void InitRenderWindow()
{
m_render.GradientBackgroundOn();
m_render.SetBackground(32.0 / 255, 82.0 / 255, 112.0 / 255);
m_render.SetBackground2(198.0 / 255, 198.0 / 255, 219.0 / 255);
DrawAxes();
}
// ===================== PUBLIC methods to modify Graphical View properties ===================
public void ChangeBackgroundColor(bool gradient, double[] color1, double[] color2)
{
if (gradient == true)
{
Viewport.GradientBackgroundOn();
Viewport.SetBackground(color1[0] / 255.0, color1[1] / 255.0, color1[2] / 255.0);
Viewport.SetBackground2(color2[0] / 255.0, color2[1] / 255.0, color2[2] / 255.0);
}
else
{
Viewport.GradientBackgroundOff();
Viewport.SetBackground(color1[0] / 255.0, color1[1] / 255.0, color1[2] / 255.0);
}
}
public static void ShowPolydata(string airwayPath)
{
if (!File.Exists(airwayPath))
{
MessageBox.Show("文件不存在！");
return;
}
vtkRenderWindow renWin = vtkRenderWindow.New();
renWin.SetSize(600, 600);
vtkRenderWindowInteractor iren = new vtkRenderWindowInteractor();
renWin.SetInteractor(iren);
vtkInteractorStyleTrackballCamera interactorStyle = new vtkInteractorStyleTrackballCamera();
iren.SetInteractorStyle(interactorStyle);
vtkRenderer renderer = vtkRenderer.New();
renderer.GradientBackgroundOn();
renderer.SetBackground(0, 0, 0);
renderer.SetBackground2(0, 0, 1);
renWin.AddRenderer(renderer);
vtkXMLPolyDataReader reader = new vtkXMLPolyDataReader();
reader.SetFileName(airwayPath);
reader.Update();
vtkPolyDataMapper mapper = vtkPolyDataMapper.New();
mapper.ScalarVisibilityOff();
mapper.SetInput(reader.GetOutput());
reader.Dispose();
vtkActor actor = new vtkActor();
actor.SetMapper(mapper);
renderer.AddActor(actor);
renWin.Render();
}
public Simulation(vtkRenderWindow renderWindow)
{
RenderWindow = renderWindow;
Renderer = renderWindow.GetRenderers().GetFirstRenderer();
//Background
Renderer.GradientBackgroundOn();
Renderer.SetBackground((double)colorBackground.R / 255, (double)colorBackground.G / 255, (double)colorBackground.B / 255);
Renderer.SetBackground2((double)colorBackground2.R / 255, (double)colorBackground2.G / 255, (double)colorBackground2.B / 255);
//Base
baseAxes.SetTotalLength(200, 200, 200);
baseAxes.AxisLabelsOff();
Renderer.AddActor(baseAxes);
//Floor
vtkPlaneSource planeSource = vtkPlaneSource.New();
planeSource.SetOrigin(-1000.0, -1000.0, 0);
planeSource.SetPoint1(-1000.0, 1000.0, 0);
planeSource.SetPoint2(1000.0, -1000.0, 0);
planeSource.Update();
vtkPolyDataMapper mapper = vtkPolyDataMapper.New();
vtkPolyData plane = planeSource.GetOutput();
mapper.SetInput(plane);
floor = vtkActor.New();
floor.SetMapper(mapper);
floor.GetProperty().SetColor(0.8, 0.8, 0.8);
Renderer.AddActor(floor);
//Robot1
robot1Pos = new Position(-500, 0, 0, 0, 0, 0);
//Robots.Robot1.Base = new Position(-500, 0, 0, 0, 0, 0);
robot1part1 = LoadSTL(robot1part1, @"\Robot\agilus_00.stl", Color.FromArgb(25, 25, 25));
robot1part2 = LoadSTL(robot1part2, @"\Robot\agilus_01.stl", Color.FromArgb(255, 110, 0));
robot1part3 = LoadSTL(robot1part3, @"\Robot\agilus_02.stl", Color.FromArgb(255, 110, 0));
robot1part4 = LoadSTL(robot1part4, @"\Robot\agilus_03.stl", Color.FromArgb(255, 110, 0));
robot1part5 = LoadSTL(robot1part5, @"\Robot\agilus_04.stl", Color.FromArgb(255, 110, 0));
robot1part6 = LoadSTL(robot1part6, @"\Robot\agilus_05.stl", Color.FromArgb(255, 110, 0));
robot1part7 = LoadSTL(robot1part6, @"\Robot\agilus_06.stl", Color.DarkGray);
robot1part1.SetPosition(robot1Pos.X, robot1Pos.Y, robot1Pos.Z);
Renderer.AddActor(robot1part1);
Renderer.AddActor(robot1part2);
Renderer.AddActor(robot1part3);
Renderer.AddActor(robot1part4);
Renderer.AddActor(robot1part5);
Renderer.AddActor(robot1part6);
Renderer.AddActor(robot1part7);
robot1axes1.SetTotalLength(200, 200, 200);
robot1axes1.AxisLabelsOff();
Renderer.AddActor(robot1axes1);
robot1axes2.SetTotalLength(200, 200, 200);
robot1axes2.AxisLabelsOff();
Renderer.AddActor(robot1axes2);
robot1axes3.SetTotalLength(200, 200, 200);
robot1axes3.AxisLabelsOff();
Renderer.AddActor(robot1axes3);
robot1axes4.SetTotalLength(200, 200, 200);
robot1axes4.AxisLabelsOff();
Renderer.AddActor(robot1axes4);
robot1axes5.SetTotalLength(200, 200, 200);
robot1axes5.AxisLabelsOff();
Renderer.AddActor(robot1axes5);
robot1axes6.SetTotalLength(200, 200, 200);
robot1axes6.AxisLabelsOff();
Renderer.AddActor(robot1axes6);
//Robot2
robot2Pos = new Position(1000, 0, 0, 0, 0, 0);
Robots.Robot2.Base = robot2Pos;
robot2part1 = LoadSTL(robot2part1, @"\Robot\agilus_00.stl", Color.FromArgb(25, 25, 25));
robot2part2 = LoadSTL(robot2part2, @"\Robot\agilus_01.stl", Color.FromArgb(255, 110, 0));
robot2part3 = LoadSTL(robot2part3, @"\Robot\agilus_02.stl", Color.FromArgb(255, 110, 0));
robot2part4 = LoadSTL(robot2part4, @"\Robot\agilus_03.stl", Color.FromArgb(255, 110, 0));
robot2part5 = LoadSTL(robot2part5, @"\Robot\agilus_04.stl", Color.FromArgb(255, 110, 0));
robot2part6 = LoadSTL(robot2part6, @"\Robot\agilus_05.stl", Color.FromArgb(255, 110, 0));
robot2part7 = LoadSTL(robot2part6, @"\Robot\agilus_06.stl", Color.DarkGray);
robot2part1.SetPosition(Robots.Robot2.Base.X, Robots.Robot2.Base.Y, Robots.Robot2.Base.Z);
Renderer.AddActor(robot2part1);
Renderer.AddActor(robot2part2);
Renderer.AddActor(robot2part3);
Renderer.AddActor(robot2part4);
Renderer.AddActor(robot2part5);
Renderer.AddActor(robot2part6);
Renderer.AddActor(robot2part7);
robot2axes1.SetTotalLength(200, 200, 200);
robot2axes1.AxisLabelsOff();
Renderer.AddActor(robot2axes1);
robot2axes2.SetTotalLength(200, 200, 200);
robot2axes2.AxisLabelsOff();
Renderer.AddActor(robot2axes2);
robot2axes3.SetTotalLength(200, 200, 200);
robot2axes3.AxisLabelsOff();
Renderer.AddActor(robot2axes3);
robot2axes4.SetTotalLength(200, 200, 200);
robot2axes4.AxisLabelsOff();
Renderer.AddActor(robot2axes4);
robot2axes5.SetTotalLength(200, 200, 200);
robot2axes5.AxisLabelsOff();
Renderer.AddActor(robot2axes5);
robot2axes6.SetTotalLength(200, 200, 200);
robot2axes6.AxisLabelsOff();
Renderer.AddActor(robot2axes6);
Renderer.AddActor(drawPointCloud());
Renderer.Render();
worker.DoWork += worker_DoWork;
worker.RunWorkerAsync();
}
public static void ShowPolydata(string airwayPath, string lesionPath)
{
vtkAppendPolyData appendPolydata = new vtkAppendPolyData();
if (File.Exists(airwayPath))
{
vtkXMLPolyDataReader reader = new vtkXMLPolyDataReader();
reader.SetFileName(airwayPath);
reader.Update();
appendPolydata.AddInput(reader.GetOutput());
reader.Dispose();
}
else
{
MessageBox.Show("airwayPath : " + airwayPath + "文件不存在！");
}
if (File.Exists(lesionPath))
{
vtkXMLPolyDataReader reader = new vtkXMLPolyDataReader();
reader.SetFileName(lesionPath);
reader.Update();
appendPolydata.AddInput(reader.GetOutput());
reader.Dispose();
}
else
{
MessageBox.Show("lesionPath : " + lesionPath + "文件不存在！");
}
vtkRenderWindow renWin = vtkRenderWindow.New();
renWin.SetSize(600, 600);
vtkRenderWindowInteractor iren = new vtkRenderWindowInteractor();
renWin.SetInteractor(iren);
vtkInteractorStyleTrackballCamera interactorStyle = new vtkInteractorStyleTrackballCamera();
iren.SetInteractorStyle(interactorStyle);
vtkRenderer renderer = vtkRenderer.New();
renderer.GradientBackgroundOn();
renderer.SetBackground(0, 0, 0);
renderer.SetBackground2(0, 0, 1);
renWin.AddRenderer(renderer);
vtkPolyDataMapper mapper = vtkPolyDataMapper.New();
mapper.ScalarVisibilityOff();
mapper.SetInput(appendPolydata.GetOutput());
vtkActor actor = new vtkActor();
actor.SetMapper(mapper);
renderer.AddActor(actor);
renderer.Render();
renderer.ResetCamera();
renWin.Render();
//Thread thread = new Thread(new ThreadStart(
// delegate
// {
// iren.Start();
// }));
//thread.Start();
}
public void CreateViewport(Grid Window)
{
WindowsFormsHost VTK_Window = new WindowsFormsHost(); // Create Windows Forms Host for VTK Window
RenWinControl = new RenderWindowControl(); // Initialize VTK Renderer Window Control
// Clear input Window and add new host
Window.Children.Clear();
Window.Children.Add(VTK_Window);
VTK_Window.Child = RenWinControl;
// Create Render Window
renderWindow = RenWinControl.RenderWindow;
// Initialize Interactor
Inter = vtkRenderWindowInteractor.New();
Inter.LeftButtonPressEvt += new vtkObject.vtkObjectEventHandler(SelectPointClick);
Inter.RightButtonPressEvt += new vtkObject.vtkObjectEventHandler(UnselectPointClick);
renderWindow.SetInteractor(Inter);
Inter.Initialize();
InterStyleTrack = vtkInteractorStyleTrackballCamera.New();
//Inter.SetInteractorStyle(InterStyleTrack);
InterStylePick = vtkInteractorStyleRubberBandPick.New();
Inter.SetInteractorStyle(InterStylePick);
// Initialize View
Viewport = renderWindow.GetRenderers().GetFirstRenderer();
Viewport.RemoveAllViewProps();
CreateViewportBorder(Viewport, new double[3] {
128.0, 128.0, 128.0
});
// Set default background color
Viewport.GradientBackgroundOn();
Viewport.SetBackground(163.0 / 255.0, 163.0 / 255.0, 163.0 / 255.0);
Viewport.SetBackground2(45.0 / 255.0, 85.0 / 255.0, 125.0 / 255.0);
// Other properties
Viewport.GetActiveCamera().ParallelProjectionOn();
// Initialize Selection objects
AppendFaces = vtkAppendPolyData.New();
Faces = vtkPolyData.New();
SelectionMode = false;
SelectionSize = 0.1;
SelectionPoints = vtkPoints.New();
SelectionActor = vtkActor.New();
SelectionPolyData = vtkPolyData.New();
SelectionPolyData.SetPoints(SelectionPoints);
SelectionSphere = vtkSphereSource.New();
SelectionSphere.SetPhiResolution(12);
SelectionSphere.SetThetaResolution(12);
SelectionSphere.SetRadius(SelectionSize);
SelectionGlyph = vtkGlyph3D.New();
SelectionGlyph.SetInput(SelectionPolyData);
SelectionGlyph.SetSourceConnection(SelectionSphere.GetOutputPort());
SelectionMapper = vtkPolyDataMapper.New();
SelectionMapper.SetInputConnection(SelectionGlyph.GetOutputPort());
SelectionActor.SetMapper(SelectionMapper);
SelectionActor.GetProperty().SetColor(1, 1, 1);
SelectionActor.VisibilityOn();
Viewport.AddActor(SelectionActor);
// Create new Properties and Objects
CreateColorMap();
CreateScalarBar();
CreateAxes();
CreateSlider();
CreateClipPlane();
}