public HelixRenderPackage()
{
points = InitPointGeometry();
lines = InitLineGeometry();
mesh = InitMeshGeometry();
lineStripVertexCounts = new List <int>();
}
private void ClearView()
{
// floor plane grid
var Maxreset = 100;
var Minreset = -100;
EffectsManager.Dispose();
EffectsManager = new DefaultEffectsManager();
var points = new PointGeometry3D();
var col = new Color4Collection(); // gradient na kolory
var ptPos = new Vector3Collection(); // pozycje punktów
var ptIdx = new IntCollection(); // indeksy punktów
arrows = lines = new LineBuilder();
points.Positions = ptPos;
points.Indices = ptIdx;
points.Colors = col;
PointsColor = Colors.White; // <- nie pamiętam po co to tutaj ale bez tego nie działa
Points = points;
PointsTransform = new Media3D.TranslateTransform3D(0, 0, Minreset);
CreateGrid(Maxreset, Minreset, Maxreset, Maxreset, Minreset);
Grid = lines.ToLineGeometry3D();
GridColor = new Color4(153 / 255.0f, 204 / 255.0f, 255 / 255.0f, (float)0.3).ToColor();;
GridTransform = new Media3D.TranslateTransform3D(0, 0, Minreset);
// strzałki
CreateArrows(Maxreset, Minreset, Maxreset, Minreset, Maxreset, Minreset);
Arrow = arrows.ToLineGeometry3D();
ArrowColor = new Color4(0, 255 / 255.0f, 255 / 255.0f, (float)0.5).ToColor();;
ArrowTransform = new Media3D.TranslateTransform3D(0, 0, Minreset);
}
public MainViewModel()
{
EffectsManager = new EffectsManager();
var builder = new MeshBuilder();
builder.AddSphere(new Vector3(), 2);
builder.AddTorus(5, 1);
MeshModel = builder.ToMesh();
var lineBuilder = new LineBuilder();
lineBuilder.AddGrid(BoxFaces.All, 10, 10, 10, 10);
LineModel = lineBuilder.ToLineGeometry3D();
var offset = new Vector3(-4, 0, 0);
PointModel = new PointGeometry3D()
{
Positions = new Vector3Collection(MeshModel.Positions.Select(x => x + offset))
};
ExportCommand = new RelayCommand((o) => { Export(); });
ImportCommand = new RelayCommand((o) => { Import(); });
ExportSingleTechnique = new RelayCommand((o) => { Export(SelectedTechnique); });
}
void DrawBPPointCloudToSLAMPointCloud()
{
Stopwatch sw = new Stopwatch();
sw.Start();
VMStatus = $"Reconing......SLAM! {elapsedTime} ms";
var vc = new Vector3Collection();
var cc = new Color4Collection();
var tempposeVect = new List <double[]>();
var tempColorVect = new List <double[]>();
RealsenseControl.GetReconSLAMPointCloud(ref tempposeVect, ref tempColorVect);
for (int i = 0; i < tempposeVect.Count; i++)
{
vc.Add(new Vector3(Convert.ToSingle(tempposeVect[i][0]), Convert.ToSingle(tempposeVect[i][1]), Convert.ToSingle(tempposeVect[i][2])));
cc.Add(new Color4(Convert.ToSingle(tempColorVect[i][0]), Convert.ToSingle(tempColorVect[i][1]), Convert.ToSingle(tempColorVect[i][2]), 0.5f));
}
SLAMReconPointCloud = new PointGeometry3D()
{
Positions = vc, Colors = cc
};
sw.Stop();
elapsedTime = sw.ElapsedMilliseconds;
VMStatus = "Reconing......SLAM Done!";
}
public HelixRenderPackage()
{
points = InitPointGeometry();
lines = InitLineGeometry();
mesh = InitMeshGeometry();
lineStripVertexCounts = new List <int>();
Transform = System.Windows.Media.Media3D.Matrix3D.Identity.ToArray();
}
private void CreateDefaultModels()
{
Material = PhongMaterials.White;
var b2 = new MeshBuilder(true, true, true);
b2.AddSphere(new Vector3(15f, 0f, 0f), 4, 64, 64);
b2.AddSphere(new Vector3(25f, 0f, 0f), 2, 32, 32);
b2.AddTube(new Vector3[] { new Vector3(10f, 5f, 0f), new Vector3(10f, 7f, 0f) }, 2, 12, false, true, true);
DefaultModel = b2.ToMeshGeometry3D();
DefaultModel.OctreeParameter.RecordHitPathBoundingBoxes = true;
PointsModel = new PointGeometry3D();
var offset = new Vector3(1, 1, 1);
PointsModel.Positions = new Vector3Collection(DefaultModel.Positions.Select(x => x + offset));
PointsModel.Indices = new IntCollection(Enumerable.Range(0, PointsModel.Positions.Count));
PointsModel.OctreeParameter.RecordHitPathBoundingBoxes = true;
for (int i = 0; i < 50; ++i)
{
for (int j = 0; j < 10; ++j)
{
Items.Add(new SphereModel(new Vector3(i - 50, j - 25, i + j - 75), rnd.NextDouble(1, 3)));
}
}
var b3 = new LineBuilder();
for (int i = 0; i < 10; ++i)
{
for (int j = 0; j < 5; ++j)
{
for (int k = 0; k < 5; ++k)
{
b3.AddBox(new Vector3(-10 - i * 5, j * 5, k * 5), 5, 5, 5);
}
}
}
LinesModel = b3.ToLineGeometry3D();
LinesModel.OctreeParameter.RecordHitPathBoundingBoxes = true;
PointsHitModel = new PointGeometry3D()
{
Positions = new Vector3Collection(), Indices = new IntCollection()
};
//var landerItems = Load3ds("Car.3ds").Select(x => new DataModel() { Model = x.Geometry as MeshGeometry3D, Material = PhongMaterials.Copper }).ToList();
//var scale = new Vector3(0.007f);
//var offset = new Vector3(15, 15, 15);
//foreach (var item in landerItems)
//{
// for (int i = 0; i < item.Model.Positions.Count; ++i)
// {
// item.Model.Positions[i] = item.Model.Positions[i] * scale + offset;
// }
// item.Model.UpdateOctree();
//}
//LanderItems = landerItems;
}
public SEVDataModel()
{
PointGeometry3D = new PointGeometry3D
{
Indices = new IntCollection(),
Positions = new Vector3Collection(),
Colors = new Color4Collection()
};
}
/// <summary>
/// Add axis in positive, 0.1 m
/// </summary>
private void AddAxisPoints()
{
Vector3Collection vector3s = new Vector3Collection();
Color4Collection color4s = new Color4Collection();
vector3s.Add(new SharpDX.Vector3());
color4s.Add(new SharpDX.Color4(0, 0, 0, 1));
for (int i = 1; i < 50; i++)
{
if (i % 10 == 0)
{
vector3s.Add(new SharpDX.Vector3()
{
X = 0.1f * i
});
color4s.Add(new SharpDX.Color4(0, 1, 1, 1));
vector3s.Add(new SharpDX.Vector3()
{
Y = 0.1f * i
});
color4s.Add(new SharpDX.Color4(1, 0, 1, 1));
vector3s.Add(new SharpDX.Vector3()
{
Z = 0.1f * i
});
color4s.Add(new SharpDX.Color4(1, 1, 0, 1));
}
else
{
vector3s.Add(new SharpDX.Vector3()
{
X = 0.1f * i
});
color4s.Add(new SharpDX.Color4(1, 0, 0, 1));
vector3s.Add(new SharpDX.Vector3()
{
Y = 0.1f * i
});
color4s.Add(new SharpDX.Color4(0, 1, 0, 1));
vector3s.Add(new SharpDX.Vector3()
{
Z = 0.1f * i
});
color4s.Add(new SharpDX.Color4(0, 0, 1, 1));
}
}
AxisPoint = new PointGeometry3D()
{
Positions = vector3s, Colors = color4s
};
}
internal static PointGeometry3D InitPointGeometry()
{
var points = new PointGeometry3D()
{
Positions = new Vector3Collection(),
Indices = new IntCollection(),
Colors = new Color4Collection()
};
return(points);
}
private void StartSLAM()
{
IsSLAMOn = true;
string temp = "";
RealsenseControl.StartSLAM(ref temp);
RealsenseState = temp;
Thread.Sleep(2000);
SLAMPointCloud = new PointGeometry3D();
SLAMPoseInfo = new LineGeometry3D();
UpdateSLAMPointCloudTask = Task.Run(() => UpdateSLAMPointCloud());
}
private async Task StartSLAM()
{
IsSLAMOn = true;
string temp = "";
await Task.Run(() => RealsenseControl.StartSLAM(ref temp)).ConfigureAwait(false);
RealsenseState = temp;
SLAMPointCloud = new PointGeometry3D();
SLAMPoseInfo = new LineGeometry3D();
UpdateSLAMPointCloudTask = Task.Run(() => UpdateSLAMPointCloud());
SLAMReconTaskAsync = Task.Run(() => SLAMRecon());
}
public DynaShapeDisplay(Solver solver)
{
this.solver = solver;
pointGeometry = new PointGeometry3D
{
Positions = new Vector3Collection(),
Indices = new IntCollection(),
Colors = new Color4Collection()
};
lineGeometry = new LineGeometry3D()
{
Positions = new Vector3Collection(),
Indices = new IntCollection(),
Colors = new Color4Collection()
};
DynaShapeViewExtension.DynamoWindow.Dispatcher.Invoke(
() =>
{
pointModel = new PointGeometryModel3D
{
Size = new Size(5, 5),
Figure = PointGeometryModel3D.PointFigure.Ellipse,
Color = Color.White,
};
lineModel = new LineGeometryModel3D
{
Thickness = 0.5,
Color = Color.White,
};
List <string> info1 = new List <string>();
foo(DynaShapeViewExtension.DynamoWindow.Content, info1, 0);
List <string> info2 = new List <string>();
ListContent(DynaShapeViewExtension.DynamoWindow.Content as Grid, 0, info2);
},
DispatcherPriority.Send);
DynaShapeViewExtension.ViewModel.RequestViewRefresh += RequestViewRefreshHandler;
DynaShapeViewExtension.DynamoWindow.Closed += (sender, args) =>
{
Dispose();
};
}
public void Clear()
{
points = null;
mesh = null;
lines = null;
points = InitPointGeometry();
mesh = InitMeshGeometry();
lines = InitLineGeometry();
lineStripVertexCounts.Clear();
IsSelected = false;
DisplayLabels = false;
}
public static GeometryModel3D[] GetModels(PointGeometry3D pointcloud)
{
List <GeometryModel3D> models = new List <GeometryModel3D>();
PointGeometryModel3D model = new PointGeometryModel3D();
// This one is important, otherwise it will be just black
model.Color = Color.White;
model.Geometry = pointcloud;
model.Name = "Points";
models.Add(model);
return(models.ToArray());
}
/// <summary>
/// Called when [build vertex array].
/// </summary>
/// <param name="geometry">The geometry.</param>
/// <returns></returns>
protected override PointsVertex[] OnBuildVertexArray(PointGeometry3D geometry)
{
var positions = geometry.Positions;
var vertexCount = geometry.Positions.Count;
var array = vertexArrayBuffer != null && vertexArrayBuffer.Length >= vertexCount ? vertexArrayBuffer : new PointsVertex[vertexCount];
var colors = geometry.Colors != null?geometry.Colors.GetEnumerator() : Enumerable.Repeat(Color4.White, vertexCount).GetEnumerator();
vertexArrayBuffer = array;
for (var i = 0; i < vertexCount; i++)
{
colors.MoveNext();
array[i].Position = new Vector4(positions[i], 1f);
array[i].Color = colors.Current;
}
colors.Dispose();
return(array);
}
private void LoadThreadFunction()
{
PCD wrapper = new PCD();
Points[] rawPoints = wrapper.LoadPointcloud(Location);
var points = new PointGeometry3D();
var col = new Color4Collection();
var ptPos = new Vector3Collection();
var ptIdx = new IntCollection();
var ptNormals = new Vector3Collection();
var numberOfElements = rawPoints.Length;
var additionalTurns = 0;
foreach (var point in rawPoints)
{
ptIdx.Add(ptPos.Count);
ptPos.Add(new Vector3(point.x, point.z, -point.y));
col.Add(new Color4(new Color3(point.r / (float)255, point.g / (float)255, point.b / (float)255)));
ptNormals.Add(new Vector3(0, 1, 0));
}
if ((rawPoints.Length / 3) * 3 != rawPoints.Length)
{
additionalTurns = ((rawPoints.Length / 3 + 1) * 3) - rawPoints.Length;
}
for (int i = 0; i < additionalTurns; i++)
{
ptIdx.Add(ptPos.Count);
ptPos.Add(ptPos[ptPos.Count - 1]);
col.Add(col[col.Count - 1]);
ptNormals.Add(ptNormals[ptNormals.Count - 1]);
}
points.Positions = ptPos;
points.Indices = ptIdx;
points.Colors = col;
//points.Normals = ptNormals;
Data = points;
}
private void DrawBP()
{
VMStatus = "Drawing BP";
Task.Run(() =>
{
var bpData = ImageRecon.BPtoPointCloud(ImageSpace, binaryToLMData.LACC.ListedLMData, BPAngleThreshold, BPMinCountPercent);
var bpVectors = bpData.Item1;
var bpColor4s = bpData.Item2;
ReconPoint = new PointGeometry3D()
{
Positions = bpVectors, Colors = bpColor4s
};
VMStatus = "Drawing BP Done";
});
}
public void UpdateSLAMPointCloud()
{
int Error = 0;
var pose = new List <HelixToolkit.Wpf.SharpDX.Geometry3D.Line>();
var line = new LineBuilder();
Vector3 previousPose = new Vector3(Convert.ToSingle(poseX), Convert.ToSingle(poseY), Convert.ToSingle(poseZ));
while (IsSLAMOn)
{
var vc = new Vector3Collection();
var id = new IntCollection();
var cc = new Color4Collection();
var poseVect = new List <double[]>();
var colorVect = new List <double[]>();
Vector3 currentPose = new Vector3(Convert.ToSingle(poseX), Convert.ToSingle(poseY), Convert.ToSingle(poseZ));
line.AddLine(previousPose, currentPose);
SLAMPoseInfo = line.ToLineGeometry3D();
previousPose = currentPose;
try
{
RealsenseControl.GetSLAMPointCloud(ref poseVect, ref colorVect, T265ToLACCOffset.X, T265ToLACCOffset.Y, T265ToLACCOffset.Z);
for (int i = 0; i < poseVect.Count; i++)
{
vc.Add(new Vector3(Convert.ToSingle(poseVect[i][0]), Convert.ToSingle(poseVect[i][1]), Convert.ToSingle(poseVect[i][2])));
cc.Add(new Color4(0.1f, 0.1f, 0.1f, 0.5f));
//cc.Add(new Color4(Convert.ToSingle(colorVect[i][0]), Convert.ToSingle(colorVect[i][1]), Convert.ToSingle(colorVect[i][2]), 0.5f));
id.Add(i);
}
SLAMPointCloud = new PointGeometry3D()
{
Positions = vc, Indices = id, Colors = cc
};
}
catch
{
Error++;
Trace.WriteLine("Error Count is " + Error);
}
Thread.Sleep(50);
}
}
public DynaShapeDisplay(Solver solver)
{
this.solver = solver;
pointGeometry = new PointGeometry3D
{
Positions = new Vector3Collection(),
Indices = new IntCollection(),
Colors = new Color4Collection()
};
lineGeometry = new LineGeometry3D()
{
Positions = new Vector3Collection(),
Indices = new IntCollection(),
Colors = new Color4Collection()
};
billboardText = new BillboardText3D();
DynaShapeViewExtension.DynamoWindow.Dispatcher.Invoke(
() =>
{
pointModel = new PointGeometryModel3D
{
Size = new Size(5, 5),
Figure = PointGeometryModel3D.PointFigure.Ellipse,
Color = Color.White,
};
lineModel = new LineGeometryModel3D
{
Thickness = 0.5,
Color = Color.White,
};
billboardTextModel = new BillboardTextModel3D()
{
};
},
DispatcherPriority.Send);
DynaShapeViewExtension.ViewModel.RequestViewRefresh += RequestViewRefreshHandler;
DynaShapeViewExtension.DynamoWindow.Closed += (sender, args) => Dispose();
}
public void Clear()
{
points = null;
mesh = null;
lines = null;
points = InitPointGeometry();
mesh = InitMeshGeometry();
lines = InitLineGeometry();
lineStripVertexCounts.Clear();
Transform = System.Windows.Media.Media3D.Matrix3D.Identity.ToArray();
IsSelected = false;
DisplayLabels = false;
colors = null;
}
private void LoadThreadFunction()
{
var pt = new PotreeNode(new Uri(Location));
var points = new PointGeometry3D();
var col = new Color4Collection();
var ptPos = new Vector3Collection();
var ptIdx = new IntCollection();
var j = 0;
foreach (var p in pt.Compilation.Points)
{
ptPos.Add(new Vector3(p.x, p.y, p.z));
ptIdx.Add(j);
col.Add(new Color4(p.r / 255f, p.g / 255f, p.b / 255f, p.a / 255f));
j++;
}
var additionalTurns = 0;
if ((pt.Compilation.Points.Count / 3) * 3 != pt.Compilation.Points.Count)
{
additionalTurns = ((pt.Compilation.Points.Count / 3 + 1) * 3) - pt.Compilation.Points.Count;
}
for (int i = 0; i < additionalTurns; i++)
{
ptIdx.Add(ptPos.Count);
ptPos.Add(ptPos[ptPos.Count - 1]);
col.Add(col[col.Count - 1]);
}
points.Positions = ptPos;
points.Indices = ptIdx;
points.Colors = col;
Data = points;
}
public static PointGeometry3D ConvertToPointGeometry3D(Points[] points)
{
var geometry = new PointGeometry3D();
var col = new Color4Collection();
var ptPos = new Vector3Collection();
var ptIdx = new IntCollection();
var ptNormals = new Vector3Collection();
var additionalTurns = 0;
foreach (var point in points)
{
ptIdx.Add(ptPos.Count);
ptPos.Add(new Vector3(point.x, point.y, point.z));
col.Add(new Color4(new Color3(point.r / (float)255, point.g / (float)255, point.b / (float)255)));
ptNormals.Add(new Vector3(0, 1, 0));
}
if ((points.Length / 3) * 3 != points.Length)
{
additionalTurns = ((points.Length / 3 + 1) * 3) - points.Length;
}
for (int i = 0; i < additionalTurns; i++)
{
ptIdx.Add(ptPos.Count);
ptPos.Add(ptPos[ptPos.Count - 1]);
col.Add(col[col.Count - 1]);
ptNormals.Add(ptNormals[ptNormals.Count - 1]);
}
geometry.Positions = ptPos;
geometry.Indices = ptIdx;
geometry.Colors = col;
return(geometry);
}
public void UpdateRealTimePointCloud()
{
int error = 0;
while (IsRealsensePipelineOn)
{
var vc = new Vector3Collection();
var id = new IntCollection();
var cc = new Color4Collection();
var poseVect = new List <double[]>();
var colorVect = new List <double[]>();
//Debug.WriteLine("Start to get Reatime Data");
try
{
RealsenseControl.GetRealTimePointCloud(ref poseVect, ref colorVect, T265ToLACCOffset.X, T265ToLACCOffset.Y, T265ToLACCOffset.Z);
for (int i = 0; i < poseVect.Count; i++)
{
vc.Add(new Vector3(Convert.ToSingle(poseVect[i][0]), Convert.ToSingle(poseVect[i][1]), Convert.ToSingle(poseVect[i][2])));
cc.Add(new Color4(Convert.ToSingle(colorVect[i][0]), Convert.ToSingle(colorVect[i][1]), Convert.ToSingle(colorVect[i][2]), 0.8f));
//id.Add(i);
}
RTPointCloud = new PointGeometry3D()
{
Positions = vc, Colors = cc
};
}
catch
{
error++;
Trace.WriteLine("Error Count is " + error);
}
}
}
public void UpdateSLAMPointCloud()
{
var line = new LineBuilder();
Vector3 previousPose = new Vector3(Convert.ToSingle(systemPoseX), Convert.ToSingle(systemPoseY), Convert.ToSingle(systemPoseZ));
var poseVect = new List <double[]>();
var colorVect = new List <double[]>();
Point3D lineVect = new Point3D(0, 0, 0.3);
while (IsSLAMOn)
{
Thread.Sleep(500);
var vc = new Vector3Collection();
var cc = new Color4Collection();
poseVect = new List <double[]>();
colorVect = new List <double[]>();
Vector3 currentPose = new Vector3(Convert.ToSingle(systemPoseX), Convert.ToSingle(systemPoseY), Convert.ToSingle(systemPoseZ));
line.AddLine(previousPose, currentPose);
SLAMPoseInfo = line.ToLineGeometry3D();
previousPose = currentPose;
RealsenseControl.GetSLAMPointCloud(ref poseVect, ref colorVect);
for (int i = 0; i < poseVect.Count; i++)
{
vc.Add(new Vector3(Convert.ToSingle(poseVect[i][0]), Convert.ToSingle(poseVect[i][1]), Convert.ToSingle(poseVect[i][2])));
//cc.Add(new Color4(0.1f, 0.1f, 0.1f, 0.5f));
cc.Add(new Color4(Convert.ToSingle(colorVect[i][0]), Convert.ToSingle(colorVect[i][1]), Convert.ToSingle(colorVect[i][2]), 0.5f));
//id.Add(i);
}
for (int i = 0; i < 10; ++i)
{
var pointx = new Point3D(0.1 * i, 0, 0);
var pointy = new Point3D(0, 0.1 * i, 0);
var pointz = new Point3D(0, 0, 0.1 * i);
vc.Add(new Vector3(Convert.ToSingle(pointx.X), Convert.ToSingle(pointx.Y), Convert.ToSingle(pointx.Z)));
cc.Add(new Color4(1f, 0f, 0f, 1f));
vc.Add(new Vector3(Convert.ToSingle(pointy.X), Convert.ToSingle(pointy.Y), Convert.ToSingle(pointy.Z)));
cc.Add(new Color4(0f, 1f, 0f, 1f));
vc.Add(new Vector3(Convert.ToSingle(pointz.X), Convert.ToSingle(pointz.Y), Convert.ToSingle(pointz.Z)));
cc.Add(new Color4(0f, 0f, 1f, 1f));
}
for (int i = 0; i < 10; ++i)
{
var pointx = currentSystemTranformation.Transform(new Point3D(0.1 * i, 0, 0));
var pointy = currentSystemTranformation.Transform(new Point3D(0, 0.1 * i, 0));
var pointz = currentSystemTranformation.Transform(new Point3D(0, 0, 0.1 * i));
vc.Add(new Vector3(Convert.ToSingle(pointx.X), Convert.ToSingle(pointx.Y), Convert.ToSingle(pointx.Z)));
cc.Add(new Color4(1f, 0f, 0f, 1f));
vc.Add(new Vector3(Convert.ToSingle(pointy.X), Convert.ToSingle(pointy.Y), Convert.ToSingle(pointy.Z)));
cc.Add(new Color4(0f, 1f, 0f, 1f));
vc.Add(new Vector3(Convert.ToSingle(pointz.X), Convert.ToSingle(pointz.Y), Convert.ToSingle(pointz.Z)));
cc.Add(new Color4(0f, 0f, 1f, 1f));
}
SLAMPointCloud = new PointGeometry3D()
{
Positions = vc, Colors = cc
};
SLAMVector3s = vc;
}
Debug.WriteLine("SLAM Point Cloud Count is " + poseVect.Count);
}
public MainViewModel()
{
// titles
this.Title = "Simple Demo";
this.SubTitle = "WPF & SharpDX";
// camera setup
this.Camera = new PerspectiveCamera {
Position = new Point3D(3, 3, 5), LookDirection = new Vector3D(-3, -3, -5), UpDirection = new Vector3D(0, 1, 0)
};
// default render technique
this.RenderTechnique = Techniques.RenderBlinn;
// setup lighting
this.AmbientLightColor = new Color4(0.1f, 0.1f, 0.1f, 1.0f);
this.DirectionalLightColor = Color.White;
this.DirectionalLightDirection = new Vector3(-2, -5, -2);
// floor plane grid
this.Grid = LineBuilder.GenerateGrid();
this.GridColor = SharpDX.Color.Black;
this.GridTransform = new Media3D.TranslateTransform3D(-5, -1, -5);
// scene model3d
var b1 = new MeshBuilder();
b1.AddSphere(new Vector3(0, 0, 0), 0.5);
b1.AddBox(new Vector3(0, 0, 0), 1, 0.5, 2, BoxFaces.All);
var meshGeometry = b1.ToMeshGeometry3D();
meshGeometry.Colors = new Color4Collection(meshGeometry.TextureCoordinates.Select(x => x.ToColor4()));
this.Model = meshGeometry;
// lines model3d
var e1 = new LineBuilder();
e1.AddBox(new Vector3(0, 0, 0), 1, 0.5, 2);
this.Lines = e1.ToLineGeometry3D();
// model trafos
this.Model1Transform = new Media3D.TranslateTransform3D(0, 0, 0);
this.Model2Transform = new Media3D.TranslateTransform3D(-2, 0, 0);
this.Model3Transform = new Media3D.TranslateTransform3D(+2, 0, 0);
// model materials
this.RedMaterial = PhongMaterials.Red;
this.GreenMaterial = PhongMaterials.Green;
this.BlueMaterial = PhongMaterials.Blue;
//var diffColor = this.RedMaterial.DiffuseColor;
//diffColor.Alpha = 0.5f;
//this.RedMaterial.DiffuseColor = diffColor;
Points = new PointGeometry3D();
var ptPos = new Vector3Collection();
var ptIdx = new IntCollection();
for (int x = 0; x < 10; x++)
{
for (int y = 0; y < 10; y++)
{
for (int z = 0; z < 10; z++)
{
ptIdx.Add(ptPos.Count);
ptPos.Add(new Vector3(x, y, z));
}
}
}
Points.Positions = ptPos;
Points.Indices = ptIdx;
Text = new BillboardText3D();
for (var i = 0; i < 50; i++)
{
for (var j = 0; j < 50; j++)
{
Text.TextInfo.Add(new TextInfo("Hello World", new Vector3(i, j, 0)));
}
}
}
public MainWindow()
{
DataContext = this;
InitializeComponent();
#region Create planes
var builder = new MeshBuilder(true, false, false);
builder.AddRectangularMesh(BoxFaces.Front, 10, 10, 100, 100);
PlaneGeometry = builder.ToMesh();
RedDiffuseMaterial = new hx.DiffuseMaterial()
{
DiffuseColor = new Color4(1f, 0f, 0f, 0.5f),
};
BlueDiffuseMaterial = new hx.DiffuseMaterial()
{
DiffuseColor = new Color4(0f, 0f, 1f, 0.5f),
};
RedPhongMaterial = new PhongMaterial()
{
AmbientColor = new Color4(1f, 0f, 0f, 0.5f),
};
BluePhongMaterial = new PhongMaterial()
{
AmbientColor = new Color4(0f, 0f, 1f, 0.5f),
};
var matrix = new Matrix3D();
matrix.Translate(new Vector3D(-125, -50, 0));
RedDiffusePlaneTransform = new MatrixTransform3D(matrix);
matrix = new Matrix3D();
matrix.Translate(new Vector3D(-125, -50, 50));
BlueDiffusePlaneTransform = new MatrixTransform3D(matrix);
matrix = new Matrix3D();
matrix.Translate(new Vector3D(25, -50, 0));
RedPhongPlaneTransform = new MatrixTransform3D(matrix);
matrix = new Matrix3D();
matrix.Translate(new Vector3D(25, -50, 50));
BluePhongPlaneTransform = new MatrixTransform3D(matrix);
#endregion
#region Create points
PointsGeometry = new PointGeometry3D()
{
Positions = new Vector3Collection(new Vector3[] {
new Vector3(0, 0, 5),
}),
};
PointsInstances = new List <Matrix>();
for (var x = -50; x <= 50; x += 10)
{
var matrix2 = Matrix.Translation(x, x / 5f, x / 5f);
PointsInstances.Add(matrix2);
}
matrix = new Matrix3D();
matrix.Translate(new Vector3D(-75, 0, 0));
DiffusePointsTransform = new MatrixTransform3D(matrix);
matrix = new Matrix3D();
matrix.Translate(new Vector3D(75, 0, 0));
PhongPointsTransform = new MatrixTransform3D(matrix);
#endregion
if (viewport.Camera is hx.OrthographicCamera camera)
{
camera.NearPlaneDistance = -5000;
camera.FarPlaneDistance = 5000;
camera.LookDirection = new Vector3D(0, 0, -10);
camera.Position = new Point3D(0, 0, 11);
camera.UpDirection = new Vector3D(0, 1, 0);
camera.Width = 300;
}
}
public MainPageViewModel()
{
EffectsManager = new DefaultEffectsManager(new Logger());
Camera = new PerspectiveCamera()
{
Position = new Vector3(40, 10, 100), LookDirection = new Vector3(0, -10, -100), UpDirection = UpDirection, FarPlaneDistance = 500, NearPlaneDistance = 0.1
};
Camera1 = new OrthographicCamera()
{
Position = new Vector3(60, 10, 100), LookDirection = new Vector3(0, -10, -100), UpDirection = upDirection, Width = 30, FarPlaneDistance = 500, NearPlaneDistance = 20
};
var builder = new MeshBuilder(true, true, true);
builder.AddBox(new SharpDX.Vector3(0, 0, 0), 2, 2, 2);
builder.AddSphere(new Vector3(0, 2, 0), 1.5);
Geometry = builder.ToMesh();
Geometry.UpdateOctree();
builder = new MeshBuilder();
builder.AddSphere(new Vector3(0, 2, 0), 2);
Sphere = builder.ToMesh();
Sphere.UpdateOctree();
Material = new PhongMaterial()
{
AmbientColor = Color.Gray,
DiffuseColor = new Color4(0.75f, 0.75f, 0.75f, 1.0f),
SpecularColor = Color.White,
SpecularShininess = 10f,
ReflectiveColor = new Color4(0.2f, 0.2f, 0.2f, 0.5f)
};
Material.DiffuseMap = LoadTexture("TextureCheckerboard2.jpg");
Material.NormalMap = LoadTexture("TextureCheckerboard2_dot3.jpg");
Material1 = Material.Clone();
Material1.ReflectiveColor = Color.Silver;
Material1.RenderDiffuseMap = false;
Material1.RenderNormalMap = false;
var lineBuilder = new LineBuilder();
lineBuilder.AddLine(Vector3.Zero, new Vector3(5, 0, 0));
lineBuilder.AddLine(Vector3.Zero, new Vector3(0, 5, 0));
lineBuilder.AddLine(Vector3.Zero, new Vector3(0, 0, 5));
LineGeometry = lineBuilder.ToLineGeometry3D();
LineGeometry.Colors = new HelixToolkit.UWP.Core.Color4Collection()
{
Color.Red, Color.Red, Color.Green, Color.Green, Color.Blue, Color.Blue
};
builder = new MeshBuilder();
builder.AddSphere(new Vector3(), 3);
var mesh = builder.ToMesh();
mesh.UpdateOctree();
PointGeometry = new PointGeometry3D()
{
Positions = mesh.Positions
};
AxisLabelGeometry = new BillboardText3D();
AxisLabelGeometry.TextInfo.Add(new TextInfo("X", new Vector3(5.5f, 0, 0))
{
Foreground = Color.Red
});
AxisLabelGeometry.TextInfo.Add(new TextInfo("Y", new Vector3(0, 5.5f, 0))
{
Foreground = Color.Green
});
AxisLabelGeometry.TextInfo.Add(new TextInfo("Z", new Vector3(0, 0, 5.5f))
{
Foreground = Color.Blue
});
builder = new MeshBuilder();
builder.AddBox(new Vector3(0, -6, 0), 30, 0.5, 30);
FloorModel = builder.ToMesh();
FloorMaterial = PhongMaterials.Obsidian;
FloorMaterial.ReflectiveColor = Color.Silver;
EnvironmentMap = LoadTexture("Cubemap_Grandcanyon.dds");
UpDirXCommand = new RelayCommand(() => { UpDirection = Vector3.UnitX; }, () => { return(UpDirection != Vector3.UnitX); });
UpDirYCommand = new RelayCommand(() => { UpDirection = Vector3.UnitY; }, () => { return(UpDirection != Vector3.UnitY); });
UpDirZCommand = new RelayCommand(() => { UpDirection = Vector3.UnitZ; }, () => { return(UpDirection != Vector3.UnitZ); });
timer = new DispatcherTimer();
timer.Tick += Timer_Tick;
timer.Interval = new TimeSpan(0, 0, 0, 0, 16);
timer.Start();
}
public MainViewModel()
{
EffectsManager = new DefaultEffectsManager();
// titles
Title = "Simple Demo";
SubTitle = "WPF & SharpDX";
// camera setup
Camera = new PerspectiveCamera {
Position = new Point3D(3, 3, 5),
LookDirection = new Vector3D(-3, -3, -5),
UpDirection = new Vector3D(0, 1, 0),
FarPlaneDistance = 5000000
};
// setup lighting
AmbientLightColor = Colors.DimGray;
DirectionalLightColor = Colors.White;
DirectionalLightDirection = new Vector3D(-2, -5, -2);
// floor plane grid
Grid = LineBuilder.GenerateGrid(new Vector3(0, 1, 0), -5, 5, -5, 5);
GridColor = Colors.Black;
GridTransform = new Media3D.TranslateTransform3D(0, -3, 0);
// scene model3d
var b1 = new MeshBuilder();
b1.AddSphere(new Vector3(0, 0, 0), 0.5);
b1.AddBox(new Vector3(0, 0, 0), 1, 0.5, 2, BoxFaces.All);
var meshGeometry = b1.ToMeshGeometry3D();
meshGeometry.Colors = new Color4Collection(meshGeometry.TextureCoordinates.Select(x => x.ToColor4()));
Model = meshGeometry;
// lines model3d
var e1 = new LineBuilder();
e1.AddBox(new Vector3(0, 0, 0), 1, 0.5, 2);
Lines = e1.ToLineGeometry3D();
var textBuilder = new MeshBuilder();
textBuilder.ExtrudeText("HelixToolkit.SharpDX", "Arial", System.Windows.FontStyles.Normal, System.Windows.FontWeights.Bold,
14, new Vector3(1, 0, 0), new Vector3(0, 0, 0), new Vector3(0, 0, 1));
TextModel = textBuilder.ToMesh();
// model trafos
Model1Transform = new Media3D.TranslateTransform3D(0, 0, 0);
Model2Transform = new Media3D.TranslateTransform3D(-2, 0, 0);
Model3Transform = new Media3D.TranslateTransform3D(+2, 0, 0);
Model4Transform = new Media3D.TranslateTransform3D(-8, 0, -5);
// model materials
RedMaterial = PhongMaterials.Red;
GreenMaterial = PhongMaterials.Green;
BlueMaterial = PhongMaterials.Blue;
//var diffColor = this.RedMaterial.DiffuseColor;
//diffColor.Alpha = 0.5f;
//this.RedMaterial.DiffuseColor = diffColor;
Points = new PointGeometry3D();
var ptPos = new Vector3Collection();
var ptIdx = new IntCollection();
for (int x = 0; x < 10; x++)
{
for (int y = 0; y < 10; y++)
{
for (int z = 0; z < 10; z++)
{
ptIdx.Add(ptPos.Count);
ptPos.Add(new Vector3(x, y, z));
}
}
}
Points.Positions = ptPos;
Points.Indices = ptIdx;
Text = new BillboardText3D();
int numRows = 11;
int numColumns = 11;
string[] texts = new string[]
{
"HelixToolkit",
"abcde",
"random",
"SharpDX",
"DirectX"
};
float angle = 0;
for (var i = 0; i < numRows; i++)
{
for (var j = 0; j < numColumns; j++)
{
angle += (float)Math.PI / 10;
Text.TextInfo.Add(new TextInfo(texts[(i + j) % texts.Length], new Vector3((i - numRows / 2), 0.0f, (j - numColumns / 2)))
{
Foreground = new Color4((float)i / numRows, 1 - (float)i / numRows, (float)(numColumns - j) / numColumns, 1f),
Background = new Color4(1 - (float)i / numRows, (float)(numColumns - j) / numColumns, (float)i / numRows, 0.8f),
Scale = Math.Max(0.01f, (float)i / numRows * 0.02f),
Angle = angle
});
}
}
Billboard1Model = new BillboardSingleText3D()
{
TextInfo = new TextInfo("Model 1", new Vector3(0, 1, 0))
{
Angle = 0
},
FontColor = Colors.Blue.ToColor4(),
FontSize = 12,
BackgroundColor = Colors.Plum.ToColor4(),
FontStyle = System.Windows.FontStyles.Italic,
Padding = new System.Windows.Thickness(2),
};
var background = Colors.Blue;
background.A = (byte)120;
Billboard2Model = new BillboardSingleText3D()
{
TextInfo = new TextInfo("Model 2", new Vector3(2, 1, 0))
{
Angle = -(float)Math.PI / 3
},
FontSize = 12,
FontColor = Colors.Green.ToColor4(),
BackgroundColor = background.ToColor4(),
FontWeight = System.Windows.FontWeights.Bold,
Padding = new System.Windows.Thickness(2),
};
background = Colors.Purple;
background.A = (byte)50;
Billboard3Model = new BillboardSingleText3D(2, 0.8f)
{
TextInfo = new TextInfo("Model 3", new Vector3(-2, 1, 0))
{
Angle = -(float)Math.PI / 6
},
FontSize = 12,
FontColor = Colors.Red.ToColor4(),
BackgroundColor = background.ToColor4(),
FontFamily = "Times New Roman",
FontStyle = System.Windows.FontStyles.Italic,
Padding = new System.Windows.Thickness(2),
};
//BillboardImageModel = new BillboardSingleImage3D(CreateBitmapSample()) { MaskColor = Color.Black };
BillboardImageModel = new BillboardSingleImage3D(CreatePNGSample(), 1, 1)
{
Angle = -(float)Math.PI / 5
};
BillboardImageModel.Center = new Vector3(2, 2, 0);
UpXCommand = new RelayCommand(x => { UpDirection = new Vector3D(1, 0, 0); });
UpYCommand = new RelayCommand(x => { UpDirection = new Vector3D(0, 1, 0); });
UpZCommand = new RelayCommand(x => { UpDirection = new Vector3D(0, 0, 1); });
BackgroundTexture =
BitmapExtensions.CreateLinearGradientBitmapStream(EffectsManager, 128, 128, Direct2DImageFormat.Bmp,
new Vector2(0, 0), new Vector2(0, 128), new SharpDX.Direct2D1.GradientStop[]
{
new SharpDX.Direct2D1.GradientStop()
{
Color = Colors.White.ToColor4(), Position = 0f
},
new SharpDX.Direct2D1.GradientStop()
{
Color = Colors.DarkGray.ToColor4(), Position = 1f
}
});
}
public void OnMouseLeftButtonDownHandler(object sender, System.Windows.Input.MouseButtonEventArgs e)
{
foreach (var item in HighlightItems)
{
item.Highlight = false;
}
HighlightItems.Clear();
Material = PhongMaterials.White;
var viewport = sender as Viewport3DX;
if (viewport == null)
{
return;
}
var point = e.GetPosition(viewport);
var hitTests = viewport.FindHits(point);
if (hitTests != null && hitTests.Count > 0)
{
if (HitThrough)
{
foreach (var hit in hitTests)
{
if ((hit.ModelHit as Element3D).DataContext is DataModel)
{
var model = (hit.ModelHit as Element3D).DataContext as DataModel;
model.Highlight = true;
HighlightItems.Add(model);
}
else if ((hit.ModelHit as Element3D).DataContext == this)
{
if (hit.TriangleIndices != null)
{
Material = PhongMaterials.Yellow;
}
else
{
var v = new Vector3Collection();
v.Add(hit.PointHit);
PointsHitModel.Positions = v;
var idx = new IntCollection();
idx.Add(0);
PointsHitModel = new PointGeometry3D()
{
Positions = v, Indices = idx
};
}
}
}
}
else
{
var hit = hitTests[0];
if ((hit.ModelHit as Element3D).DataContext is DataModel)
{
var model = (hit.ModelHit as Element3D).DataContext as DataModel;
model.Highlight = true;
HighlightItems.Add(model);
}
else if ((hit.ModelHit as Element3D).DataContext == this)
{
if (hit.TriangleIndices != null)
{
Material = PhongMaterials.Yellow;
}
else
{
var v = new Vector3Collection();
v.Add(hit.PointHit);
PointsHitModel.Positions = v;
var idx = new IntCollection();
idx.Add(0);
PointsHitModel = new PointGeometry3D()
{
Positions = v, Indices = idx
};
}
}
}
}
}
public MainViewModel()
{ // titles
this.Title = "DynamicTexture Demo";
this.SubTitle = "WPF & SharpDX";
EffectsManager = new DefaultEffectsManager();
this.Camera = new HelixToolkit.Wpf.SharpDX.PerspectiveCamera
{
Position = new Point3D(10, 10, 10),
LookDirection = new Vector3D(-10, -10, -10),
UpDirection = new Vector3D(0, 1, 0)
};
this.Light1Color = Colors.White;
this.Light1Direction = new Vector3D(-10, -10, -10);
this.AmbientLightColor = Colors.Black;
var b2 = new MeshBuilder(true, true, true);
b2.AddSphere(new Vector3(0f, 0f, 0f), 4, 64, 64);
this.Model = b2.ToMeshGeometry3D();
Model.IsDynamic = true;
this.InnerModel = new MeshGeometry3D()
{
Indices = Model.Indices,
Positions = Model.Positions,
Normals = Model.Normals,
TextureCoordinates = Model.TextureCoordinates,
Tangents = Model.Tangents,
BiTangents = Model.BiTangents,
IsDynamic = true
};
var image = TextureModel.Create(new System.Uri(@"test.png", System.UriKind.RelativeOrAbsolute).ToString());
this.ModelMaterial = new PhongMaterial
{
AmbientColor = Colors.Gray.ToColor4(),
DiffuseColor = Colors.White.ToColor4(),
SpecularColor = Colors.White.ToColor4(),
SpecularShininess = 100f,
DiffuseAlphaMap = image,
DiffuseMap = TextureModel.Create(new System.Uri(@"TextureCheckerboard2.dds", System.UriKind.RelativeOrAbsolute).ToString()),
NormalMap = TextureModel.Create(new System.Uri(@"TextureCheckerboard2_dot3.dds", System.UriKind.RelativeOrAbsolute).ToString()),
};
this.InnerModelMaterial = new PhongMaterial
{
AmbientColor = Colors.Gray.ToColor4(),
DiffuseColor = new Color4(0.75f, 0.75f, 0.75f, 1.0f),
SpecularColor = Colors.White.ToColor4(),
SpecularShininess = 100f,
DiffuseAlphaMap = image,
DiffuseMap = TextureModel.Create(new System.Uri(@"TextureNoise1.jpg", System.UriKind.RelativeOrAbsolute).ToString()),
NormalMap = ModelMaterial.NormalMap
};
initialPosition = Model.Positions;
initialIndicies = Model.Indices;
#region Point Model
PointModel = new PointGeometry3D()
{
IsDynamic = true, Positions = Model.Positions
};
int count = PointModel.Positions.Count;
var colors = new Color4Collection(count);
for (int i = 0; i < count / 2; ++i)
{
colors.Add(new Color4(0, 1, 1, 1));
}
for (int i = 0; i < count / 2; ++i)
{
colors.Add(new Color4(0, 0, 0, 0));
}
PointModel.Colors = colors;
#endregion
#region Line Model
LineModel = new LineGeometry3D()
{
IsDynamic = true, Positions = new Vector3Collection(PointModel.Positions)
};
LineModel.Positions.Add(Vector3.Zero);
var indices = new IntCollection(count * 2);
for (int i = 0; i < count; ++i)
{
indices.Add(count);
indices.Add(i);
}
LineModel.Indices = indices;
colors = new Color4Collection(LineModel.Positions.Count);
for (int i = 0; i < count; ++i)
{
colors.Add(new Color4((float)i / count, 1 - (float)i / count, 0, 1));
}
colors.Add(Colors.Blue.ToColor4());
LineModel.Colors = colors;
LineMaterial = new LineArrowHeadMaterial()
{
Color = Colors.White, Thickness = 0.5, ArrowSize = 0.02
};
#endregion
var token = cts.Token;
Task.Run(() =>
{
while (!token.IsCancellationRequested)
{
Timer_Tick();
Task.Delay(16).Wait();
}
}, token);
//timer.Interval = TimeSpan.FromMilliseconds(16);
//timer.Tick += Timer_Tick;
//timer.Start();
}
