internal Uniform6DTransformation(AnimatableWrapper wrapper, Motion6D.ReferenceFrame frame,
bool realtime, double[] changeFrameTime, TimeSpan forecastTime)
{
transform.Children.Add(rotate_uniform); // Adds uniform rotation
transform.Children.Add(rotate_const); // Adds constant rptation
transform.Children.Add(translation); // Adds translation
rotate_const.Rotation = quaternionConstRotation; // Setting quaterion for constant rotation
rotate_uniform.Rotation = angle_uniform; // Setting axis rotation for uniform rotation
this.wrapper = wrapper;
animatable = wrapper.Animatable;
dependencyProperty = wrapper.DependencyProperty;
this.frame = frame;
this.changeFrameTime = changeFrameTime;
From = 0;
To = 1;
calculator = new Motion6D.Uniform6D.Uniform6DMotion(frame, rotationAxis,
changeFrameTime, forecastTime.TotalSeconds,
wrapper.Animated.CoordinateError, wrapper.Animated.AngleError);
animated = wrapper.Animated;
forecast = animated.ForecastTime;
this.realtime = realtime;
if (realtime)
{
calculator.InitializePrediction(forecast.TotalSeconds);
}
calculator.Change += Motion_Change;
}
internal AnimatableWrapper(IAnimatable animatable, DependencyProperty dependencyProperty,
IAnimatedObject animatedObject, bool realtime, double[] changeFrameTime)
{
this.animatable = animatable;
this.dependencyProperty = dependencyProperty;
value = (animatable as DependencyObject).GetValue(dependencyProperty);
this.animatedObject = animatedObject;
transformation = new Uniform6DTransformation(this, animatedObject.ReferenceFrame,
realtime, changeFrameTime, animatedObject.ForecastTime);
}
/// <summary>
/// Enqueue animated object
/// </summary>
/// <param name="animatedObject">Animated Object</param>
/// <param name="timeSpan">Time Span</param>
internal static void Enqueue(this IAnimatedObject animatedObject, TimeSpan timeSpan)
{
ReferenceFrame frame = animatedObject.ReferenceFrame;
double[] position = new double[3];
Array.Copy(frame.Position, position, 3);
double[] quaternion = new double[4];
Array.Copy(frame.Quaternion, quaternion, 4);
Tuple<TimeSpan, double[], double[]> parameters =
new Tuple<TimeSpan, double[], double[]>(timeSpan, position, quaternion);
foreach (AnimatableWrapper wrapper in animatedObject.Children)
{
wrapper.Enqueue(parameters);
}
}