/// <summary>
/// Called when show lights is changed.
/// </summary>
protected void OnShowLightsChanged()
{
this.lightsVisual.Children.Clear();
if (this.ShowLights)
{
foreach (var light in this.lightGroup.Children)
{
var pl = light as PointLight;
if (pl != null)
{
var sphere = new SphereVisual3D();
sphere.BeginEdit();
sphere.Center = pl.Position;
sphere.Radius = 1.0;
sphere.Fill = new SolidColorBrush(pl.Color);
sphere.EndEdit();
this.lightsVisual.Children.Add(sphere);
}
var dl = light as DirectionalLight;
if (dl != null)
{
var dir = dl.Direction;
dir.Normalize();
var target = new Point3D(0, 0, 0);
var source = target - (dir * 20);
var p2 = source + (dir * 10);
var sphere = new SphereVisual3D();
sphere.BeginEdit();
sphere.Center = source;
sphere.Radius = 1.0;
sphere.Fill = new SolidColorBrush(dl.Color);
sphere.EndEdit();
this.lightsVisual.Children.Add(sphere);
var arrow = new ArrowVisual3D();
arrow.BeginEdit();
arrow.Point1 = source;
arrow.Point2 = p2;
arrow.Diameter = 0.5;
arrow.Fill = new SolidColorBrush(dl.Color);
arrow.EndEdit();
this.lightsVisual.Children.Add(arrow);
}
var al = light as AmbientLight;
if (al != null)
{
var pos = new Point3D(0, 0, 20);
this.lightsVisual.Children.Add(
new CubeVisual3D {
Center = pos, SideLength = 1.0, Fill = new SolidColorBrush(al.Color)
});
}
}
}
}
/// <summary>
/// Called when the light changed.
/// </summary>
protected virtual void OnLightChanged()
{
this.Children.Clear();
if (this.Light == null)
{
return;
}
var dl = this.Light as DirectionalLight;
if (dl != null)
{
var arrow = new ArrowVisual3D();
double distance = 10;
double length = 5;
arrow.BeginEdit();
arrow.Point1 = new Point3D() + dl.Direction * distance;
arrow.Point2 = arrow.Point1 - dl.Direction * length;
arrow.Diameter = 0.1 * length;
arrow.Fill = new SolidColorBrush(dl.Color);
arrow.EndEdit();
this.Children.Add(arrow);
}
var sl = this.Light as SpotLight;
if (sl != null)
{
var sphere = new SphereVisual3D();
sphere.BeginEdit();
sphere.Center = sl.Position;
sphere.Fill = new SolidColorBrush(sl.Color);
sphere.EndEdit();
this.Children.Add(sphere);
var arrow = new ArrowVisual3D();
arrow.BeginEdit();
arrow.Point1 = sl.Position;
arrow.Point2 = sl.Position + sl.Direction;
arrow.Diameter = 0.1;
arrow.EndEdit();
this.Children.Add(arrow);
}
var pl = this.Light as PointLight;
if (pl != null)
{
var sphere = new SphereVisual3D();
sphere.BeginEdit();
sphere.Center = pl.Position;
sphere.Fill = new SolidColorBrush(pl.Color);
sphere.EndEdit();
this.Children.Add(sphere);
}
var al = this.Light as AmbientLight;
}
/// <summary>
/// Called when the light changed.
/// </summary>
protected virtual void OnLightChanged()
{
this.Children.Clear();
if (this.Light == null)
{
return;
}
var dl = this.Light as DirectionalLight;
if (dl != null)
{
var arrow = new ArrowVisual3D();
double distance = 10;
double length = 5;
arrow.BeginEdit();
arrow.Point1 = new Point3D() + dl.Direction * distance;
arrow.Point2 = arrow.Point1 - dl.Direction * length;
arrow.Diameter = 0.1 * length;
arrow.Fill = new SolidColorBrush(dl.Color);
arrow.EndEdit();
this.Children.Add(arrow);
}
var sl = this.Light as SpotLight;
if (sl != null)
{
var sphere = new SphereVisual3D();
sphere.BeginEdit();
sphere.Center = sl.Position;
sphere.Fill = new SolidColorBrush(sl.Color);
sphere.EndEdit();
this.Children.Add(sphere);
var arrow = new ArrowVisual3D();
arrow.BeginEdit();
arrow.Point1 = sl.Position;
arrow.Point2 = sl.Position + sl.Direction;
arrow.Diameter = 0.1;
arrow.EndEdit();
this.Children.Add(arrow);
}
var pl = this.Light as PointLight;
if (pl != null)
{
var sphere = new SphereVisual3D();
sphere.BeginEdit();
sphere.Center = pl.Position;
sphere.Fill = new SolidColorBrush(pl.Color);
sphere.EndEdit();
this.Children.Add(sphere);
}
var al = this.Light as AmbientLight;
}
/// <summary>
/// Called when the geometry has changed.
/// </summary>
protected virtual void OnGeometryChanged()
{
this.Children.Clear();
double l = this.ArrowLengths;
double d = l * 0.1;
var xaxis = new ArrowVisual3D();
xaxis.BeginEdit();
xaxis.Point2 = new Point3D(l, 0, 0);
xaxis.Diameter = d;
xaxis.Fill = new SolidColorBrush(this.XAxisColor);
xaxis.EndEdit();
this.Children.Add(xaxis);
var yaxis = new ArrowVisual3D();
yaxis.BeginEdit();
yaxis.Point2 = new Point3D(0, l, 0);
yaxis.Diameter = d;
yaxis.Fill = new SolidColorBrush(this.YAxisColor);
yaxis.EndEdit();
this.Children.Add(yaxis);
var zaxis = new ArrowVisual3D();
zaxis.BeginEdit();
zaxis.Point2 = new Point3D(0, 0, l);
zaxis.Diameter = d;
zaxis.Fill = new SolidColorBrush(this.ZAxisColor);
zaxis.EndEdit();
this.Children.Add(zaxis);
this.Children.Add(new CubeVisual3D {
SideLength = d, Fill = Brushes.Black
});
}
private void InitializeScene()
{
linearInterpolator = new LinearInterpolator();
sphericalLinearInterpolator = new SphericalLinearInterpolator();
realTimeInterpolator = new RealTimeInterpolator();
const double maxVal = 8;
var arrowX = new ArrowVisual3D();
arrowX.Direction = new Vector3D(1, 0, 0);
arrowX.Point1 = new Point3D(0, 0, 0);
arrowX.Point2 = new Point3D(maxVal, 0, 0);
arrowX.Diameter = 0.1;
arrowX.Fill = System.Windows.Media.Brushes.Black;
HelixViewportLeft.Children.Add(arrowX);
arrowX = new ArrowVisual3D();
arrowX.Direction = new Vector3D(1, 0, 0);
arrowX.Point1 = new Point3D(0, 0, 0);
arrowX.Point2 = new Point3D(maxVal, 0, 0);
arrowX.Diameter = 0.1;
arrowX.Fill = System.Windows.Media.Brushes.Black;
HelixViewportRight.Children.Add(arrowX);
var arrowMX = new ArrowVisual3D();
arrowMX.Direction = new Vector3D(-1, 0, 0);
arrowMX.Point1 = new Point3D(0, 0, 0);
arrowMX.Point2 = new Point3D(-maxVal, 0, 0);
arrowMX.Diameter = 0.1;
arrowMX.Fill = System.Windows.Media.Brushes.Black;
HelixViewportLeft.Children.Add(arrowMX);
arrowMX = new ArrowVisual3D();
arrowMX.Direction = new Vector3D(-1, 0, 0);
arrowMX.Point1 = new Point3D(0, 0, 0);
arrowMX.Point2 = new Point3D(-maxVal, 0, 0);
arrowMX.Diameter = 0.1;
arrowMX.Fill = System.Windows.Media.Brushes.Black;
HelixViewportRight.Children.Add(arrowMX);
var arrowY = new ArrowVisual3D();
arrowY.Direction = new Vector3D(0, 1, 0);
arrowY.Point1 = new Point3D(0, 0, 0);
arrowY.Point2 = new Point3D(0, maxVal, 0);
arrowY.Diameter = 0.1;
arrowY.Fill = System.Windows.Media.Brushes.Black;
HelixViewportLeft.Children.Add(arrowY);
arrowY = new ArrowVisual3D();
arrowY.Direction = new Vector3D(0, 1, 0);
arrowY.Point1 = new Point3D(0, 0, 0);
arrowY.Point2 = new Point3D(0, maxVal, 0);
arrowY.Diameter = 0.1;
arrowY.Fill = System.Windows.Media.Brushes.Black;
HelixViewportRight.Children.Add(arrowY);
var arrowMY = new ArrowVisual3D();
arrowMY.Direction = new Vector3D(0, -1, 0);
arrowMY.Point1 = new Point3D(0, 0, 0);
arrowMY.Point2 = new Point3D(0, -maxVal, 0);
arrowMY.Diameter = 0.1;
arrowMY.Fill = System.Windows.Media.Brushes.Black;
HelixViewportLeft.Children.Add(arrowMY);
arrowMY = new ArrowVisual3D();
arrowMY.Direction = new Vector3D(0, -1, 0);
arrowMY.Point1 = new Point3D(0, 0, 0);
arrowMY.Point2 = new Point3D(0, -maxVal, 0);
arrowMY.Diameter = 0.1;
arrowMY.Fill = System.Windows.Media.Brushes.Black;
HelixViewportRight.Children.Add(arrowMY);
var arrowZ = new ArrowVisual3D();
arrowZ.Direction = new Vector3D(0, 0, 1);
arrowZ.Point1 = new Point3D(0, 0, 0);
arrowZ.Point2 = new Point3D(0, 0, maxVal);
arrowZ.Diameter = 0.1;
arrowZ.Fill = System.Windows.Media.Brushes.Black;
HelixViewportLeft.Children.Add(arrowZ);
arrowZ = new ArrowVisual3D();
arrowZ.Direction = new Vector3D(0, 0, 1);
arrowZ.Point1 = new Point3D(0, 0, 0);
arrowZ.Point2 = new Point3D(0, 0, maxVal);
arrowZ.Diameter = 0.1;
arrowZ.Fill = System.Windows.Media.Brushes.Black;
HelixViewportRight.Children.Add(arrowZ);
var arrowMZ = new ArrowVisual3D();
arrowMZ.Direction = new Vector3D(0, 0, -1);
arrowMZ.Point1 = new Point3D(0, 0, 0);
arrowMZ.Point2 = new Point3D(0, 0, -maxVal);
arrowMZ.Diameter = 0.1;
arrowMZ.Fill = System.Windows.Media.Brushes.Black;
HelixViewportLeft.Children.Add(arrowMZ);
arrowMZ = new ArrowVisual3D();
arrowMZ.Direction = new Vector3D(0, 0, -1);
arrowMZ.Point1 = new Point3D(0, 0, 0);
arrowMZ.Point2 = new Point3D(0, 0, -maxVal);
arrowMZ.Diameter = 0.1;
arrowMZ.Fill = System.Windows.Media.Brushes.Black;
HelixViewportRight.Children.Add(arrowMZ);
var xArrowText = new TextVisual3D();
xArrowText.Text = "X";
xArrowText.Position = new Point3D(maxVal - 0.5, 0, 0.5);
xArrowText.Height = 0.5;
xArrowText.FontWeight = System.Windows.FontWeights.Bold;
HelixViewportLeft.Children.Add(xArrowText);
xArrowText = new TextVisual3D();
xArrowText.Text = "X";
xArrowText.Position = new Point3D(maxVal - 0.5, 0, 0.5);
xArrowText.Height = 0.5;
xArrowText.FontWeight = System.Windows.FontWeights.Bold;
HelixViewportRight.Children.Add(xArrowText);
var yArrowText = new TextVisual3D();
yArrowText.Text = "Y";
yArrowText.Position = new Point3D(0, maxVal - 0.5, 0.5);
yArrowText.Height = 0.5;
yArrowText.FontWeight = System.Windows.FontWeights.Bold;
HelixViewportLeft.Children.Add(yArrowText);
yArrowText = new TextVisual3D();
yArrowText.Text = "Y";
yArrowText.Position = new Point3D(0, maxVal - 0.5, 0.5);
yArrowText.Height = 0.5;
yArrowText.FontWeight = System.Windows.FontWeights.Bold;
HelixViewportRight.Children.Add(yArrowText);
var zArrowText = new TextVisual3D();
zArrowText.Text = "Z";
zArrowText.Position = new Point3D(0.5, 0, maxVal - 0.5);
zArrowText.Height = 0.5;
zArrowText.FontWeight = System.Windows.FontWeights.Bold;
HelixViewportLeft.Children.Add(zArrowText);
zArrowText = new TextVisual3D();
zArrowText.Text = "Z";
zArrowText.Position = new Point3D(0.5, 0, maxVal - 0.5);
zArrowText.Height = 0.5;
zArrowText.FontWeight = System.Windows.FontWeights.Bold;
HelixViewportRight.Children.Add(zArrowText);
var leftText = new TextVisual3D();
leftText.Text = "Internal Coordinates Interpolation";
leftText.Position = new Point3D(0, 0, maxVal + 0.5);
leftText.Height = 1;
leftText.FontWeight = System.Windows.FontWeights.Bold;
HelixViewportLeft.Children.Add(leftText);
var rightText = new TextVisual3D();
rightText.Text = "Effector Position Interpolation";
rightText.Position = new Point3D(0, 0, maxVal + 0.5);
rightText.Height = 1;
rightText.FontWeight = System.Windows.FontWeights.Bold;
HelixViewportRight.Children.Add(rightText);
SetupStartConfiguration();
SetupEndConfiguration();
frameEuler = new CombinedManipulator()
{
CanRotateX = false,
CanRotateY = false,
CanRotateZ = false
};
robotForInternalCoordinates.SetMidFrameModel(frameEuler);
frameQuaternion = new CombinedManipulator()
{
CanRotateX = false,
CanRotateY = false,
CanRotateZ = false
};
}
/// <summary>
/// Called when the geometry has changed.
/// </summary>
protected virtual void OnGeometryChanged()
{
this.Children.Clear();
double l = this.ArrowLengths;
double d = l * 0.1;
var xaxis = new ArrowVisual3D();
xaxis.BeginEdit();
xaxis.Point2 = new Point3D(l, 0, 0);
xaxis.Diameter = d;
xaxis.Fill = new SolidColorBrush(this.XAxisColor);
xaxis.EndEdit();
this.Children.Add(xaxis);
var yaxis = new ArrowVisual3D();
yaxis.BeginEdit();
yaxis.Point2 = new Point3D(0, l, 0);
yaxis.Diameter = d;
yaxis.Fill = new SolidColorBrush(this.YAxisColor);
yaxis.EndEdit();
this.Children.Add(yaxis);
var zaxis = new ArrowVisual3D();
zaxis.BeginEdit();
zaxis.Point2 = new Point3D(0, 0, l);
zaxis.Diameter = d;
zaxis.Fill = new SolidColorBrush(this.ZAxisColor);
zaxis.EndEdit();
this.Children.Add(zaxis);
this.Children.Add(new CubeVisual3D { SideLength = d, Fill = Brushes.Black });
}
/// <summary>
/// 3D scene initialization
/// </summary>
private void InitializeScene()
{
const double maxVal = 8;
var arrowX = new ArrowVisual3D();
arrowX.Direction = new Vector3D(1, 0, 0);
arrowX.Point1 = new Point3D(0, 0, 0);
arrowX.Point2 = new Point3D(maxVal, 0, 0);
arrowX.Diameter = 0.1;
arrowX.Fill = System.Windows.Media.Brushes.Black;
HelixViewport.Children.Add(arrowX);
var arrowMX = new ArrowVisual3D();
arrowMX.Direction = new Vector3D(-1, 0, 0);
arrowMX.Point1 = new Point3D(0, 0, 0);
arrowMX.Point2 = new Point3D(-maxVal, 0, 0);
arrowMX.Diameter = 0.1;
arrowMX.Fill = System.Windows.Media.Brushes.Black;
HelixViewport.Children.Add(arrowMX);
var arrowY = new ArrowVisual3D();
arrowY.Direction = new Vector3D(0, 1, 0);
arrowY.Point1 = new Point3D(0, 0, 0);
arrowY.Point2 = new Point3D(0, maxVal, 0);
arrowY.Diameter = 0.1;
arrowY.Fill = System.Windows.Media.Brushes.Black;
HelixViewport.Children.Add(arrowY);
var arrowMY = new ArrowVisual3D();
arrowMY.Direction = new Vector3D(0, -1, 0);
arrowMY.Point1 = new Point3D(0, 0, 0);
arrowMY.Point2 = new Point3D(0, -maxVal, 0);
arrowMY.Diameter = 0.1;
arrowMY.Fill = System.Windows.Media.Brushes.Black;
HelixViewport.Children.Add(arrowMY);
var arrowZ = new ArrowVisual3D();
arrowZ.Direction = new Vector3D(0, 0, 1);
arrowZ.Point1 = new Point3D(0, 0, 0);
arrowZ.Point2 = new Point3D(0, 0, maxVal);
arrowZ.Diameter = 0.1;
arrowZ.Fill = System.Windows.Media.Brushes.Black;
HelixViewport.Children.Add(arrowZ);
var arrowMZ = new ArrowVisual3D();
arrowMZ.Direction = new Vector3D(0, 0, -1);
arrowMZ.Point1 = new Point3D(0, 0, 0);
arrowMZ.Point2 = new Point3D(0, 0, -maxVal);
arrowMZ.Diameter = 0.1;
arrowMZ.Fill = System.Windows.Media.Brushes.Black;
HelixViewport.Children.Add(arrowMZ);
var xArrowText = new TextVisual3D();
xArrowText.Text = "X";
xArrowText.Position = new Point3D(maxVal - 0.5, 0, 0.5);
xArrowText.Height = 0.5;
xArrowText.FontWeight = System.Windows.FontWeights.Bold;
HelixViewport.Children.Add(xArrowText);
var yArrowText = new TextVisual3D();
yArrowText.Text = "Y";
yArrowText.Position = new Point3D(0, maxVal - 0.5, 0.5);
yArrowText.Height = 0.5;
yArrowText.FontWeight = System.Windows.FontWeights.Bold;
HelixViewport.Children.Add(yArrowText);
var zArrowText = new TextVisual3D();
zArrowText.Text = "Z";
zArrowText.Position = new Point3D(0.5, 0, maxVal - 0.5);
zArrowText.Height = 0.5;
zArrowText.FontWeight = System.Windows.FontWeights.Bold;
HelixViewport.Children.Add(zArrowText);
gravityPlane = new RectangleVisual3D();
gravityPlane.Width = 10;
gravityPlane.Length = 10;
var brush = new SolidColorBrush(Colors.Green);
brush.Opacity = 0.5;
gravityPlane.Fill = brush;
HelixViewport.Children.Add(gravityPlane);
gravityArrow = new ArrowVisual3D();
gravityArrow.Direction = new Vector3D(0, 0, -1);
gravityArrow.Point1 = new Point3D(0, 0, 0);
gravityArrow.Point2 = new Point3D(0, 0, -3);
gravityArrow.Diameter = 0.2;
gravityArrow.Fill = Brushes.Green;
HelixViewport.Children.Add(gravityArrow);
diagonalArrow = new ArrowVisual3D();
diagonalArrow.Direction = new Vector3D(1, 1, 1);
diagonalArrow.Point1 = new Point3D(0, 0, 0);
diagonalArrow.Point2 = new Point3D(cubeSize, cubeSize, cubeSize);
diagonalArrow.Diameter = 0.1;
diagonalArrow.Fill = Brushes.Blue;
HelixViewport.Children.Add(diagonalArrow);
SetupCube();
}
protected virtual void OnScaleFactorPropertyChanged(DependencyPropertyChangedEventArgs e)
{
var oldValue = (int)e.OldValue;
var newValue = (int)e.NewValue;
if (oldValue != newValue) {
if (newValue > 0) {
if (_lines != null) {
RemoveVisualChildren(_lines, _xaxis, _yaxis, _zaxis);
}
_lines = new LinesVisual3D {
Thickness = 0.5,
Color = Colors.Black,
Points = new Point3DCollection(new[] {
new Point3D(-newValue, +newValue, +newValue),
new Point3D(+newValue, +newValue, +newValue),
new Point3D(-newValue, +newValue, -newValue),
new Point3D(+newValue, +newValue, -newValue),
new Point3D(-newValue, -newValue, +newValue),
new Point3D(+newValue, -newValue, +newValue),
new Point3D(-newValue, -newValue, -newValue),
new Point3D(+newValue, -newValue, -newValue),
new Point3D(+newValue, -newValue, +newValue),
new Point3D(+newValue, +newValue, +newValue),
new Point3D(+newValue, -newValue, -newValue),
new Point3D(+newValue, +newValue, -newValue),
new Point3D(-newValue, -newValue, +newValue),
new Point3D(-newValue, +newValue, +newValue),
new Point3D(-newValue, -newValue, -newValue),
new Point3D(-newValue, +newValue, -newValue),
new Point3D(+newValue, +newValue, -newValue),
new Point3D(+newValue, +newValue, +newValue),
new Point3D(+newValue, -newValue, -newValue),
new Point3D(+newValue, -newValue, +newValue),
new Point3D(-newValue, +newValue, -newValue),
new Point3D(-newValue, +newValue, +newValue),
new Point3D(-newValue, -newValue, -newValue),
new Point3D(-newValue, -newValue, +newValue),
})
};
_xaxis = MakeArrowVisual(newValue, 0, 0, Brushes.Red);
_yaxis = MakeArrowVisual(0, newValue, 0, Brushes.Green);
_zaxis = MakeArrowVisual(0, 0, newValue, Brushes.Blue);
AddVisualChildren(_lines, _xaxis, _yaxis, _zaxis);
}
}
}
private void InitializeHelix()
{
_helixItems.Add(new SunLight());
_helixItems.Add(new GridLinesVisual3D
{
Width = 500,
Length = 500
});
foreach (CameraModel cameraModel in Cameras)
{
CubeVisual3D cube = new CubeVisual3D();
cube.SideLength = 10;
cube.Fill = new SolidColorBrush(Colors.Blue);
cube.Center = new Point3D(cameraModel.Calibration.TranslationToWorld[0, 0],
cameraModel.Calibration.TranslationToWorld[2, 0],
cameraModel.Calibration.TranslationToWorld[1, 0]);
_helixItems.Add(cube);
}
if (Cameras.Count == 4)
{
ArrowVisual3D arrow = new ArrowVisual3D
{
Point1 = new Point3D(
GetCamera(0).Calibration.TranslationToWorld[0, 0],
GetCamera(0).Calibration.TranslationToWorld[2, 0],
GetCamera(0).Calibration.TranslationToWorld[1, 0]),
Point2 = new Point3D(
GetCamera(2).Calibration.TranslationToWorld[0, 0],
GetCamera(2).Calibration.TranslationToWorld[2, 0],
GetCamera(2).Calibration.TranslationToWorld[1, 0]),
Fill = new SolidColorBrush(Colors.Yellow)
};
_helixItems.Add(arrow);
arrow = new ArrowVisual3D
{
Point1 = new Point3D(
GetCamera(1).Calibration.TranslationToWorld[0, 0],
GetCamera(1).Calibration.TranslationToWorld[2, 0],
GetCamera(1).Calibration.TranslationToWorld[1, 0]),
Point2 = new Point3D(
GetCamera(3).Calibration.TranslationToWorld[0, 0],
GetCamera(3).Calibration.TranslationToWorld[2, 0],
GetCamera(3).Calibration.TranslationToWorld[1, 0]),
Fill = new SolidColorBrush(Colors.Yellow)
};
_helixItems.Add(arrow);
}
ArrowVisual3D axis = new ArrowVisual3D
{
Origin = new Point3D(0, 0, 0),
Direction = new Vector3D(100, 0, 0),
Diameter = 2,
Fill = new SolidColorBrush(Colors.Red)
};
_helixItems.Add(axis);
axis = new ArrowVisual3D
{
Origin = new Point3D(0, 0, 0),
Direction = new Vector3D(0, 100, 0),
Diameter = 2,
Fill = new SolidColorBrush(Colors.Green)
};
_helixItems.Add(axis);
axis = new ArrowVisual3D
{
Origin = new Point3D(0, 0, 0),
Direction = new Vector3D(0, 0, 100),
Diameter = 2,
Fill = new SolidColorBrush(Colors.Blue)
};
_helixItems.Add(axis);
}
/// <summary>
/// Called when show lights is changed.
/// </summary>
protected void OnShowLightsChanged()
{
this.lightsVisual.Children.Clear();
if (this.ShowLights)
{
foreach (var light in this.lightGroup.Children)
{
var pl = light as PointLight;
if (pl != null)
{
var sphere = new SphereVisual3D();
sphere.BeginEdit();
sphere.Center = pl.Position;
sphere.Radius = 1.0;
sphere.Fill = new SolidColorBrush(pl.Color);
sphere.EndEdit();
this.lightsVisual.Children.Add(sphere);
}
var dl = light as DirectionalLight;
if (dl != null)
{
var dir = dl.Direction;
dir.Normalize();
var target = new Point3D(0, 0, 0);
var source = target - (dir * 20);
var p2 = source + (dir * 10);
var sphere = new SphereVisual3D();
sphere.BeginEdit();
sphere.Center = source;
sphere.Radius = 1.0;
sphere.Fill = new SolidColorBrush(dl.Color);
sphere.EndEdit();
this.lightsVisual.Children.Add(sphere);
var arrow = new ArrowVisual3D();
arrow.BeginEdit();
arrow.Point1 = source;
arrow.Point2 = p2;
arrow.Diameter = 0.5;
arrow.Fill = new SolidColorBrush(dl.Color);
arrow.EndEdit();
this.lightsVisual.Children.Add(arrow);
}
var al = light as AmbientLight;
if (al != null)
{
var pos = new Point3D(0, 0, 20);
this.lightsVisual.Children.Add(
new CubeVisual3D { Center = pos, SideLength = 1.0, Fill = new SolidColorBrush(al.Color) });
}
}
}
}
private void InitializeHelix()
{
_items.Clear();
_controllerObjects = new ObservableConcurrentDictionary<MotionControllerModel, SphereVisual3D>();
_items.Add(new SunLight());
_items.Add(new GridLinesVisual3D
{
Width = 500,
Length = 500
});
CubeVisual3D camera = new CubeVisual3D
{
SideLength = 10,
Fill = new SolidColorBrush(Colors.Blue),
Center = new Point3D(_camera.Calibration.TranslationToWorld[0, 0],
_camera.Calibration.TranslationToWorld[2, 0],
_camera.Calibration.TranslationToWorld[1, 0])
};
_items.Add(camera);
ArrowVisual3D axis = new ArrowVisual3D
{
Origin = new Point3D(0, 0, 0),
Direction = new Vector3D(100, 0, 0),
Diameter = 2,
Fill = new SolidColorBrush(Colors.Red)
};
_items.Add(axis);
axis = new ArrowVisual3D
{
Origin = new Point3D(0, 0, 0),
Direction = new Vector3D(0, 100, 0),
Diameter = 2,
Fill = new SolidColorBrush(Colors.Green)
};
_items.Add(axis);
axis = new ArrowVisual3D
{
Origin = new Point3D(0, 0, 0),
Direction = new Vector3D(0, 0, 100),
Diameter = 2,
Fill = new SolidColorBrush(Colors.Blue)
};
_items.Add(axis);
}
