/// <summary>
/// Create a new JointEditorPane and register actions for the right click menu
/// </summary>
public JointEditorPane()
{
InitializeComponent();
RegisterContextAction("Edit Driver", editDriver_Internal);
RegisterContextAction("Edit Sensors", listSensors_Internal);
RegisterContextAction("Edit Limits", (List <RigidNode_Base> nodes) =>
{
if (nodes.Count != 1)
{
return;
}
RigidNode_Base node = nodes[0];
if (node != null && node.GetSkeletalJoint() != null)
{
EditLimits limitEditor = new EditLimits(node.GetSkeletalJoint());
limitEditor.StartPosition = FormStartPosition.Manual;
limitEditor.Location = new System.Drawing.Point(Cursor.Position.X - 10, Cursor.Position.Y - 10);
limitEditor.ShowDialog(ParentForm);
}
});
lstJoints.Activation = ItemActivation.Standard;
lstJoints.ItemActivate += (object sender, EventArgs e) =>
{
editDriver_Internal(getSelectedNodes());
};
}
/// <summary>
/// Create a new JointEditorPane and register actions for the right click menu
/// </summary>
public JointEditorPane()
{
InitializeComponent();
RegisterContextAction("Edit Driver", EditDriver_Internal);
RegisterContextAction("Edit Sensors", ListSensors_Internal);
RegisterContextAction("Edit Limits", (List <RigidNode_Base> nodes) =>
{
try // prevent the user from just left clicking on the black joint pane and trying to edit nothing
{
if (nodes.Count != 1)
{
return;
}
RigidNode_Base node = nodes[0];
if (node != null && node.GetSkeletalJoint() != null) // prevents the user from trying to edit a null joint
{
EditLimits limitEditor = new EditLimits(node.GetSkeletalJoint()); // show the limit editor form
limitEditor.ShowDialog(ParentForm);
}
}
catch (NullReferenceException) //catch when the user clicks on the pane without a node selected
{
MessageBox.Show("Please select a node!");
}
});
lstJoints.Activation = ItemActivation.Standard;
lstJoints.ItemActivate += (object sender, EventArgs e) =>
{
EditDriver_Internal(GetSelectedNodes());
};
}
/// <summary>
/// The <see cref="JointEditorEvent"/> to open up a <see cref="SensorListForm"/>
/// </summary>
/// <param name="node">The node connected to the joint to edit the sensors on</param>
private void listSensors_Internal(List <RigidNode_Base> nodes)
{
if (nodes == null || nodes.Count != 1)
{
return;
}
RigidNode_Base node = nodes[0];
if (node == null)
{
return;
}
currentlyEditing = true;
SensorListForm listForm = new SensorListForm(node.GetSkeletalJoint());
listForm.StartPosition = FormStartPosition.Manual;
listForm.Location = new System.Drawing.Point(Cursor.Position.X - 10, Cursor.Position.Y - 10);
listForm.ShowDialog(ParentForm);
if (ModifiedJoint != null)
{
ModifiedJoint(nodes);
}
this.UpdateJointList();
currentlyEditing = false;
}
/// <summary>
/// The <see cref="JointEditorEvent"/> to open up a <see cref="SensorListForm"/>
/// </summary>
/// <param name="node">The node connected to the joint to edit the sensors on</param>
private void ListSensors_Internal(List <RigidNode_Base> nodes)
{
if (nodes == null || nodes.Count != 1)
{
return;
}
RigidNode_Base node = nodes[0];
if (node == null)
{
return;
}
currentlyEditing = true;
SensorListForm listForm = new SensorListForm(node.GetSkeletalJoint());
listForm.ShowDialog(ParentForm);
ModifiedJoint?.Invoke(nodes);
this.UpdateJointList();
currentlyEditing = false;
}
/// <summary>
/// Merges a node into the parent. Used during the one click export and the wizard.
/// </summary>
/// <param name="node"></param>
public void MergeNodeIntoParent(RigidNode_Base node)
{
if (node.GetParent() == null)
{
throw new ArgumentException("ERROR: Root node passed to MergeNodeIntoParent(RigidNode_Base)", "node");
}
node.GetParent().ModelFullID += node.ModelFullID;
//Get meshes for each node
var childMesh = GetMesh(node);
var parentMesh = GetMesh(node.GetParent());
//Merge submeshes and colliders
parentMesh.meshes.AddRange(childMesh.meshes);
parentMesh.colliders.AddRange(childMesh.colliders);
//Merge physics
parentMesh.physics.Add(childMesh.physics.mass, childMesh.physics.centerOfMass);
//Remove node from the children of its parent
node.GetParent().Children.Remove(node.GetSkeletalJoint());
Meshes.Remove(childMesh);
}
public void LoadValues()
{
advancedSettingsForm = new AdvancedJointSettingsForm(node.GetSkeletalJoint());
var joint = node.GetSkeletalJoint();
var typeOptions = JointDriver.GetAllowedDrivers(joint); // TODO: This doesn't protect multi-edit
jointTypeComboBox.Items.Clear();
if (typeOptions.Contains(JointDriverType.MOTOR))
{
jointTypeComboBox.Items.AddRange(new object[]
{
"(Select an option)",
"Drivetrain Wheel",
"Mechanism Joint"
});
}
else
{
jointTypeComboBox.Items.AddRange(new object[]
{
"(Select an option)",
"Mechanism Joint"
});
}
driverTypeComboBox.Items.Clear();
var textInfo = new CultureInfo("en-US", true).TextInfo;
foreach (var type in typeOptions)
{
var name = Enum.GetName(typeof(JointDriverType), type);
if (name != null) // TODO: Get rid of this mess
{
driverTypeComboBox.Items.Add(textInfo.ToTitleCase(name.Replace('_', ' ').ToLowerInvariant()));
}
}
jointName.Text = ToStringUtils.NodeNameString(node);
// Defaults when switched:
weightInput.Value = 0;
dtSideComboBox.SelectedIndex = 0;
wheelTypeComboBox.SelectedIndex = 0;
driverTypeComboBox.SelectedIndex = 0;
var jointDriver = joint.cDriver; // sometimes null
if (jointDriver == null)
{
jointTypeComboBox.SelectedItem = "(Select an option)";
}
else if (jointDriver.port1 <= 2) // Drivetrain wheel
{
jointTypeComboBox.SelectedItem = "Drivetrain Wheel";
dtSideComboBox.SelectedIndex = jointDriver.port1;
var wheelDriverMeta = jointDriver.GetInfo <WheelDriverMeta>();
if (wheelDriverMeta != null)
{
wheelTypeComboBox.SelectedIndex = (int)wheelDriverMeta.type - 1;
}
}
else // Mechanism joint
{
jointTypeComboBox.SelectedItem = "Mechanism Joint";
weightInput.Value = (decimal)Math.Max(joint.weight, 0);
driverTypeComboBox.SelectedIndex = Array.IndexOf(typeOptions, joint.cDriver.GetDriveType());
}
}
public static T GetDriverMeta <T>(this RigidNode_Base node) where T : JointDriverMeta
{
return(node != null && node.GetSkeletalJoint() != null && node.GetSkeletalJoint().cDriver != null?node.GetSkeletalJoint().cDriver.GetInfo <T>() : null);
}
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);
}
/// <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);
}