private void trackBar_Scroll(object sender, EventArgs e)
{
TrackBar tb = (TrackBar)sender;
DOFDesc desc = (DOFDesc)((object[])tb.Tag)[0];
Label lb = (Label)((object[])tb.Tag)[1];
lb.Text = (tb.Value / desc.Scale).ToString();
_fromWinformPort.Post(new FromWinformMsg(FromWinformMsg.MsgEnum.MoveJoint, null, new MoveJoint(tb.Value / desc.Scale, desc.Name)));
}
void MoveJoint(MoveJoint move)
{
DOFDesc dof = _state.Joints[move.Name];
JointDesc desc = dof.Description;
Vector3 targetVelocity = new Vector3(0, 0, 0);
switch (dof.Type)
{
case DOFType.Twist:
desc.TwistAngle = (float)move.Angle;
targetVelocity = new Vector3((float)-move.Angle, 0, 0);
break;
case DOFType.Swing1:
desc.Swing1Angle = (float)move.Angle;
targetVelocity = new Vector3(0, (float)-move.Angle, 0);
break;
case DOFType.Swing2:
desc.Swing2Angle = (float)move.Angle;
targetVelocity = new Vector3(0, 0, (float)-move.Angle);
break;
case DOFType.X:
desc.X = (float)move.Angle;
targetVelocity = new Vector3((float)-move.Angle, 0, 0);
break;
case DOFType.Y:
desc.Y = (float)move.Angle;
targetVelocity = new Vector3(0, (float)-move.Angle, 0);
break;
case DOFType.Z:
desc.Z = (float)move.Angle;
targetVelocity = new Vector3(0, 0, (float)-move.Angle);
break;
}
PhysicsJoint thisJoint = null;
if (desc.Joint != null)
{
thisJoint = (PhysicsJoint)desc.Joint;
}
else
{
thisJoint = (PhysicsJoint)desc.JointEntity.ParentJoint;
}
if (IsVelocityDrive(thisJoint.State, dof.Type))
{
_entity.DeferredTaskQueue.Post(new Task(() => SetDriveInternal(thisJoint, targetVelocity)));
}
else
{
Task <Physics.PhysicsJoint, Quaternion, Vector3> deferredTask =
new Task <Physics.PhysicsJoint, Quaternion, Vector3>(thisJoint, desc.JointOrientation, desc.JointPosition, SetDriveInternal);
_entity.DeferredTaskQueue.Post(deferredTask);
}
}
