/// <summary>
/// Create a visible model of the STL file
/// </summary>
/// <param name="filename">The STL file with full extension</param>
public void ViewNewStl(string filename)
{
// WTF!! No file
if (!File.Exists(filename)) return;
// Check the file extension to be STL
FileInfo fileInfo = new FileInfo(filename);
if (fileInfo.Extension.ToLower() != ".stl") return;
ModelColor = configuration.STLcolor;
Filename = filename;
// Create a model of the STL file
ModelImporter modellImporter = new ModelImporter();
modellImporter.DefaultMaterial =
new DiffuseMaterial(
new SolidColorBrush((Color)ColorConverter.ConvertFromString(modellColor)));
Model3DGroup model3DGroup = modellImporter.Load(filename);
StlModel.Content = model3DGroup;
myViewPort3D.CameraController.ResetCamera();
myViewPort3D.CameraController.ZoomExtents(0);
}
public void Load_TestObj_ValidNumberOfVertices()
{
var importer = new ModelImporter();
var model = importer.Load(@"Models\obj\test.obj");
int countVertices = 0;
model.Traverse<GeometryModel3D>((geometryModel, transform) =>
{
var mesh = (MeshGeometry3D)geometryModel.Geometry;
countVertices += mesh.Positions.Count;
});
Assert.AreEqual(8, countVertices);
}
public Poke3D(string path_to_3d)
{
InitializeComponent();
var importer = new HelixToolkit.Wpf.ModelImporter();
try
{
Model3D MyModel = importer.Load(AppDomain.CurrentDomain.BaseDirectory + path_to_3d);
model.Content = MyModel;
}
catch (Exception e) {
MessageBox.Show(e.Message);
}
}
public VirtualRobot()
{
InitializeComponent();
this.TypeName = "Virtual Robot";
Inputs.Add("RightUpperBevel", new ViewModel.InputSignalViewModel("RightUpperBevel", this.InstanceName));
Inputs.Add("RightLowerBevel", new ViewModel.InputSignalViewModel("RightLowerBevel", this.InstanceName));
Inputs.Add("RightElbow", new ViewModel.InputSignalViewModel("RightElbow", this.InstanceName));
Inputs.Add("LeftUpperBevel", new ViewModel.InputSignalViewModel("LeftUpperBevel", this.InstanceName));
Inputs.Add("LeftLowerBevel", new ViewModel.InputSignalViewModel("LeftLowerBevel", this.InstanceName));
Inputs.Add("LeftElbow", new ViewModel.InputSignalViewModel("LeftElbow", this.InstanceName));
Inputs.Add("GrasperOpen", new ViewModel.InputSignalViewModel("GrasperOpen", this.InstanceName));
Inputs.Add("GrasperTwist", new ViewModel.InputSignalViewModel("GrasperTwist", this.InstanceName));
Inputs.Add("CauteryTwist", new ViewModel.InputSignalViewModel("CauteryTwist", this.InstanceName));
PostLoadSetup();
string startupPath = System.IO.Directory.GetCurrentDirectory();
startupPath = startupPath + "\\3D Models\\";
this.dispatcher = Dispatcher.CurrentDispatcher;
string shoulderPath = startupPath + "Shoulder.stl";
string upperRightPath = startupPath + "upperRight.stl";
string upperLeftPath = startupPath + "upperLeft.stl";
string foreRightPath = startupPath + "cauteryFore.stl";
string rightTipPath = startupPath + "cauteryHook.stl";
string foreLeftPath = startupPath + "grasperFore.stl";
string yolkPath = startupPath + "grasperYolk.stl";
string jaw1Path = startupPath + "grasperJaw1.stl";
string jaw2Path = startupPath + "grasperJaw2.stl";
string rightSpacePath = startupPath + "RightWorkspace.stl";
string leftSpacePath = startupPath + "LeftWorkspace.stl";
string needlePath = startupPath + "needle2.stl";
// Import *.stl files
var up = new ModelImporter();
var shoulder = up.Load(shoulderPath, this.dispatcher);
var upperRightArm = up.Load(upperRightPath, this.dispatcher);
var upperLeftArm = up.Load(upperLeftPath, this.dispatcher);
var foreRightArm = up.Load(foreRightPath, this.dispatcher);
var tipRightArm = up.Load(rightTipPath, this.dispatcher);
var foreLeftArm = up.Load(foreLeftPath, this.dispatcher);
var grasperYolk = up.Load(yolkPath, this.dispatcher);
var grasperJaw1 = up.Load(jaw1Path, this.dispatcher);
var grasperJaw2 = up.Load(jaw2Path, this.dispatcher);
var rightSpace = up.Load(rightSpacePath, this.dispatcher);
var leftSpace = up.Load(leftSpacePath, this.dispatcher);
var needle = up.Load(needlePath, this.dispatcher);
// Convert to GeometryModel3d so we can rotate models
GeometryModel3D SHmodel = shoulder.Children[0] as GeometryModel3D;
GeometryModel3D URmodel = upperRightArm.Children[0] as GeometryModel3D;
GeometryModel3D ULmodel = upperLeftArm.Children[0] as GeometryModel3D;
GeometryModel3D FRmodel = foreRightArm.Children[0] as GeometryModel3D;
GeometryModel3D FLmodel = foreLeftArm.Children[0] as GeometryModel3D;
GeometryModel3D TRmodel = tipRightArm.Children[0] as GeometryModel3D;
GeometryModel3D GYmodel = grasperYolk.Children[0] as GeometryModel3D;
GeometryModel3D GJ1model = grasperJaw1.Children[0] as GeometryModel3D;
GeometryModel3D GJ2model = grasperJaw2.Children[0] as GeometryModel3D;
GeometryModel3D RWSmodel = rightSpace.Children[0] as GeometryModel3D;
GeometryModel3D LWSmodel = leftSpace.Children[0] as GeometryModel3D;
GeometryModel3D Nmodel = needle.Children[0] as GeometryModel3D;
// GHOST WHITE // Set model color
DiffuseMaterial material = new DiffuseMaterial(new SolidColorBrush(Colors.GhostWhite));
SHmodel.Material = material;
SHmodel.BackMaterial = material;
// RED // Set model color
material = new DiffuseMaterial(new SolidColorBrush(Colors.Red));
FRmodel.Material = material;
FRmodel.BackMaterial = material;
TRmodel.Material = material;
TRmodel.BackMaterial = material;
// DARK RED // Set model color
material = new DiffuseMaterial(new SolidColorBrush(Colors.DarkRed));
URmodel.Material = material;
URmodel.BackMaterial = material;
Nmodel.Material = material;
// GREEN // Set model color
material = new DiffuseMaterial(new SolidColorBrush(Colors.Green));
// BLUE // Set model color
material = new DiffuseMaterial(new SolidColorBrush(Colors.Blue));
GYmodel.Material = material;
GYmodel.BackMaterial = material;
GJ1model.Material = material;
GJ1model.BackMaterial = material;
GJ2model.Material = material;
GJ2model.BackMaterial = material;
FLmodel.Material = material;
FLmodel.BackMaterial = material;
// DARK BLUE // Set model color
material = new DiffuseMaterial(new SolidColorBrush(Colors.DarkBlue));
ULmodel.Material = material;
ULmodel.BackMaterial = material;
// BLACK // Set model color
material = new DiffuseMaterial(new SolidColorBrush(Colors.Black));
// TRANSPARENT RED // Set model color
SolidColorBrush brushOne = new SolidColorBrush();
brushOne.Opacity = 0.50;
brushOne.Color = Colors.Red;
material = new DiffuseMaterial(brushOne);
RWSmodel.Material = material;
RWSmodel.BackMaterial = material;
// TRANSPARENT BLUE // Set model color
SolidColorBrush brushTwo = new SolidColorBrush();
brushTwo.Opacity = 0.50;
brushTwo.Color = Colors.Blue;
material = new DiffuseMaterial(brushTwo);
LWSmodel.Material = material;
LWSmodel.BackMaterial = material;
// right shoulder rotations
rsyTransform.CenterX = 0;
rsyTransform.CenterY = 0;
rsyTransform.CenterZ = 0;
rightShoulderRotY.Axis = new Vector3D(0, 1, 0);
rsxTransform.CenterX = 0;
rsxTransform.CenterY = 0;
rsxTransform.CenterZ = 0;
rightShoulderRotX.Axis = new Vector3D(1, 0, 0);
// right elbow rotations
relTransform.CenterX = -13.386;
relTransform.CenterY = 5;
relTransform.CenterZ = 74.684;
rightElbow.Axis = new Vector3D(0, 1, 0);
// right tip rotations
rTipTransform.CenterX = -15.111;
rTipTransform.CenterY = 9.515;
rTipTransform.CenterZ = 0;
rightTip.Axis = new Vector3D(0, 0, 1);
//left shoulder rotations
lsyTransform.CenterX = 14.478;
lsyTransform.CenterY = 0;
lsyTransform.CenterZ = 0;
leftShoulderRotY.Axis = new Vector3D(0, 1, 0);
lsxTransform.CenterX = 0;
lsxTransform.CenterY = 0;
lsxTransform.CenterZ = 0;
leftShoulderRotX.Axis = new Vector3D(1, 0, 0);
// left elbow rotations
lelTransform.CenterX = 27.864;
lelTransform.CenterY = 0;
lelTransform.CenterZ = 74.684;
leftElbow.Axis = new Vector3D(0, 1, 0);
// grasper rotations
graspTransform.CenterX = 27.864;
graspTransform.CenterY = 13.624;
graspTransform.CenterZ = 0;
graspOrient1.Axis = new Vector3D(0, 0, 1);
jaw1Transform.CenterX = 27.864;
jaw1Transform.CenterZ = 160.284;
jawAngle1.Axis = new Vector3D(0, 1, 0);
jaw2Transform.CenterX = 27.864;
jaw2Transform.CenterZ = 160.284;
jawAngle2.Axis = new Vector3D(0, 1, 0);
// Define cautery tip
rightTipVisual.Content = TRmodel;
rightTipVisual2.Content = TRmodel;
rightTipVisual3.Content = TRmodel;
// Define right forearm group
rightForeBodyVisual.Content = FRmodel;
rightForeVisual.Children.Clear();
rightForeVisual.Children.Add(rightForeBodyVisual);
rightForeVisual.Children.Add(rightTipVisual);
rightForeBodyVisual2.Content = FRmodel;
rightForeVisual2.Children.Clear();
rightForeVisual2.Children.Add(rightForeBodyVisual2);
rightForeVisual2.Children.Add(rightTipVisual2);
rightForeBodyVisual3.Content = FRmodel;
rightForeVisual3.Children.Clear();
rightForeVisual3.Children.Add(rightForeBodyVisual3);
rightForeVisual3.Children.Add(rightTipVisual3);
// Define right arm group
rightUpperVisual.Content = URmodel;
rightVisual.Children.Clear();
rightVisual.Children.Add(rightUpperVisual);
rightVisual.Children.Add(rightForeVisual);
rightUpperVisual2.Content = URmodel;
rightVisual2.Children.Clear();
rightVisual2.Children.Add(rightUpperVisual2);
rightVisual2.Children.Add(rightForeVisual2);
rightUpperVisual3.Content = URmodel;
rightVisual3.Children.Clear();
rightVisual3.Children.Add(rightUpperVisual3);
rightVisual3.Children.Add(rightForeVisual3);
// Left grasper open/close
jawOneVisual.Content = GJ1model;
jawTwoVisual.Content = GJ2model;
needleVisual.Content = Nmodel;
jawOneVisual2.Content = GJ1model;
jawTwoVisual2.Content = GJ2model;
needleVisual2.Content = Nmodel;
jawOneVisual3.Content = GJ1model;
jawTwoVisual3.Content = GJ2model;
needleVisual3.Content = Nmodel;
// Define grasper group
yolkVisual.Content = GYmodel;
grasperVisual.Children.Clear();
grasperVisual.Children.Add(yolkVisual);
grasperVisual.Children.Add(jawOneVisual);
grasperVisual.Children.Add(jawTwoVisual);
grasperVisual.Children.Add(needleVisual);
yolkVisual2.Content = GYmodel;
grasperVisual2.Children.Clear();
grasperVisual2.Children.Add(yolkVisual2);
grasperVisual2.Children.Add(jawOneVisual2);
grasperVisual2.Children.Add(jawTwoVisual2);
grasperVisual2.Children.Add(needleVisual2);
yolkVisual3.Content = GYmodel;
grasperVisual3.Children.Clear();
grasperVisual3.Children.Add(yolkVisual3);
grasperVisual3.Children.Add(jawOneVisual3);
grasperVisual3.Children.Add(jawTwoVisual3);
grasperVisual3.Children.Add(needleVisual3);
// Define left forearm group
leftForeBodyVisual.Content = FLmodel;
leftForeVisual.Children.Clear();
leftForeVisual.Children.Add(leftForeBodyVisual);
leftForeVisual.Children.Add(grasperVisual);
leftForeBodyVisual2.Content = FLmodel;
leftForeVisual2.Children.Clear();
leftForeVisual2.Children.Add(leftForeBodyVisual2);
leftForeVisual2.Children.Add(grasperVisual2);
leftForeBodyVisual3.Content = FLmodel;
leftForeVisual3.Children.Clear();
leftForeVisual3.Children.Add(leftForeBodyVisual3);
leftForeVisual3.Children.Add(grasperVisual3);
// Define left arm group
leftUpperVisual.Content = ULmodel;
leftVisual.Children.Clear();
leftVisual.Children.Add(leftUpperVisual);
leftVisual.Children.Add(leftForeVisual);
leftUpperVisual2.Content = ULmodel;
leftVisual2.Children.Clear();
leftVisual2.Children.Add(leftUpperVisual2);
leftVisual2.Children.Add(leftForeVisual2);
leftUpperVisual3.Content = ULmodel;
leftVisual3.Children.Clear();
leftVisual3.Children.Add(leftUpperVisual3);
leftVisual3.Children.Add(leftForeVisual3);
// workspace
rightSpaceVisual.Content = RWSmodel;
leftSpaceVisual.Content = LWSmodel;
needleVisual.Content = Nmodel;
staticVisual.Children.Clear();
staticVisual.Children.Add(rightSpaceVisual);
staticVisual.Children.Add(leftSpaceVisual);
// Add left and right arms to full model
wholeModel.Content = SHmodel;
wholeModel.Children.Clear();
wholeModel.Children.Add(rightVisual);
wholeModel.Children.Add(leftVisual);
// wholeModel.Children.Add(staticVisual);
wholeModel2.Content = SHmodel;
wholeModel2.Children.Clear();
wholeModel2.Children.Add(rightVisual2);
wholeModel2.Children.Add(leftVisual2);
wholeModel3.Content = SHmodel;
wholeModel3.Children.Clear();
wholeModel3.Children.Add(rightVisual3);
wholeModel3.Children.Add(leftVisual3);
DisplayModel();
}
private void Load_Click(object sender, RoutedEventArgs e)
{
var loader = new ModelImporter();
Model3D currentModel = loader.Load("T6_S1.stl", Dispatcher.CurrentDispatcher);
HelixView.Children.Add(new ModelVisual3D { Content = currentModel });
}
/// <summary>
/// Called when the source or default material changed.
/// </summary>
protected virtual void SourceChanged()
{
var importer = new ModelImporter { DefaultMaterial = this.DefaultMaterial };
this.Visual3DModel = this.Source != null ? importer.Load(this.Source) : null;
this.OnModelLoaded();
}
public GraphicalView()
{
this.DataContext = this;
InitializeComponent();
Sinks = new ObservableDictionary<string, InputSignalViewModel>();
Sinks.Add("RightUpperBevel", new InputSignalViewModel("RightUpperBevel", "GraphicalView"));
Sinks.Add("RightLowerBevel", new InputSignalViewModel("RightLowerBevel", "GraphicalView"));
Sinks.Add("RightElbow", new InputSignalViewModel("RightElbow", "GraphicalView"));
Sinks.Add("LeftUpperBevel", new InputSignalViewModel("LeftUpperBevel", "GraphicalView"));
Sinks.Add("LeftLowerBevel", new InputSignalViewModel("LeftLowerBevel", "GraphicalView"));
Sinks.Add("LeftElbow", new InputSignalViewModel("LeftElbow", "GraphicalView"));
Sinks.Add("GrasperOpen", new InputSignalViewModel("GrasperOpen", "GraphicalView"));
Sinks.Add("GrasperTwist", new InputSignalViewModel("GrasperTwist", "GraphicalView"));
Sinks.Add("CauteryTwist", new InputSignalViewModel("CauteryTwist", "GraphicalView"));
Sinks.Add("LeftGrasperForce", new InputSignalViewModel("LeftGrasperForce", "GraphicalView"));
SetupMessenger();
Random R = new Random();
for (int i = 0; i < line_colour_array.Length; i++)
{
line_colour_array[i] = new Bgr(R.Next(0, 255), R.Next(0, 255), R.Next(0, 255));
}
//Run();
Write_BTN.IsEnabled = false;
Main_Picturebox.Size = new System.Drawing.Size(820, 820);
DeviceNames = new ObservableCollection<string>();
SettingNames = new ObservableCollection<string>();
_deviceList = new FilterInfoCollection(FilterCategory.VideoInputDevice);
// Get a list of all video capture source names
for (int i = 0; i < _deviceList.Count; i++)
{
DeviceNames.Add(_deviceList[i].Name);
}
// paths to *.stl files
string startupPath = System.IO.Directory.GetCurrentDirectory();
startupPath = startupPath + "\\3D Models\\";
this.dispatcher = Dispatcher.CurrentDispatcher;
string shoulderPath = startupPath + "Shoulder.stl";
string upperRightPath = startupPath + "upperRight.stl";
string upperLeftPath = startupPath + "upperLeft.stl";
string foreRightPath = startupPath + "cauteryFore.stl";
string rightTipPath = startupPath + "cauteryHook.stl";
string foreLeftPath = startupPath + "grasperFore.stl";
string yolkPath = startupPath + "grasperYolk.stl";
string jaw1Path = startupPath + "grasperJaw1.stl";
string jaw2Path = startupPath + "grasperJaw2.stl";
string rightSpacePath = startupPath + "RightWorkspace.stl";
string leftSpacePath = startupPath + "LeftWorkspace.stl";
// Import *.stl files
var up = new ModelImporter();
var shoulder = up.Load(shoulderPath, this.dispatcher);
var upperRightArm = up.Load(upperRightPath, this.dispatcher);
var upperLeftArm = up.Load(upperLeftPath, this.dispatcher);
var foreRightArm = up.Load(foreRightPath, this.dispatcher);
var tipRightArm = up.Load(rightTipPath, this.dispatcher);
var foreLeftArm = up.Load(foreLeftPath, this.dispatcher);
var grasperYolk = up.Load(yolkPath, this.dispatcher);
var grasperJaw1 = up.Load(jaw1Path, this.dispatcher);
var grasperJaw2 = up.Load(jaw2Path, this.dispatcher);
var rightSpace = up.Load(rightSpacePath, this.dispatcher);
var leftSpace = up.Load(leftSpacePath, this.dispatcher);
// Convert to GeometryModel3d so we can rotate models
GeometryModel3D SHmodel = shoulder.Children[0] as GeometryModel3D;
GeometryModel3D URmodel = upperRightArm.Children[0] as GeometryModel3D;
GeometryModel3D ULmodel = upperLeftArm.Children[0] as GeometryModel3D;
GeometryModel3D FRmodel = foreRightArm.Children[0] as GeometryModel3D;
GeometryModel3D FLmodel = foreLeftArm.Children[0] as GeometryModel3D;
GeometryModel3D TRmodel = tipRightArm.Children[0] as GeometryModel3D;
GeometryModel3D GYmodel = grasperYolk.Children[0] as GeometryModel3D;
GeometryModel3D GJ1model = grasperJaw1.Children[0] as GeometryModel3D;
GeometryModel3D GJ2model = grasperJaw2.Children[0] as GeometryModel3D;
GeometryModel3D RWSmodel = rightSpace.Children[0] as GeometryModel3D;
GeometryModel3D LWSmodel = leftSpace.Children[0] as GeometryModel3D;
// GHOST WHITE // Set model color
DiffuseMaterial material = new DiffuseMaterial(new SolidColorBrush(Colors.GhostWhite));
SHmodel.Material = material;
SHmodel.BackMaterial = material;
// RED // Set model color
material = new DiffuseMaterial(new SolidColorBrush(Colors.Red));
FRmodel.Material = material;
FRmodel.BackMaterial = material;
TRmodel.Material = material;
TRmodel.BackMaterial = material;
// DARK RED // Set model color
material = new DiffuseMaterial(new SolidColorBrush(Colors.DarkRed));
URmodel.Material = material;
URmodel.BackMaterial = material;
// GREEN // Set model color
material = new DiffuseMaterial(new SolidColorBrush(Colors.Green));
// BLUE // Set model color
material = new DiffuseMaterial(new SolidColorBrush(Colors.Blue));
GYmodel.Material = material;
GYmodel.BackMaterial = material;
GJ1model.Material = material;
GJ1model.BackMaterial = material;
GJ2model.Material = material;
GJ2model.BackMaterial = material;
FLmodel.Material = material;
FLmodel.BackMaterial = material;
// DARK BLUE // Set model color
material = new DiffuseMaterial(new SolidColorBrush(Colors.DarkBlue));
ULmodel.Material = material;
ULmodel.BackMaterial = material;
// BLACK // Set model color
material = new DiffuseMaterial(new SolidColorBrush(Colors.Black));
// TRANSPARENT RED // Set model color
SolidColorBrush brushOne = new SolidColorBrush();
brushOne.Opacity = 0.50;
brushOne.Color = Colors.Red;
material = new DiffuseMaterial(brushOne);
RWSmodel.Material = material;
RWSmodel.BackMaterial = material;
// TRANSPARENT BLUE // Set model color
SolidColorBrush brushTwo = new SolidColorBrush();
brushTwo.Opacity = 0.50;
brushTwo.Color = Colors.Blue;
material = new DiffuseMaterial(brushTwo);
LWSmodel.Material = material;
LWSmodel.BackMaterial = material;
// right shoulder rotations
rsyTransform.CenterX = 0;
rsyTransform.CenterY = 0;
rsyTransform.CenterZ = 0;
rightShoulderRotY.Axis = new Vector3D(0, 1, 0);
rsxTransform.CenterX = 0;
rsxTransform.CenterY = 0;
rsxTransform.CenterZ = 0;
rightShoulderRotX.Axis = new Vector3D(1, 0, 0);
// right elbow rotations
relTransform.CenterX = -13.386;
relTransform.CenterY = 5;
relTransform.CenterZ = 74.684;
rightElbow.Axis = new Vector3D(0, 1, 0);
// right tip rotations
rTipTransform.CenterX = -15.111;
rTipTransform.CenterY = 9.515;
rTipTransform.CenterZ = 0;
rightTip.Axis = new Vector3D(0, 0, 1);
//left shoulder rotations
lsyTransform.CenterX = 14.478;
lsyTransform.CenterY = 0;
lsyTransform.CenterZ = 0;
leftShoulderRotY.Axis = new Vector3D(0, 1, 0);
lsxTransform.CenterX = 0;
lsxTransform.CenterY = 0;
lsxTransform.CenterZ = 0;
leftShoulderRotX.Axis = new Vector3D(1, 0, 0);
// left elbow rotations
lelTransform.CenterX = 27.864;
lelTransform.CenterY = 0;
lelTransform.CenterZ = 74.684;
leftElbow.Axis = new Vector3D(0, 1, 0);
// grasper rotations
graspTransform.CenterX = 27.864;
graspTransform.CenterY = 13.624;
graspTransform.CenterZ = 0;
graspOrient1.Axis = new Vector3D(0, 0, 1);
jaw1Transform.CenterX = 27.864;
jaw1Transform.CenterZ = 160.284;
jawAngle1.Axis = new Vector3D(0, 1, 0);
jaw2Transform.CenterX = 27.864;
jaw2Transform.CenterZ = 160.284;
jawAngle2.Axis = new Vector3D(0, 1, 0);
// Define cautery tip
rightTipVisual.Content = TRmodel;
// Define right forearm group
rightForeBodyVisual.Content = FRmodel;
rightForeVisual.Children.Clear();
rightForeVisual.Children.Add(rightForeBodyVisual);
rightForeVisual.Children.Add(rightTipVisual);
// Define right arm group
rightUpperVisual.Content = URmodel;
rightVisual.Children.Clear();
rightVisual.Children.Add(rightUpperVisual);
rightVisual.Children.Add(rightForeVisual);
// Left grasper open/close
jawOneVisual.Content = GJ1model;
jawTwoVisual.Content = GJ2model;
// Define grasper group
yolkVisual.Content = GYmodel;
grasperVisual.Children.Clear();
grasperVisual.Children.Add(yolkVisual);
grasperVisual.Children.Add(jawOneVisual);
grasperVisual.Children.Add(jawTwoVisual);
// Define left forearm group
leftForeBodyVisual.Content = FLmodel;
leftForeVisual.Children.Clear();
leftForeVisual.Children.Add(leftForeBodyVisual);
leftForeVisual.Children.Add(grasperVisual);
// Define left arm group
leftUpperVisual.Content = ULmodel;
leftVisual.Children.Clear();
leftVisual.Children.Add(leftUpperVisual);
leftVisual.Children.Add(leftForeVisual);
// workspace
rightSpaceVisual.Content = RWSmodel;
leftSpaceVisual.Content = LWSmodel;
staticVisual.Children.Clear();
staticVisual.Children.Add(rightSpaceVisual);
staticVisual.Children.Add(leftSpaceVisual);
// Add left and right arms to full model
wholeModel.Content = SHmodel;
wholeModel.Children.Clear();
wholeModel.Children.Add(rightVisual);
wholeModel.Children.Add(leftVisual);
// wholeModel.Children.Add(staticVisual);
DisplayModel();
}
/// <summary>
/// Called when the source changed.
/// </summary>
protected virtual void OnSourceChanged()
{
this.Visual3DModel = this.Source != null?ModelImporter.Load(this.Source) : null;
this.OnModelLoaded();
}
public void LoadModel(string path, bool transformYup, double scale)
{
var importer = new ModelImporter();
var mod = importer.Load(path);
if (mod == null || mod.Children.Count == 0)
return;
var model = (mod.Children[0] as GeometryModel3D);
if (model == null)
return;
var mesh = model.Geometry as MeshGeometry3D;
if (mesh == null)
return;
var transform = new Transform3DGroup();
if (transformYup)
transform.Children.Add(new RotateTransform3D(new AxisAngleRotation3D(new Vector3D(1, 0, 0), 90)));
transform.Children.Add(new ScaleTransform3D(scale, scale, scale));
for (int i = 0; i < mesh.Positions.Count; i++)
mesh.Positions[i] = transform.Transform(mesh.Positions[i]);
ScaleHeightOnly = false;
Geometry = mesh;
}
private async Task<Model3DGroup> LoadAsync(string model3DPath, bool freeze)
{
return await Task.Factory.StartNew(() =>
{
var mi = new ModelImporter();
// Alt 1. - freeze the model
return mi.Load(model3DPath, null, true);
});
}
private async Task<Model3DGroup> LoadAsync(string model3DPath, bool freeze)
{
return await Task.Factory.StartNew(() =>
{
var mi = new ModelImporter();
if (freeze)
{
// Alt 1. - freeze the model
return mi.Load(model3DPath, null, true);
}
// Alt. 2 - create the model on the UI dispatcher
return mi.Load(model3DPath, this.dispatcher);
});
}
public MainViewModel(IFileDialogService fileDialogService, HelixViewport3D viewport)
{
this.fileDialogService = fileDialogService;
this.viewport = viewport;
modelImporter = new ModelImporter();
}
private void Load3DModel(object sender, RoutedEventArgs e)
{
Model3DGroup modelgroup = null;
try
{
//Adding a gesture here
//viewPort3d.RotateGesture = new MouseGesture(MouseAction.LeftClick);
//Import 3D model file
HelixToolkit.Wpf.ModelImporter import = new HelixToolkit.Wpf.ModelImporter();
//Load the 3D model file
OpenFileDialog openFileDialog = new OpenFileDialog();
openFileDialog.Filter = "3D files (*.3ds)|*.3ds|All files (*.*)|*.*";
if (openFileDialog.ShowDialog() == true)
{
modelgroup = import.Load(openFileDialog.FileName);
ModelVisual3D model = new ModelVisual3D();
model.Content = modelgroup;
Vector3D position = new Vector3D(600, 0, 0);
Vector3D axis = new Vector3D(1, 0, 0); //In case you want to rotate it about the x-axis
Matrix3D transformationMatrix = model.Content.Transform.Value; //Gets the matrix indicating the current transformation value
transformationMatrix.Rotate(new Quaternion(axis, 0)); //Makes a rotation transformation over this matrix
//transformationMatrix.RotateAt(new Quaternion(axis, angle), modelCenter); //modelCenter is the Point3D variable indicating the center
transformationMatrix.Translate(position);
model.Content.Transform = new MatrixTransform3D(transformationMatrix); //Applies the transformation to your model
helix_viewport3d.Children.Add(model);
Rect3D bounds = model.Content.Bounds;
/*
* HelixToolkit.Wpf.CombinedManipulator manipulator = new HelixToolkit.Wpf.CombinedManipulator();
* manipulator.CanTranslateX = true;
* manipulator.CanTranslateY = true;
* manipulator.CanTranslateZ = true;
* manipulator.CanRotateX = true;
* manipulator.CanRotateY = true;
* manipulator.CanRotateZ = true;
* manipulator.Diameter = Math.Max(bounds.SizeX, Math.Max(bounds.SizeY, bounds.SizeZ)) * 1.2;
* manipulator.Position = new Point3D(position.X,position.Y,position.Z);
* manipulator.Pivot = new Point3D(position.X, position.Y, position.Z);
* manipulator.TargetTransform = model.Transform;
* manipulator.Transform = model.Transform;
* manipulator.Bind(model);
* helix_viewport3d.Children.Add(manipulator);
*/
HelixToolkit.Wpf.TranslateManipulator man_x = new HelixToolkit.Wpf.TranslateManipulator();
HelixToolkit.Wpf.TranslateManipulator man_y = new HelixToolkit.Wpf.TranslateManipulator();
HelixToolkit.Wpf.TranslateManipulator man_z = new HelixToolkit.Wpf.TranslateManipulator();
man_x.Direction = new Vector3D(1, 0, 0);
man_x.Length = 200;
man_x.Diameter = 20;
man_x.Color = Colors.Red;
man_x.Offset = new Vector3D(30, 0, 0);
man_x.Position = new Point3D(position.X, position.Y, position.Z);
man_x.Transform = model.Transform;
man_x.TargetTransform = model.Transform;
man_x.Bind(model);
man_y.Direction = new Vector3D(0, 1, 0);
man_y.Length = 200;
man_y.Diameter = 20;
man_y.Color = Colors.Green;
man_y.Offset = new Vector3D(0, 30, 0);
man_y.Position = new Point3D(position.X, position.Y, position.Z);
man_y.Transform = model.Transform;
man_y.TargetTransform = model.Transform;
man_y.Bind(model);
man_z.Direction = new Vector3D(0, 0, 1);
man_z.Length = 200;
man_z.Diameter = 20;
man_z.Color = Colors.Blue;
man_z.Offset = new Vector3D(0, 0, 30);
man_z.Position = new Point3D(position.X, position.Y, position.Z);
man_z.Transform = model.Transform;
man_z.TargetTransform = model.Transform;
man_z.Bind(model);
helix_viewport3d.Children.Add(man_x);
helix_viewport3d.Children.Add(man_y);
helix_viewport3d.Children.Add(man_z);
}
}
catch (Exception ex)
{
// Handle exception in case can not find the 3D model file
MessageBox.Show("Exception Error : " + ex.StackTrace);
}
}
