public void HideProperty()
{
swManip = null;
triadManip = null;
GC.Collect();
}
/// <summary>
/// Toggles custom value textboxes when checkbox changes
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void CustomMassValCheckbox_CheckedChanged(object sender, EventArgs e)
{
currentLink.UseCustomInertial = CustomMassValCheckbox.Checked;
PhysicalButton.Enabled = !CustomMassValCheckbox.Checked;
toggleCOMTextboxes();
if (CustomMassValCheckbox.Checked)
{
swManip = currentLink.modelDoc.ModelViewManager.CreateManipulator((int)swManipulatorType_e.swTriadManipulator, this);
triadManip = swManip.GetSpecificManipulator();
triadManip.DoNotShow = (int)swTriadManipulatorDoNotShow_e.swTriadManipulatorDoNotShowXYRING | (int)swTriadManipulatorDoNotShow_e.swTriadManipulatorDoNotShowYZRING
| (int)swTriadManipulatorDoNotShow_e.swTriadManipulatorDoNotShowZXRING | (int)swTriadManipulatorDoNotShow_e.swTriadManipulatorDoNotShowXYPlane |
(int)swTriadManipulatorDoNotShow_e.swTriadManipulatorDoNotShowYZPlane | (int)swTriadManipulatorDoNotShow_e.swTriadManipulatorDoNotShowZXPlane;
triadManip.Origin = currentLink.swApp.GetMathUtility().CreatePoint(new double[] { currentLink.ComX, currentLink.ComY, currentLink.ComZ });
startOrigin = triadManip.Origin;
triadManip.UpdatePosition();
swManip.Show(currentLink.modelDoc);
}
else
{
InertiaButton_Click(null, null);
HideProperty();
}
}
/// <summary>
/// Called when this property manager page is closed
/// </summary>
/// <param name="Reason">Reason this page is closing</param>
public void OnClose(int Reason)
{
if (PrevSelectId != null)
OnSelectionboxFocusChanged(PrevSelectId);
swManips = null;
triadManip = null;
GC.Collect();
if (robot != null)
SaveCurrentSelection();
modelDoc.ClearSelection2(true);
if (Reason != (int)swPropertyManagerPageCloseReasons_e.swPropertyManagerPageClose_ParentClosed && RestoreManager != null)
RestoreManager(robot);
}
/// <summary>
/// Draws preview arrows for the coordinate system. Axes should be calculated before hand.
/// </summary>
public void DrawOriginPreview()
{
triadManip = null;
swManips = null;
GC.Collect();
if (robot == null || robot.OriginPt == null || robot.Direction == null || robot.BasePlane == null)
{
return;
}
triadManip = null;
swManips = null;
GC.Collect();
ModelViewManager swModViewMgr = modelDoc.ModelViewManager;
MathPoint robotOrigin = mathUtil.CreatePoint(new double[] { robot.OriginX, robot.OriginY, robot.OriginZ });
swManips = new Manipulator[1];
MathVector[] axisVectors = new MathVector[3];
axisVectors[0] = mathUtil.CreateVector(new double[] { robot.AxisX, robot.AxisY, robot.AxisZ });
axisVectors[1] = CalcNormalVector(robot.BasePlane); //calculate vertical axis as normal of plane
axisVectors[2] = axisVectors[1].Cross(axisVectors[0]); //calculate horizontal axis as cross product between plane normal and direction axis.
swManips[0] = swModViewMgr.CreateManipulator((int)swManipulatorType_e.swTriadManipulator, this);
triadManip = (TriadManipulator)swManips[0].GetSpecificManipulator();
triadManip.DoNotShow = (int)swTriadManipulatorDoNotShow_e.swTriadManipulatorDoNotShowXYRING | (int)swTriadManipulatorDoNotShow_e.swTriadManipulatorDoNotShowYZRING
| (int)swTriadManipulatorDoNotShow_e.swTriadManipulatorDoNotShowZXRING | (int)swTriadManipulatorDoNotShow_e.swTriadManipulatorDoNotShowXYPlane |
(int)swTriadManipulatorDoNotShow_e.swTriadManipulatorDoNotShowYZPlane | (int)swTriadManipulatorDoNotShow_e.swTriadManipulatorDoNotShowZXPlane;
triadManip.XAxis = axisVectors[0];
triadManip.YAxis = axisVectors[2];
triadManip.ZAxis = axisVectors[1];
triadManip.Origin = robotOrigin;
triadManip.UpdatePosition();
swManips[0].Show(modelDoc);
}
/// <summary>
/// Draws the preview triad for the origin
/// </summary>
private void DrawOriginPreview()
{
if (!inPropertyPage || groupBox.Expanded == false)
return;
MathVector xAxisVector = RobotInfo.mathUtil.CreateVector(new double[]{1,0,0});
MathVector yAxisVector = RobotInfo.mathUtil.CreateVector(new double[]{0,1,0});
MathVector zAxisVector = RobotInfo.mathUtil.CreateVector(new double[]{0,0,1});
if (swManip == null)
{
swManip = modelDoc.ModelViewManager.CreateManipulator((int)swManipulatorType_e.swTriadManipulator, this);
originTriad = swManip.GetSpecificManipulator();
}
if (xVector != null)
{
originTriad.XAxis = xVector;
if (yVector != null)
{
originTriad.YAxis = yVector;
originTriad.ZAxis = xVector.Cross(yVector).Normalise();
}
else
{
MathVector tempAxis = zAxisVector.Cross(xVector);
if(tempAxis.GetLength() < VectorCalcs.errorVal)
tempAxis = yAxisVector;
else
tempAxis = tempAxis.Normalise();
originTriad.YAxis = tempAxis;
originTriad.ZAxis = xVector.Cross(tempAxis).Normalise();
}
}
else
{
originTriad.XAxis = xAxisVector;
originTriad.YAxis = yAxisVector;
originTriad.ZAxis = zAxisVector;
}
originTriad.Origin = RobotInfo.mathUtil.CreatePoint(OriginValues.Point);
originTriad.UpdateScale(80);
originTriad.DoNotShow = (int)swTriadManipulatorDoNotShow_e.swTriadManipulatorDoNotShowXYPlane |
(int)swTriadManipulatorDoNotShow_e.swTriadManipulatorDoNotShowXYRING |
(int)swTriadManipulatorDoNotShow_e.swTriadManipulatorDoNotShowYZPlane |
(int)swTriadManipulatorDoNotShow_e.swTriadManipulatorDoNotShowYZRING |
(int)swTriadManipulatorDoNotShow_e.swTriadManipulatorDoNotShowZXPlane |
(int)swTriadManipulatorDoNotShow_e.swTriadManipulatorDoNotShowZXRING;
originTriad.UpdatePosition();
if (!swManip.Visible)
{
swManip.Show(modelDoc);
}
}
/// <summary>
/// Clears the origin previews
/// </summary>
public void ClearOriginPreview()
{
if (swManip != null)
{
swManip.Visible = false;
swManip.Remove();
swManip = null;
originTriad = null;
}
}
