY.Direction = new Vector3D(0, 1, 0);
            arrowY.Point1 = new Point3D(0, 0, 0);
            arrowY.Point2 = new Point3D(0, maxVal, 0);
            arrowY.Diameter = 0.1;
            arrowY.Fill = System.Windows.Media.Brushes.Black;
            HelixViewportRight.Children.Add(arrowY);

            var arrowMY = new ArrowVisual3D();
            arrowMY.Direction = new Vector3D(0, -1, 0);
            arrowMY.Point1 = new Point3D(0, 0, 0);
            arrowMY.Point2 = new Point3D(0, -maxVal, 0);
            arrowMY.Diameter = 0.1;
            arrowMY.Fill = System.Windows.Media.Brushes.Black;
            HelixViewportLeft.Children.Add(arrowMY);

            arrowMY = new ArrowVisual3D();
            arrowMY.Direction = new Vector3D(0, -1, 0);
            arrowMY.Point1 = new Point3D(0, 0, 0);
            arrowMY.Point2 = new Point3D(0, -maxVal, 0);
            arrowMY.Diameter = 0.1;
            arrowMY.Fill = System.Windows.Media.Brushes.Black;
            HelixViewportRight.Children.Add(arrowMY);

            var arrowZ = new ArrowVisual3D();
            arrowZ.Direction = new Vector3D(0, 0, 1);
            arrowZ.Point1 = new Point3D(0, 0, 0);
            arrowZ.Point2 = new Point3D(0, 0, maxVal);
            arrowZ.Diameter = 0.1;
            arrowZ.Fill = System.Windows.Media.Brushes.Black;
            HelixViewportLeft.Children.Add(arrowZ);

            arrowZ = new ArrowVisual3D();
            arrowZ.Direction = new Vector3D(0, 0, 1);
            arrowZ.Point1 = new Point3D(0, 0, 0);
            arrowZ.Point2 = new Point3D(0, 0, maxVal);
            arrowZ.Diameter = 0.1;
            arrowZ.Fill = System.Windows.Media.Brushes.Black;
            HelixViewportRight.Children.Add(arrowZ);

            var arrowMZ = new ArrowVisual3D();
            arrowMZ.Direction = new Vector3D(0, 0, -1);
            arrowMZ.Point1 = new Point3D(0, 0, 0);
            arrowMZ.Point2 = new Point3D(0, 0, -maxVal);
            arrowMZ.Diameter = 0.1;
            arrowMZ.Fill = System.Windows.Media.Brushes.Black;
            HelixViewportLeft.Children.Add(arrowMZ);

            arrowMZ = new ArrowVisual3D();
            arrowMZ.Direction = new Vector3D(0, 0, -1);
            arrowMZ.Point1 = new Point3D(0, 0, 0);
            arrowMZ.Point2 = new Point3D(0, 0, -maxVal);
            arrowMZ.Diameter = 0.1;
            arrowMZ.Fill = System.Windows.Media.Brushes.Black;
            HelixViewportRight.Children.Add(arrowMZ);

            var xArrowText = new TextVisual3D();
            xArrowText.Text = "X";
            xArrowText.Position = new Point3D(maxVal - 0.5, 0, 0.5);
            xArrowText.Height = 0.5;
            xArrowText.FontWeight = System.Windows.FontWeights.Bold;
            HelixViewportLeft.Children.Add(xArrowText);

            xArrowText = new TextVisual3D();
            xArrowText.Text = "X";
            xArrowText.Position = new Point3D(maxVal - 0.5, 0, 0.5);
            xArrowText.Height = 0.5;
            xArrowText.FontWeight = System.Windows.FontWeights.Bold;
            HelixViewportRight.Children.Add(xArrowText);

            var yArrowText = new TextVisual3D();
            yArrowText.Text = "Y";
            yArrowText.Position = new Point3D(0, maxVal - 0.5, 0.5);
            yArrowText.Height = 0.5;
            yArrowText.FontWeight = System.Windows.FontWeights.Bold;
            HelixViewportLeft.Children.Add(yArrowText);

            yArrowText = new TextVisual3D();
            yArrowText.Text = "Y";
            yArrowText.Position = new Point3D(0, maxVal - 0.5, 0.5);
            yArrowText.Height = 0.5;
            yArrowText.FontWeight = System.Windows.FontWeights.Bold;
            HelixViewportRight.Children.Add(yArrowText);

            var zArrowText = new TextVisual3D();
            zArrowText.Text = "Z";
            zArrowText.Position = new Point3D(0.5, 0, maxVal - 0.5);
            zArrowText.Height = 0.5;
            zArrowText.FontWeight = System.Windows.FontWeights.Bold;
            HelixViewportLeft.Children.Add(zArrowText);

            zArrowText = new TextVisual3D();
            zArrowText.Text = "Z";
            zArrowText.Position = new Point3D(0.5, 0, maxVal - 0.5);
            zArrowText.Height = 0.5;
            zArrowText.FontWeight = System.Windows.FontWeights.Bold;
            HelixViewportRight.Children.Add(zArrowText);

            var leftText = new TextVisual3D();
            leftText.Text = "Internal Coordinates Interpolation";
            leftText.Position = new Point3D(0, 0, maxVal + 0.5);
            leftText.Height = 1;
            leftText.FontWeight = System.Windows.FontWeights.Bold;
            HelixViewportLeft.Children.Add(leftText);

            var rightText = new TextVisual3D();
            rightText.Text = "Effector Position Interpolation";
            rightText.Position = new Point3D(0, 0, maxVal + 0.5);
            rightText.Height = 1;
            rightText.FontWeight = System.Windows.FontWeights.Bold;
            HelixViewportRight.Children.Add(rightText);

            SetupStartConfiguration();
            SetupEndConfiguration();

            frameEuler = new CombinedManipulator()
            {
                CanRotateX = false,
                CanRotateY = false,
                CanRotateZ = false
            };
            robotForInternalCoordinates.SetMidFrameModel(frameEuler);

            frameQuaternion = new CombinedManipulator()
            {
                CanRotateX = false,
                CanRotateY = false,
                CanRotateZ = false
            };
        }
Exemple #2
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        private void InitializeScene()
        {
            linearInterpolator          = new LinearInterpolator();
            sphericalLinearInterpolator = new SphericalLinearInterpolator();
            realTimeInterpolator        = new RealTimeInterpolator();

            const double maxVal = 8;

            var arrowX = new ArrowVisual3D();

            arrowX.Direction = new Vector3D(1, 0, 0);
            arrowX.Point1    = new Point3D(0, 0, 0);
            arrowX.Point2    = new Point3D(maxVal, 0, 0);
            arrowX.Diameter  = 0.1;
            arrowX.Fill      = System.Windows.Media.Brushes.Black;
            HelixViewportLeft.Children.Add(arrowX);

            arrowX           = new ArrowVisual3D();
            arrowX.Direction = new Vector3D(1, 0, 0);
            arrowX.Point1    = new Point3D(0, 0, 0);
            arrowX.Point2    = new Point3D(maxVal, 0, 0);
            arrowX.Diameter  = 0.1;
            arrowX.Fill      = System.Windows.Media.Brushes.Black;
            HelixViewportRight.Children.Add(arrowX);

            var arrowMX = new ArrowVisual3D();

            arrowMX.Direction = new Vector3D(-1, 0, 0);
            arrowMX.Point1    = new Point3D(0, 0, 0);
            arrowMX.Point2    = new Point3D(-maxVal, 0, 0);
            arrowMX.Diameter  = 0.1;
            arrowMX.Fill      = System.Windows.Media.Brushes.Black;
            HelixViewportLeft.Children.Add(arrowMX);

            arrowMX           = new ArrowVisual3D();
            arrowMX.Direction = new Vector3D(-1, 0, 0);
            arrowMX.Point1    = new Point3D(0, 0, 0);
            arrowMX.Point2    = new Point3D(-maxVal, 0, 0);
            arrowMX.Diameter  = 0.1;
            arrowMX.Fill      = System.Windows.Media.Brushes.Black;
            HelixViewportRight.Children.Add(arrowMX);

            var arrowY = new ArrowVisual3D();

            arrowY.Direction = new Vector3D(0, 1, 0);
            arrowY.Point1    = new Point3D(0, 0, 0);
            arrowY.Point2    = new Point3D(0, maxVal, 0);
            arrowY.Diameter  = 0.1;
            arrowY.Fill      = System.Windows.Media.Brushes.Black;
            HelixViewportLeft.Children.Add(arrowY);

            arrowY           = new ArrowVisual3D();
            arrowY.Direction = new Vector3D(0, 1, 0);
            arrowY.Point1    = new Point3D(0, 0, 0);
            arrowY.Point2    = new Point3D(0, maxVal, 0);
            arrowY.Diameter  = 0.1;
            arrowY.Fill      = System.Windows.Media.Brushes.Black;
            HelixViewportRight.Children.Add(arrowY);

            var arrowMY = new ArrowVisual3D();

            arrowMY.Direction = new Vector3D(0, -1, 0);
            arrowMY.Point1    = new Point3D(0, 0, 0);
            arrowMY.Point2    = new Point3D(0, -maxVal, 0);
            arrowMY.Diameter  = 0.1;
            arrowMY.Fill      = System.Windows.Media.Brushes.Black;
            HelixViewportLeft.Children.Add(arrowMY);

            arrowMY           = new ArrowVisual3D();
            arrowMY.Direction = new Vector3D(0, -1, 0);
            arrowMY.Point1    = new Point3D(0, 0, 0);
            arrowMY.Point2    = new Point3D(0, -maxVal, 0);
            arrowMY.Diameter  = 0.1;
            arrowMY.Fill      = System.Windows.Media.Brushes.Black;
            HelixViewportRight.Children.Add(arrowMY);

            var arrowZ = new ArrowVisual3D();

            arrowZ.Direction = new Vector3D(0, 0, 1);
            arrowZ.Point1    = new Point3D(0, 0, 0);
            arrowZ.Point2    = new Point3D(0, 0, maxVal);
            arrowZ.Diameter  = 0.1;
            arrowZ.Fill      = System.Windows.Media.Brushes.Black;
            HelixViewportLeft.Children.Add(arrowZ);

            arrowZ           = new ArrowVisual3D();
            arrowZ.Direction = new Vector3D(0, 0, 1);
            arrowZ.Point1    = new Point3D(0, 0, 0);
            arrowZ.Point2    = new Point3D(0, 0, maxVal);
            arrowZ.Diameter  = 0.1;
            arrowZ.Fill      = System.Windows.Media.Brushes.Black;
            HelixViewportRight.Children.Add(arrowZ);

            var arrowMZ = new ArrowVisual3D();

            arrowMZ.Direction = new Vector3D(0, 0, -1);
            arrowMZ.Point1    = new Point3D(0, 0, 0);
            arrowMZ.Point2    = new Point3D(0, 0, -maxVal);
            arrowMZ.Diameter  = 0.1;
            arrowMZ.Fill      = System.Windows.Media.Brushes.Black;
            HelixViewportLeft.Children.Add(arrowMZ);

            arrowMZ           = new ArrowVisual3D();
            arrowMZ.Direction = new Vector3D(0, 0, -1);
            arrowMZ.Point1    = new Point3D(0, 0, 0);
            arrowMZ.Point2    = new Point3D(0, 0, -maxVal);
            arrowMZ.Diameter  = 0.1;
            arrowMZ.Fill      = System.Windows.Media.Brushes.Black;
            HelixViewportRight.Children.Add(arrowMZ);

            var xArrowText = new TextVisual3D();

            xArrowText.Text       = "X";
            xArrowText.Position   = new Point3D(maxVal - 0.5, 0, 0.5);
            xArrowText.Height     = 0.5;
            xArrowText.FontWeight = System.Windows.FontWeights.Bold;
            HelixViewportLeft.Children.Add(xArrowText);

            xArrowText            = new TextVisual3D();
            xArrowText.Text       = "X";
            xArrowText.Position   = new Point3D(maxVal - 0.5, 0, 0.5);
            xArrowText.Height     = 0.5;
            xArrowText.FontWeight = System.Windows.FontWeights.Bold;
            HelixViewportRight.Children.Add(xArrowText);

            var yArrowText = new TextVisual3D();

            yArrowText.Text       = "Y";
            yArrowText.Position   = new Point3D(0, maxVal - 0.5, 0.5);
            yArrowText.Height     = 0.5;
            yArrowText.FontWeight = System.Windows.FontWeights.Bold;
            HelixViewportLeft.Children.Add(yArrowText);

            yArrowText            = new TextVisual3D();
            yArrowText.Text       = "Y";
            yArrowText.Position   = new Point3D(0, maxVal - 0.5, 0.5);
            yArrowText.Height     = 0.5;
            yArrowText.FontWeight = System.Windows.FontWeights.Bold;
            HelixViewportRight.Children.Add(yArrowText);

            var zArrowText = new TextVisual3D();

            zArrowText.Text       = "Z";
            zArrowText.Position   = new Point3D(0.5, 0, maxVal - 0.5);
            zArrowText.Height     = 0.5;
            zArrowText.FontWeight = System.Windows.FontWeights.Bold;
            HelixViewportLeft.Children.Add(zArrowText);

            zArrowText            = new TextVisual3D();
            zArrowText.Text       = "Z";
            zArrowText.Position   = new Point3D(0.5, 0, maxVal - 0.5);
            zArrowText.Height     = 0.5;
            zArrowText.FontWeight = System.Windows.FontWeights.Bold;
            HelixViewportRight.Children.Add(zArrowText);

            var leftText = new TextVisual3D();

            leftText.Text       = "Internal Coordinates Interpolation";
            leftText.Position   = new Point3D(0, 0, maxVal + 0.5);
            leftText.Height     = 1;
            leftText.FontWeight = System.Windows.FontWeights.Bold;
            HelixViewportLeft.Children.Add(leftText);

            var rightText = new TextVisual3D();

            rightText.Text       = "Effector Position Interpolation";
            rightText.Position   = new Point3D(0, 0, maxVal + 0.5);
            rightText.Height     = 1;
            rightText.FontWeight = System.Windows.FontWeights.Bold;
            HelixViewportRight.Children.Add(rightText);

            SetupStartConfiguration();
            SetupEndConfiguration();

            frameEuler = new CombinedManipulator()
            {
                CanRotateX = false,
                CanRotateY = false,
                CanRotateZ = false
            };
            robotForInternalCoordinates.SetMidFrameModel(frameEuler);

            frameQuaternion = new CombinedManipulator()
            {
                CanRotateX = false,
                CanRotateY = false,
                CanRotateZ = false
            };
        }