private void ShowSelectedPosition(Point p)
{
robot.CalculateInverseKinematicsSecond(p.X, p.Y);
robot.Reset(dragCanvas);
IList <Line> lines = robot.GetLines();
foreach (var line in lines)
{
line.Stroke = Brushes.Blue;
}
dragCanvas.Children.Add(lines[0]);
dragCanvas.Children.Add(lines[1]);
}
public void FindSolutions(Point targetPoint, SegmentsIntersector segmentsIntersector, Canvas dragCanvas, Strategy strategy)
{
Point targetAngles = new Point();
if (strategy == Strategy.First)
{
targetAngles = robot.CalculateInverseKinematicsFirst(targetPoint.X, targetPoint.Y);
}
else if (strategy == Strategy.Second)
{
targetAngles = robot.CalculateInverseKinematicsSecond(targetPoint.X, targetPoint.Y);
}
if (Double.IsNaN(targetAngles.X) || Double.IsNaN(targetAngles.Y))
{
//target point is unreachable from provided position
return;
}
robot.Reset(dragCanvas);
bool isCollision = colliderContainer.CheckCollision(robot, segmentsIntersector);
if (isCollision)
{
//found configuration is in collision with colliders
return;
}
IList <Line> lines = robot.GetLines();
foreach (var line in lines)
{
line.Stroke = Brushes.Black;
}
if (strategy == Strategy.First)
{
if (FirstLineSolution1 != null && SecondLineSolution1 != null)
{
dragCanvas.Children.Remove(FirstLineSolution1);
dragCanvas.Children.Remove(SecondLineSolution1);
}
FirstLineSolution1 = lines[0];
SecondLineSolution1 = lines[1];
}
else if (strategy == Strategy.Second)
{
if (FirstLineSolution2 != null && SecondLineSolution2 != null)
{
dragCanvas.Children.Remove(FirstLineSolution2);
dragCanvas.Children.Remove(SecondLineSolution2);
}
FirstLineSolution2 = lines[0];
SecondLineSolution2 = lines[1];
}
else if (strategy == Strategy.Third)
{
if (FirstLineSolution1 != null && SecondLineSolution2 != null)
{
dragCanvas.Children.Remove(FirstLineSolution1);
dragCanvas.Children.Remove(SecondLineSolution2);
}
FirstLineSolution1 = lines[0];
SecondLineSolution2 = lines[1];
}
else if (strategy == Strategy.Fourth)
{
if (FirstLineSolution2 != null && SecondLineSolution1 != null)
{
dragCanvas.Children.Remove(FirstLineSolution2);
dragCanvas.Children.Remove(SecondLineSolution1);
}
FirstLineSolution2 = lines[0];
SecondLineSolution1 = lines[1];
}
dragCanvas.Children.Add(lines[0]);
dragCanvas.Children.Add(lines[1]);
}
