void AddGfx()
{
_frameGfx = _controller.TemporaryGraphics.DrawFrame(
_controller.PointerOffsetTransform,
.1,
2);
}
public void DrawZone(RsMechanicalUnit mechanicalUnit)
{
// Draw a part that cointaions a body (sphere)
Part part = new Part();
Body sphere = Body.CreateSolidSphere(new Vector3(), Decimal.ToDouble(_dimensions.Radius / 1000));
sphere.Color = System.Drawing.Color.Purple;
part.Bodies.Add(sphere);
// Drawing a temporary graphic requires it to be present in the station, therefore the part is added prior to it being drawn as a temorary graphic
// then immedietely removed from the station
Matrix4 spherePosition = new Matrix4(new Vector3(_dimensions.x, _dimensions.y, _dimensions.z));
Station.ActiveStation.GraphicComponents.Add(part);
TemporaryGraphic tg = Station.ActiveStation.TemporaryGraphics.DrawPart(spherePosition, part, 0.3);
Station.ActiveStation.GraphicComponents.Remove(part);
if (_sphereGraphic != null)
{
Station.ActiveStation.TemporaryGraphics.Remove(_sphereGraphic);
_sphereGraphic.Delete();
}
_sphereGraphic = tg;
}
public void DrawZone(RsMechanicalUnit mechanicalUnit)
{
// Draw a part that cointaions a body (cylinder)
Part part = new Part();
Body cylinder = Body.CreateSolidCylinder(new Matrix4(new Vector3()), Decimal.ToDouble(_dimensions.Radius / 1000), Decimal.ToDouble(_dimensions.Height / 1000));
cylinder.Color = System.Drawing.Color.Purple;
part.Bodies.Add(cylinder);
// Get the base frame and modify only the translation part, this way the cylinder orientation is the same as the robots orientation
Matrix4 cylinderMatrix = mechanicalUnit.BaseFrame.GlobalMatrix;
cylinderMatrix.Translation = new Vector3(_dimensions.x, _dimensions.y, _dimensions.z);
// Drawing a temporary graphic requires it to be present in the station, therefore the part is added prior to it being drawn as a temorary graphic
// then immedietely removed from the station
Station.ActiveStation.GraphicComponents.Add(part);
TemporaryGraphic tg = Station.ActiveStation.TemporaryGraphics.DrawPart(cylinderMatrix, part, 0.3d);
Station.ActiveStation.GraphicComponents.Remove(part);
if (_CylinderGraphic != null)
{
Station.ActiveStation.TemporaryGraphics.Remove(_CylinderGraphic);
_CylinderGraphic.Delete();
}
_CylinderGraphic = tg;
}
void CreateBrushPlanePreview(Vector3 point, Matrix4 wobjMat)
{
var axis = ComputeBrushAxis();
Vector3 v1, v2;
switch (axis)
{
case Axis.X: v1 = wobjMat.GetAxisVector(Axis.Y); v2 = wobjMat.GetAxisVector(Axis.Z); break;
case Axis.Y: v1 = wobjMat.GetAxisVector(Axis.Z); v2 = wobjMat.GetAxisVector(Axis.X); break;
case Axis.Z: v1 = wobjMat.GetAxisVector(Axis.X); v2 = wobjMat.GetAxisVector(Axis.Y); break;
default: throw new Exception();
}
double size = 0.05;
v1 = v1 * size; v2 = v2 * size;
point = point - v1 * 0.5 - v2 * 0.5;
var corners = new Vector3[] { point, point + v1, point + v1 + v2, point + v2, point };
_brushTempGfx = Station.ActiveStation.TemporaryGraphics.DrawLineStrip(corners, 1, System.Drawing.Color.FromArgb(100, 255, 255, 100));
}
void AddGfxPointer()
{
double tipLength = 0.01;
double width = 2;
Color color = Color.Red;
Matrix4 Roty = Matrix4.Identity; //Want to rotate 180 degrees around y-axis
Roty.x = Roty.x * -1;
Roty.z = Roty.z * -1;
Matrix4 Rotz = Matrix4.Identity; //Want to rotate 90 degrees around z-axis
Rotz.x = new Vector4(0, 1, 0, 0);
Rotz.y = new Vector4(-1, 0, 0, 0);
Rotz.z = new Vector4(0, 0, 1, 0);
int robPos = RecData.GetCurrentValue();
double xa = Graph.chart.Series[0].Points[robPos].XValue;
double[] xy = Graph.chart.Series[0].Points[robPos].YValues;
Matrix4 rcontrollerpos = _rcontroller.PointerOffsetTransform;
Vector3 vorigin = rcontrollerpos.Translation;
Vector3 voriginmove = new Vector3(RecData.GetCurrentValue() * RecData.ToolValuesList.Count() * 0.00000025 + .0415, 0.015, -0.02);
Vector3 vstart = vorigin + voriginmove;
Vector3 move = new Vector3(0, 0, 0.05);
Vector3 vend = vstart + move;
_GraphPointer = _rcontroller.TemporaryGraphics.DrawArrow(vstart, vend, tipLength, width, color);
}
void AddGfx()
{
Matrix4 Roty = Matrix4.Identity; //Want to rotate 180 degrees around y-axis
Roty.x = Roty.x * -1;
Roty.z = Roty.z * -1;
Matrix4 Rotz = Matrix4.Identity; //Want to rotate 90 degrees around z-axis
Rotz.x = new Vector4(0, 1, 0, 0);
Rotz.y = new Vector4(-1, 0, 0, 0);
Rotz.z = new Vector4(0, 0, 1, 0);
//_attachOffset = VrEnvironment.Session.RightController.PointerOffsetTransform * paintToolOffset * tooldata.Frame.Matrix.InverseRigid();
Bitmap bmp = new Bitmap(@"C:\Users\Kinect\source\repos\chart1\chart1\bin\Debug\mychart.bmp");
_frameGfx = _controller.TemporaryGraphics.DrawTexturedRectangle(_controller.PointerOffsetTransform * Rotz * Roty, .4, .2, bmp); // Fin størrelse. Må få bedre graf
//_frameGfx = _controller.TemporaryGraphics.DrawFrame(_controller.PointerOffsetTransform,.1,2);
// _frameGfx = _controller.TemporaryGraphics.DrawLineStrip
}
public override void Update(VrUpdateArgs args)
{
var session = args.Session;
if (session.SemanticInput().IsSelectPressed)
{
var transform = session.RightController.Transform;
transform.CleanRigid(); //:TODO: Should not be needed. Review
transform = transform * _attachOffset * Station.ActiveStation.ActiveTask.ActiveTool.Frame.Matrix;
if (_pathBuilder == null)
{
_pathBuilder = new PathBuilder(Station.ActiveStation);
_previewTrace = Station.ActiveStation.TemporaryGraphics.DrawTrace(transform.Translation, 1, 100);
}
else
{
_previewTrace.ContinueTrace(transform.Translation, System.Drawing.Color.LightYellow, false);
}
session.RightController.HapticFeedback(1);
_pathBuilder.AddTransform(transform);
}
else
{
if (_pathBuilder != null)
{
_pathBuilder.Finish();
_pathBuilder = null;
_previewTrace.Delete();
_previewTrace = null;
}
}
}
public static void DeleteTemporaryGraphic(TemporaryGraphic temporaryGraphic)
{
if (temporaryGraphic == null)
{
return;
}
Station.ActiveStation.TemporaryGraphics.Remove(temporaryGraphic);
}
void DeleteBrushTempGfx()
{
if (_brushTempGfx != null)
{
_brushTempGfx.Delete();
_brushTempGfx = null;
}
}
private void UpdatePreview(VrSession session)
{
if (_paintCone != null)
{
_paintCone.Delete();
}
var mesh = _painter.CreatePreviewGraphics();
var pm = session.RightController.PointerOffsetTransform;
_paintCone = session.RightController.TemporaryGraphics.DrawMesh(pm, mesh);
}
void AddGfxAtStick()
{
if (RecData.colorList.Count == 0)
{
RecData.lineStyle(GetCurrentSignal());
}
double l = RecData.signalList[currentSignal].Count();
for (int i = 0; i < l - 1; i++)
{
_PathAtStick = _rcontroller.TemporaryGraphics.DrawLine(RecData.transposList[i], RecData.transposList[i + 1], RecData.lineWidthList[i], RecData.colorList[i]);
StickgraphList.Add(_PathAtStick);
}
}
public override void Deactivate(VrSession session)
{
if (_painter != null)
{
_painter.Dispose();
_painter = null;
}
if (_paintCone != null)
{
_paintCone.Delete();
_paintCone = null;
}
_part = null;
}
void AddGfxAtTrack()
{
Station station = Project.ActiveProject as Station;
if (TrackgraphList.Count <= 1)
{
RecData.lineStyle(GetCurrentSignal());
}
double l = RecData.signalList[GetCurrentSignal()].Count();
for (int i = 0; i < l - 1; i++)
{
_PathAtTrack = station.TemporaryGraphics.DrawLine(RecData.transposList[i], RecData.transposList[i + 1], RecData.lineWidthList[i], RecData.colorList[i]);
TrackgraphList.Add(_PathAtTrack);
}
}
public void DrawZone(RsMechanicalUnit mechanicalUnit)
{
// Find the orientation of the robot base frame
Vector3 orientationVector = mechanicalUnit.BaseFrame.GlobalMatrix.EulerZYX;
// Create a Matrix4 with the same orientation as the robot base frame and the translation of the first corner of the box
Vector3 boxTranslation = new Vector3(_dimensions.x, _dimensions.y, _dimensions.z);
Matrix4 boxPosition = new Matrix4(boxTranslation, orientationVector);
// Create a Vector3 that contains the dimensions
Vector3 dimensionVector = new Vector3()
{
x = Decimal.ToDouble(_dimensions.Length) / 1000,
y = Decimal.ToDouble(_dimensions.Width) / 1000,
z = Decimal.ToDouble(_dimensions.Height) / 1000
};
// Draw a part that contains a box (body)
Part part = new Part();
Body box = Body.CreateSolidBox(new Matrix4(new Vector3()), dimensionVector);
box.Color = Color.Purple;
part.Bodies.Add(box);
// Drawing a temporary graphic requires it to be present in the station, therefore the part is added prior to it being drawn as a temorary graphic
// then immedietely removed from the station
Station.ActiveStation.GraphicComponents.Add(part);
TemporaryGraphic tg = Station.ActiveStation.TemporaryGraphics.DrawPart(boxPosition, part, 0.3);
Station.ActiveStation.GraphicComponents.Remove(part);
if (_boxGraphic != null)
{
Station.ActiveStation.TemporaryGraphics.Remove(_boxGraphic);
_boxGraphic.Delete();
}
_boxGraphic = tg;
}
void AddGfxGraph()
{
new Graph().CreateChart();
Matrix4 Roty = Matrix4.Identity; //Want to rotate 180 degrees around y-axis
Roty.x = Roty.x * -1;
Roty.z = Roty.z * -1;
Matrix4 Rotz = Matrix4.Identity; //Want to rotate 90 degrees around z-axis
Rotz.x = new Vector4(0, 1, 0, 0);
Rotz.y = new Vector4(-1, 0, 0, 0);
Rotz.z = new Vector4(0, 0, 1, 0);
//Matrix4 Rotx = Matrix4.Identity;
//Rotx.x = new Vector4()
Bitmap bmp = new Bitmap(@"mychart.bmp");
_GraphGfx = _rcontroller.TemporaryGraphics.DrawTexturedRectangle(_rcontroller.PointerOffsetTransform * Rotz * Roty, .4 + RecData.signalList[0].Count() / 1000, .2, bmp);
_GraphGfx.Topmost = true;
//_GraphGfx = _rcontroller.TemporaryGraphics.DrawFrame(_rcontroller.PointerOffsetTransform, .1,2);
}
public override void Update(VrUpdateArgs args)
{
var session = args.Session;
Vector3 xorigin = _controller.PointerOffsetTransform.Translation;
Vector3 btrans = _controller.PointerOffsetTransform.Translation;
var rwand = VrEnvironment.Session.RightController as VrViveWandController;
if (rwand.InputState.IsTouchPadTouched)
{
double u = rwand.InputState.TouchPadPosition.u;
double uPrev = rwand.PreviousInputState.TouchPadPosition.u;
if ((u - uPrev) < 0 && Math.Abs(u - uPrev) >= 0.1 && btrans.x > xorigin.x)
{
btrans.x = btrans.x - 10;
_pospointer.Delete();
}
else if ((u - uPrev) >= 0 && Math.Abs(u - uPrev) >= 0.1)
{
btrans.x = btrans.x + 10;
_pospointer.Delete();
}
}
Matrix4 boxpos = _controller.PointerOffsetTransform;
boxpos.Translation = new Vector3(btrans.x, btrans.y, btrans.z);
Vector3 box = new Vector3(.01, .01, .01);
_pospointer = _controller.TemporaryGraphics.DrawBox(boxpos, box, Color.DarkBlue);
}
