private void ShowAnyRobot()
{
//this.treeViewStp.Nodes.Clear();
//this.renderView.ClearScene();
for (int part_i = 0; part_i < any_robot.partList.Count; part_i++)
{
GroupSceneNode onePartNode = new GroupSceneNode();
//Console.Write(onePartNode.GetTransform().GetTranslation().ToString());
for (int geo_i = 0; geo_i < any_robot.partList[part_i].geometryPathList.Count; geo_i++)
{
string relPath = any_robot.partList[part_i].geometryPathList[geo_i];
string absPath = relPath;
if (relPath.Contains(":"))
{
absPath = relPath;
}
else
{
absPath = path + relPath;
}
TopoShape geo = GlobalInstance.BrepTools.LoadFile(new AnyCAD.Platform.Path(absPath));
SceneNode oneGeoNode = renderView.ShowGeometry(geo, part_i);
float[] oneGeoPq = new float[7];
for (int i = 0; i < 7; i++)
{
oneGeoPq[i] = any_robot.partList[part_i].geometryPQ_List[i + geo_i * 7];
// oneGeoPq[i] = any_robot.partList[part_i].partPQ_initial[i];
}
oneGeoNode.SetTransform(QuaternionToTransform(oneGeoPq));
renderView.RequestDraw();
geoNodeList.Add(oneGeoNode);
onePartNode.AddNode(oneGeoNode);
renderView.SceneManager.RemoveNode(oneGeoNode);
}
float[] onePartPq = new float[7];
for (int j = 0; j < 7; j++)
{
onePartPq[j] = any_robot.partList[part_i].partPQ_initial[j];
}
onePartNode.SetTransform(QuaternionToTransform(onePartPq));
renderView.SceneManager.AddNode(onePartNode);
partNodeList.Add(onePartNode);
}
renderView.SceneManager.AddNode(robot_node);
robot_node.SetPickable(false);
renderView.RequestDraw();
robotLoadCompleted = true;
for (int k = 0; k < partNodeList.Count; k++)
{
Console.WriteLine("part" + k + partNodeList[k].GetTransform().GetTranslation().ToString());
}
for (int k = 0; k < geoNodeList.Count; k++)
{
Console.WriteLine("geo" + k + geoNodeList[k].GetTransform().GetTranslation().ToString());
}
}
public override bool Load()
{
AnyCAD.Exchange.DxfReader reader = new AnyCAD.Exchange.DxfReader();
SectionReaderContextDXF context = new SectionReaderContextDXF();
if (!reader.Read(FileName, context, true))
{
return(false);
}
if (context.Section.Count < 1)
{
return(false);
}
Section = context.Section;
VisualNode = new GroupSceneNode();
VisualNode.SetPickable(false);
UpdateGeometry();
return(true);
}
GroupSceneNode CreateGeometry()
{
var shapeNode = new GroupSceneNode();
shapeNode.SetPickable(false);
PhongMaterial material = GlobalInstance.Application.FindSystemMaterial("obsidian");
FaceStyle fs = new FaceStyle();
fs.SetMaterial(material);
shapeNode.SetFaceStyle(fs);
float bottomHeight = 10;
TopoShape bottom = GlobalInstance.BrepTools.MakeCylinder(Vector3.ZERO, Vector3.UNIT_Z, 5, bottomHeight, 0);
TopoShape top = GlobalInstance.BrepTools.MakeCylinder(new Vector3(0, 0, bottomHeight), Vector3.UNIT_Z, 10, 15, 0);
shapeNode.AddNode(GlobalInstance.TopoShapeConvert.ToEntityNode(bottom, 0.1f));
shapeNode.AddNode(GlobalInstance.TopoShapeConvert.ToEntityNode(top, 0.1f));
return(shapeNode);
}