void SimulateOnMove_DoWork(object sender, DoWorkEventArgs e)
{
var coordinates = (List <double[]>)((object[])e.Argument)[0];
var changedJoints = (List <Boolean>)((object[])e.Argument)[1];
if (SimulateOnMove.CancellationPending)
{
e.Cancel = true; return;
}
if (movingPMKS == null)
{
movingPMKS = new Simulator(App.main.LinkIDs, App.main.JointTypes,
App.main.drivingIndex, coordinates)
{
MaxSmoothingError = 0.1
};
}
else
{
movingPMKS.AssignPositions(coordinates);
}
if (SimulateOnMove.CancellationPending)
{
e.Cancel = true; return;
}
if (movingPMKS.DegreesOfFreedom != 1)
{
return;
}
movingPMKS.FindFullMovement();
App.main.Dispatcher.BeginInvoke(() => UpdateShapesDuringMove(changedJoints, App.main.JointsInfo.Data, e));
}
