// public URRealTime URRealTime { get; set; }
internal RobotSystemUR(string name, RobotUR robot, IO io, Plane basePlane, Mesh?environment)
: base(name, Manufacturers.UR, io, basePlane, environment, GetDefaultPose(robot))
{
Remote = new RemoteUR();
Robot = robot;
DisplayMesh.Append(robot.DisplayMesh);
DisplayMesh.Transform(BasePlane.ToTransform());
}
public void SetBlock(Point point, Tile tile, State?state = null)
{
blocks[point.X, point.Y, point.Z] = new Block(
tile,
state ?? tile.DetectState(this)
);
mesh = null;
}
public MeshTree(Mesh mesh, Vector3 center)
{
this.mesh = mesh;
this.center = center;
this.children = new List <MeshTree>();
this.centers = new HashSet <Vector3>();
this.centers.Add(center);
this.centroid = center;
}
public async Task QueryInfo_FromSimpleMesh()
{
await TestUtilities.InitializeWithGraphicsAsync();
using (var memRenderTarget = new MemoryRenderTarget(1024, 1024))
{
memRenderTarget.ClearColor = Color4.CornflowerBlue;
// Get and configure the camera
var camera = (PerspectiveCamera3D)memRenderTarget.Camera;
camera.Position = new Vector3(0f, 5f, -7f);
camera.Target = new Vector3(0f, 0f, 0f);
camera.UpdateCamera();
// Define scene
Mesh?newMesh = null;
await memRenderTarget.Scene.ManipulateSceneAsync(manipulator =>
{
var resGeometry = manipulator.AddResource(
_ => new GeometryResource(new CubeGeometryFactory()));
var resMaterial = manipulator.AddStandardMaterialResource();
newMesh = manipulator.AddMeshObject(resGeometry, resMaterial);
newMesh.RotationEuler = new Vector3(0f, EngineMath.RAD_90DEG / 2f, 0f);
newMesh.Scaling = new Vector3(2f, 2f, 2f);
newMesh.Color = Color4.RedColor;
newMesh.TrySetInitialVisibility(memRenderTarget.RenderLoop.ViewInformation, true);
});
await memRenderTarget.AwaitRenderAsync();
// Query some information from the mesh
var renderingChunkCount = newMesh !.TryGetRenderingChunkCount(memRenderTarget.Device !);
var geoResource = newMesh.TryGetGeometryResource(memRenderTarget.Device !);
var materialResources = newMesh.TryGetMaterialResources(memRenderTarget.Device !);
// Take screenshot
var screenshot = await memRenderTarget.RenderLoop.GetScreenshotGdiAsync();
// TestUtilities.DumpToDesktop(screenshot, "Blub.png");
// Calculate and check difference
var isNearEqual = BitmapComparison.IsNearEqual(
screenshot, TestUtilities.LoadBitmapFromResource("Drawing3D", "SimpleObject.png"));
Assert.IsTrue(isNearEqual, "Difference to reference image is to big!");
// Check info from mesh
Assert.IsTrue(renderingChunkCount == 1, "Invalid count of rendering chunks");
Assert.IsTrue(geoResource != null, "Can not query GeometryResource");
Assert.IsTrue(materialResources is { Length: 1 }, "Can not query MaterialResource");
static bool IsValidMesh(Mesh?mesh)
{
if (mesh is null)
{
return(true);
}
var p = MeshCheckParameters.Defaults();
using var textLog = new TextLog();
var isValid = mesh.Check(textLog, ref p);
bool isReallyValid =
// p.DuplicateFaceCount == 0;
// p.DegenerateFaceCount == 0
p.ExtremelyShortEdgeCount == 0;
return(isReallyValid);
}
public void Consume()
{
if (verticesModified)
{
Mesh.SetVertices(vertices);
}
if (colorsModified)
{
Mesh.SetColors(colors);
}
if (verticesModified || colorsModified)
{
text.UpdateGeometry(Mesh, 0);
}
verticesModified = false;
colorsModified = false;
mesh = null;
}
/// <inheritdoc />
internal override void ReadFromStream(BinaryReader reader, Version version)
{
Position = new Vector(reader.ReadDouble(), reader.ReadDouble(), reader.ReadDouble());
Size = new Vector(reader.ReadDouble(), reader.ReadDouble(), reader.ReadDouble());
ReadVoxels(reader);
if (version < Formplot.Version3)
{
return;
}
var shape = Mesh.Read(reader);
if (shape.Indices.Length > 0)
{
Shape = shape;
}
}
void Start()
{
state.objects[Guid.NewGuid()] = new Draggable()
{
position = new Vector3(0, 0, 0),
size = 1.5f,
};
state.objects[Guid.NewGuid()] = new Draggable()
{
position = new Vector3(3, 0, 0),
size = 2,
};
state.objects[Guid.NewGuid()] = new Draggable()
{
position = new Vector3(-3, 0, 0),
size = 1f,
};
cubeMesh = BuildCubeMesh();
}
public override async Task OnStartupAsync(RenderLoop mainRenderLoop, SampleSettings settings)
{
mainRenderLoop.EnsureNotNull(nameof(mainRenderLoop));
_castedSettings = (FocusSampleSettings)settings;
await mainRenderLoop.Scene.ManipulateSceneAsync(manipulator =>
{
// Create floor
this.BuildStandardFloor(
manipulator, Scene.DEFAULT_LAYER_NAME);
var defaultLayer = manipulator.GetLayer(Scene.DEFAULT_LAYER_NAME);
// Create the focus effect and attach it to a new 'Focus' layer
var keyPostprocess = manipulator.AddResource(
_ => new FocusPostprocessEffectResource());
var focusLayer = manipulator.AddLayer("Focus");
focusLayer.PostprocessEffectKey = keyPostprocess;
var resGeometry = manipulator.AddResource(
_ => new GeometryResource(new CubeGeometryFactory()));
var resMaterial = manipulator.AddStandardMaterialResource();
var frontMesh = manipulator.AddMeshObject(resGeometry, defaultLayer.Name, resMaterial);
frontMesh.Color = Color4.BlueColor;
frontMesh.Scaling = new Vector3(1f, 0.5f, 0.5f);
frontMesh.Position = new Vector3(1f, 2f, 1f);
var backMesh = manipulator.AddMeshObject(resGeometry, defaultLayer.Name, resMaterial);
backMesh.RotationEuler = new Vector3(0f, EngineMath.RAD_90DEG / 3f, 0f);
backMesh.Scaling = new Vector3(2f, 2f, 2f);
backMesh.Color = Color4.RedColor;
// This mesh will render the focus effect itself (it is placed on the focus layer)
_focusMesh = manipulator.AddMeshObject(resGeometry, focusLayer.Name, resMaterial);
_focusMesh.TransformSourceObject = backMesh;
_focusMesh.TransformationType = SpacialTransformationType.TakeFromOtherObject;
_focusMesh.Color = Color4.RedColor;
});
}
internal Geometry(XmlNode node)
{
foreach (XmlNode child in node.ChildNodes)
{
switch (child.Name)
{
case "box":
Box = new Box(child);
break;
case "cylinder":
Cylinder = new Cylinder(child);
break;
case "sphere":
Sphere = new Sphere(child);
break;
case "mesh":
Mesh = new Mesh(child);
break;
}
}
}
#pragma warning disable IDE0060
internal Collision(Program program, IEnumerable <int> first, IEnumerable <int> second, Mesh?environment, int environmentPlane, double linearStep, double angularStep)
{
throw NotImplemented();
}
internal RobotCell(string name, Manufacturers manufacturer, List <MechanicalGroup> mechanicalGroups, IO io, Plane basePlane, Mesh?environment)
: base(name, manufacturer, io, basePlane, environment, GetDefaultPose(mechanicalGroups))
{
MechanicalGroups = mechanicalGroups;
foreach (var group in mechanicalGroups)
{
var movesRobot = group.Externals.Find(m => m.MovesRobot);
var robotDisplay = group.Robot.DisplayMesh;
if (movesRobot is not null)
{
var movableBase = movesRobot.Joints.Last().Plane;
movableBase.Orient(ref movesRobot.BasePlane);
robotDisplay.Transform(movableBase.ToTransform());
}
DisplayMesh.Append(robotDisplay);
foreach (var external in group.Externals)
{
DisplayMesh.Append(external.DisplayMesh);
}
}
DisplayMesh.Transform(BasePlane.ToTransform());
}
internal RobotCellKuka(string name, List <MechanicalGroup> mechanicalGroup, IO io, Plane basePlane, Mesh?environment) : base(name, Manufacturers.KUKA, mechanicalGroup, io, basePlane, environment)
{
}
internal RobotCellAbb(string name, List <MechanicalGroup> mechanicalGroups, IO io, Plane basePlane, Mesh?environment) : base(name, Manufacturers.ABB, mechanicalGroups, io, basePlane, environment)
{
Remote = new RemoteAbb(this);
}
public Mesh GetMesh(ShaderProgram shader) => mesh ?? (mesh = new Mesh(BuildMesh(), shader));
public Collision CheckCollisions(IEnumerable <int>?first = null, IEnumerable <int>?second = null, Mesh?environment = null, int environmentPlane = 0, double linearStep = 100, double angularStep = PI / 4.0)
{
return(new Collision(this, first ?? new int[] { 7 }, second ?? new int[] { 4 }, environment, environmentPlane, linearStep, angularStep));
}
public MeshFilterComponent(Mesh?mesh = null, Func <Mesh>?meshConstructor = null)
{
this.mesh = mesh;
this.meshConstructor = meshConstructor;
}
internal RobotCellStaubli(string name, List <MechanicalGroup> mechanicalGroups, IO io, Plane basePlane, Mesh?environment) : base(name, Manufacturers.Staubli, mechanicalGroups, io, basePlane, environment)
{
}
public void MeshAtPointsUpdate()
{
this.meshAtPoints = this.curve.GetMeshAtPoints();
}
public Tool(Plane tcp, string name = "DefaultTool", double weight = 0, Point3d?centroid = null, Mesh?mesh = null, IList <Plane>?calibrationPlanes = null, bool useController = false, int?number = null)
: base(name)
{
Weight = weight;
Centroid = (centroid is null) ? tcp.Origin : (Point3d)centroid;
Mesh = mesh ?? new Mesh();
UseController = number is not null || useController;
Number = number;
if (number is not null && number.Value < 1)
{
throw new ArgumentOutOfRangeException(nameof(number), " Tool number out of range.");
}
if (calibrationPlanes is null || !calibrationPlanes.Any())
{
Tcp = tcp;
}
public void Deconstruct(out Box?box, out Cylinder?cylinder, out Sphere?sphere, out Mesh?mesh) => (box, cylinder, sphere, mesh) = (Box, Cylinder, Sphere, Mesh);
public void UpdateMesh() => mesh = null;