public TrajectoryController(Game game, Robot robot, InverseKinematicsSolver iksolver)
: base(game)
{
Robot = robot;
IKSolver = iksolver;
Time = new TimeSpan(0);
Trajectory = new List<TrajectoryPoint>();
}
public JoystickController(Game game, Robot robot, InverseKinematicsSolver softsolver, InverseKinematicsSolver hardsolver)
: base(game)
{
Robot = robot;
SoftPassIKSolver = softsolver;
HardPassIKSolver = hardsolver;
SetupJoystick();
}
public InverseKinematicsSolver(Robot robot, Vector3 target)
{
TargetError = 0.05f;
GradientDelta = 0.001f;
DampFactor = 0.01f;
MaxIterations = 150;
MaxBruteForceIterations = 50;
Robot = robot;
TargetPosition = target;
Mode = ErrorCheckingMode.ByComponent;
}
/// <summary>
/// Allows the game to perform any initialization it needs to before starting to run.
/// This is where it can query for any required services and load any non-graphic
/// related content. Calling base.Initialize will enumerate through any components
/// and initialize them as well.
/// </summary>
protected override void Initialize()
{
// Setup main world matrix
world = Matrix.CreateRotationX(-MathHelper.PiOver2);
// Setup camera
Camera = new Camera();
Camera.Position = new Vector3(0.0f, 15.0f, 100.0f);
Camera.Forward = new Vector3(0, 0, -1);
// Setup Robot
robot = new Robot();
// Setup TrajectoryController
InverseKinematicsSolver iks = new InverseKinematicsSolver(robot, new Vector3()) { MaxBruteForceIterations = 0, MaxIterations = 200 };
InverseKinematicsSolver hardiks = new InverseKinematicsSolver(robot, new Vector3()) { MaxBruteForceIterations = 10, MaxIterations = 100 };
trajectory = new TrajectoryController(this, robot, iks);
trajectory.Enabled = false;
Components.Add(trajectory);
// TODO Test if jostick is present to try enable
//joystick = new JoystickController(this, robot, iks, hardiks);
//joystick.Enabled = true;
//Components.Add(joystick);
hardware = new HardwareInterfaceController(this, robot);
Components.Add(hardware);
// Creates the UI
MainForm mainfrm = new MainForm();
mainfrm.SetRobotEdit(robot, Content);
mainfrm.SetTrajectoryController(trajectory);
mainfrm.SetJoystickController(joystick);
mainfrm.SetHardwareInterfaceController(hardware);
mainfrm.Show();
base.Initialize();
}
public HardwareInterfaceController(Game game, Robot robot) : base(game)
{
SelectedRobot = robot;
Assigments = new List<Assigment>();
}