public static List <DHParameter> GetDhParameterForRobot(RobotModels model)
{
if (!_factoriesInitialized)
{
InitializeFactories();
}
var parameter = new List <DHParameter>();
//TODO: Implement other robot models
switch (model)
{
case RobotModels.Kuka_KR300_R2500:
throw new NotImplementedException();
case RobotModels.Kuka_KR270_R2700:
parameter = KukaRobotModelFactory.GetDHForKR270R2700();
break;
case RobotModels.Kuka_KR240_R2900:
throw new NotImplementedException();
case RobotModels.Kuka_KR210_R3100:
throw new NotImplementedException();
default:
break;
}
return(parameter);
}
public Robot(string name, RobotManufacturer robotBrand, RobotModels robotModel)
{
ModelName = name;
Joints = new SortedList <int, Joint>();
var dhParams = DHParameterFactory.GetDhParameterForRobot(robotModel);
for (int i = 0; i < dhParams.Count; i++)
{
Joints.Add(i, new RotationalJoint(0, 360, dhParams[i]));
}
Kinematic = new RobotKinematics(dhParams);
InitializeMember();
Joint6ToFlangeTrafo = RobotBaseDataProvider.GetJoint6ToFlangeTransformation(robotBrand);
}
public MainViewModel()
{
EffectsManager = new DefaultEffectsManager();
// camera setup
Camera = new PerspectiveCamera
{
Position = new Point3D(0, -2000, 400),
LookDirection = new Vector3D(0, 2000, 0),
UpDirection = UpDirection,
FarPlaneDistance = 5000000,
};
// setup lighting
//SkyboxTexture = LoadFileToMemory("Cubemap_Grandcanyon.dds");
LightDirection = new Vector3D(0, -0.5, -1);
LightDirection.Normalize();
SetHeadLight();
AmbientLightColor = Colors.White * 1000;
DirectionalLightColor = Color.FromScRgb(1, 10, 10, 10);
BackgroundColor = Color.FromRgb(40, 40, 40);
// model transform
ModelTransform = Transform3D.Identity;
//var r = new System.Windows.Media.Media3D.AxisAngleRotation3D(new Vector3D(0, 0, 1), 90);
//EnvironmentTransform = new System.Windows.Media.Media3D.RotateTransform3D(r);
// model materials
var material = new PBRMaterial();
material.AlbedoColor = new Color4(0.8f, 0.4f, 0.05f, 1f);
material.MetallicFactor = 0.2;
material.ReflectanceFactor = 0.8;
material.RenderEnvironmentMap = false;
material.AmbientOcclusionFactor = 1;
// floor plane grid
Grid = LineBuilder.GenerateGrid(new Vector3(0, 0, 1), -10, 10, -10, 10);
GridColor = Color.FromRgb(100, 100, 100);
GridTransform = new System.Windows.Media.Media3D.ScaleTransform3D(100, 100, 100);
// commands
UpZCommand = new RelayCommand(_ => { Log = "test switch"; });
// robot program
var test = new TestProgram();
Program = test.Program;
Log = Program.Errors.Count == 0 ? Program.RobotSystem.Name : string.Join(" ", Program.Errors);
// make robot
var cell = Program.RobotSystem as Robots.RobotCell;
var group = cell.MechanicalGroups.First();
var meshes = group.Joints.Select(j => j.Mesh).Prepend(group.Robot.BaseMesh);
_origins = group.Joints.Select(j => j.Plane).Prepend(group.Robot.BasePlane).ToArray();
foreach (var joint in meshes)
{
var model = new MeshGeometryModel3D();
model.Geometry = joint.ToWPF();
model.Material = material;
model.Transform = Transform3D.Identity;
model.IsThrowingShadow = true;
RobotModels.Add(model);
}
// timer
_timer = new Timer(Tick, null, Timeout.Infinite, 0);
}
