//Requires the robot and the motor manager so that it can choose default positions for the motor
//and use the robot's transformation matrices.
public PositionCalculator(Robot robot, MotorManager motorManager)
{
this.motorManager = motorManager;
this.robot = robot;
}
private Robot robot; //the robot to display!
#endregion Fields
#region Constructors
public ViewPlatform(Viewport3D viewport, MotorManager motorManager, Robot robot)
{
this.robot = robot;
robot.intialise(viewport);
this.motorManager = motorManager;
//Add myself as a listener for the motor manager:
this.motorManager.addListener(this);
//Create a focussed camera to watch the origin:
focussedCamera = new FocussedCamera(200, 0, 0);
//Create the perspective camera!
camera = getCamera(focussedCamera.Location, focussedCamera.Direction);
viewport.Camera = camera;
//Now to construct the light:
light = getLight(Colors.White,focussedCamera.Direction);
ModelVisual3D visual = new ModelVisual3D();
visual.Content = light;
viewport.Children.Add(visual);
ModelVisual3D visual2 = new ModelVisual3D();
//Now add in the robot too!
updateMotors();
outerModel = new Model3DGroup();
outerModel.Children.Add(robot.getRobot());
currentMatTransform = (MatrixTransform3D)MatrixTransform3D.Identity;
TranslateTransform3D trans = new TranslateTransform3D();
outerModel.Children[0] = Transforms.applyTransform((Model3DGroup)outerModel.Children[0],currentMatTransform);
visual2.Content = outerModel;
viewport.Children.Add(visual2);
//Phew! That should be it...
viewport.ClipToBounds = true;
}
