public void Invoke(Manipulator manip)
{
foreach (Instruction instr in Instrs)
{
if (instr.Operand is Instruction target)
{
instr.Operand = new ILLabel(this, target);
}
else if (instr.Operand is Instruction[] targets)
{
instr.Operand = targets.Select(t => new ILLabel(this, t)).ToArray();
}
}
manip(this);
foreach (Instruction instr in Instrs)
{
if (instr.Operand is ILLabel label)
{
instr.Operand = label.Target;
}
else if (instr.Operand is ILLabel[] targets)
{
instr.Operand = targets.Select(l => l.Target).ToArray();
}
}
Method.ConvertShortLongOps();
}
public PageCompletionViewModel()
{
try
{
var Image = Manipulator.GetResourceImage("Image", "CompletionBanner");
if (Image != null)
{
completionImage = Image;
}
var HeadlineText = Manipulator.GetResourceString("Text", "Page5_Headline");
if (HeadlineText != null)
{
headline = HeadlineText;
}
var Text = Manipulator.GetResourceString("Text", "Page5_Text");
if (Text != null)
{
text = Text;
}
}
catch { }
this.PropertyChanged += Page5ViewModel_PropertyChanged;
}
private string AddImagePartFromFile(string absoluteImageFilePath)
{
using (var stream = new FileStream(absoluteImageFilePath, FileMode.Open, FileAccess.Read, FileShare.Read))
{
return(Manipulator.AddImagePart(stream));
}
}
public PageTargetDirectoryViewModel()
{
try
{
var Image = Manipulator.GetResourceImage("Image", "TargetDirectoryBanner");
if (Image != null)
{
targetDirectoryImage = Image;
}
var HeadlineText = Manipulator.GetResourceString("Text", "Page3_Headline");
if (HeadlineText != null)
{
headline = HeadlineText;
}
var Text = Manipulator.GetResourceString("Text", "Page3_Text");
if (Text != null)
{
text = Text;
}
}
catch { }
this.PropertyChanged += ViewModel_PropertyChanged;
}
public PageIntroViewModel()
{
try
{
var Image = Manipulator.GetResourceImage("Image", "WelcomeBanner");
if (Image != null)
{
welcomeImage = Image;
}
var HeadlineText = Manipulator.GetResourceString("Text", "Page0_Headline");
if (HeadlineText != null)
{
headline = HeadlineText;
}
var SubHeadlineText = Manipulator.GetResourceString("Text", "Page0_SubHeadline");
if (SubHeadlineText != null)
{
subHeadline = SubHeadlineText;
}
var Text = Manipulator.GetResourceString("Text", "Page0_Text");
if (Text != null)
{
text = Text;
}
}
catch { }
this.PropertyChanged += ViewModel_PropertyChanged;
}
void SwitchTool(MouseUpEvent e)
{
var toggle = e.target as Toggle;
Type toolType = Type.GetType(toggle.name);
if (m_Tool != null && m_Tool.GetType() == toolType)
{
return;
}
foreach (var tool in m_ToolButtons)
{
tool.value = tool == toggle;
}
if (m_Tool != null)
{
m_Root.RemoveManipulator(m_Tool);
}
toggle.value = true;
toggle.Focus();
// toggle.Blur();
if (toolType != null)
{
Manipulator tool;
if (m_Tools.TryGetValue(toolType, out tool))
{
m_Tool = m_Tools[toolType];
}
else
{
m_Tool = System.Activator.CreateInstanceFrom(toolType.Assembly.CodeBase, toolType.FullName).Unwrap() as Manipulator;
m_Tools.Add(toolType, m_Tool);
}
m_Root.Q(name: "canvas").AddManipulator(m_Tool);
}
}
public AssociativeTable(Manipulator Agent, int entries)
{
Table = new Dictionary <double, double[]>();
double[] q_init = new double[IKP.ParamNum];
Array.Copy(Agent.q, q_init, IKP.ParamNum);
Random rng = new Random();
IKP Solver = new IKP(0.02, Agent.Links.Length, 10, 0.2, 50);
for (int i = 0; i < 3600; i++)
{
double d = 0.04, a = i; //a = Math.Round(-Math.PI + 2 * Math.PI * rng.NextDouble(), 2);
Vector v = new Vector(d * Math.Cos(a / 10), d * Math.Sin(a / 10));
var res = Solver.Execute(Agent.GripperPos + v);
Array.Copy(q_init, Agent.q, IKP.ParamNum);
while (!res.Item1)
{
res = Solver.Execute(Agent.GripperPos + v);
Array.Copy(q_init, Agent.q, IKP.ParamNum);
}
Table.Add(a, res.Item3);
}
}
public void Trim(Manipulator manipulator, InverseKinematicsSolver solver)
{
switch (Mode)
{
case TreeBehaviour.Cyclic:
var source = new Queue <Node>();
source.Enqueue(Root);
while (source.Count != 0)
{
var childs = new List <Node>(source.Dequeue().Childs);
foreach (var child in childs)
{
manipulator.q = child.q;
if (manipulator.CollisionTest().Contains(true))
{
RemoveNode(child);
}
else
{
source.Enqueue(child);
}
}
}
break;
case TreeBehaviour.Recursive:
foreach (var child in Root.Childs)
{
TrimRecursive(manipulator, solver, child);
}
break;
}
}
public static Signal Transform(Signal signal, Context context, MathIdentifier transformationTypeId, bool ignoreHold)
{
TransformationTypeTable transTable = context.Library.LookupTransformationTheoremType(transformationTypeId);
TransformationManipulationVisitor visitor = new TransformationManipulationVisitor(transTable);
return(Manipulator.Manipulate(signal, visitor, ignoreHold));
}
public static void Initialize(Manipulator agent, Obstacle[] obstacles)
{
Rng = new Random();
Agent = new Manipulator(agent);
Obstacles = obstacles;
}
/// <summary>
/// Connections the specified object.
/// </summary>
/// <param name="obj">The object.</param>
private void Connection(object obj)
{
if (null != obj)
{
var state = (bool)obj;
if (!state)
{
Manipulator?.Disconnect();
}
else
{
if (string.IsNullOrEmpty(SelectedCOMPort))
{
BadgeText = "!";
ConnectionToggleIsChecked = false;
return;
}
ConnectionToggleIsChecked = true;
Manipulator = new E3JManipulator(Settings);
Manipulator.Port.ConnectionStatusChanged += Port_ConnectionStatusChanged;
Manipulator.Connect(SelectedCOMPort);
Manipulator.Port.DataReceived += Port_DataReceived;
KinectHandler?.StartKinect(Manipulator);
}
}
}
void OnKeyDown(KeyDownEvent e)
{
bool pressed;
if (keyPressed.TryGetValue(e.keyCode, out pressed))
{
if (!pressed)
{
keyPressed[e.keyCode] = true;
}
}
else
{
keyPressed.Add(e.keyCode, true);
}
if (!pressed && keyPressed[e.keyCode])
{
if (e.keyCode == KeyCode.LeftControl || e.keyCode == KeyCode.RightControl)
{
if (m_Tool != null)
{
m_Root.Q(name: "canvas").RemoveManipulator(m_Tool);
}
m_Manipulator = new EyedropperTool();
m_Root.Q(name: "canvas").AddManipulator(m_Manipulator);
}
}
}
public async Task StartGameResetsGameData()
{
AddPlayers(Constants.MaxPlayerCount);
await StateMachine.Start();
Manipulator.Verify(_ => _.ResetGame());
}
public void Control(Manipulator agent, Vector3 goal, List <List <Vector3> > paths)
{
var contestant = new Manipulator(agent);
var gripperPos = 0;
while (gripperPos < agent.Configs.Count)
{
for (int i = gripperPos + 1; i < agent.Path.Count; i++)
{
for (int j = paths[i].Count - 1; j > 0; j--)
{
foreach (var obst in Obstacles)
{
if (obst.Contains(paths[i][j]))
{
Deform(agent, obst, paths, i, j);
break;
}
}
}
}
// wait for window to draw current config so that we can update it
Dispatcher.UpdateConfig.WaitOne();
agent.q = agent.Configs[gripperPos < agent.Configs.Count - 1 ? gripperPos++ : gripperPos];
Dispatcher.UpdateConfig.Reset();
}
}
/// <summary>
/// 创建箭头
/// </summary>
/// <param name="swN"></param>
/// <param name="swPickPt"></param>
/// <param name="length"></param>
/// <returns></returns>
private Manipulator CreateNewDrag(MathVector swN, MathPoint swPickPt, double length)
{
var swModel = (ModelDoc2)swApp.ActiveDoc;
var swModViewMgr = swModel.ModelViewManager;
SwManHandler2 swDragHdlr = new SwManHandler2();
Manipulator swManip = swModViewMgr.CreateManipulator((int)swManipulatorType_e.swDragArrowManipulator, swDragHdlr);
DragArrowManipulator swDrag = (DragArrowManipulator)swManip.GetSpecificManipulator();
swDrag.AllowFlip = false;
swDrag.ShowRuler = false;
swDrag.ShowOppositeDirection = false;
swDrag.Length = length;
swDrag.Direction = swN;
//swDrag.LengthOppositeDirection = 0.01;
swDrag.Origin = swPickPt;
swManip.Show(swModel);
swDrag.Update();
return(swManip);
}
public PageInstallViewModel()
{
try
{
var Image = Manipulator.GetResourceImage("Image", "InstallBanner");
if (Image != null)
{
installImage = Image;
}
var HeadlineText = Manipulator.GetResourceString("Text", "Page4_Headline");
if (HeadlineText != null)
{
headline = HeadlineText;
}
var Text = Manipulator.GetResourceString("Text", "Page4_Text");
if (Text != null)
{
text = Text;
}
var Text2 = Manipulator.GetResourceString("Text2", "Page4_Text2");
if (Text2 != null)
{
text2 = Text2;
}
}
catch { }
this.PropertyChanged += ViewModel_PropertyChanged;
}
void OnManipulatorRightUpdated(SteamVR_Controller.Device state)
{
if (state.GetPressDown(EVRButtonId.k_EButton_Grip))
{
/*Utils.Log("OnManipulatorRightUpdated: " +
* "attached = " + (attachedManipulator == null ? "null" : attachedManipulator.ToString()) +
* ", isManipulatorRightInsideStickCollider = " + (isManipulatorRightInsideCollider ? "yes" : "no") +
* ", state.GetPressDown = " + (state.GetPressDown(EVRButtonId.k_EButton_Grip) ? "yes" : "no"));*/
if (isInteractable && (attachedManipulator == null) &&
isManipulatorRightInsideCollider)
{
attachedManipulator = DeviceManager.Instance.ManipulatorRight;
DeviceManager.Instance.ManipulatorRight.isGripping = true;
// cool-down for button de-bounce
isInteractable = false;
StartCoroutine(ButtonCooldown());
}
else if (DeviceManager.IsManipulatorRight(attachedManipulator))
{
attachedManipulator = null;
DeviceManager.Instance.ManipulatorRight.isGripping = false;
}
}
}
public static SignalSet Transform(IEnumerable <Signal> signals, Context context, MathIdentifier transformationTypeId, ConfigureTransformation configure, bool ignoreHold)
{
TransformationTypeTable transTable = context.Library.LookupTransformationTheoremType(transformationTypeId);
TransformationManipulationVisitor visitor = new TransformationManipulationVisitor(transTable, configure);
return(Manipulator.Manipulate(signals, visitor, ignoreHold));
}
private OpenXmlElement ConvertLinkInline(LinkInline linkInline, bool isBoldInherited = false, bool isItalicInherited = false)
{
if (linkInline.IsImage)
{
var explicitAbsoluteImagePath = GetExplicitAbsoluteImagePath(linkInline.Url, BaseFolderPathForRelativePath);
var relationshipId = AddImagePartFromFile(explicitAbsoluteImagePath);
// At this time, temporary uses the original image dimension.
// In later, adjust the image dimension using the page settings and inherited indentation.
(var originalImageWidthInch, var originalImageHeightInch) = Manipulator.GetImageDimensionInInch(relationshipId);
var originalImageWidthEmu = WordDocumentManipulator.UnitConverter.InchToEmu(originalImageWidthInch);
var originalImageHeightEmu = WordDocumentManipulator.UnitConverter.InchToEmu(originalImageHeightInch);
var fileName = Path.GetFileName(explicitAbsoluteImagePath);
var altText = GetLinkText(linkInline);
return(Manipulator.ElementCreator.CreateImageElement(relationshipId, (long)originalImageWidthEmu, (long)originalImageHeightEmu, fileName, altText));
}
else
{
var linkText = GetLinkText(linkInline);
var hyperlinkUri = GetLinkTargetUri(linkInline.Url);
var hyperlinkRelationshipId = Manipulator.AddHyperlinkRelationship(hyperlinkUri);
var styleId = UserSettingStyleMap.GetStyleId(UserSettingStyleMap.StyleMapKeyType.Hyperlink, null);
return(Manipulator.ElementCreator.CreateHyperlinkElement(linkText, hyperlinkRelationshipId, isBoldInherited, isItalicInherited, styleId));
}
}
public void WrongFileExtensionThrowsException()
{
//Arrange
var manipulator = new Manipulator(@"C:\thisFileDoesntExist.txt");
//Act
manipulator.Reverse();
}
public void TooSmallFileThrowsException()
{
//Arrange
var manipulator = new Manipulator(@"C:\Users\David'\Desktop\WavFiles\16BitPCM\tooSmall.wav");
//Act
manipulator.Reverse();
}
public void NonWaveFileContentFormatThrowsException()
{
//Arrange
var manipulator = new Manipulator(@"C:\Users\David'\Desktop\WavFiles\16BitPCM\notWavFormat.wav");
//Act
manipulator.Reverse();
}
public void EmptyStringThrowsException()
{
//Arrange
var manipulator = new Manipulator("");
//Act
manipulator.Reverse();
}
public void NonExistentFileThrowsException()
{
//Arrange
var manipulator = new Manipulator(@"C:\thisFileDoesntExist.wav");
//Act
manipulator.Reverse();
}
//Recreatee drag handler based on mouse
void CheckMouse()
{
if (Input.GetMouseButtonDown(0))
{
coll = Physics2D.OverlapPoint(Camera.main.ScreenToWorldPoint(Input.mousePosition));
if (coll == null)
{
return;
}
if (coll.CompareTag("Manipulator"))
{
curr_selected_obj = coll.GetComponent <Manipulator>();
}
touch_timer = buffer_time;
isSelected = false;
}
if (Input.GetMouseButton(0))
{
if (curr_selected_obj == null)
{
return;
}
touch_timer -= Time.deltaTime;
//Start the drag mechanic
if (touch_timer <= 0 && !isSelected)
{
isSelected = true;
curr_selected_obj.StartDrag();
}
else if (touch_timer <= 0 && isSelected)
{
curr_selected_obj.Drag();
}
}
if (Input.GetMouseButtonUp(0))
{
if (curr_selected_obj == null)
{
return;
}
//Case 1 : Tap
if (touch_timer >= 0)
{
curr_selected_obj.Rotate_Right();
}
//Case 2 : Drag and release
if (touch_timer <= 0)
{
curr_selected_obj.EndDrag();
}
curr_selected_obj = null;
}
}
public void TestReverse()
{
Assert.Equal(54321, Manipulator.Reverse(12345));
Assert.Equal(1337, Manipulator.Reverse(7331));
Assert.Equal(0, Manipulator.Reverse(0));
Assert.Equal(1, Manipulator.Reverse(1));
Assert.Equal(8, Manipulator.Reverse(8000));
Assert.Equal(111111, Manipulator.Reverse(111111));
}
public void NullStringThrowsException()
{
//Arrange
string array = null;
var manipulator = new Manipulator(array);
//Act
manipulator.Reverse();
}
public void TestComplement()
{
Assert.Equal(87654, Manipulator.Complement(12345));
Assert.Equal(2668, Manipulator.Complement(7331));
Assert.Equal(8, Manipulator.Complement(1));
Assert.Equal(1999, Manipulator.Complement(8000));
Assert.Equal(8000, Manipulator.Complement(1999));
Assert.Equal(888888, Manipulator.Complement(111111));
}
public void NullArrayThrowsException()
{
//Arrange
IEnumerable <byte> array = null;
var manipulator = new Manipulator(array);
//Act
manipulator.Reverse();
}
public void MoveFrameOnNewPlayfield_UpAndLeft_ReturnsTrue(Direction direction)
{
// arrange
// act
bool testResult = Manipulator.GetInstance().MakeMove(_playfieldStub.Object, direction, false);
// assert
Assert.IsTrue(testResult);
}
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>
/// Updates manipulators to reflect the contact change.
/// </summary>
/// <param name="contactEvent">The new ContactTargetEvent</param>
/// <param name="details">The contacEvent.HitTestDetails as ScrollViewerHitTestDetails</param>
private void UpdateCurrentManipulators(ContactTargetEvent contactEvent, ScrollViewerHitTestDetails details)
{
// Try to find the changed contact in the manipulators list.
bool foundManipulator = false;
for (int i = 0; i < manipulations.Count; i++)
{
Manipulator manipulator = manipulations[i];
if (manipulator.ManipulatorId == contactEvent.Contact.Id)
{
manipulations.Remove(manipulator);
Manipulator manipulatorToAdd = new Manipulator(contactEvent.Contact.Id,
ConvertFromHorizontalValueToScreenSpace(details.HorizontalPosition),
ConvertFromVerticalValueToScreenSpace(details.VerticalPosition));
// Performance: It doesn't matter where we insert, but if all the contacts are being updated,
// then putting the most recent change at the end will mean that there is one less contact
// to go through the next time this loop is executed.
if (manipulations.Count == 0)
{
manipulations.Add(manipulatorToAdd);
}
else
{
manipulations.Insert(manipulations.Count - 1, manipulatorToAdd);
}
foundManipulator = true;
break;
}
}
// The manipulator isn't in the list so add it.
if (!foundManipulator)
{
manipulations.Add(new Manipulator(contactEvent.Contact.Id,
ConvertFromHorizontalValueToScreenSpace(details.HorizontalPosition),
ConvertFromVerticalValueToScreenSpace(details.VerticalPosition)));
}
}
/// <summary>
/// Clears the origin previews
/// </summary>
public void ClearOriginPreview()
{
if (swManip != null)
{
swManip.Visible = false;
swManip.Remove();
swManip = null;
originTriad = null;
}
}
/// <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>
/// Returns the average of the captured contacts in the ThumbList.
/// </summary>
/// <returns></returns>
private float AverageCapturedContactsInThumbList()
{
float average = 0;
int count = 0;
if (manipulationProcessor == null)
{
manipulationProcessor = new Affine2DManipulationProcessor(Affine2DManipulations.TranslateX); // The coordinate doesn't matter we always deal in 1 dimension.
manipulationProcessor.Affine2DManipulationCompleted += new EventHandler<Affine2DOperationCompletedEventArgs>(OnAffine2DManipulationCompleted);
}
List<Manipulator> currentManipulators = new List<Manipulator>();
List<Manipulator> removedManipulators = new List<Manipulator>();
// Go through the contacts which are captured on the thumb and average them.
for (int i = 0; i < thumbCapturedContactsList.Count; i++)
{
int id = thumbCapturedContactsList[i];
// Make sure the contact is captured.
if (ContactsCaptured.Contains(id))
{
// Make sure we have hit test details for this contact.
if (captureContactsHitTestDetails.ContainsKey(id))
{
Debug.Assert(distanceOffset.ContainsKey(id), "Offset wasn't calculated for this contact.");
float offset = distanceOffset[id];
ScrollBarHitTestDetails details = captureContactsHitTestDetails[id];
// The Manipulations should all run in screen space.
Manipulator manipulator = new Manipulator(id, ToScreenSpace(details.Position - offset), 0);
// Make sure the value of each contact accounts for offset.
average += captureContactsHitTestDetails[id].Position - offset;
count++;
currentManipulators.Add(manipulator);
}
else
{
Debug.Fail("The contact was captured, but wasn't in the hit test details dictionary.");
}
}
else
{
float offset = distanceOffset[id];
ScrollBarHitTestDetails details = captureContactsHitTestDetails[id];
// The Manipulations should all run in screen space.
Manipulator manipulator = new Manipulator(id, ToScreenSpace(details.Position - offset), 0);
removedManipulators.Add(manipulator);
// The contact was released so we need to remove it.
thumbCapturedContactsList.Remove(id);
i--;
}
}
manipulationProcessor.ProcessManipulators(stopwatch.ElapsedTicks, currentManipulators, removedManipulators);
// Don't divide by zero.
if (count != 0)
average = average / count;
return average;
}
public Manipulator addManipulator(Manipulator manipulator)
{
listManipulators.Add(manipulator);
return manipulator;
}