public FindThisSystemRelativeToWorldSystemCurrentlyRelativeToPassedSystem ( |
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thisRelativeTo | The coordinate System this coordinate system is currently based on | |
리턴 |
private LegoBlock createBlockInGivenCoordinateSystem(Distance xDimension, Distance yDimension, Distance zDimension, CoordinateSystem blocksCoordinateSystem) { LegoBlock toReturn = new LegoBlock(); //make our geometry Point basePoint = Point.Origin; Point topLeftPoint = new Point(Distance.ZeroDistance, yDimension, Distance.ZeroDistance); Point bottomRightPoint = new Point(xDimension, Distance.ZeroDistance, Distance.ZeroDistance); Point topRightPoint = new Point(xDimension, yDimension, Distance.ZeroDistance); Point backBasePoint = new Point(Distance.ZeroDistance, Distance.ZeroDistance, zDimension); Point backTopLeftPoint = new Point(Distance.ZeroDistance, yDimension, zDimension); Point backBottomRightPoint = new Point(xDimension, Distance.ZeroDistance, zDimension); Point backTopRightPoint = new Point(xDimension, yDimension, zDimension); List<Polygon> planes = new List<Polygon>(); planes.Add(new Polygon(new List<Point> { basePoint, topLeftPoint, topRightPoint, bottomRightPoint })); planes.Add(new Polygon(new List<Point> { backBasePoint, backTopLeftPoint, backTopRightPoint, backBottomRightPoint })); planes.Add(new Polygon(new List<Point> { topLeftPoint, topRightPoint, backTopRightPoint, backTopLeftPoint })); planes.Add(new Polygon(new List<Point> { basePoint, bottomRightPoint, backBottomRightPoint, backBasePoint })); planes.Add(new Polygon(new List<Point> { basePoint, topLeftPoint, backTopLeftPoint, backBasePoint })); planes.Add(new Polygon(new List<Point> { bottomRightPoint, topRightPoint, backTopRightPoint, backBottomRightPoint })); toReturn.Geometry = new Polyhedron(planes); //now figure out is base coordinate system relative to the world and store it toReturn.BlockSystem = blocksCoordinateSystem.FindThisSystemRelativeToWorldSystemCurrentlyRelativeToPassedSystem(CURRENT_COORDINATE_SYSTEM); //now move it so it is in ouur current coordinate system toReturn.Geometry = toReturn.Geometry.Shift(blocksCoordinateSystem.ShiftFromThisTo()); //then return it return toReturn; }
public void CoordinateSystem_FindThisSystemRelativeToWorldSystemCurrentlyRelativeToPassedSystem() { //test one that really is more just an origin test CoordinateSystem testCurrent = new CoordinateSystem(Point.MakePointWithInches(1, 2, 3), Angle.ZeroAngle, Angle.ZeroAngle, Angle.RightAngle); CoordinateSystem testRelativeToCurrent = new CoordinateSystem(Point.MakePointWithInches(1, -2, 1), Angle.ZeroAngle, Angle.ZeroAngle, Angle.RightAngle / 2); CoordinateSystem basedOnWorld1 = testRelativeToCurrent.FindThisSystemRelativeToWorldSystemCurrentlyRelativeToPassedSystem(testCurrent); Point expectedOrigin = Point.MakePointWithInches(3, 3, 4); Angle xExpected = Angle.ZeroAngle; Angle yExpected = Angle.ZeroAngle; Angle zExpected = new Angle(new Degree(), 135); CoordinateSystem expectedCombined1 = new CoordinateSystem(expectedOrigin, xExpected, yExpected, zExpected); //this just helps with debugging and is redundent Point testPointWorld1 = Point.MakePointWithInches(3 - 2.12132034356, 3 - 0.70710678118, 7); Point resultPoint1 = testPointWorld1.Shift(basedOnWorld1.ShiftToThisFrom()); //1,2,3 Point expectedPoint1 = testPointWorld1.Shift(expectedCombined1.ShiftToThisFrom()); //1,2,3 (basedOnWorld1 == expectedCombined1).Should().BeTrue(); //test that negates the coordinate system (this works in both intrinsic and extrensic scenarios CoordinateSystem testCurrent2 = new CoordinateSystem(Point.MakePointWithInches(2, -2, 0), Angle.RightAngle, Angle.ZeroAngle, Angle.RightAngle); CoordinateSystem testRelativeToCurrent2 = new CoordinateSystem(Point.MakePointWithInches(-2, 0, 0), -1 * Angle.RightAngle, -1 * Angle.RightAngle, Angle.ZeroAngle); CoordinateSystem basedOnWorld2 = testRelativeToCurrent2.FindThisSystemRelativeToWorldSystemCurrentlyRelativeToPassedSystem(testCurrent2); CoordinateSystem expectedCombined2 = new CoordinateSystem(Point.MakePointWithInches(2, -4, 0), Angle.ZeroAngle, Angle.ZeroAngle, Angle.ZeroAngle); //this just helps with debugging and is redundent Point testPointWorld2 = Point.MakePointWithInches(3, -2, 3); Point resultPoint2 = testPointWorld2.Shift(basedOnWorld2.ShiftToThisFrom()); //1,2,3 Point expectedPoint2 = testPointWorld2.Shift(expectedCombined2.ShiftToThisFrom()); //1,2,3 basedOnWorld2.Should().Be(expectedCombined2); //test one that onlt works when using the current coords axes for the second one and not the worlds CoordinateSystem testCurrent3 = new CoordinateSystem(Point.Origin, Angle.RightAngle, Angle.RightAngle, Angle.ZeroAngle); CoordinateSystem testRelativeToCurrent3 = new CoordinateSystem(Point.Origin, Angle.RightAngle / 2, Angle.ZeroAngle, Angle.ZeroAngle); CoordinateSystem basedOnWorld3 = testRelativeToCurrent3.FindThisSystemRelativeToWorldSystemCurrentlyRelativeToPassedSystem(testCurrent3); Point expectedOrigin3 = Point.Origin; //1, 3, -2 Angle xExpected3 = Angle.RightAngle; Angle yExpected3 = Angle.RightAngle; Angle zExpected3 = new Angle(new Degree(), -45); CoordinateSystem expectedCombined3 = new CoordinateSystem(expectedOrigin3, xExpected3, yExpected3, zExpected3); // Matrix e = expectedCombined3.RotationMatrixFromThisToWorld(); var e = expectedCombined3.ShiftFromThisToWorld.Matrix; List<Angle> ea = e.EulerAngles(); Matrix r = basedOnWorld3.RotationMatrixFromThisToWorld(); List<Angle> ra = r.EulerAngles(); (basedOnWorld3 == expectedCombined3).Should().BeTrue(); //now try another test just for a more robust case CoordinateSystem testCurrent4 = new CoordinateSystem(Point.MakePointWithInches(1, 1, -1), Angle.StraightAngle, Angle.ZeroAngle, -1 * Angle.RightAngle); CoordinateSystem testRelativeToCurrent4 = new CoordinateSystem(Point.MakePointWithInches(-2, 0, 1), new Angle(new Degree(), -45), -1 * Angle.RightAngle, Angle.ZeroAngle); CoordinateSystem basedOnWorld4 = testRelativeToCurrent4.FindThisSystemRelativeToWorldSystemCurrentlyRelativeToPassedSystem(testCurrent4); Point expectedOrigin4 = Point.MakePointWithInches(1, 3, -2); //1, 3, -2 Angle xExpected4 = Angle.ZeroAngle; Angle yExpected4 = Angle.RightAngle; Angle zExpected4 = new Angle(new Degree(), 135); CoordinateSystem expectedCombined4 = new CoordinateSystem(expectedOrigin4, xExpected4, yExpected4, zExpected4); //this just helps with debugging and is redundent Point testPointWorld4 = Point.MakePointWithInches(1 - 3.53553390611, 3 + 0.70710678032, -3); Point resultPoint4 = testPointWorld4.Shift(basedOnWorld4.ShiftToThisFrom()); //1,2,3 Point expectedPoint4 = testPointWorld4.Shift(expectedCombined4.ShiftToThisFrom()); //1,2,3 (basedOnWorld4 == expectedCombined4).Should().BeTrue(); }