private void AllFramesModeButton_Click(object sender, RoutedEventArgs e)
{
HelixViewportLeft.Children.Remove(FrameStartEulerManipulator);
HelixViewportLeft.Children.Remove(FrameEndEulerManipulator);
HelixViewportRight.Children.Remove(FrameStartQuaternionManipulator);
HelixViewportRight.Children.Remove(FrameEndQuaternionManipulator);
PlayButton.IsEnabled = false;
PauseButton.IsEnabled = false;
ResetButton.IsEnabled = false;
FramesCountBox.IsEnabled = false;
AllFramesModeButton.IsEnabled = false;
AllFramesModeClearButton.IsEnabled = true;
if (FramesCount < 2)
FramesCount = 2;
allFramesEuler = new CombinedManipulator[FramesCount];
allFramesQuaternion = new CombinedManipulator[FramesCount];
CalibrateEulerAngles();
for (int i = 0; i < FramesCount; i++)
{
var timeFactor = i / (FramesCount - 1.0);
CalculateCurrentPosition(timeFactor);
CalculateCurrentAngle(timeFactor);
CalculateCurrentQuaternion(timeFactor);
SetupCurrentConfiguration();
allFramesEuler[i] = new CombinedManipulator()
{
Transform = new MatrixTransform3D(frameEuler.Transform.Value),
CanRotateX = false,
CanRotateY = false,
CanRotateZ = false
};
allFramesQuaternion[i] = new CombinedManipulator()
{
Transform = new MatrixTransform3D(frameQuaternion.Transform.Value),
CanRotateX = false,
CanRotateY = false,
CanRotateZ = false
};
HelixViewportLeft.Children.Add(allFramesEuler[i]);
HelixViewportRight.Children.Add(allFramesQuaternion[i]);
}
}
/// <summary>
/// Draw a manipulator over the specified model3D
/// </summary>
/// <param name="m3D">Model 3D</param>
public void DrawManipulators(System.Windows.Media.Media3D.Model3D m3D)
{
Rect3D r = m3D.Bounds;
if (Session.CurrentSession.ModelVisual.Children.Contains(manipulator))
{
Session.CurrentSession.ModelVisual.Children.Remove(manipulator);
manipulator = new CombinedManipulator();
}
manipulator.CanRotateX = false;
manipulator.CanRotateY = false;
manipulator.CanRotateZ = false;
manipulator.Position = new Point3D(r.X, r.Y, r.Z);
manipulator.Offset = new Vector3D((r.SizeX / 2), (r.SizeY / 2), (r.SizeZ / 2));
//manipulator.Pivot = new Point3D((r.SizeX / 2), (r.SizeY / 2), (r.SizeZ / 2));
manipulator.Diameter = Math.Max(r.SizeX, Math.Max(r.SizeY, r.SizeZ)) * 1.2;
Session.CurrentSession.ModelVisual.Children.Add(manipulator);
}
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
};
}
private void InitializeScene()
{
limitationsCuboid = new RoomVisual3D();
limitationsCuboid.Initialize(20.0);
limitationsCuboid.IsDampingActive = Damping;
bezierCube = new BezierCubeVisual3D();
bezierCube.Initialize(cubeSize);
bezierCube.CollisionChecker = limitationsCuboid;
bezierCube.IsDampingActive = Damping;
spherePoints = new PointsVisual3D();
spherePoints.Points = bezierCube.GetSpherePoints();
spherePoints.Size = 3;
if (DeformedSolidEnabled)
HelixViewport.Children.Add(spherePoints);
if (ControlPointsEnabled)
{
HelixViewport.Children.Add(bezierCube.points);
HelixViewport.Children.Add(bezierCube.lines);
}
steeringFrame = new FrameVisual3D();
steeringFrame.Initialize(cubeSize);
if (SteeringFrameEnabled)
{
HelixViewport.Children.Add(steeringFrame.points);
HelixViewport.Children.Add(steeringFrame.lines);
HelixViewport.Children.Add(steeringFrame.GetJointsPoints(bezierCube.GetCornerPoints()));
}
manipulator = new CombinedManipulator();
manipulator.Diameter = 3;
manipulator.Offset = new Vector3D(0, 0, 5);
HelixViewport.Children.Add(manipulator);
//geometry = new MeshGeometryVisual3D();
//var builder = new MeshBuilder(false, false);
//builder.AddTriangles(bezierCube.GetSpherePoints());
//geometry.MeshGeometry = builder.ToMesh(true);
//HelixViewport.Children.Add(geometry);
surfaces = new BezierSurface[6];
for (int i = 0; i < 6; i++)
{
surfaces[i] = new BezierSurface()
{
Fill = Brushes.Red,
MeshSizeU = 20,
MeshSizeV = 20
};
surfaces[i].UpdateSurface(bezierCube.GetFaceControlPoints(i));
surfaces[i].UpdateModel();
if (BezierCubeEnabled)
HelixViewport.Children.Add(surfaces[i]);
}
//limitationsCuboid.UpdateViewport(HelixViewport);
}
public void displayManipulator()
{
this.parent.cleanManipulator();
if (_manipulator == null)
{
Rect3D r = this.Content.Bounds;
_manipulator = new CombinedManipulator();
//_manipulator.Position = new Point3D(r.X + (r.SizeX/2),r.Y + (r.SizeY / 2),r.Z + (r.SizeZ/2));
_manipulator.Offset = new Vector3D(r.X + (r.SizeX / 2), r.Y + (r.SizeY / 2), r.Z + (r.SizeZ / 2));
_manipulator.Pivot = new Point3D(r.X + (r.SizeX / 2), r.Y + (r.SizeY / 2), r.Z + (r.SizeZ / 2));
//_manipulator.Pivot = new Point3D(0, 0, 0);
_manipulator.Diameter = Math.Max(r.SizeX, Math.Max(r.SizeY, r.SizeZ)) + 1;
_manipulator.Length = _manipulator.Diameter * 0.75;
_manipulator.Bind(this);
Bind(_manipulator);
//addTeethRoot();
//test
//MeshGeometry3D mesh = GetMesh();
//drawBorderEdges(mesh);
}
tc.Children.Add(_manipulator);
}
internal void cleanManipulator()
{
//Remove all Tooth manipulators
List<Visual3D> childs = tc.Children.ToList();
foreach (var m in childs)
{
if (m is CombinedManipulator)
{
tc.Children.Remove(m);
}
}
try
{
//Remove all Brace manipulators
childs = bc.Children.ToList();
foreach (var m in childs)
{
if (m is BraceVisual3D)
{
((BraceVisual3D)m).cleanManipulator();
}
}
}
catch (Exception e) { }
//this.parent.Children.Remove(_manipulator);
_manipulator = null;
}
/// <summary>
/// @Deprecated
/// Not used anymore since changes in CONTAINER design.
/// <see cref="cleanManipulator"/>
/// </summary>
internal void clearManipulator()
{
if (this.parent.Children.Count > 0)
{
List<Visual3D> childs = this.parent.Children.ToList();
foreach (var m in childs)
{
if (m is CombinedManipulator)
{
this.parent.Children.Remove(m);
}
}
try
{
childs = this.Children.ToList();
foreach (var m in childs)
{
if (m is BraceVisual3D)
{
((BraceVisual3D)m).clearManipulator();
}
}
}
catch (Exception e) { }
}
//this.parent.Children.Remove(_manipulator);
_manipulator = null;
}
/// <summary>
/// @Deprecated
/// Not used anymore since changes in CONTAINER design.
/// <see cref="displayManipulator"/>
/// </summary>
public void showHideManipulator()
{
this.parent.clearManipulator();
if (_manipulator == null)
{
Rect3D r = this.Content.Bounds;
_manipulator = new CombinedManipulator();
//_manipulator.Position = new Point3D(r.X + (r.SizeX/2),r.Y + (r.SizeY / 2),r.Z + (r.SizeZ/2));
_manipulator.Offset = new Vector3D(r.X + (r.SizeX / 2), r.Y + (r.SizeY / 2), r.Z + (r.SizeZ / 2));
_manipulator.Pivot = new Point3D(r.X + (r.SizeX / 2), r.Y + (r.SizeY / 2), r.Z + (r.SizeZ / 2));
//_manipulator.Pivot = new Point3D(0, 0, 0);
_manipulator.Diameter = Math.Max(r.SizeX, Math.Max(r.SizeY, r.SizeZ)) + 1;
_manipulator.Length = _manipulator.Diameter * 0.75;
_manipulator.Bind(this);
Bind(_manipulator);
}
this.parent.Children.Add(_manipulator);
}
/// <summary>
/// @Deprecated
/// Not used anymore since changes in CONTAINER design.
/// <see cref="cleanManipulator"/>
/// </summary>
internal void clearManipulator()
{
List<Visual3D> childs = this.brace1.Children.ToList();
foreach (var m in childs)
{
if (m is CombinedManipulator)
{
this.brace1.Children.Remove(m);
}
}
childs = this.Children.ToList();
foreach (var m in childs)
{
if (m is BraceVisual3D)
{
((BraceVisual3D)m).clearManipulator();
}
}
//this.parent.Children.Remove(_manipulator);
_manipulator = null;
}
/// <summary>
/// Constructor
/// </summary>
public JointMover()
{
manipulator = new CombinedManipulator();
}
//==============using Container ==========
public void cleanManipulator()
{
List<Visual3D> childs = bc.Children.ToList();
foreach (var m in childs)
{
if (m is CombinedManipulator)
{
bc.Children.Remove(m);
}
}
_manipulator = null;
}
/// <summary>
/// @Deprecated
/// Will be removed soon.
/// <see cref="cleanManipulator"/>
/// </summary>
public void clearManipulator()
{
List<Visual3D> childs = this.parent.Children.ToList();
foreach (var m in childs)
{
if (m is CombinedManipulator)
{
this.parent.Children.Remove(m);
}
}
//this.parent.Children.Remove(_manipulator);
_manipulator = null;
}
private void backup_alignObject_Click(object sender, RoutedEventArgs e)
{
if (alignObjectBool)
{
//ModelVisual3D m = new ModelVisual3D();
//m.Content = vmodel.Content.Clone();
//view1.Children.Clear();
//view1.Children.Add(m);
alignObjectBool = false;
}
else
{
alignObjectBool = true;
Model3DGroup d = (Model3DGroup)vm.CurrentModel;
if (d != null)
{
Rect3D r = d.Bounds;
RotateTransform3D rt = new RotateTransform3D();
Console.WriteLine("rect3D:" + r.X + "," + r.Y + "," + r.Z);
Console.WriteLine("rect3D:" + r.SizeX + "," + r.SizeY + "," + r.SizeZ);
//rect3D:105.253304,-5.142087,17.12525
//rect3D:64.387794,75.531301,78.013559
CombinedManipulator vModelManipulator = new CombinedManipulator();
vModelManipulator.Diameter = r.SizeX;
vmodel.Content = vm.CurrentModel;
vModelManipulator.Bind(vmodel);
//view1.Children.Clear();
view1.Children.Add(vModelManipulator);
}
}
}
private void manip(object sender, MouseButtonEventArgs e)
{
var pt = view1.FindNearestPoint(e.GetPosition(view1));
if (cutLineBool && pt != null)
{
Point3D endPoint = pt.Value;
Model3D d = vm.CurrentModel;
//var position = new Point3D(startPoint.Y + ((endPoint.Y - startPoint.Y) / 2), startPoint.X, startPoint.Z);
//Vector3D v = (endPoint - startPoint);
var position = startPoint + (endPoint - startPoint) * 0.5;
//var position = new Point3D(0, 0, 0);
RectangleVisual3D r = new RectangleVisual3D();
//r.LengthDirection = new Vector3D(0, 1, 0);
if (d != null)
{
r.Normal = new Vector3D(1,0,0);
r.LengthDirection = new Vector3D(0,1,0);
//startPoint + (endPoint - startPoint) * 0.5;
r.Width = (d.Bounds.SizeX* 1.5);
r.Length = (d.Bounds.SizeY * 1.5);
r.Origin = position;
}
var combinedM = new CombinedManipulator();
combinedM.Position = position;
combinedM.Offset = new Vector3D(0, 0, 0);
combinedM.Diameter = r.Length/2;
combinedM.Bind(r);
view1.Children.Add(combinedM);
view1.Children.Add(r);
cutLineBool = false;
}
}
