/// <summary>
/// Allows the game to perform any initialization it needs to before starting to run.
/// This is where it can query for any required services and load any non-graphic
/// related content. Calling base.Initialize will enumerate through any components
/// and initialize them as well.
/// </summary>
protected override void Initialize()
{
// Setup main world matrix
world = Matrix.CreateRotationX(-MathHelper.PiOver2);
// Setup camera
Camera = new Camera();
Camera.Position = new Vector3(0.0f, 15.0f, 100.0f);
Camera.Forward = new Vector3(0, 0, -1);
// Setup Robot
robot = new Robot();
// Setup TrajectoryController
InverseKinematicsSolver iks = new InverseKinematicsSolver(robot, new Vector3()) { MaxBruteForceIterations = 0, MaxIterations = 200 };
InverseKinematicsSolver hardiks = new InverseKinematicsSolver(robot, new Vector3()) { MaxBruteForceIterations = 10, MaxIterations = 100 };
trajectory = new TrajectoryController(this, robot, iks);
trajectory.Enabled = false;
Components.Add(trajectory);
// TODO Test if jostick is present to try enable
//joystick = new JoystickController(this, robot, iks, hardiks);
//joystick.Enabled = true;
//Components.Add(joystick);
hardware = new HardwareInterfaceController(this, robot);
Components.Add(hardware);
// Creates the UI
MainForm mainfrm = new MainForm();
mainfrm.SetRobotEdit(robot, Content);
mainfrm.SetTrajectoryController(trajectory);
mainfrm.SetJoystickController(joystick);
mainfrm.SetHardwareInterfaceController(hardware);
mainfrm.Show();
base.Initialize();
}
public void SetTrajectoryController(TrajectoryController trajc)
{
trajCtl = trajc;
trajectoryEdit1.SelectedTrajectoryController = trajc;
}