public void UpdateGeometry()
{
if (_VisibleNode == null)
{
_VisibleNode = new GroupSceneNode();
FaceStyle fs = new FaceStyle();
fs.SetColor(new ColorValue(0, 0, 1.0f, 0.5f));
fs.SetTransparent(true);
_VisibleNode.SetFaceStyle(fs);
}
_VisibleNode.ClearAll();
Path.BuildGeometry();
TopoShape start = GlobalInstance.BrepTools.Extrude(Path.Section, Tool.ZStart, Vector3.UNIT_Z);
TopoShape end = GlobalInstance.BrepTools.Extrude(Path.Section, Tool.ZEnd, Vector3.UNIT_Z);
_VisibleNode.AddNode(GlobalInstance.TopoShapeConvert.ToEntityNode(start, 0.1f));
_VisibleNode.AddNode(GlobalInstance.TopoShapeConvert.ToEntityNode(end, 0.1f));
Matrix4 trf = GlobalInstance.MatrixBuilder.MakeTranslate(Tool.Position);
_VisibleNode.SetTransform(trf);
}
private void ShowAnyRobot()
{
//this.treeViewStp.Nodes.Clear();
//this.renderView.ClearScene();
for (int part_i = 0; part_i < any_robot.partList.Count; part_i++)
{
GroupSceneNode onePartNode = new GroupSceneNode();
//Console.Write(onePartNode.GetTransform().GetTranslation().ToString());
for (int geo_i = 0; geo_i < any_robot.partList[part_i].geometryPathList.Count; geo_i++)
{
string relPath = any_robot.partList[part_i].geometryPathList[geo_i];
string absPath = relPath;
if (relPath.Contains(":"))
{
absPath = relPath;
}
else
{
absPath = path + relPath;
}
TopoShape geo = GlobalInstance.BrepTools.LoadFile(new AnyCAD.Platform.Path(absPath));
SceneNode oneGeoNode = renderView.ShowGeometry(geo, part_i);
float[] oneGeoPq = new float[7];
for (int i = 0; i < 7; i++)
{
oneGeoPq[i] = any_robot.partList[part_i].geometryPQ_List[i + geo_i * 7];
// oneGeoPq[i] = any_robot.partList[part_i].partPQ_initial[i];
}
oneGeoNode.SetTransform(QuaternionToTransform(oneGeoPq));
renderView.RequestDraw();
geoNodeList.Add(oneGeoNode);
onePartNode.AddNode(oneGeoNode);
renderView.SceneManager.RemoveNode(oneGeoNode);
}
float[] onePartPq = new float[7];
for (int j = 0; j < 7; j++)
{
onePartPq[j] = any_robot.partList[part_i].partPQ_initial[j];
}
onePartNode.SetTransform(QuaternionToTransform(onePartPq));
renderView.SceneManager.AddNode(onePartNode);
partNodeList.Add(onePartNode);
}
renderView.SceneManager.AddNode(robot_node);
robot_node.SetPickable(false);
renderView.RequestDraw();
robotLoadCompleted = true;
for (int k = 0; k < partNodeList.Count; k++)
{
Console.WriteLine("part" + k + partNodeList[k].GetTransform().GetTranslation().ToString());
}
for (int k = 0; k < geoNodeList.Count; k++)
{
Console.WriteLine("geo" + k + geoNodeList[k].GetTransform().GetTranslation().ToString());
}
}
void UpdateModel(object source, System.Timers.ElapsedEventArgs e)
{
Matrix4 tr = robot_node.GetTransform();
Matrix4 tr_1 = GlobalInstance.MatrixBuilder.MakeTranslate(0.1, 0.1, 0.1);
Matrix4 tr_2 = GlobalInstance.MatrixBuilder.Multiply(tr, tr_1);
robot_node.SetTransform(tr_2);
//Console.WriteLine(robot_node.GetTransform().GetTranslation().ToString());
renderView.RequestDraw();
}
