private static void AttachProbeToLinkForPresser(ColliderViewModel vm)
{
var apvm = GetFirstAncestorWithPneumaticLink(vm);
if (apvm != null)
{
var pnLink = apvm.LinkToParent as IPneumaticPresserExtensionProvider;
var lpvm = GetFirstAncestorWithLinearPositionLink(vm, pnLink.Direction);
if (lpvm != null)
{
var lpLink = lpvm.LinkToParent as LinearPositionViewModel;
var sign = Math.Sign(pnLink.OnPos - pnLink.OffPos);
var direction = GetDirectionVector(pnLink.Direction) * sign;
AttachActionToCollider(vm, pnLink);
lpLink.ValueChanged += (s, e) =>
{
var t = vm.CheckPanelIntersectionAsync(pnLink.Value, direction).Result;
//var t = vm.CheckPanelIntersection(pnLink.Value, direction);
if (t.Item1)
{
double intersectValue = t.Item2;
if (intersectValue <= 0)
{
pnLink.HasCollision = true;
vm.Collided = true;
pnLink.Pos = pnLink.Pos - intersectValue;
}
else if (vm.Collided)
{
pnLink.Pos = pnLink.Pos - intersectValue;
//verifico se il link si sia esteso completamente
bool b = (sign > 0) ? (pnLink.Pos > pnLink.OnPos) : (pnLink.Pos < pnLink.OnPos);
if (b)
{
pnLink.HasCollision = false;
vm.Collided = false;
pnLink.Pos = pnLink.OnPos;
}
}
}
};
}
else
{
AttachActionToCollider(vm, pnLink);
}
}
}
private static void AttachProbeToLink(ColliderViewModel vm)
{
var avm = GetFirstAncestorWithPneumaticLink(vm);
if (avm != null)
{
var link = avm.LinkToParent as IPneumaticColliderExtensionProvider;
AttachActionToCollider(vm, link);
}
}
public static Collider ToModel(this ColliderViewModel vm)
{
if (vm != null)
{
if (vm is PointColliderViewModel pvm)
{
var m = new PointsCollider();
m.Type = vm.Type;
m.Radius = pvm.Radius;
m.Points.Add(pvm.Position.ToVector());
if (vm is TwoPointsColliderViewModel pvm2)
{
m.Points.Add(pvm2.Position2.ToVector());
}
if (vm is ThreePointsColliderViewModel pvm3)
{
m.Points.Add(pvm3.Position3.ToVector());
}
if (vm is FourPointsColliderViewModel pvm4)
{
m.Points.Add(pvm4.Position4.ToVector());
}
if (vm is SixPointsColliderViewModel pvm6)
{
m.Points.Add(pvm6.Position5.ToVector());
m.Points.Add(pvm6.Position6.ToVector());
}
if (vm is EightPointsColliderViewModel pvm8)
{
m.Points.Add(pvm8.Position7.ToVector());
m.Points.Add(pvm8.Position8.ToVector());
}
return(m);
}
else
{
throw new ArgumentException("Invalid view model!");
}
}
else
{
return(null);
}
}
private static void AttachActionToCollider(ColliderViewModel vm, IPneumaticColliderExtensionProvider link)
{
var s = Math.Sign(link.OnPos - link.OffPos);
var max = Math.Abs(link.OnPos - link.OffPos);
var direction = GetDirectionVector(link.Direction) * s;
link.EvaluateCollision = (e) =>
{
double intersectValue = link.OnPos;
bool state = link.Value;
//var t = vm.CheckPanelIntersection(state, direction);
var t = vm.CheckPanelIntersectionAsync(state, direction).Result;
if (t.Item1 && (t.Item2 < max))
{
intersectValue = t.Item2;
link.HasCollision = true;
link.CollisionOnPos = intersectValue * s;
vm.Collided = true;
}
else
{
link.HasCollision = false;
vm.Collided = false;
}
};
link.OnMovementCompleted = (e) =>
{
if (e.Value)
{
vm.EvaluateOnState();
}
};
link.OnMovementStarting = (e) =>
{
if (!e.Value)
{
vm.EvaluateOffState();
}
};
}
private static Action GetGripperOnCollideAction(ColliderViewModel vm)
{
return(null);
}
