/// <summary>
/// creates and adds a new bone to the currently selected item
/// </summary>
private void AddBone()
{
if (SelectedItem == null)
{
throw new InvalidOperationException("No bone selected!");
}
var model = new Bone(parent: SelectedItem.Model, offset: new Vector3D(1, 0, 0));
var vm = new BoneVM(model, parent: SelectedItem);
SelectedItem.Children.Add(vm);
SelectedItem.Model.Children.Add(model);
BoneVMMap.Add(model, vm);
}
/// <summary>
/// creates new kinematic instance
/// </summary>
/// <param name="model">the underlying model</param>
/// <param name="sensors">collection of registered sensors.</param>
public KinematicVM(KinematicStructure model)
{
Model = model;
// create the bone ViewModel tree
Roots[0] = new BoneVM(model.Root, null);
foreach (BoneVM item in Root)
{
BoneVMMap.Add(item.Model, item);
}
// setup commands
AddBoneCommand = new RelayCommand(AddBone, CanAddBone);
RemoveBoneCommand = new RelayCommand(RemoveBone, CanRemoveBone);
ChangeSelectedCommand = new RelayCommand <RoutedPropertyChangedEventArgs <object> >(ChangeSelected);
}
public SensorBoneLinkVM(SensorBoneLink model, SensorVM sensor, BoneVM bone)
{
this.Model = model;
this.Sensor = sensor;
this.Bone = bone;
// setup visuals
Visual = new ModelVisual3D();
csysVisual = new CSysVisual3D();
csysVisual.XColor = csysVisual.XColor.ChangeSaturationValue(0.3, 0.7);
csysVisual.YColor = csysVisual.YColor.ChangeSaturationValue(0.3, 0.7);
csysVisual.ZColor = csysVisual.ZColor.ChangeSaturationValue(0.3, 0.7);
Visual.Children.Add(csysVisual);
//accelerationVisual = new LinesVisual3D();
//accelerationVisual.Color = Colors.Purple;
//accelerationVisual.Points.Add(new Point3D(0, 0, 0));
//accelerationVisual.Points.Add(new Point3D(0, 0, 0));
//Visual.Children.Add(accelerationVisual);
}