/* public void updateheadingdirection(double _angle)
* {
* contentlayer.Children.Clear();
* // var axis = new Vector3D(0, 0, 1);
* // var angle = m_Heading;
* // var matrix = device3D.Transform.Value;
* // matrix.Rotate(new Quaternion(axis, angle));
* // device3D.Transform = new MatrixTransform3D(matrix);
* contentlayer.Children.Add(device3D);
* }*/
public Robot3D(String robotname, ModelVisual3D _contentlayer)
{
robot3DInfo = new Robot3DInfo();
contentlayer = _contentlayer;
device3D = new ModelVisual3D();
robot3DInfo.version = GlobalVariables.getPathRobot3DModel();
device3D.SetName(robotname);
device3D.Content = Display3d(robot3DInfo.version);
//device3D.Content =Display3d(robot3DInfo.modelPath);
}
private void loadinform(String path)
{
try
{
BitmapImage bi = new BitmapImage(new Uri(TEXT_PATHMAP, UriKind.Absolute));
GlobalVariables.MAP_WIDTHPIXEL = bi.PixelWidth;
GlobalVariables.MAP_HEIGHTPIXEL = bi.PixelHeight;
double largesize = bi.PixelWidth <= bi.PixelHeight ? bi.PixelWidth : bi.PixelHeight; // select the small length of image
//double largesize = 832;
txt_gridwidth.Text = "" + largesize;
txt_gridlength.Text = "" + largesize;
txt_gridmajordistance.Text = "" + (largesize / 40.00).ToString("0.000");
txt_gridminordistance.Text = "" + (largesize / 40.00).ToString("0.000");
txt_borderX.Text = "" + GlobalVariables.MAP_WIDTHPIXEL;
txt_borderY.Text = "" + GlobalVariables.MAP_HEIGHTPIXEL;
GlobalVariables.GRIDLINE_WIDTH = Convert.ToDouble(txt_borderX.Text);
GlobalVariables.GRIDLINE_LENGTH = Convert.ToDouble(txt_borderY.Text);
GlobalVariables.MEASUREMENT_UNITASQUARE_LENGTH = largesize / 40;
GlobalVariables.MEASUREMENT_UNITASQUARE_METER = Convert.ToDouble(txt_unitMeterPixel.Text) * GlobalVariables.MEASUREMENT_UNITASQUARE_LENGTH;
txt_mappointX.Text = "" + GlobalVariables.MAP_WIDTHPIXEL;
txt_mappointY.Text = "" + GlobalVariables.MAP_HEIGHTPIXEL;
// txt_asquared.Text = "" + GlobalVariables.MEASUREMENT_UNITASQUARE+" (m)";
ModelImporter import = new ModelImporter();
Model3D device = import.Load(GlobalVariables.getPathRobot3DModel());
double Sx = device.Bounds.SizeX / 100; // size in cm to m
//MessageBox.Show("size X:" +Sx);
double Sy = device.Bounds.SizeY / 100;
double Sz = device.Bounds.SizeZ / 100;
GlobalVariables.ROBOT_SCALED = GlobalVariables.ConvertMetertoUnitLength(Sx / 100) / Sx;
richtxt_detailInformation.Document.Blocks.Clear();
String inform = "Detail information: \n";
inform += "+Length of a square: " + GlobalVariables.MEASUREMENT_UNITASQUARE_LENGTH + "\n";
inform += "+Length meter of a squared: " + GlobalVariables.MEASUREMENT_UNITASQUARE_METER + "\n"; /// số ô là 40 ,
inform += "+ Robot size (m): " + Sx.ToString("0.00") + " // " + Sy.ToString("0.00") + " // " + Sz.ToString("0.00") + "\n";
inform += "+ Scaled Robot: " + GlobalVariables.ROBOT_SCALED.ToString("0.00");
richtxt_detailInformation.AppendText(inform);
TEXT_ROBOT_INFOMATION = inform;
}
catch
{
MessageBox.Show("Path is wrong");
}
}
public String findRobobt3Dmodel(String version)
{
// add more list model 3d Robot
return(GlobalVariables.getPathRobot3DModel());
}
