protected override void OnKeyPress(OpenTK.KeyPressEventArgs e)
{
if (e.KeyChar == 'C' || e.KeyChar == 'c')
{
((VrRenderer)mRenderer).ovrvision_controller.getMatrixHeadtoCamera(0);
mScene.popInteraction();
mScene.pushInteraction(new Interaction.CalibrationAR(ref mScene, ref mRenderer.ovrvision_controller));
}
if (e.KeyChar == 'D' || e.KeyChar == 'd')
{
mRenderer.ovrvision_controller.setDefaultMatrixHC();
}
if (e.KeyChar == 'J' || e.KeyChar == 'j')
{
//mScene.popInteraction();
//mScene.pushInteraction(new Interaction.EditPlane(ref mScene, ref xyPlane, ref xzPlane, ref yzPlane));
//mScene.pushInteraction(new Interaction.RotatePlane(ref mScene, ref xyPlane2, ref xzPlane2, ref yzPlane2));
//clear the stroke
foreach (SceneNode sn in mScene.tableGeometry.children)
{
if (sn.name == "PrintStroke")
{
mScene.tableGeometry.children.Remove(sn);
break;
}
}
}
if (e.KeyChar == 'M' || e.KeyChar == 'm')
{
mScene.popInteraction();
mScene.pushInteraction(new Interaction.Stroke(ref mScene));
}
if (e.KeyChar == 'V' || e.KeyChar == 'v')
{
calibrationVRtoRobot();
}
if (e.KeyChar == 'P' || e.KeyChar == 'p')
{
/*
* mScene.popInteraction();
* controllerP = new List<Vector3>();
* mScene.pushInteraction(new Interaction.PickPoint(ref mScene, ref controllerP));
*/
Rhino.DocObjects.ObjectEnumeratorSettings settings = new Rhino.DocObjects.ObjectEnumeratorSettings();
settings.ObjectTypeFilter = Rhino.DocObjects.ObjectType.Brep;
Brep teapotBody = new Brep();
Brep teapotSprout = new Brep();
Brep teapotHandle = new Brep();
foreach (Rhino.DocObjects.RhinoObject rhObj in mScene.rhinoDoc.Objects.GetObjectList(settings))
{
if (rhObj.Attributes.Name == "aprinteGZx3Sz91Ag")
{
teapotBody = ((Brep)rhObj.Geometry).DuplicateBrep();
mScene.rhinoDoc.Objects.Delete(rhObj.Id, true);
}
else if (rhObj.Attributes.Name == "aprintS8FyJC391Ag")
{
teapotSprout = ((Brep)rhObj.Geometry).DuplicateBrep();
mScene.rhinoDoc.Objects.Delete(rhObj.Id, true);
}
else if (rhObj.Attributes.Name == "aprintVBE2eS391Ag")
{
teapotHandle = ((Brep)rhObj.Geometry).DuplicateBrep();
mScene.rhinoDoc.Objects.Delete(rhObj.Id, true);
}
}
Material.Material mesh_m = new Material.LambertianMaterial(.7f, .7f, .7f, .3f);
string modelName = "aprint";
SceneNode teapotBodySN;
UtilOld.addRhinoObjectSceneNode(ref mScene, ref teapotBody, ref mesh_m, modelName, out teapotBodySN);
SceneNode teapotSproutSN;
UtilOld.addRhinoObjectSceneNode(ref mScene, ref teapotSprout, ref mesh_m, modelName, out teapotSproutSN);
SceneNode teapotHandleSN;
UtilOld.addRhinoObjectSceneNode(ref mScene, ref teapotHandle, ref mesh_m, modelName, out teapotHandleSN);
}
if (e.KeyChar == 'A' || e.KeyChar == 'a')
{
//mScene.popInteraction();
//mScene.pushInteraction(new Interaction.Align(ref mScene));
//for rhino object
OpenTK.Matrix4 currentRotation = mScene.platformRotation;
float theta = (float)(90.0f / 360f * 2 * Math.PI);
Rhino.RhinoApp.WriteLine("Theta = " + theta);
Matrix4.CreateRotationZ(theta, out mScene.platformRotation);
mScene.platformRotation.Transpose();
//rotate Rhino objects
OpenTK.Matrix4 rotMRhino = mScene.platformRotation * currentRotation.Inverted();
Rhino.DocObjects.ObjectEnumeratorSettings settings = new Rhino.DocObjects.ObjectEnumeratorSettings();
mScene.transM = new Transform();
for (int row = 0; row < 4; row++)
{
for (int col = 0; col < 4; col++)
{
mScene.transM[row, col] = rotMRhino[row, col];
}
}
settings.ObjectTypeFilter = Rhino.DocObjects.ObjectType.Brep;
foreach (Rhino.DocObjects.RhinoObject rhObj in mScene.rhinoDoc.Objects.GetObjectList(settings))
{
SceneNode sn;
if (mScene.BiDictionaryRhinoVR.TryGetByFirst(rhObj.Id, out sn) && !rhObj.Attributes.Name.Contains("planeXY") && !rhObj.Attributes.Name.Contains("planeXZ") &&
!rhObj.Attributes.Name.Contains("planeYZ"))
{
//SceneNode sn = mScene.brepToSceneNodeDic[rhObj.Id];
//mScene.brepToSceneNodeDic.Remove(rhObj.Id);
Guid newGuid = mScene.rhinoDoc.Objects.Transform(rhObj.Id, mScene.transM, true);
Rhino.RhinoApp.WriteLine("transM " + mScene.transM.ToString());
mScene.rhinoDoc.Views.Redraw();
//mScene.brepToSceneNodeDic.Add(newGuid, sn);
//mScene.SceneNodeToBrepDic[sn.guid] = mScene.rhinoDoc.Objects.Find(newGuid);
}
}
}
if (e.KeyChar == 'O' || e.KeyChar == 'o')
{
mScene.popInteraction();
UtilOld.clearAllModel(ref mScene);
}
if (e.KeyChar == 'Q' || e.KeyChar == 'q')
{
//print out debug info
foreach (var item in mScene.selectionDic)
{
Rhino.RhinoApp.WriteLine(item.Key.ToString() + ": " + item.Value.ToString());
}
}
if (e.KeyChar == 'Z' || e.KeyChar == 'z')
{
while (!mScene.interactionStackEmpty())
{
mScene.popInteraction();
}
}
if (e.KeyChar == 'X' || e.KeyChar == 'x')
{
mScene.popInteraction();
mScene.pushInteraction(new Interaction.CreatePatch(ref mScene));
}
if (e.KeyChar == '[' || e.KeyChar == '{')
{
mScene.popInteraction();
mScene.pushInteraction(new Interaction.PickPoint(ref mScene, ref mLeftControllerPoses));
current_i = null;
}
if (e.KeyChar == ']' || e.KeyChar == '}')
{
mScene.popInteraction();
mScene.pushInteraction(new Interaction.PickPoint(ref mScene, ref mRightControllerPoses));
current_i = null;
}
}
protected void handleSignals()
{
SparrowHawkSignal s = SparrowHawkEventListeners.Instance.getOneSignal();
if (s == null)
{
return;
}
switch (s.type)
{
case SparrowHawkSignal.ESparrowHawkSigalType.InitType:
if (s.data.Length >= 3)
{
//To compute VRtoRobot matrix, press V key 8 times.
//robotPoint is in mm unit so the calibration result already deal with scale issue
Vector3 robotPoint = new Vector3(s.data[0], s.data[1], s.data[2]);
robotCallibrationPoints.Add(robotPoint);
Rhino.RhinoApp.WriteLine("add robotPoint: " + robotPoint.ToString());
if (mIsLefty && mScene.leftControllerIdx < 0 || !mIsLefty && mScene.leftControllerIdx < 0)
{
break;
}
}
break;
case SparrowHawkSignal.ESparrowHawkSigalType.LineType:
if (s.data.Length >= 4)
{
if (s.data[0] == 0)
{
OpenTK.Vector3 p1 = new Vector3(s.data[1], s.data[2], s.data[3]);
p1 = UtilOld.platformToVRPoint(ref mScene, p1);
OpenTK.Vector3 p2 = new Vector3(s.data[4], s.data[5], s.data[6]);
p2 = UtilOld.platformToVRPoint(ref mScene, p2);
if (((Geometry.RobotPrintStroke)printStroke).mPoints.Count == 0)
{
printStroke = new Geometry.RobotPrintStroke(ref mScene);
((Geometry.RobotPrintStroke)printStroke).addEdge(p1, p2);
printStrokeSN = new SceneNode("PrintStroke", ref printStroke, ref printStroke_m);
mScene.tableGeometry.add(ref printStrokeSN);
}
else
{
((Geometry.RobotPrintStroke)printStroke).addEdge(p1, p2);
printStrokeSN.geometry = printStroke;
}
}
else
{
OpenTK.Vector3 p1 = new Vector3(s.data[1], s.data[2], s.data[3]);
p1 = UtilOld.platformToVRPoint(ref mScene, p1);
//((Geometry.GeometryStroke2)printStroke).addPoint(p1);
((Geometry.RobotPrintStroke)printStroke).addEdge(((Geometry.RobotPrintStroke)printStroke).mPoints[((Geometry.RobotPrintStroke)printStroke).mPoints.Count - 1], p1);
printStrokeSN.geometry = printStroke;
}
}
break;
case SparrowHawkSignal.ESparrowHawkSigalType.CutType:
string guidStr = s.strData;
Guid delId = new Guid(guidStr);
UtilOld.removeRhinoObjectSceneNode(ref mScene, delId);
//removePrintStroke and show the model again
((Geometry.RobotPrintStroke)printStroke).removePoint();
//mScene.tableGeometry.remove(ref printStrokeSN); //already remove
Rhino.DocObjects.ObjectEnumeratorSettings settings = new Rhino.DocObjects.ObjectEnumeratorSettings();
settings.ObjectTypeFilter = Rhino.DocObjects.ObjectType.Brep;
foreach (Rhino.DocObjects.RhinoObject rhObj in mScene.rhinoDoc.Objects.GetObjectList(settings))
{
if (rhObj.Attributes.Name.Contains("aprint"))
{
SceneNode sn = mScene.BiDictionaryRhinoVR.GetByFirst(rhObj.Id);
Material.LambertianMaterial show_m = new Material.LambertianMaterial(((Material.LambertianMaterial)sn.material).mColor.R, ((Material.LambertianMaterial)sn.material).mColor.G, ((Material.LambertianMaterial)sn.material).mColor.B, .3f);
sn.material = show_m;
}
}
mScene.rhinoDoc.Views.Redraw();
break;
case SparrowHawkSignal.ESparrowHawkSigalType.EncoderType:
//for rhino object
OpenTK.Matrix4 currentRotation = mScene.platformRotation;
float theta = (float)(s.data[0] / 360f * 2 * Math.PI);
mScene.rhinoTheta = theta;
Rhino.RhinoApp.WriteLine("Theta = " + theta);
Matrix4.CreateRotationZ(-theta, out mScene.platformRotation);
mScene.platformRotation.Transpose();
//rotate Rhino objects
OpenTK.Matrix4 rotMRhino = mScene.platformRotation * currentRotation.Inverted();
mScene.transM = new Transform();
for (int row = 0; row < 4; row++)
{
for (int col = 0; col < 4; col++)
{
mScene.transM[row, col] = rotMRhino[row, col];
}
}
/*
* Rhino.DocObjects.ObjectEnumeratorSettings settings = new Rhino.DocObjects.ObjectEnumeratorSettings();
* settings.ObjectTypeFilter = Rhino.DocObjects.ObjectType.Brep;
* foreach (Rhino.DocObjects.RhinoObject rhObj in mScene.rhinoDoc.Objects.GetObjectList(settings))
* {
* if (mScene.brepToSceneNodeDic.ContainsKey(rhObj.Id) && !rhObj.Attributes.Name.Contains("planeXY") && !rhObj.Attributes.Name.Contains("planeXZ")
* && !rhObj.Attributes.Name.Contains("planeYZ"))
* {
* //SceneNode sn = mScene.brepToSceneNodeDic[rhObj.Id];
* //mScene.brepToSceneNodeDic.Remove(rhObj.Id);
*
* Guid newGuid = mScene.rhinoDoc.Objects.Transform(rhObj.Id, mScene.transM, true);
* Rhino.RhinoApp.WriteLine("transM " + mScene.transM.ToString());
* mScene.rhinoDoc.Views.Redraw();
*
* //mScene.brepToSceneNodeDic.Add(newGuid, sn);
* //mScene.SceneNodeToBrepDic[sn.guid] = mScene.rhinoDoc.Objects.Find(newGuid);
* }
*
* }*/
//rotate the current interaction curve as well
/*
* foreach(Curve iCurve in mScene.iCurveList)
* {
* iCurve.Transform(transM);
*
* }
* if (mScene.peekInteraction().GetType() == typeof(Interaction.EditPoint2))
* {
* mScene.peekInteraction().init();
* }*/
break;
}
}
