/// <summary>
/// Sets the 3D representation of the kinect camera in the 3D representation of the room
/// </summary>
/// <param name="devKinect">the representation of the kinect camera of the IGS to get its information of size and
/// and position</param>
public void SetKinectCamera(DevKinect devKinect)
{
Point3D center = new Point3D();
HelixToolkit.Wpf.BoxVisual3D addKinect = new HelixToolkit.Wpf.BoxVisual3D();
RotateTransform3D trans = new RotateTransform3D();
AxisAngleRotation3D rotation = new AxisAngleRotation3D();
center.X = devKinect.ball.Center.X;
center.Y = devKinect.ball.Center.Y;
center.Z = devKinect.ball.Center.Z;
addKinect.Center = center;
addKinect.Length = 0.38;
addKinect.Width = 0.156;
addKinect.Height = 0.123;
rotation.Axis = (new Vector3D(0, 1, 0));
rotation.Angle = devKinect.roomOrientation;
trans.Rotation = rotation;
trans.CenterX = center.X;
trans.CenterY = center.Y;
trans.CenterZ = center.Z;
addKinect.Transform = trans;
this.kinect = addKinect;
mainViewport.Children.Remove(kinect);
mainViewport.Children.Add(kinect);
}
protected void ExportSimpleModel(Exporter e)
{
var runner = new CrossThreadTestRunner();
runner.RunInSTA(
delegate
{
Console.WriteLine(Thread.CurrentThread.GetApartmentState());
var vp = new Viewport3D { Camera = CameraHelper.CreateDefaultCamera(), Width = 1280, Height = 720 };
vp.Children.Add(new DefaultLights());
var box = new BoxVisual3D();
box.UpdateModel();
vp.Children.Add(box);
e.Export(vp);
});
}
public void addBox(Point3D point)
{
BoxVisual3D box;
boxes.TryGetValue(point, out box);
if (box != null)
{
this.Children.Remove(box);
boxes.Remove(point);
}
box= new BoxVisual3D();
box.Center = point;
box.Width = 1;
box.Height = 1;
box.Length= 1;
this.Children.Add(box);
boxes.Add(point, box);
}
internal void AddBox(Point3D? pt)
{
BoxVisual3D b = new BoxVisual3D();
b.Width = 1;
b.Height = 1;
b.Length = 1;
b.Center = ToLocal((Point3D)pt);
this.Children.Add(b);
}
BoxVisual3D buildBody() {
var body = new BoxVisual3D();
body.Length = bodyCoxaLen;
body.Height = bodyCoxaLen * 0.5;
body.Width = bodyCoxaLen;
body.Center = new Point3D(-body.Height, 0, 0);
body.Fill = Brushes.Green;
return body;
}
private void Add(Point3D p, ModelVisual3D visual)
{
// Create the box visual on the UI thread
var box = new BoxVisual3D { Center = p, Width = 0.8, Height = 0.8, Length = 0.8 };
visual.Children.Add(box);
}
/*
watch = new Stopwatch();
watch.Start();
world = new World(new CollisionSystemSAP());
world.Gravity = new JVector(0, 0, 0);
world.CollisionSystem.CollisionDetected += new CollisionDetectedHandler(CollisionSystem_CollisionDetected);
//tester();
integratorThread = new Thread(IntegrationWorker);
integratorThread.Start();
this.Closing += MainWindow_Closing;
}
void MainWindow_Closing(object sender, System.ComponentModel.CancelEventArgs e)
{
watch.Stop();
integratorThread.Abort();
}
private void IntegrationWorker()
{
while (true)
{
watch.Restart();
float step = 1.0f / 65;
if (step > 1.0f / 100.0f) step = 1.0f / 100.0f;
world.Step(step, true);
}
}
void CollisionSystem_CollisionDetected(RigidBody body1, RigidBody body2, JVector point1, JVector point2, JVector normal, float penetration)
{
Console.WriteLine("CollisionSystem_CollisionDetected");
}
*/
private void tester()
{
/* Wiring Brace */
Point3D p0 = new Point3D(-0.849706889491251, -3.41818201148931, -3.45752298819413);
Point3D p1 = new Point3D(7.65467623338951, -2.94937570295315, -1.60678487891435);
Point3DCollection contours = new Point3DCollection();
contours.Add(p0);
contours.Add(p1);
BoxVisual3D b = new BoxVisual3D();
b.Center = p0;
b.Length = 2;
b.Height = 2;
b.Width = 2;
view1.Children.Add(b);
BoxVisual3D b1 = new BoxVisual3D();
b1.Center = p1;
b1.Length = 2;
b1.Height = 2;
b1.Width = 2;
view1.Children.Add(b1);
TubeVisual3D tube = new TubeVisual3D { Diameter = 1.02, Path = contours, Fill = Brushes.Green };
view1.Children.Add(tube);
//Point3D pp = new Point3D(0, 0, 0);
//Vector3D mv = Point3D.Subtract(p0, pp);
// view1.Children.Add(new RectangleVisual3D { Origin = p0, Normal = mv, Fill = new SolidColorBrush(Color.FromArgb(190, 255, 0, 0)), BackMaterial = MaterialHelper.CreateMaterial(new SolidColorBrush(Colors.Green)) });
//view1.Children.Add(new RectangleVisual3D { Origin = pp, Normal = mv, Fill = new SolidColorBrush(Color.FromArgb(190, 255, 0, 0)), BackMaterial = MaterialHelper.CreateMaterial(new SolidColorBrush(Colors.AliceBlue)) });
/* Normal Vector Directions
Point3D p0 = new Point3D(-0.849706889491251,-3.41818201148931,-3.45752298819413);
Point3D p1 = new Point3D(7.65467623338951,-2.94937570295315,-1.60678487891435);
Point3D p2 = new Point3D(3.58212516465058, 3.19543635742251, -4.13603328982721);
BoxVisual3D b = new BoxVisual3D();
b.Center = p0;
b.Length = 2;
b.Height = 2;
b.Width = 2;
view1.Children.Add(b);
BoxVisual3D b1 = new BoxVisual3D();
b1.Center = p1;
b1.Length = 2;
b1.Height = 2;
b1.Width = 2;
view1.Children.Add(b1);
BoxVisual3D b2 = new BoxVisual3D();
b2.Center = p2;
b2.Length = 2;
b2.Height = 2;
b2.Width = 2;
view1.Children.Add(b2);
Vector3D n0 = Point3D.Subtract(p0, p1);
n0.Negate();
view1.Children.Add(new RectangleVisual3D { Origin = p0, Normal = n0, Fill = new SolidColorBrush(Color.FromArgb(80, 255, 0, 0)), BackMaterial = MaterialHelper.CreateMaterial(new SolidColorBrush(Colors.Green)) });
Vector3D n1 = Point3D.Subtract(p1, p0);
n1.Negate();
view1.Children.Add(new RectangleVisual3D { Origin = p1, Normal = n1, Fill = new SolidColorBrush(Color.FromArgb(100, 255, 0, 0)), BackMaterial = MaterialHelper.CreateMaterial(new SolidColorBrush(Colors.Green)) });
Point3D m = new Point3D();
m.X = (p1.X + p0.X)/2;
m.Y = (p1.Y + p0.Y)/2;
m.Z = (p1.Z + p0.Z)/2;
BoxVisual3D b3 = new BoxVisual3D();
b3.Center = m;
b3.Length = 1;
b3.Height = 1;
b3.Width = 1;
view1.Children.Add(b3);
Point3D pp = new Point3D(0, 0, 0);
Vector3D mv = Point3D.Subtract(p0, pp);
view1.Children.Add(new RectangleVisual3D { Origin = pp, Normal = mv, Fill = new SolidColorBrush(Color.FromArgb(190, 255, 0, 0)), BackMaterial = MaterialHelper.CreateMaterial(new SolidColorBrush(Colors.Green)) });
Vector3D n2 = Point3D.Subtract(p2, m);
n2.Negate();
view1.Children.Add(new RectangleVisual3D { Origin = p2, Normal = n2, Fill = new SolidColorBrush(Color.FromArgb(190, 255, 0, 0)), BackMaterial = MaterialHelper.CreateMaterial(new SolidColorBrush(Colors.Green)) });
//Vector3D n = CalculateNormal(ref p0, ref p1, ref p2);
//view1.Children.Add(new RectangleVisual3D { Origin = p1, Normal = n, Fill = new SolidColorBrush(Color.FromArgb(190, 255, 0, 0)), BackMaterial = MaterialHelper.CreateMaterial(new SolidColorBrush(Colors.Green)) });
*/
/* Cutting Plane
var mb = new MeshBuilder();
mb.AddSphere(new Point3D(-2, 0, 0), 2);
var mesh = mb.ToMesh();
var n = new Vector3D(0, 0.2, 1);
var p = new Point3D(0, 0, 0.5);
var geo = MeshGeometryHelper.Cut(mesh, p, n);
var m = new GeometryModel3D(geo, Materials.Blue);
m.BackMaterial = Materials.Red;
var mv = new ModelVisual3D();
mv.Content = m;
view1.Children.Add(mv);
var mbx = new MeshBuilder();
mbx.AddSphere(new Point3D(2, 0, 0), 1);
var mvd = new ModelVisual3D();
GeometryModel3D g = new GeometryModel3D(mbx.ToMesh(), Materials.Blue);
mvd.Content = g;
view1.Children.Add(mvd);
var segments = MeshGeometryHelper.GetContourSegments(mesh, p, n).ToList();
foreach (IList<Point3D> contour in MeshGeometryHelper.CombineSegments(segments, 1e-6).ToList())
{
if (contour.Count == 0)
continue;
Point3DCollection contours = new Point3DCollection(contour);
view1.Children.Add(new TubeVisual3D { Diameter = 0.02, Path = contours, Fill = Brushes.Green });
}
view1.Children.Add(new RectangleVisual3D { Origin = p, Normal = n, Fill = new SolidColorBrush(Color.FromArgb(80, 255, 0, 0)) });
*/
/*
g = new SmileVisual3D();
GeometryModel3D geo1 = GeometryGenerator.CreateCubeModel();
geo1.Material = new DiffuseMaterial(new SolidColorBrush(Colors.Red));
Transform3DGroup transformGroup = new Transform3DGroup();
transformGroup.Children.Add(new ScaleTransform3D(2, 2, 2));
g.Transform = transformGroup;
g.Content =geo1;
view1.Children.Add(g);
CombinedManipulator c = new CombinedManipulator();
//c.Diameter = 5;
c.Bind(g);
view1.Children.Add(c);
*/
/*
List<Point3d> pointList = // list of candidate points
Point3d bp = // point used to select nearest point in pointList
// Because the same source element can be passed
// to the function given to Aggregate() many times,
// we cache each point along with the result of calling
// DistanceTo() in an anonymous type, allowing us to
// avoid redundant calls to DistanceTo():
var items = pointList.Select( p => new{ point = p, dist = p.DistanceTo( bp ) } );
// Find the nearest point:
Point3d nearest = items.Aggregate( ( a, b ) => a.dist < b.dist ? a : b ).point;
*/
}
