/// <summary>
/// Creates a wheel and attaches it to the parent BRaycastVehicle.
/// </summary>
/// <param name="node"></param>
public void CreateWheel(RigidNode node)
{
this.node = node;
RigidNode parent = (RigidNode)node.GetParent();
robot = parent.MainObject.GetComponent <BRaycastRobot>();
if (robot == null)
{
Debug.LogError("Could not add BRaycastWheel because its parent does not have a BRaycastVehicle!");
Destroy(this);
}
RotationalJoint_Base joint = (RotationalJoint_Base)node.GetSkeletalJoint();
joint.basePoint.x *= -1;
node.OrientWheelNormals();
axis = joint.axis.AsV3();
WheelDriverMeta driverMeta = node.GetDriverMeta <WheelDriverMeta>();
radius = driverMeta.radius * 0.01f;
Vector3 localPosition = parent.MainObject.transform.InverseTransformPoint(node.MainObject.transform.position);
basePoint = localPosition.ToBullet() + new BulletSharp.Math.Vector3(0f, VerticalOffset, 0f);
wheelIndex = robot.AddWheel(driverMeta.type, basePoint, axis.normalized.ToBullet(), VerticalOffset, radius);
}
private void CreateWheel()
{
WheelDriverMeta wheel = this.GetDriverMeta <WheelDriverMeta>();
BSphereShape sphereShape = MainObject.AddComponent <BSphereShape>();
sphereShape.Radius = wheel.radius * 0.01f;
}
// Generation Methods
private RigidNode_Base CreateNodeWithChild()
{
RotationalJoint_Base joint = new RotationalJoint_Base();
joint.axis = new BXDVector3(2, 2, 2);
joint.basePoint = new BXDVector3(3, 131, 3);
JointDriver driver = new JointDriver(JointDriverType.MOTOR);
driver.SetPort(414);
driver.isCan = true;
WheelDriverMeta wheelDriverMeta = new WheelDriverMeta();
wheelDriverMeta.radius = 9.4F;
wheelDriverMeta.center = new BXDVector3(1, 1, 1);
driver.AddInfo(wheelDriverMeta);
joint.cDriver = driver;
Guid childID = new Guid();
RigidNode_Base baseNode = new RigidNode_Base(id);
RigidNode_Base childNode = new RigidNode_Base(childID);
baseNode.AddChild(joint, childNode);
return(baseNode);
}
/// <summary>
/// Update the list of joints
/// </summary>
private void UpdateJointList()
{
lstJoints.Items.Clear();
if (nodeList == null)
{
return;
}
foreach (RigidNode_Base node in nodeList)
{
if (node.GetSkeletalJoint() != null)
{
SkeletalJoint_Base joint = node.GetSkeletalJoint();
if (joint != null)
{
WheelDriverMeta wheelData = null;
if (joint.cDriver != null)
{
wheelData = joint.cDriver.GetInfo <WheelDriverMeta>();
}
System.Windows.Forms.ListViewItem item = new System.Windows.Forms.ListViewItem(new string[] {
Enum.GetName(typeof(SkeletalJointType), joint.GetJointType()).ToLowerInvariant(),
node.GetParent().ModelFileName,
node.ModelFileName, joint.cDriver != null ? joint.cDriver.ToString() : "No driver",
wheelData != null ? wheelData.GetTypeString() : "No Wheel",
joint.attachedSensors.Count.ToString()
});
item.Tag = node;
lstJoints.Items.Add(item);
}
}
}
}
/// <summary>
/// Creates the capsule collider and better wheel collider for this object.
/// </summary>
private void CreateWheel()
{
WheelDriverMeta wheel = this.GetDriverMeta <WheelDriverMeta>();
if (wheel == null)
{
return;
}
wheelCollider = new GameObject(unityObject.name + " Collider");
wheelCollider.transform.parent = unityObject.transform;
Vector3 anchorBase = joint.connectedAnchor;
float centerMod = Vector3.Dot(wheel.center.AsV3() - anchorBase, joint.axis);
wheelCollider.transform.localPosition = centerMod * joint.axis + anchorBase;
wheelCollider.transform.rotation = Quaternion.FromToRotation(new Vector3(1, 0, 0), new Vector3(joint.axis.x, joint.axis.y, joint.axis.z));
wheelCollider.AddComponent <CapsuleCollider>().radius = (wheel.radius * 1.10f) * 0.01f;
wheelCollider.GetComponent <CapsuleCollider>().height = wheelCollider.GetComponent <CapsuleCollider>().radius / 4f + wheel.width * 0.01f;
wheelCollider.GetComponent <CapsuleCollider>().center = new Vector3(0, 0, 0);
wheelCollider.GetComponent <CapsuleCollider>().direction = 0;
unityObject.AddComponent <BetterWheelCollider>();
//I want the grandfather to have a rigidbody
unityObject.GetComponent <Rigidbody>().useConeFriction = true;
}
private bool ShouldSave()
{
if (joint.cDriver == null)
{
return(true);
}
double inputGear = 1, outputGear = 1;
inputGear = (double)InputGeartxt.Value;
outputGear = (double)OutputGeartxt.Value;
PneumaticDriverMeta pneumatic = joint.cDriver.GetInfo <PneumaticDriverMeta>();
WheelDriverMeta wheel = joint.cDriver.GetInfo <WheelDriverMeta>();
ElevatorDriverMeta elevator = joint.cDriver.GetInfo <ElevatorDriverMeta>();
Enum.TryParse(MotorTypeDropDown.SelectedItem.ToString(), out MotorType motor);
if (cmbJointDriver.SelectedIndex != typeOptions.ToList().IndexOf(joint.cDriver.GetDriveType()) + 1 ||
txtPort1.Value != joint.cDriver.port1 ||
txtPort2.Value != joint.cDriver.port2 ||
txtLowLimit.Value != (decimal)joint.cDriver.lowerLimit ||
txtHighLimit.Value != (decimal)joint.cDriver.upperLimit ||
inputGear != joint.cDriver.InputGear || outputGear != joint.cDriver.OutputGear ||
rbCAN.Checked != joint.cDriver.isCan || chkBoxHasBrake.Checked != joint.cDriver.hasBrake ||
motor != joint.cDriver.motor)
{
return(true);
}
if (pneumatic != null &&
(numericUpDownPnuDia.Value != (decimal)pneumatic.width ||
cmbPneumaticPressure.SelectedIndex != (int)pneumatic.pressureEnum))
{
return(true);
}
if (wheel != null &&
(cmbWheelType.SelectedIndex != (int)wheel.type ||
cmbFrictionLevel.SelectedIndex != (int)wheel.GetFrictionLevel() ||
chkBoxDriveWheel.Checked != wheel.isDriveWheel))
{
return(true);
}
if (elevator != null)
{
return(true);
}
//If going from "NOT A WHEEL" to a wheel
if (cmbWheelType.SelectedIndex != 0 && wheel == null && joint.cDriver.GetDriveType() == JointDriverType.MOTOR)
{
return(true);
}
return(false);
}
public static string WheelTypeString(SkeletalJoint_Base joint)
{
WheelDriverMeta wheelData = null;
if (joint.cDriver != null)
{
wheelData = joint.cDriver.GetInfo <WheelDriverMeta>();
}
return(wheelData != null?wheelData.GetTypeString() + ", " + WheelFrictionString(wheelData) + " Friction" : "No Wheel");
}
/// <summary>
/// Creates the joint data
/// </summary>
public void CreateJoint()
{
if (joint != null || GetSkeletalJoint() == null)
{
return;
}
switch (GetSkeletalJoint().GetJointType())
{
case SkeletalJointType.ROTATIONAL:
RotationalJoint_Base nodeR = (RotationalJoint_Base)GetSkeletalJoint();
CollisionObject parentObject = ((BulletRigidNode)GetParent()).BulletObject;
WheelDriverMeta wheel = GetSkeletalJoint().cDriver.GetInfo <WheelDriverMeta>();
Vector3 pivot = nodeR.basePoint.Convert();
Matrix4 locJ, locP; //Local Joint Pivot, Local Parent Pivot
BulletObject.WorldTransform = parentObject.WorldTransform * Matrix4.CreateTranslation(pivot);
if (debug)
{
Console.WriteLine("Pivot at " + pivot);
}
GetFrames(nodeR.basePoint.Convert(), parentObject.WorldTransform, BulletObject.WorldTransform, out locP, out locJ);
//HingeConstraint temp = new HingeConstraint((RigidBody)parentObject, /*(RigidBody)*/BulletObject, locP, locJ);
HingeConstraint temp = new HingeConstraint((RigidBody)parentObject, BulletObject, pivot, Vector3.Zero, nodeR.axis.Convert(), nodeR.axis.Convert());
joint = temp;
temp.SetAxis(nodeR.axis.Convert());
if (nodeR.hasAngularLimit)
{
temp.SetLimit(nodeR.angularLimitLow, nodeR.angularLimitHigh);
}
//also need to find a less screwy way to do this
Update = (f) => { (/*(RigidBody)*/ BulletObject).ApplyTorque(nodeR.axis.Convert() * f * 25); };
if (debug)
{
Console.WriteLine("{0} joint made", wheel == null ? "Rotational" : "Wheel");
}
break;
default:
if (debug)
{
Console.WriteLine("Received joint of type {0}", GetSkeletalJoint().GetJointType());
}
break;
}
}
private bool shouldSave()
{
if (joint.cDriver == null)
{
return(true);
}
PneumaticDriverMeta pneumatic = joint.cDriver.GetInfo <PneumaticDriverMeta>();
WheelDriverMeta wheel = joint.cDriver.GetInfo <WheelDriverMeta>();
ElevatorDriverMeta elevator = joint.cDriver.GetInfo <ElevatorDriverMeta>();
bool shouldSave = false;
if (cmbJointDriver.SelectedIndex != typeOptions.ToList().IndexOf(joint.cDriver.GetDriveType()) + 1 ||
txtPortA.Value != joint.cDriver.portA ||
txtPortB.Value != joint.cDriver.portB ||
txtLowLimit.Value != (decimal)joint.cDriver.lowerLimit ||
txtHighLimit.Value != (decimal)joint.cDriver.upperLimit)
{
shouldSave = true;
}
if (pneumatic != null &&
(cmbPneumaticDiameter.SelectedIndex != (byte)pneumatic.widthEnum ||
cmbPneumaticPressure.SelectedIndex != (byte)pneumatic.pressureEnum))
{
shouldSave = true;
}
if (wheel != null &&
(cmbWheelType.SelectedIndex != (byte)wheel.type ||
cmbFrictionLevel.SelectedIndex != (byte)Math.Min(Math.Floor(wheel.forwardExtremeValue / 4), 2) || //ayy lmao
chkBoxDriveWheel.Checked != wheel.isDriveWheel))
{
shouldSave = true;
}
if (elevator != null &&
cmbStages.SelectedIndex != (byte)elevator.type)
{
shouldSave = true;
}
//If going from "NOT A WHEEL" to a wheel
if (cmbWheelType.SelectedIndex != 0 && wheel == null && joint.cDriver.GetDriveType() == JointDriverType.MOTOR)
{
shouldSave = true;
}
return(shouldSave);
}
public static string WheelFrictionString(WheelDriverMeta wheel)
{
switch (wheel.GetFrictionLevel())
{
case FrictionLevel.LOW:
return("Low");
case FrictionLevel.MEDIUM:
return("Medium");
case FrictionLevel.HIGH:
return("High");
default:
return("None");
}
}
private void CreateWheel()
{
BRigidBody rigidBody = MainObject.GetComponent <BRigidBody>();
rigidBody.friction = WHEEL_FRICTION;
WheelDriverMeta wheel = this.GetDriverMeta <WheelDriverMeta>();
BSphereShape sphereShape = MainObject.AddComponent <BSphereShape>();
sphereShape.Radius = wheel.radius * 0.01f;
// Old cylinder method... collision not as smoth.
////BCylinderShapeZ cylinderShape = MainObject.AddComponent<BCylinderShapeZ>();
//BCylinderShapeX cylinderShape = MainObject.AddComponent<BCylinderShapeX>();
//cylinderShape.HalfExtent = new Vector3(wheel.radius * 1.5f, wheel.width, wheel.width) * 0.01f;
//cylinderShape.GetCollisionShape().Margin = wheel.radius * 0.005f; // hopefully change later?
// ... and continuous collision detection
rigidBody.GetCollisionObject().CcdMotionThreshold = CCD_MOTION_THRESHOLD;
rigidBody.GetCollisionObject().CcdSweptSphereRadius = CCD_SWEPT_SPHERE_RADIUS;
}
/// <summary>
/// Update the list of joints
/// </summary>
private void UpdateJointList()
{
lstJoints.Items.Clear();
if (nodeList == null)
{
return;
}
foreach (RigidNode_Base node in nodeList)
{
if (node.GetSkeletalJoint() != null)
{
SkeletalJoint_Base joint = node.GetSkeletalJoint();
if (joint != null)
{
WheelDriverMeta wheelData = null;
if (joint.cDriver != null)
{
wheelData = joint.cDriver.GetInfo <WheelDriverMeta>();
}
ListViewItem item = new ListViewItem(new string[] {
Utilities.CapitalizeFirstLetter(Enum.GetName(typeof(SkeletalJointType), joint.GetJointType()), true),
Utilities.CapitalizeFirstLetter(node.GetParent().ModelFileName.Replace('_', ' ').Replace(".bxda", "")),
Utilities.CapitalizeFirstLetter(node.ModelFileName.Replace('_', ' ').Replace(".bxda", "")),
joint.cDriver != null ? joint.cDriver.ToString() : "No Driver",
wheelData != null ? wheelData.GetTypeString() : "No Wheel",
joint.attachedSensors.Count.ToString()
})
{
Tag = node
};
lstJoints.Items.Add(item);
}
}
}
}
/// <summary>
/// Used for writing wheel driver meta data.
/// </summary>
/// <param name="meta"></param>
/// <param name="writer"></param>
private static void WriteWheelDriverMeta(WheelDriverMeta meta, XmlWriter writer)
{
writer.WriteStartElement("WheelDriverMeta");
writer.WriteAttributeString("DriverMetaID", meta.GetID().ToString());
writer.WriteElementString("WheelType", meta.type.ToString());
writer.WriteElementString("WheelRadius", meta.radius.ToString("F4"));
writer.WriteElementString("WheelWidth", meta.width.ToString("F4"));
WriteBXDVector3(meta.center, writer, "WheelCenter");
writer.WriteElementString("ForwardAsympSlip", meta.forwardAsympSlip.ToString("F4"));
writer.WriteElementString("ForwardAsympValue", meta.forwardAsympValue.ToString("F4"));
writer.WriteElementString("ForwardExtremeSlip", meta.forwardExtremeSlip.ToString("F4"));
writer.WriteElementString("ForwardExtremeValue", meta.forwardExtremeValue.ToString("F4"));
writer.WriteElementString("SideAsympSlip", meta.sideAsympSlip.ToString("F4"));
writer.WriteElementString("SideAsympValue", meta.sideAsympValue.ToString("F4"));
writer.WriteElementString("SideExtremeSlip", meta.sideExtremeSlip.ToString("F4"));
writer.WriteElementString("SideExtremeValue", meta.sideExtremeValue.ToString("F4"));
writer.WriteElementString("IsDriveWheel", meta.isDriveWheel.ToString().ToLower());
writer.WriteEndElement();
}
public void ApplyToNode()
{
Node.GetSkeletalJoint().cDriver = new JointDriver(JointDriverType.MOTOR);
Node.GetSkeletalJoint().cDriver.SetPort(PWMPort);
WheelDriverMeta wheelDriver = new WheelDriverMeta();
switch (FrictionLevel)
{
case WizardFrictionLevel.HIGH:
wheelDriver.forwardExtremeSlip = 1; //Speed of max static friction force.
wheelDriver.forwardExtremeValue = 10; //Force of max static friction force.
wheelDriver.forwardAsympSlip = 1.5f; //Speed of leveled off kinetic friction force.
wheelDriver.forwardAsympValue = 8; //Force of leveld off kinetic friction force.
if (WheelType == WizardWheelType.OMNI) //Set to relatively low friction, as omni wheels can move sidways.
{
wheelDriver.sideExtremeSlip = 1; //Same as above, but orthogonal to the movement of the wheel.
wheelDriver.sideExtremeValue = .01f;
wheelDriver.sideAsympSlip = 1.5f;
wheelDriver.sideAsympValue = .005f;
}
else
{
wheelDriver.sideExtremeSlip = 1;
wheelDriver.sideExtremeValue = 10;
wheelDriver.sideAsympSlip = 1.5f;
wheelDriver.sideAsympValue = 8;
}
break;
case WizardFrictionLevel.MEDIUM:
wheelDriver.forwardExtremeSlip = 1f;
wheelDriver.forwardExtremeValue = 7;
wheelDriver.forwardAsympSlip = 1.5f;
wheelDriver.forwardAsympValue = 5;
if (WheelType == WizardWheelType.OMNI)
{
wheelDriver.sideExtremeSlip = 1;
wheelDriver.sideExtremeValue = .01f;
wheelDriver.sideAsympSlip = 1.5f;
wheelDriver.sideAsympValue = .005f;
}
else
{
wheelDriver.sideExtremeSlip = 1;
wheelDriver.sideExtremeValue = 7;
wheelDriver.sideAsympSlip = 1.5f;
wheelDriver.sideAsympValue = 5;
}
break;
case WizardFrictionLevel.LOW:
wheelDriver.forwardExtremeSlip = 1;
wheelDriver.forwardExtremeValue = 5;
wheelDriver.forwardAsympSlip = 1.5f;
wheelDriver.forwardAsympValue = 3;
if (WheelType == WizardWheelType.OMNI)
{
wheelDriver.sideExtremeSlip = 1;
wheelDriver.sideExtremeValue = .01f;
wheelDriver.sideAsympSlip = 1.5f;
wheelDriver.sideAsympValue = .005f;
}
else
{
wheelDriver.sideExtremeSlip = 1;
wheelDriver.sideExtremeValue = 5;
wheelDriver.sideAsympSlip = 1.5f;
wheelDriver.sideAsympValue = 3;
}
break;
}
wheelDriver.type = (global::WheelType)WheelType;
wheelDriver.isDriveWheel = true;
Utilities.GUI.LoadMeshes();
Node.GetSkeletalJoint().cDriver.AddInfo(wheelDriver);
wheelDriver = (WheelDriverMeta)Node.GetSkeletalJoint().cDriver.GetInfo(typeof(WheelDriverMeta));
(Node as OGLViewer.OGL_RigidNode).GetWheelInfo(out float radius, out float width, out BXDVector3 center);
wheelDriver.radius = radius;
wheelDriver.center = center;
wheelDriver.width = width;
Node.GetSkeletalJoint().cDriver.AddInfo(wheelDriver);
}
public void ShowDialog(SkeletalJoint_Base baseJoint, List <RigidNode_Base> nodes, Form owner)
{
Saved = false;
if (nodes.Count > 1)
{
bool same = true;
foreach (RigidNode_Base node in nodes)
{
JointDriver driver = node.GetSkeletalJoint().cDriver;
if (driver == null || driver.CompareTo(baseJoint.cDriver) != 0)
{
same = false;
}
}
if (same)
{
joint = baseJoint;
}
else
{
joint = SkeletalJoint_Base.JOINT_FACTORY(baseJoint.GetJointType());
}
}
else
{
joint = baseJoint;
}
this.nodes = nodes;
typeOptions = JointDriver.GetAllowedDrivers(joint);
// Used for capitalization
TextInfo textInfo = new CultureInfo("en-US", true).TextInfo;
cmbJointDriver.Items.Clear();
cmbJointDriver.Items.Add("No Driver");
foreach (JointDriverType type in typeOptions)
{
cmbJointDriver.Items.Add(textInfo.ToTitleCase(Enum.GetName(typeof(JointDriverType), type).Replace('_', ' ').ToLowerInvariant()));
}
if (joint.cDriver != null)
{
cmbJointDriver.SelectedIndex = Array.IndexOf(typeOptions, joint.cDriver.GetDriveType()) + 1;
if (joint.cDriver.port1 < txtPort1.Minimum)
{
txtPort1.Value = txtPort1.Minimum;
}
else if (joint.cDriver.port1 > txtPort1.Maximum)
{
txtPort1.Value = txtPort1.Maximum;
}
else
{
txtPort1.Value = joint.cDriver.port1;
}
if (joint.cDriver.port2 < txtPort2.Minimum)
{
txtPort2.Value = txtPort2.Minimum;
}
else if (joint.cDriver.port2 > txtPort2.Maximum)
{
txtPort2.Value = txtPort2.Maximum;
}
else
{
txtPort2.Value = joint.cDriver.port2;
}
txtLowLimit.Value = (decimal)joint.cDriver.lowerLimit;
txtHighLimit.Value = (decimal)joint.cDriver.upperLimit;
rbPWM.Checked = !joint.cDriver.isCan;
rbCAN.Checked = joint.cDriver.isCan;
chkBoxHasBrake.Checked = joint.cDriver.hasBrake;
if (joint.cDriver.OutputGear == 0)// prevents output gear from being 0
{
joint.cDriver.OutputGear = 1;
}
if (joint.cDriver.InputGear == 0)// prevents input gear from being 0
{
joint.cDriver.InputGear = 1;
}
OutputGeartxt.Value = (decimal)joint.cDriver.OutputGear; // reads the existing gearing and writes it to the input field so the user sees their existing value
InputGeartxt.Value = (decimal)joint.cDriver.InputGear; // reads the existing gearing and writes it to the input field so the user sees their existing value
{
PneumaticDriverMeta pneumaticMeta = joint.cDriver.GetInfo <PneumaticDriverMeta>();
if (pneumaticMeta != null)
{
numericUpDownPnuDia.Value = (decimal)pneumaticMeta.width;
cmbPneumaticPressure.SelectedIndex = (int)pneumaticMeta.pressureEnum;
}
else
{
numericUpDownPnuDia.Value = (decimal)1.0;
cmbPneumaticPressure.SelectedIndex = (int)PneumaticPressure.HIGH;
}
}
{
WheelDriverMeta wheelMeta = joint.cDriver.GetInfo <WheelDriverMeta>();
if (wheelMeta != null)
{
try
{
cmbWheelType.SelectedIndex = (int)wheelMeta.type;
cmbFrictionLevel.SelectedIndex = (int)wheelMeta.GetFrictionLevel();
}
catch
{
// If an exception was thrown (System.ArguementOutOfRangeException) it means
// the user did not choose a wheel type when they were configuring the
// wheel joint
cmbWheelType.SelectedIndex = (int)WheelType.NORMAL;
cmbFrictionLevel.SelectedIndex = (int)FrictionLevel.MEDIUM;
}
chkBoxDriveWheel.Checked = wheelMeta.isDriveWheel;
cmbWheelType_SelectedIndexChanged(null, null);
}
else
{
cmbWheelType.SelectedIndex = (int)WheelType.NOT_A_WHEEL;
cmbFrictionLevel.SelectedIndex = (int)FrictionLevel.MEDIUM;
}
}
{
ElevatorDriverMeta elevatorMeta = joint.cDriver.GetInfo <ElevatorDriverMeta>();
}
{
switch (joint.cDriver.motor)
{
case MotorType.GENERIC:
RobotCompetitionDropDown.SelectedItem = RobotExporterAddInServer.Instance.AddInSettingsManager.DefaultRobotCompetition.ToString();
MotorTypeDropDown.SelectedItem = "GENERIC";
break;
case MotorType.CIM:
RobotCompetitionDropDown.SelectedItem = "FRC";
MotorTypeDropDown.SelectedItem = "CIM";
break;
case MotorType.MINI_CIM:
RobotCompetitionDropDown.SelectedItem = "FRC";
MotorTypeDropDown.SelectedItem = "MIN_CIM";
break;
case MotorType.BAG_MOTOR:
RobotCompetitionDropDown.SelectedItem = "FRC";
MotorTypeDropDown.SelectedItem = "BAG_MOTOR";
break;
case MotorType.REDLINE_775_PRO:
RobotCompetitionDropDown.SelectedItem = "FRC";
MotorTypeDropDown.SelectedItem = "REDLINE_775_PRO";
break;
case MotorType.ANDYMARK_9015:
RobotCompetitionDropDown.SelectedItem = "FRC";
MotorTypeDropDown.SelectedItem = "ANDYMARK_9015";
break;
case MotorType.BANEBOTS_775_18v:
RobotCompetitionDropDown.SelectedItem = "FRC";
MotorTypeDropDown.SelectedItem = "BANEBOTS_775_18v";
break;
case MotorType.BANEBOTS_775_12v:
RobotCompetitionDropDown.SelectedItem = "FRC";
MotorTypeDropDown.SelectedItem = "BANEBOTS_775_12v";
break;
case MotorType.BANEBOTS_550_12v:
RobotCompetitionDropDown.SelectedItem = "FRC";
MotorTypeDropDown.SelectedItem = "BANEBOTS_550_12v";
break;
case MotorType.ANDYMARK_775_125:
RobotCompetitionDropDown.SelectedItem = "FRC";
MotorTypeDropDown.SelectedItem = "ANDYMARK_775_125";
break;
case MotorType.SNOW_BLOWER:
RobotCompetitionDropDown.SelectedItem = "FRC";
MotorTypeDropDown.SelectedItem = "SNOW_BLOWER";
break;
case MotorType.NIDEC_BLDC:
RobotCompetitionDropDown.SelectedItem = "FRC";
MotorTypeDropDown.SelectedItem = "NIDEC_BLDC";
break;
case MotorType.THROTTLE_MOTOR:
RobotCompetitionDropDown.SelectedItem = "FRC";
MotorTypeDropDown.SelectedItem = "THROTTLE_MOTOR";
break;
case MotorType.WINDOW_MOTOR:
RobotCompetitionDropDown.SelectedItem = "FRC";
MotorTypeDropDown.SelectedItem = "WINDOW_MOTOR";
break;
case MotorType.NEVEREST:
RobotCompetitionDropDown.SelectedItem = "FTC";
MotorTypeDropDown.SelectedItem = "NEVEREST";
break;
case MotorType.TETRIX_MOTOR:
RobotCompetitionDropDown.SelectedItem = "FTC";
MotorTypeDropDown.SelectedItem = "TETRIX_MOTOR";
break;
case MotorType.MODERN_ROBOTICS_MATRIX:
RobotCompetitionDropDown.SelectedItem = "FTC";
MotorTypeDropDown.SelectedItem = "MODERN_ROBOTICS_MATRIX";
break;
case MotorType.REV_ROBOTICS_HD_HEX_20_TO_1:
RobotCompetitionDropDown.SelectedItem = "FTC";
MotorTypeDropDown.SelectedItem = "REV_ROBOTICS_HD_HEX_20_TO_1";
break;
case MotorType.REV_ROBOTICS_HD_HEX_40_TO_1:
RobotCompetitionDropDown.SelectedItem = "FTC";
MotorTypeDropDown.SelectedItem = "REV_ROBOTICS_HD_HEX_40_TO_1";
break;
case MotorType.REV_ROBOTICS_CORE_HEX:
RobotCompetitionDropDown.SelectedItem = "FTC";
MotorTypeDropDown.SelectedItem = "REV_ROBOTICS_CORE_HEX";
break;
case MotorType.VEX_V5_Smart_Motor_600_RPM:
RobotCompetitionDropDown.SelectedItem = "VEX";
MotorTypeDropDown.SelectedItem = "VEX_V5_Smart_Motor_600_RPM";
break;
case MotorType.VEX_V5_Smart_Motor_200_RPM:
RobotCompetitionDropDown.SelectedItem = "VEX";
MotorTypeDropDown.SelectedItem = "VEX_V5_Smart_Motor_200_RPM";
break;
case MotorType.VEX_V5_Smart_Motor_100_RPM:
RobotCompetitionDropDown.SelectedItem = "VEX";
MotorTypeDropDown.SelectedItem = "VEX_V5_Smart_Motor_100_RPM";
break;
case MotorType.VEX_393_NORMAL_SPEED:
RobotCompetitionDropDown.SelectedItem = "VEX";
MotorTypeDropDown.SelectedItem = "VEX_393_NORMAL_SPEED";
break;
case MotorType.VEX_393_HIGH_SPEED:
RobotCompetitionDropDown.SelectedItem = "VEX";
MotorTypeDropDown.SelectedItem = "VEX_393_HIGH_SPEED";
break;
case MotorType.VEX_393_TURBO_GEAR_SET:
RobotCompetitionDropDown.SelectedItem = "VEX";
MotorTypeDropDown.SelectedItem = "VEX_393_TURBO_GEAR_SET";
break;
}
}
}
else //Default values
{
cmbJointDriver.SelectedIndex = 0;
txtPort1.Value = txtPort1.Minimum;
txtPort2.Value = txtPort2.Minimum;
txtLowLimit.Value = txtLowLimit.Minimum;
txtHighLimit.Value = txtHighLimit.Minimum;
InputGeartxt.Value = (decimal)1.0;
OutputGeartxt.Value = (decimal)1.0;
rbPWM.Checked = true;
chkBoxHasBrake.Checked = false;
numericUpDownPnuDia.Value = (decimal)0.5;
cmbPneumaticPressure.SelectedIndex = (int)PneumaticPressure.MEDIUM;
cmbWheelType.SelectedIndex = (int)WheelType.NOT_A_WHEEL;
cmbFrictionLevel.SelectedIndex = (int)FrictionLevel.MEDIUM;
chkBoxDriveWheel.Checked = false;
RobotCompetitionDropDown.SelectedItem = RobotExporterAddInServer.Instance.AddInSettingsManager.DefaultRobotCompetition;
MotorTypeDropDown.SelectedItem = "GENERIC";
}
PrepLayout();
base.Location = new System.Drawing.Point(Cursor.Position.X - 10, Cursor.Position.Y - base.Height - 10);
this.ShowDialog(owner);
}
public void SaveValues()
{
var joint = node.GetSkeletalJoint();
if ((string)jointTypeComboBox.SelectedItem == "(Select an option)")
{
joint.cDriver = null;
joint.weight = 0;
}
else
{
// Driver type
var cType = (string)jointTypeComboBox.SelectedItem == "Drivetrain Wheel" ? JointDriverType.MOTOR : JointDriver.GetAllowedDrivers(joint)[driverTypeComboBox.SelectedIndex];
if (joint.cDriver == null || !joint.cDriver.GetDriveType().Equals(cType)) // Defaults
{
joint.cDriver = new JointDriver(cType)
{
port1 = 3,
port2 = 3,
InputGear = 1,
OutputGear = 1,
lowerLimit = 0,
upperLimit = 0,
isCan = true
};
}
// Always
joint.cDriver.hasBrake = true;
joint.cDriver.motor = MotorType.GENERIC;
joint.cDriver.InputGear = 1;
joint.cDriver.OutputGear = advancedSettingsForm.GearRatio;
joint.cDriver.lowerLimit = 0;
joint.cDriver.upperLimit = 0;
if ((string)jointTypeComboBox.SelectedItem == "Drivetrain Wheel")
{
// Port/wheel side
joint.cDriver.port1 = dtSideComboBox.SelectedIndex;
joint.cDriver.isCan = true;
// Wheel type
var wheelDriver = new WheelDriverMeta
{
type = (WheelType)wheelTypeComboBox.SelectedIndex + 1,
isDriveWheel = true
};
wheelDriver.SetFrictionLevel(FrictionLevel.MEDIUM);
joint.cDriver.AddInfo(wheelDriver);
// Weight
joint.weight = 0;
}
else if ((string)jointTypeComboBox.SelectedItem == "Mechanism Joint")
{
// Port/wheel side
joint.cDriver.port1 = advancedSettingsForm.PortId;
if (joint.cDriver.port1 <= 2)
{
joint.cDriver.port1 = 2;
}
joint.cDriver.isCan = advancedSettingsForm.IsCan;
// Wheel driver
joint.cDriver.RemoveInfo <WheelDriverMeta>();
// Weight
joint.weight = (double)weightInput.Value;
}
}
}
/// <summary>
/// The lite equivalent of the 'Start Exporter' <see cref="Button"/> in the <see cref="ExporterForm"/>. Used in <see cref="ExporterWorker_DoWork(Object, "/>
/// </summary>
/// <seealso cref="ExporterWorker_DoWork"/>
/// <param name="baseNode"></param>
/// <returns></returns>
public List <BXDAMesh> ExportMeshesLite(RigidNode_Base baseNode, float totalMassKg)
{
SurfaceExporter surfs = new SurfaceExporter();
BXDJSkeleton.SetupFileNames(baseNode);
List <RigidNode_Base> nodes = new List <RigidNode_Base>();
baseNode.ListAllNodes(nodes);
List <BXDAMesh> meshes = new List <BXDAMesh>();
SetProgress(0, "Exporting Model");
for (int i = 0; i < nodes.Count; i++)
{
RigidNode_Base node = nodes[i];
if (node is RigidNode && node.GetModel() != null && node.ModelFileName != null && node.GetModel() is CustomRigidGroup)
{
try
{
CustomRigidGroup group = (CustomRigidGroup)node.GetModel();
BXDAMesh output = surfs.ExportAll(group, node.GUID, (long progress, long total) =>
{
SetProgress(((double)progress / total) / nodes.Count + (double)i / nodes.Count);
});
output.colliders.Clear();
output.colliders.AddRange(ConvexHullCalculator.GetHull(output));
meshes.Add(output);
}
catch (Exception e)
{
throw new Exception("Error exporting mesh: " + node.GetModelID(), e);
}
}
}
// Apply custom mass to mesh
if (totalMassKg > 0) // Negative value indicates that default mass should be left alone (TODO: Make default mass more accurate)
{
float totalDefaultMass = 0;
foreach (BXDAMesh mesh in meshes)
{
totalDefaultMass += mesh.physics.mass;
}
for (int i = 0; i < meshes.Count; i++)
{
meshes[i].physics.mass = totalMassKg * (float)(meshes[i].physics.mass / totalDefaultMass);
}
}
// Add meshes to all nodes
for (int i = 0; i < meshes.Count; i++)
{
((OGL_RigidNode)nodes[i]).loadMeshes(meshes[i]);
}
// Get wheel information (radius, center, etc.) for all wheels
foreach (RigidNode_Base node in nodes)
{
SkeletalJoint_Base joint = node.GetSkeletalJoint();
// Joint will be null if the node has no connection.
// cDriver will be null if there is no driver connected to the joint.
if (joint != null && joint.cDriver != null)
{
WheelDriverMeta wheelDriver = (WheelDriverMeta)joint.cDriver.GetInfo(typeof(WheelDriverMeta));
// Drivers without wheel metadata do not need radius, center, or width info.
if (wheelDriver != null)
{
(node as OGLViewer.OGL_RigidNode).GetWheelInfo(out float radius, out float width, out BXDVector3 center);
wheelDriver.radius = radius;
wheelDriver.center = center;
wheelDriver.width = width;
joint.cDriver.AddInfo(wheelDriver);
}
}
}
return(meshes);
}
public SynthesisGUI()
{
InitializeComponent();
Instance = this;
robotViewer1.LoadSettings(ViewerSettings);
bxdaEditorPane1.Units = ViewerSettings.modelUnits;
RigidNode_Base.NODE_FACTORY = delegate(Guid guid)
{
return(new OGL_RigidNode(guid));
};
fileNew.Click += new System.EventHandler(delegate(object sender, System.EventArgs e)
{
SetNew();
});
fileLoad.Click += new System.EventHandler(delegate(object sender, System.EventArgs e)
{
LoadFromInventor();
});
fileOpen.Click += new System.EventHandler(delegate(object sender, System.EventArgs e)
{
OpenExisting();
});
fileSave.Click += new System.EventHandler(delegate(object sender, System.EventArgs e)
{
SaveRobot(false);
});
fileSaveAs.Click += new System.EventHandler(delegate(object sender, System.EventArgs e)
{
SaveRobot(true);
});
fileExit.Click += new System.EventHandler(delegate(object sender, System.EventArgs e)
{
Close();
});
settingsExporter.Click += new System.EventHandler(delegate(object sender, System.EventArgs e)
{
var defaultValues = BXDSettings.Instance.GetSettingsObject("Exporter Settings");
ExporterSettingsForm eSettingsForm = new ExporterSettingsForm((defaultValues != null) ? (ExporterSettingsForm.ExporterSettingsValues)defaultValues :
ExporterSettingsForm.GetDefaultSettings());
eSettingsForm.ShowDialog(this);
BXDSettings.Instance.AddSettingsObject("Exporter Settings", eSettingsForm.values);
ExporterSettings = eSettingsForm.values;
});
settingsViewer.Click += new System.EventHandler(delegate(object sender, System.EventArgs e)
{
var defaultValues = BXDSettings.Instance.GetSettingsObject("Viewer Settings");
ViewerSettingsForm vSettingsForm = new ViewerSettingsForm((defaultValues != null) ? (ViewerSettingsForm.ViewerSettingsValues)defaultValues :
ViewerSettingsForm.GetDefaultSettings());
vSettingsForm.ShowDialog(this);
BXDSettings.Instance.AddSettingsObject("Viewer Settings", vSettingsForm.values);
ViewerSettings = vSettingsForm.values;
robotViewer1.LoadSettings(ViewerSettings);
bxdaEditorPane1.Units = ViewerSettings.modelUnits;
});
helpAbout.Click += new System.EventHandler(delegate(object sender, System.EventArgs e)
{
AboutDialog about = new AboutDialog();
about.ShowDialog(this);
});
this.FormClosing += new FormClosingEventHandler(delegate(object sender, FormClosingEventArgs e)
{
if (SkeletonBase != null && !WarnUnsaved())
{
e.Cancel = true;
}
else
{
BXDSettings.Save();
}
InventorManager.ReleaseInventor();
});
jointEditorPane1.ModifiedJoint += delegate(List <RigidNode_Base> nodes)
{
if (nodes == null || nodes.Count == 0)
{
return;
}
foreach (RigidNode_Base node in nodes)
{
if (node.GetSkeletalJoint() != null && node.GetSkeletalJoint().cDriver != null &&
node.GetSkeletalJoint().cDriver.GetInfo <WheelDriverMeta>() != null &&
node.GetSkeletalJoint().cDriver.GetInfo <WheelDriverMeta>().radius == 0 &&
node is OGL_RigidNode)
{
float radius, width;
BXDVector3 center;
(node as OGL_RigidNode).GetWheelInfo(out radius, out width, out center);
WheelDriverMeta wheelDriver = node.GetSkeletalJoint().cDriver.GetInfo <WheelDriverMeta>();
wheelDriver.center = center;
wheelDriver.radius = radius;
wheelDriver.width = width;
node.GetSkeletalJoint().cDriver.AddInfo(wheelDriver);
}
}
};
jointEditorPane1.SelectedJoint += robotViewer1.SelectJoints;
jointEditorPane1.SelectedJoint += bxdaEditorPane1.SelectJoints;
robotViewer1.NodeSelected += jointEditorPane1.AddSelection;
robotViewer1.NodeSelected += bxdaEditorPane1.AddSelection;
bxdaEditorPane1.NodeSelected += (BXDAMesh mesh) =>
{
List <RigidNode_Base> nodes = new List <RigidNode_Base>();
SkeletonBase.ListAllNodes(nodes);
jointEditorPane1.AddSelection(nodes[Meshes.IndexOf(mesh)], true);
};
bxdaEditorPane1.NodeSelected += (BXDAMesh mesh) =>
{
List <RigidNode_Base> nodes = new List <RigidNode_Base>();
SkeletonBase.ListAllNodes(nodes);
robotViewer1.SelectJoints(nodes.GetRange(Meshes.IndexOf(mesh), 1));
};
}
/// <summary>
/// Saves all the data from the DriveChooser frame to be used elsewhere in the program. Also begins calculation of wheel radius.
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void SaveButton_Click(object sender, EventArgs e)
{
bool canClose = true;
if (!ShouldSave())
{
Close();
return;
}
if (cmbJointDriver.SelectedIndex <= 0)
{
joint.cDriver = null;
}
else
{
JointDriverType cType = typeOptions[cmbJointDriver.SelectedIndex - 1];
double inputGear = 1, outputGear = 1;
inputGear = (double)InputGeartxt.Value;
outputGear = (double)OutputGeartxt.Value;// tries to parse the double from the output gear
joint.cDriver = new JointDriver(cType)
{
port1 = (int)txtPort1.Value,
port2 = (int)txtPort2.Value,
InputGear = inputGear, // writes the input gear to the internal joint driver so it can be exported
OutputGear = outputGear, // writes the output gear to the internal joint driver so it can be exported
lowerLimit = (float)txtLowLimit.Value,
upperLimit = (float)txtHighLimit.Value,
isCan = rbCAN.Checked,
hasBrake = chkBoxHasBrake.Checked
};
if (cType.IsMotor())
{
if (!Enum.TryParse(MotorTypeDropDown.SelectedItem.ToString(), out MotorType motor))
{
motor = MotorType.GENERIC;
}
joint.cDriver.motor = motor;
RobotExporterAddInServer.Instance.AddInSettingsManager.DefaultRobotCompetition = RobotCompetitionDropDown.SelectedItem.ToString();
}
//Only need to store wheel driver if run by motor and is a wheel.
if (cType.IsMotor() && (WheelType)cmbWheelType.SelectedIndex != WheelType.NOT_A_WHEEL)
{
WheelDriverMeta wheelDriver = new WheelDriverMeta()
{
type = (WheelType)cmbWheelType.SelectedIndex,
isDriveWheel = chkBoxDriveWheel.Checked
}; //The info about the wheel attached to the joint.
//TODO: Find real values that make sense for the friction. Also add Mecanum wheels.
wheelDriver.SetFrictionLevel((FrictionLevel)cmbFrictionLevel.SelectedIndex);
joint.cDriver.AddInfo(wheelDriver);
}
else
{
joint.cDriver.RemoveInfo <WheelDriverMeta>();
}
if (cType.IsPneumatic())
{
PneumaticDriverMeta pneumaticDriver = new PneumaticDriverMeta()
{
pressureEnum = (PneumaticPressure)cmbPneumaticPressure.SelectedIndex,
width = (double)numericUpDownPnuDia.Value
}; //The info about the wheel attached to the joint.
joint.cDriver.AddInfo(pneumaticDriver);
}
else
{
joint.cDriver.RemoveInfo <PneumaticDriverMeta>();
}
if (cType.IsElevator())
{
ElevatorDriverMeta elevatorDriver = new ElevatorDriverMeta()
{
type = ElevatorType.NOT_MULTI
};
joint.cDriver.AddInfo(elevatorDriver);
}
else
{
joint.cDriver.RemoveInfo <ElevatorDriverMeta>();
}
}
if (nodes.Count > 1)
{
foreach (RigidNode_Base node in nodes)
{
if (joint.cDriver == null)
{
node.GetSkeletalJoint().cDriver = null;
}
else
{
JointDriver driver = new JointDriver(joint.cDriver.GetDriveType())
{
port1 = joint.cDriver.port1,
port2 = joint.cDriver.port2,
isCan = joint.cDriver.isCan,
OutputGear = joint.cDriver.OutputGear,
InputGear = joint.cDriver.InputGear,
lowerLimit = joint.cDriver.lowerLimit,
upperLimit = joint.cDriver.upperLimit
};
joint.cDriver.CopyMetaInfo(driver);
node.GetSkeletalJoint().cDriver = driver;
}
}
}
if (canClose)// make sure there are no outstanding issues for the user to fix before we save
{
Saved = true;
Close();
}
}
/// <summary>
/// Creates a Rigid Body from a .bxda file
/// </summary>
/// <param name="FilePath"></param>
public void CreateRigidBody(string FilePath)
{
CollisionShape shape;
WheelDriverMeta wheel = null;
DefaultMotionState motion;
BXDAMesh mesh = new BXDAMesh();
mesh.ReadFromFile(FilePath);
Vector3 loc;
Quaternion rot = Quaternion.Identity;
//Is it a wheel?
if ((wheel = GetSkeletalJoint()?.cDriver?.GetInfo <WheelDriverMeta>()) != null && true)
{
//Align the cylinders
Vector3 min, max;
GetShape(mesh).GetAabb(Matrix4.Identity, out min, out max);
Vector3 extents = max - min;
//Find the thinnest dimension, that is probably wheat the cylinder should be aligned to
if (extents.X < extents.Y) //X or Z
{
if (extents.X < extents.Z)
{
shape = new CylinderShapeX(wheel.width, wheel.radius, wheel.radius); //X
}
else
{
shape = new CylinderShapeZ(wheel.radius, wheel.radius, wheel.width); //Z
}
}
else //Y or Z
{
if (extents.Y < extents.Z)
{
shape = new CylinderShape(wheel.radius, wheel.width, wheel.radius); //Y
}
else
{
shape = new CylinderShapeZ(wheel.radius, wheel.radius, wheel.width); //Z
}
}
loc = MeshUtilities.MeshCenter(mesh);
}
//Rigid Body Construction
else
{
shape = GetShape(mesh);
loc = MeshUtilities.MeshCenter(mesh);
}
if (debug)
{
Console.WriteLine("Rotation is " + rot);
}
motion = new DefaultMotionState(Matrix4.CreateTranslation(loc + new Vector3(0, 100, 0)));
RigidBodyConstructionInfo info = new RigidBodyConstructionInfo(mesh.physics.mass, motion, shape, shape.CalculateLocalInertia(mesh.physics.mass));
//Temp?
info.Friction = 100;
info.RollingFriction = 100;
//info.AngularDamping = 0f;
//info.LinearDamping = 0.5f;
BulletObject = new RigidBody(info);
}
/// <summary>
/// Saves all the data from the DriveChooser frame to be used elsewhere in the program. Also begins calculation of wheel radius.
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void btnSave_Click(object sender, EventArgs e)
{
if (!shouldSave())
{
Hide();
return;
}
if (cmbJointDriver.SelectedIndex <= 0)
{
joint.cDriver = null;
}
else
{
JointDriverType cType = typeOptions[cmbJointDriver.SelectedIndex - 1];
joint.cDriver = new JointDriver(cType)
{
portA = (int)txtPortA.Value,
portB = (int)txtPortB.Value,
lowerLimit = (float)txtLowLimit.Value,
upperLimit = (float)txtHighLimit.Value,
isCan = rbCAN.Checked
};
//Only need to store wheel driver if run by motor and is a wheel.
if (cType.IsMotor() && (WheelType)cmbWheelType.SelectedIndex != WheelType.NOT_A_WHEEL)
{
#region WHEEL_SAVING
WheelDriverMeta wheelDriver = new WheelDriverMeta()
{
type = (WheelType)cmbWheelType.SelectedIndex,
isDriveWheel = chkBoxDriveWheel.Checked
}; //The info about the wheel attached to the joint.
//TODO: Find real values that make sense for the friction. Also add Mecanum wheels.
switch ((FrictionLevel)cmbFrictionLevel.SelectedIndex)
{
case FrictionLevel.HIGH:
wheelDriver.forwardExtremeSlip = 1; //Speed of max static friction force.
wheelDriver.forwardExtremeValue = 10; //Force of max static friction force.
wheelDriver.forwardAsympSlip = 1.5f; //Speed of leveled off kinetic friction force.
wheelDriver.forwardAsympValue = 8; //Force of leveld off kinetic friction force.
if (wheelDriver.type == WheelType.OMNI) //Set to relatively low friction, as omni wheels can move sidways.
{
wheelDriver.sideExtremeSlip = 1; //Same as above, but orthogonal to the movement of the wheel.
wheelDriver.sideExtremeValue = .01f;
wheelDriver.sideAsympSlip = 1.5f;
wheelDriver.sideAsympValue = .005f;
}
else
{
wheelDriver.sideExtremeSlip = 1;
wheelDriver.sideExtremeValue = 10;
wheelDriver.sideAsympSlip = 1.5f;
wheelDriver.sideAsympValue = 8;
}
break;
case FrictionLevel.MEDIUM:
wheelDriver.forwardExtremeSlip = 1f;
wheelDriver.forwardExtremeValue = 7;
wheelDriver.forwardAsympSlip = 1.5f;
wheelDriver.forwardAsympValue = 5;
if (wheelDriver.type == WheelType.OMNI)
{
wheelDriver.sideExtremeSlip = 1;
wheelDriver.sideExtremeValue = .01f;
wheelDriver.sideAsympSlip = 1.5f;
wheelDriver.sideAsympValue = .005f;
}
else
{
wheelDriver.sideExtremeSlip = 1;
wheelDriver.sideExtremeValue = 7;
wheelDriver.sideAsympSlip = 1.5f;
wheelDriver.sideAsympValue = 5;
}
break;
case FrictionLevel.LOW:
wheelDriver.forwardExtremeSlip = 1;
wheelDriver.forwardExtremeValue = 5;
wheelDriver.forwardAsympSlip = 1.5f;
wheelDriver.forwardAsympValue = 3;
if (wheelDriver.type == WheelType.OMNI)
{
wheelDriver.sideExtremeSlip = 1;
wheelDriver.sideExtremeValue = .01f;
wheelDriver.sideAsympSlip = 1.5f;
wheelDriver.sideAsympValue = .005f;
}
else
{
wheelDriver.sideExtremeSlip = 1;
wheelDriver.sideExtremeValue = 5;
wheelDriver.sideAsympSlip = 1.5f;
wheelDriver.sideAsympValue = 3;
}
break;
}
joint.cDriver.AddInfo(wheelDriver);
#endregion
}
else
{
joint.cDriver.RemoveInfo <WheelDriverMeta>();
}
if (cType.IsPneumatic())
{
#region PNEUMATIC_SAVING
PneumaticDriverMeta pneumaticDriver = new PneumaticDriverMeta()
{
pressureEnum = (PneumaticPressure)cmbPneumaticPressure.SelectedIndex,
widthEnum = (PneumaticDiameter)cmbPneumaticDiameter.SelectedIndex
}; //The info about the wheel attached to the joint.
joint.cDriver.AddInfo(pneumaticDriver);
#endregion
}
else
{
joint.cDriver.RemoveInfo <PneumaticDriverMeta>();
}
if (cType.IsElevator())
{
#region ELEVATOR_SAVING
ElevatorDriverMeta elevatorDriver = new ElevatorDriverMeta()
{
type = (ElevatorType)cmbStages.SelectedIndex
};
joint.cDriver.AddInfo(elevatorDriver);
#endregion
}
else
{
joint.cDriver.RemoveInfo <ElevatorDriverMeta>();
}
}
if (nodes.Count > 1)
{
foreach (RigidNode_Base node in nodes)
{
if (joint.cDriver == null)
{
node.GetSkeletalJoint().cDriver = null;
}
else
{
JointDriver driver = new JointDriver(joint.cDriver.GetDriveType())
{
portA = joint.cDriver.portA,
portB = joint.cDriver.portB,
isCan = joint.cDriver.isCan,
lowerLimit = joint.cDriver.lowerLimit,
upperLimit = joint.cDriver.upperLimit
};
joint.cDriver.CopyMetaInfo(driver);
node.GetSkeletalJoint().cDriver = driver;
}
}
}
Saved = true;
Hide();
}
public void ShowDialog(SkeletalJoint_Base baseJoint, List <RigidNode_Base> nodes, Form owner)
{
Saved = false;
if (nodes.Count > 1)
{
bool same = true;
foreach (RigidNode_Base node in nodes)
{
JointDriver driver = node.GetSkeletalJoint().cDriver;
if (driver == null || driver.CompareTo(baseJoint.cDriver) != 0)
{
same = false;
}
}
if (same)
{
joint = baseJoint;
}
else
{
joint = SkeletalJoint_Base.JOINT_FACTORY(baseJoint.GetJointType());
}
}
else
{
joint = baseJoint;
}
this.nodes = nodes;
typeOptions = JointDriver.GetAllowedDrivers(joint);
cmbJointDriver.Items.Clear();
cmbJointDriver.Items.Add("No Driver");
foreach (JointDriverType type in typeOptions)
{
cmbJointDriver.Items.Add(Enum.GetName(typeof(JointDriverType), type).Replace('_', ' ').ToLowerInvariant());
}
if (joint.cDriver != null)
{
cmbJointDriver.SelectedIndex = Array.IndexOf(typeOptions, joint.cDriver.GetDriveType()) + 1;
txtPortA.Value = joint.cDriver.portA;
txtPortB.Value = joint.cDriver.portB;
txtLowLimit.Value = (decimal)joint.cDriver.lowerLimit;
txtHighLimit.Value = (decimal)joint.cDriver.upperLimit;
#region Meta info recovery
{
PneumaticDriverMeta pneumaticMeta = joint.cDriver.GetInfo <PneumaticDriverMeta>();
if (pneumaticMeta != null)
{
cmbPneumaticDiameter.SelectedIndex = (byte)pneumaticMeta.widthEnum;
cmbPneumaticPressure.SelectedIndex = (byte)pneumaticMeta.pressureEnum;
}
else
{
cmbPneumaticDiameter.SelectedIndex = (byte)PneumaticDiameter.MEDIUM;
cmbPneumaticPressure.SelectedIndex = (byte)PneumaticPressure.HIGH;
}
}
{
WheelDriverMeta wheelMeta = joint.cDriver.GetInfo <WheelDriverMeta>();
if (wheelMeta != null)
{
try
{
// TODO: This is a really sketchy hack and I don't even know where the cat is.
cmbWheelType.SelectedIndex = (byte)wheelMeta.type;
if (wheelMeta.forwardExtremeValue > 8)
{
cmbFrictionLevel.SelectedIndex = (byte)FrictionLevel.HIGH;
}
else if (wheelMeta.forwardExtremeValue > 4)
{
cmbFrictionLevel.SelectedIndex = (byte)FrictionLevel.MEDIUM;
}
else
{
cmbFrictionLevel.SelectedIndex = (byte)FrictionLevel.LOW;
}
}
catch
{
// If an exception was thrown (System.ArguementOutOfRangeException) it means
// the user did not choose a wheel type when they were configuring the
// wheel joint
cmbWheelType.SelectedIndex = (byte)WheelType.NORMAL;
cmbFrictionLevel.SelectedIndex = (byte)FrictionLevel.MEDIUM;
}
chkBoxDriveWheel.Checked = wheelMeta.isDriveWheel;
cmbWheelType_SelectedIndexChanged(null, null);
}
else
{
cmbWheelType.SelectedIndex = (byte)WheelType.NOT_A_WHEEL;
cmbFrictionLevel.SelectedIndex = (byte)FrictionLevel.MEDIUM;
}
}
{
ElevatorDriverMeta elevatorMeta = joint.cDriver.GetInfo <ElevatorDriverMeta>();
if (elevatorMeta != null)
{
cmbStages.SelectedIndex = (byte)elevatorMeta.type;
}
}
#endregion
}
else //Default values
{
cmbJointDriver.SelectedIndex = 0;
txtPortA.Value = txtPortA.Minimum;
txtPortB.Value = txtPortB.Minimum;
txtLowLimit.Value = txtLowLimit.Minimum;
txtHighLimit.Value = txtHighLimit.Minimum;
cmbPneumaticDiameter.SelectedIndex = (byte)PneumaticDiameter.MEDIUM;
cmbPneumaticPressure.SelectedIndex = (byte)PneumaticPressure.MEDIUM;
cmbWheelType.SelectedIndex = (byte)WheelType.NOT_A_WHEEL;
cmbFrictionLevel.SelectedIndex = (byte)FrictionLevel.MEDIUM;
chkBoxDriveWheel.Checked = false;
cmbStages.SelectedIndex = (byte)ElevatorType.NOT_MULTI;
}
PerformLayout();
this.ShowDialog(owner);
}
public SynthesisGUI(bool MakeOwners = false)
{
InitializeComponent();
Instance = this;
bxdaEditorPane1.Units = "lbs";
BXDAViewerPaneForm.Controls.Add(bxdaEditorPane1);
if (MakeOwners)
{
BXDAViewerPaneForm.Owner = this;
}
BXDAViewerPaneForm.FormClosing += Generic_FormClosing;
JointPaneForm.Controls.Add(jointEditorPane1);
if (MakeOwners)
{
JointPaneForm.Owner = this;
}
JointPaneForm.FormClosing += Generic_FormClosing;
RigidNode_Base.NODE_FACTORY = delegate(Guid guid)
{
return(new OGL_RigidNode(guid));
};
settingsExporter.Click += SettingsExporter_OnClick;
Shown += SynthesisGUI_Shown;
FormClosing += new FormClosingEventHandler(delegate(object sender, FormClosingEventArgs e)
{
if (SkeletonBase != null && !WarnUnsaved())
{
e.Cancel = true;
}
InventorManager.ReleaseInventor();
});
jointEditorPane1.ModifiedJoint += delegate(List <RigidNode_Base> nodes)
{
if (nodes == null || nodes.Count == 0)
{
return;
}
foreach (RigidNode_Base node in nodes)
{
if (node.GetSkeletalJoint() != null && node.GetSkeletalJoint().cDriver != null &&
node.GetSkeletalJoint().cDriver.GetInfo <WheelDriverMeta>() != null &&
node.GetSkeletalJoint().cDriver.GetInfo <WheelDriverMeta>().radius == 0 &&
node is OGL_RigidNode)
{
(node as OGL_RigidNode).GetWheelInfo(out float radius, out float width, out BXDVector3 center);
WheelDriverMeta wheelDriver = node.GetSkeletalJoint().cDriver.GetInfo <WheelDriverMeta>();
wheelDriver.center = center;
wheelDriver.radius = radius;
wheelDriver.width = width;
node.GetSkeletalJoint().cDriver.AddInfo(wheelDriver);
}
}
};
jointEditorPane1.SelectedJoint += bxdaEditorPane1.SelectJoints;
bxdaEditorPane1.NodeSelected += (BXDAMesh mesh) =>
{
List <RigidNode_Base> nodes = new List <RigidNode_Base>();
SkeletonBase.ListAllNodes(nodes);
jointEditorPane1.AddSelection(nodes[Meshes.IndexOf(mesh)], true);
};
}
public void ShowDialog(SkeletalJoint_Base baseJoint, List <RigidNode_Base> nodes, Form owner)
{
Saved = false;
if (nodes.Count > 1)
{
bool same = true;
foreach (RigidNode_Base node in nodes)
{
JointDriver driver = node.GetSkeletalJoint().cDriver;
if (driver == null || driver.CompareTo(baseJoint.cDriver) != 0)
{
same = false;
}
}
if (same)
{
joint = baseJoint;
}
else
{
joint = SkeletalJoint_Base.JOINT_FACTORY(baseJoint.GetJointType());
}
}
else
{
joint = baseJoint;
}
this.nodes = nodes;
typeOptions = JointDriver.GetAllowedDrivers(joint);
// Used for capitalization
TextInfo textInfo = new CultureInfo("en-US", true).TextInfo;
cmbJointDriver.Items.Clear();
cmbJointDriver.Items.Add("No Driver");
foreach (JointDriverType type in typeOptions)
{
cmbJointDriver.Items.Add(textInfo.ToTitleCase(Enum.GetName(typeof(JointDriverType), type).Replace('_', ' ').ToLowerInvariant()));
}
if (joint.cDriver != null)
{
cmbJointDriver.SelectedIndex = Array.IndexOf(typeOptions, joint.cDriver.GetDriveType()) + 1;
if (joint.cDriver.port1 < txtPort1.Minimum)
{
txtPort1.Value = txtPort1.Minimum;
}
else if (joint.cDriver.port1 > txtPort1.Maximum)
{
txtPort1.Value = txtPort1.Maximum;
}
else
{
txtPort1.Value = joint.cDriver.port1;
}
if (joint.cDriver.port2 < txtPort2.Minimum)
{
txtPort2.Value = txtPort2.Minimum;
}
else if (joint.cDriver.port2 > txtPort2.Maximum)
{
txtPort2.Value = txtPort2.Maximum;
}
else
{
txtPort2.Value = joint.cDriver.port2;
}
txtLowLimit.Value = (decimal)joint.cDriver.lowerLimit;
txtHighLimit.Value = (decimal)joint.cDriver.upperLimit;
rbPWM.Checked = !joint.cDriver.isCan;
rbCAN.Checked = joint.cDriver.isCan;
chkBoxHasBrake.Checked = joint.cDriver.hasBrake;
if (joint.cDriver.OutputGear == 0) // prevents output gear from being 0
{
joint.cDriver.OutputGear = 1;
}
if (joint.cDriver.InputGear == 0)// prevents input gear from being 0
{
joint.cDriver.InputGear = 1;
}
OutputGeartxt.Value = (decimal)joint.cDriver.OutputGear; // reads the existing gearing and writes it to the input field so the user sees their existing value
InputGeartxt.Value = (decimal)joint.cDriver.InputGear; // reads the existing gearing and writes it to the input field so the user sees their existing value
#region Meta info recovery
{
PneumaticDriverMeta pneumaticMeta = joint.cDriver.GetInfo <PneumaticDriverMeta>();
if (pneumaticMeta != null)
{
cmbPneumaticDiameter.SelectedIndex = (int)pneumaticMeta.widthEnum;
cmbPneumaticPressure.SelectedIndex = (int)pneumaticMeta.pressureEnum;
}
else
{
cmbPneumaticDiameter.SelectedIndex = (int)PneumaticDiameter.MEDIUM;
cmbPneumaticPressure.SelectedIndex = (int)PneumaticPressure.HIGH;
}
}
{
WheelDriverMeta wheelMeta = joint.cDriver.GetInfo <WheelDriverMeta>();
if (wheelMeta != null)
{
try
{
cmbWheelType.SelectedIndex = (int)wheelMeta.type;
cmbFrictionLevel.SelectedIndex = (int)wheelMeta.GetFrictionLevel();
}
catch
{
// If an exception was thrown (System.ArguementOutOfRangeException) it means
// the user did not choose a wheel type when they were configuring the
// wheel joint
cmbWheelType.SelectedIndex = (int)WheelType.NORMAL;
cmbFrictionLevel.SelectedIndex = (int)FrictionLevel.MEDIUM;
}
chkBoxDriveWheel.Checked = wheelMeta.isDriveWheel;
cmbWheelType_SelectedIndexChanged(null, null);
}
else
{
cmbWheelType.SelectedIndex = (int)WheelType.NOT_A_WHEEL;
cmbFrictionLevel.SelectedIndex = (int)FrictionLevel.MEDIUM;
}
}
{
ElevatorDriverMeta elevatorMeta = joint.cDriver.GetInfo <ElevatorDriverMeta>();
}
#endregion
}
else //Default values
{
cmbJointDriver.SelectedIndex = 0;
txtPort1.Value = txtPort1.Minimum;
txtPort2.Value = txtPort2.Minimum;
txtLowLimit.Value = txtLowLimit.Minimum;
txtHighLimit.Value = txtHighLimit.Minimum;
InputGeartxt.Value = (decimal)1.0;
OutputGeartxt.Value = (decimal)1.0;
rbPWM.Checked = true;
chkBoxHasBrake.Checked = false;
cmbPneumaticDiameter.SelectedIndex = (int)PneumaticDiameter.MEDIUM;
cmbPneumaticPressure.SelectedIndex = (int)PneumaticPressure.MEDIUM;
cmbWheelType.SelectedIndex = (int)WheelType.NOT_A_WHEEL;
cmbFrictionLevel.SelectedIndex = (int)FrictionLevel.MEDIUM;
chkBoxDriveWheel.Checked = false;
}
PrepLayout();
base.Location = new System.Drawing.Point(Cursor.Position.X - 10, Cursor.Position.Y - base.Height - 10);
this.ShowDialog(owner);
}
/// <summary>
/// Reads a WheelDriverMeta from the given XmlReader.
/// </summary>
/// <param name="reader"></param>
/// <returns></returns>
private static WheelDriverMeta ReadWheelDriverMeta_3_0(XmlReader reader)
{
// Create new WheelDriveMeta.
WheelDriverMeta wheelDriverMeta = new WheelDriverMeta();
foreach (string name in IOUtilities.AllElements(reader))
{
switch (name)
{
case "WheelType":
// Assign a value to the type.
wheelDriverMeta.type = (WheelType)Enum.Parse(typeof(WheelType), reader.ReadElementContentAsString());
break;
case "WheelRadius":
// Assign a value to the radius.
wheelDriverMeta.radius = float.Parse(reader.ReadElementContentAsString());
break;
case "WheelWidth":
// Assign a value to the width.
wheelDriverMeta.width = float.Parse(reader.ReadElementContentAsString());
break;
case "BXDVector3":
// Assign a value to the center.
wheelDriverMeta.center = ReadBXDVector3_3_0(reader.ReadSubtree());
break;
case "ForwardAsympSlip":
// Assign a value to the forwardAsympSlip.
wheelDriverMeta.forwardAsympSlip = float.Parse(reader.ReadElementContentAsString());
break;
case "ForwardAsympValue":
// Assign a value to the forwardAsympValue.
wheelDriverMeta.forwardAsympValue = float.Parse(reader.ReadElementContentAsString());
break;
case "ForwardExtremeSlip":
// Assign a value to the forwardExtremeSlip.
wheelDriverMeta.forwardExtremeSlip = float.Parse(reader.ReadElementContentAsString());
break;
case "ForwardExtremeValue":
// Assign a value to the forwardExtremeValue.
wheelDriverMeta.forwardExtremeValue = float.Parse(reader.ReadElementContentAsString());
break;
case "SideAsympSlip":
// Assign a value to the sideAsympSlip.
wheelDriverMeta.sideAsympSlip = float.Parse(reader.ReadElementContentAsString());
break;
case "SideAsympValue":
// Assign a value to the sideAsympValue.
wheelDriverMeta.sideAsympValue = float.Parse(reader.ReadElementContentAsString());
break;
case "SideExtremeSlip":
// Assign a value to the sideExtremeSlip.
wheelDriverMeta.sideExtremeSlip = float.Parse(reader.ReadElementContentAsString());
break;
case "SideExtremeValue":
// Assign a value to the sideExtremeValue.
wheelDriverMeta.sideExtremeValue = float.Parse(reader.ReadElementContentAsString());
break;
case "IsDriveWheel":
// Assign a value to isDriveWheel.
wheelDriverMeta.isDriveWheel = reader.ReadElementContentAsBoolean();
break;
}
}
return(wheelDriverMeta);
}
/// <summary>
/// Saves all the data from the DriveChooser frame to be used elsewhere in the program. Also begins calculation of wheel radius.
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void SaveButton_Click(object sender, EventArgs e)
{
bool canClose = true;
if (!ShouldSave())
{
Close();
return;
}
if (cmbJointDriver.SelectedIndex <= 0)
{
joint.cDriver = null;
}
else
{
JointDriverType cType = typeOptions[cmbJointDriver.SelectedIndex - 1];
double inputGear = 1, outputGear = 1;
inputGear = (double)InputGeartxt.Value;
outputGear = (double)OutputGeartxt.Value;// tries to parse the double from the output gear
joint.cDriver = new JointDriver(cType)
{
port1 = (int)txtPort1.Value,
port2 = (int)txtPort2.Value,
InputGear = inputGear, // writes the input gear to the internal joint driver so it can be exported
OutputGear = outputGear, // writes the output gear to the internal joint driver so it can be exported
lowerLimit = (float)txtLowLimit.Value,
upperLimit = (float)txtHighLimit.Value,
isCan = rbCAN.Checked,
hasBrake = chkBoxHasBrake.Checked
};
//Only need to store wheel driver if run by motor and is a wheel.
if (cType.IsMotor() && (WheelType)cmbWheelType.SelectedIndex != WheelType.NOT_A_WHEEL)
{
#region WHEEL_SAVING
WheelDriverMeta wheelDriver = new WheelDriverMeta()
{
type = (WheelType)cmbWheelType.SelectedIndex,
isDriveWheel = chkBoxDriveWheel.Checked
}; //The info about the wheel attached to the joint.
//TODO: Find real values that make sense for the friction. Also add Mecanum wheels.
wheelDriver.SetFrictionLevel((FrictionLevel)cmbFrictionLevel.SelectedIndex);
joint.cDriver.AddInfo(wheelDriver);
#endregion
}
else
{
joint.cDriver.RemoveInfo <WheelDriverMeta>();
}
if (cType.IsPneumatic())
{
#region PNEUMATIC_SAVING
PneumaticDriverMeta pneumaticDriver = new PneumaticDriverMeta()
{
pressureEnum = (PneumaticPressure)cmbPneumaticPressure.SelectedIndex,
widthEnum = (PneumaticDiameter)cmbPneumaticDiameter.SelectedIndex
}; //The info about the wheel attached to the joint.
joint.cDriver.AddInfo(pneumaticDriver);
#endregion
}
else
{
joint.cDriver.RemoveInfo <PneumaticDriverMeta>();
}
if (cType.IsElevator())
{
#region ELEVATOR_SAVING
ElevatorDriverMeta elevatorDriver = new ElevatorDriverMeta()
{
type = ElevatorType.NOT_MULTI
};
joint.cDriver.AddInfo(elevatorDriver);
#endregion
}
else
{
joint.cDriver.RemoveInfo <ElevatorDriverMeta>();
}
}
if (nodes.Count > 1)
{
foreach (RigidNode_Base node in nodes)
{
if (joint.cDriver == null)
{
node.GetSkeletalJoint().cDriver = null;
}
else
{
JointDriver driver = new JointDriver(joint.cDriver.GetDriveType())
{
port1 = joint.cDriver.port1,
port2 = joint.cDriver.port2,
isCan = joint.cDriver.isCan,
OutputGear = joint.cDriver.OutputGear,
InputGear = joint.cDriver.InputGear,
lowerLimit = joint.cDriver.lowerLimit,
upperLimit = joint.cDriver.upperLimit
};
joint.cDriver.CopyMetaInfo(driver);
node.GetSkeletalJoint().cDriver = driver;
}
}
}
if (canClose)// make sure there are no outstanding issues for the user to fix before we save
{
Saved = true;
LegacyInterchange.LegacyEvents.OnRobotModified();
Close();
}
}
