private void SelectionRequested(SelectionFrustum obj)
{
if (_pos == null)
{
return;
}
// The user has interactively edited the constrained sections -> propagate the information to the simulation core
List <int> indices = new List <int>();
List <Double3> pos = _pos.GetList();
Double4x4 trafo = _gl.SceneGraph.AbsoluteTransformation;
//trafo.Invert();
Double3 center = Double3.Zero;
for (int i = 0; i < pos.Count; ++i)
{
double d;
if (obj.IsPointInside(trafo.TransformPoint(pos[i]), out d))
{
indices.Add(i);
center += pos[i];
}
}
if (indices.Count > 0)
{
center /= indices.Count;
SceneNode n = new SceneNode();
n.RelativeTranslation = center;
CoordinateSystemSceneNode cs = new CoordinateSystemSceneNode();
//cs.RelativeTranslation = center;
cs.Call <SceneNode>(m => m.Overlay = true);
n.Add(cs);
_gl.SceneGraph.Add(n);
_sim.AddConstraint(new ConstrainedSection(cs, indices));
_sim.UpdateConstraintConfiguration();
}
}
public bool RemoveConstraint(CoordinateSystemSceneNode n)
{
//TODO: Not really an elegant solution
for (int i = 0; i < _constrainedSections.Count; ++i)
{
ConstrainedSection s = _constrainedSections[i] as ConstrainedSection;
if (s != null && s.Node == n)
{
_constrainedSections.RemoveAt(i);
_constraintConfigChanged = true;
return(true);
}
}
return(false);
}
public ConstrainedSection(CoordinateSystemSceneNode cs, List <int> indices) : base(indices)
{
_cs = cs;
}