WPF控件编程实践--helix-toolkit六轴机械臂控制

最新推荐文章于 2024-05-26 21:41:04 发布
最新推荐文章于 2024-05-26 21:41:04 发布
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分类专栏： HelixToolkit 3D控件 WPF 文章标签： wpf
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本文链接：https://blog.csdn.net/liugang590/article/details/128997628
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 源码：https://download.csdn.net/download/liugang590/87442454

1. 环境

Visual Studio 2019 + .NET Framework 4.8.1

2. NuGet导入依赖

HelixToolkit.Wpf
System.Windows.Forms

 如果NuGet搜不到System.Windows.Forms 直接在程序包管理控制台中执行命令安装，如下：

Install-Package System.Windows.Forms -Version 4.0.0

 3. 创建存放3D模型文件的文件夹3D_Models

4. 编辑MainWindow.xmal 

<Window x:Class="RobotArmDemo.MainWindow"
        xmlns:helix="http://helix-toolkit.org/wpf"
        xmlns="http://schemas.microsoft.com/winfx/2006/xaml/presentation"
        xmlns:x="http://schemas.microsoft.com/winfx/2006/xaml"
        xmlns:mc="http://schemas.openxmlformats.org/markup-compatibility/2006" 
        xmlns:d="http://schemas.microsoft.com/expression/blend/2008" 
        mc:Ignorable="d" 
        d:DesignHeight="1080" 
        d:DesignWidth="1920">
    <Grid>
        <helix:HelixViewport3D x:Name="viewPort3d" ViewCubeHeight="150" ViewCubeWidth="150" ViewCubeVerticalPosition="Bottom" CoordinateSystemLabelForeground="White" CoordinateSystemVerticalPosition="Center" CoordinateSystemHorizontalPosition="Right" CoordinateSystemHeight="150" CoordinateSystemWidth="150" RenderOptions.BitmapScalingMode="HighQuality" RenderOptions.EdgeMode="Unspecified" BorderBrush="Black" BorderThickness="5" ShowCoordinateSystem="True" ShowFrameRate="True" Grid.Column="1" ShowCameraInfo="True" MouseLeftButtonUp="ViewPort3D_OnMouseLeftButtonUp" MouseLeftButtonDown="ViewPort3D_OnMouseLeftButtonDown" IsManipulationEnabled="True" IsViewCubeEdgeClicksEnabled="True">
            <helix:HelixViewport3D.Background>
                <LinearGradientBrush EndPoint="0.5,1" StartPoint="0.5,0">
                    <GradientStop Color="#FF060A13" Offset="0"/>
                    <GradientStop Color="#FF1D64FF" Offset="1"/>
                </LinearGradientBrush>
            </helix:HelixViewport3D.Background>
            <!-- Remember to add light to the scene -->
            <helix:GridLinesVisual3D Width="16000" Length="16000" Thickness="1.5" MinorDistance="100" MajorDistance="400" Fill="#E5CFCECE" />
            <helix:DefaultLights/>
        </helix:HelixViewport3D>
        <Rectangle Fill="#FFFBFBFB" HorizontalAlignment="Left" Height="414" Stroke="Black" VerticalAlignment="Top" Width="306" StrokeThickness="0.5" Margin="4,4,0,0"/>
        <Slider x:Name="joint1" HorizontalAlignment="Left" Margin="46,133,0,0" VerticalAlignment="Top" Width="210"  Maximum="180" Minimum="-180" ValueChanged="joint_ValueChanged" LargeChange="0.1" TickFrequency="0.1" Height="22"/>
        <Slider x:Name="joint2" HorizontalAlignment="Left" Margin="46,181,0,0" VerticalAlignment="Top" Width="210" Maximum="180" Minimum="-180" ValueChanged="joint_ValueChanged" LargeChange="0.1" TickFrequency="0.1" Height="22"/>
        <Slider x:Name="joint3" HorizontalAlignment="Left" Margin="45,229,0,0" VerticalAlignment="Top" Width="210" Maximum="180" Minimum="-180" ValueChanged="joint_ValueChanged" LargeChange="0.1" TickFrequency="0.1" Height="22"/>
        <Slider x:Name="joint4" HorizontalAlignment="Left" Margin="45,279,0,0" VerticalAlignment="Top" Width="210" Maximum="180" Minimum="-180" ValueChanged="joint_ValueChanged" LargeChange="0.1" TickFrequency="0.1" Height="22"/>
        <Slider x:Name="joint5" HorizontalAlignment="Left" Margin="45,331,0,0" VerticalAlignment="Top" Width="210" Maximum="180" Minimum="-180" ValueChanged="joint_ValueChanged" LargeChange="0.1" TickFrequency="0.1" Height="22"/>
        <Slider x:Name="joint6" HorizontalAlignment="Left" Margin="46,378,0,0" VerticalAlignment="Top" Width="210" Maximum="180" Minimum="-180" ValueChanged="joint_ValueChanged" Height="22" TickFrequency="0.1"/>
        <TextBox x:Name="TbX" Text="1500" HorizontalAlignment="Left" Height="23" Margin="30,15,0,0" TextWrapping="Wrap" VerticalAlignment="Top" Width="50" HorizontalContentAlignment="Left" VerticalContentAlignment="Center" TextChanged="ReachingPoint_TextChanged"/>
        <TextBox x:Name="TbY" Text="0" HorizontalAlignment="Left" Height="24" Margin="100,15,0,0" TextWrapping="Wrap" VerticalAlignment="Top" Width="51" HorizontalContentAlignment="Left" VerticalContentAlignment="Center" TextChanged="ReachingPoint_TextChanged"/>
        <TextBox x:Name="TbZ" Text="1750" HorizontalAlignment="Left" Height="24" Margin="172,15,0,0" TextWrapping="Wrap" VerticalAlignment="Top"  Width="50" HorizontalContentAlignment="Left" VerticalContentAlignment="Center" TextChanged="ReachingPoint_TextChanged"/>
        <Label Content="X" HorizontalAlignment="Left" Margin="13,15,0,0" VerticalAlignment="Top" Foreground="Black" Height="23"/>
        <Label Content="Y" HorizontalAlignment="Left" Margin="84,15,0,0" VerticalAlignment="Top" Foreground="Black" Height="24"/>
        <Label Content="Z" HorizontalAlignment="Left" Margin="155,15,0,0" VerticalAlignment="Top" Foreground="Black" Height="23"/>
        <Label Content="J1" HorizontalAlignment="Left" Margin="10,129,0,0" VerticalAlignment="Top" Width="30" Foreground="Black" FontSize="14" FontWeight="Bold" Height="30" HorizontalContentAlignment="Center" VerticalContentAlignment="Center"/>
        <Label x:Name="J1Value" HorizontalAlignment="Left" Margin="255,133,0,0"  VerticalAlignment="Top" Width="50" Foreground="Black" FontSize="10" Content="{Binding Value, ElementName=joint1}" Height="22" ContentStringFormat="{}{0:0.##}" VerticalContentAlignment="Center"    />
        <Label Content="J2" HorizontalAlignment="Left" Margin="10,174,0,0" VerticalAlignment="Top" Width="30" Foreground="Black" FontSize="14" FontWeight="Bold" Height="30" HorizontalContentAlignment="Center" VerticalContentAlignment="Center"/>
        <Label x:Name="J2Value" HorizontalAlignment="Left" Margin="255,181,0,0"  VerticalAlignment="Top" Width="50" Foreground="Black" FontSize="10" Content="{Binding Value, ElementName=joint2}" Height="22" ContentStringFormat="{}{0:0.##}" VerticalContentAlignment="Center"    />
        <Label Content="J3" HorizontalAlignment="Left" Margin="10,219,0,0" VerticalAlignment="Top" Width="30" Foreground="Black" FontSize="14" FontWeight="Bold" Height="30" HorizontalContentAlignment="Center" VerticalContentAlignment="Center"/>
        <Label x:Name="J3Value" HorizontalAlignment="Left" Margin="254,227,0,0"  VerticalAlignment="Top" Width="50" Foreground="Black" FontSize="10" Content="{Binding Value, ElementName=joint3}" Height="22" ContentStringFormat="{}{0:0.##}" VerticalContentAlignment="Center"    />
        <Label Content="J4" HorizontalAlignment="Left" Margin="10,272,0,0" VerticalAlignment="Top" Width="30" Foreground="Black" FontSize="14" FontWeight="Bold" Height="30" HorizontalContentAlignment="Center" VerticalContentAlignment="Center"/>
        <Label x:Name="J4Value" HorizontalAlignment="Left" Margin="254,276,0,0"  VerticalAlignment="Top" Width="50" Foreground="Black" FontSize="10" Content="{Binding Value, ElementName=joint4}" Height="22" ContentStringFormat="{}{0:0.##}" VerticalContentAlignment="Center"    />
        <Label Content="J5" HorizontalAlignment="Left" Margin="10,324,0,0" VerticalAlignment="Top" Width="30" Foreground="Black" FontSize="14" FontWeight="Bold" Height="30" HorizontalContentAlignment="Center" VerticalContentAlignment="Center"/>
        <Label x:Name="J5Value" HorizontalAlignment="Left" Margin="255,332,0,0"  VerticalAlignment="Top" Width="50" Foreground="Black" FontSize="10" Content="{Binding Value, ElementName=joint5}" Height="22" ContentStringFormat="{}{0:0.##}" VerticalContentAlignment="Center"    />
        <Label Content="J6" HorizontalAlignment="Left" Margin="10,372,0,0" VerticalAlignment="Top" Width="30" Foreground="Black" FontSize="14" FontWeight="Bold" Height="30" HorizontalContentAlignment="Center" VerticalContentAlignment="Center"/>
        <Label x:Name="J6Value" HorizontalAlignment="Left" Margin="254,378,0,0"  VerticalAlignment="Top" Width="50" Foreground="Black" FontSize="10" Content="{Binding Value, ElementName=joint6}" Height="22" ContentStringFormat="{}{0:0.##}" VerticalContentAlignment="Center"    />
        <Label Content="X" HorizontalAlignment="Left" Margin="14,43,0,0" VerticalAlignment="Top" Foreground="Black" Height="25"/>
        <Label x:Name="Tx" HorizontalAlignment="Left" Margin="31,43,0,0" VerticalAlignment="Top" Foreground="Black" Height="25" Width="63" ContentStringFormat="{}{0:0.##}"/>
        <Label Content="Y:" HorizontalAlignment="Left" Margin="104,43,0,0" VerticalAlignment="Top" Foreground="Black" Height="25"/>
        <Label x:Name="Ty" HorizontalAlignment="Left" Margin="121,43,0,0" VerticalAlignment="Top" Foreground="Black" Height="25" Width="67" ContentStringFormat="{}{0:0.##}"/>
        <Label Content="Z:" HorizontalAlignment="Left" Margin="200,43,0,0" VerticalAlignment="Top" Foreground="Black" Height="25" />
        <Label x:Name="Tz" HorizontalAlignment="Left" Margin="217,43,0,0" VerticalAlignment="Top" Foreground="Black" Height="25" Width="62" ContentStringFormat="{}{0:0.##}"/>
        <Label Content="X" HorizontalAlignment="Left" Margin="13,83,0,0" VerticalAlignment="Top" Foreground="Black" Height="25"/>
        <Label x:Name="Tx_Copy" HorizontalAlignment="Left" Margin="30,83,0,0" VerticalAlignment="Top" Foreground="Black" Height="25" Width="63" ContentStringFormat="{}{0:0.##}"/>
        <Label Content="Y:" HorizontalAlignment="Left" Margin="103,83,0,0" VerticalAlignment="Top" Foreground="Black" Height="25"/>
        <Label x:Name="Ty_Copy" HorizontalAlignment="Left" Margin="120,83,0,0" VerticalAlignment="Top" Foreground="Black" Height="25" Width="67" ContentStringFormat="{}{0:0.##}"/>
        <Label Content="Z:" HorizontalAlignment="Left" Margin="199,83,0,0" VerticalAlignment="Top" Foreground="Black" Height="25" />
        <Label x:Name="Tz_Copy" HorizontalAlignment="Left" Margin="216,83,0,0" VerticalAlignment="Top" Foreground="Black" Height="25" Width="62" ContentStringFormat="{}{0:0.##}"/>
        <Button x:Name="button" Content="Go to position" HorizontalAlignment="Left" Margin="230,10,0,0" VerticalAlignment="Top" Width="75" Height="28" FontSize="11" Click="StartInverseKinematics"/>
        <Rectangle Fill="#FFFBFBFB" HorizontalAlignment="Left" Height="254" Stroke="Black" VerticalAlignment="Top" Width="306" StrokeThickness="0.5" Margin="4,418,0,0"/>
        <Slider x:Name="jointX" HorizontalAlignment="Left" Margin="45,540,0,0" VerticalAlignment="Top" Width="210"  Maximum="3000" ValueChanged="rotationPointChanged" Height="22" SmallChange="1" IsSnapToTickEnabled="True" Minimum="-3000"/>
        <Label Content="X" HorizontalAlignment="Left" Margin="9,536,0,0" VerticalAlignment="Top" Width="30" Foreground="Black" FontSize="14" FontWeight="Bold" Height="30" HorizontalContentAlignment="Center" VerticalContentAlignment="Center"/>
        <Label x:Name="jointXValue" HorizontalAlignment="Left" Margin="254,540,0,0"  VerticalAlignment="Top" Width="50" Foreground="Black" FontSize="10" Content="{Binding Value, ElementName=jointX}" Height="22" VerticalContentAlignment="Center"    />
        <Slider x:Name="jointY" HorizontalAlignment="Left" Margin="45,584,0,0" VerticalAlignment="Top" Width="210"  Maximum="3000" ValueChanged="rotationPointChanged" Height="22" SmallChange="1" IsSnapToTickEnabled="True" Minimum="-3000"/>
        <Label Content="Y" HorizontalAlignment="Left" Margin="9,580,0,0" VerticalAlignment="Top" Width="30" Foreground="Black" FontSize="14" FontWeight="Bold" Height="30" HorizontalContentAlignment="Center" VerticalContentAlignment="Center"/>
        <Label x:Name="jointYValue" HorizontalAlignment="Left" Margin="254,584,0,0"  VerticalAlignment="Top" Width="50" Foreground="Black" FontSize="10" Content="{Binding Value, ElementName=jointY}" Height="22" VerticalContentAlignment="Center"    />
        <Slider x:Name="jointZ" HorizontalAlignment="Left" Margin="46,630,0,0" VerticalAlignment="Top" Width="210"  Maximum="3000" ValueChanged="rotationPointChanged" Height="22" SmallChange="1" IsSnapToTickEnabled="True" Minimum="-3000"/>
        <Label Content="Z" HorizontalAlignment="Left" Margin="10,626,0,0" VerticalAlignment="Top" Width="30" Foreground="Black" FontSize="14" FontWeight="Bold" Height="30" HorizontalContentAlignment="Center" VerticalContentAlignment="Center"/>
        <Label x:Name="jointZValue" HorizontalAlignment="Left" Margin="255,630,0,0"  VerticalAlignment="Top" Width="50" Foreground="Black" FontSize="10" Content="{Binding Value, ElementName=jointZ}" Height="22" VerticalContentAlignment="Center"    />
        <Slider x:Name="jointSelector" HorizontalAlignment="Left" Margin="68,445,0,0" VerticalAlignment="Top" Width="210"  Maximum="6" ValueChanged="jointSelector_ValueChanged" Height="22" SmallChange="1" IsSnapToTickEnabled="True"/>
        <Label Content="Joint" HorizontalAlignment="Left" Margin="10,437,0,0" VerticalAlignment="Top" Width="53" Foreground="Black" FontSize="14" FontWeight="Bold" Height="30" HorizontalContentAlignment="Center" VerticalContentAlignment="Center"/>
        <Label x:Name="jointSelected" HorizontalAlignment="Left" Margin="277,445,0,0"  VerticalAlignment="Top" Width="24" Foreground="Black" FontSize="10" Content="{Binding Value, ElementName=jointSelector}" Height="22" VerticalContentAlignment="Center"    />
        <Label Content="X" HorizontalAlignment="Left" Margin="14,488,0,0" VerticalAlignment="Top" Width="30" Foreground="Black" FontSize="14" FontWeight="Bold" Height="30" HorizontalContentAlignment="Center" VerticalContentAlignment="Center"/>
        <CheckBox x:Name="jointXAxis" Content="" HorizontalAlignment="Left" Margin="44,497,0,0" VerticalAlignment="Top" Checked="CheckBox_StateChanged" Unchecked="CheckBox_StateChanged"/>
        <Label Content="Y" HorizontalAlignment="Left" Margin="90,488,0,0" VerticalAlignment="Top" Width="30" Foreground="Black" FontSize="14" FontWeight="Bold" Height="30" HorizontalContentAlignment="Center" VerticalContentAlignment="Center"/>
        <CheckBox x:Name="jointYAxis" Content="" HorizontalAlignment="Left" Margin="120,497,0,0" VerticalAlignment="Top" Checked="CheckBox_StateChanged" Unchecked="CheckBox_StateChanged"/>
        <Label Content="Z" HorizontalAlignment="Left" Margin="168,488,0,0" VerticalAlignment="Top" Width="30" Foreground="Black" FontSize="14" FontWeight="Bold" Height="30" HorizontalContentAlignment="Center" VerticalContentAlignment="Center"/>
        <CheckBox x:Name="jointZAxis" Content="" HorizontalAlignment="Left" Margin="198,497,0,0" VerticalAlignment="Top" Checked="CheckBox_StateChanged" Unchecked="CheckBox_StateChanged"/>
    </Grid>
</Window>

6. 编辑MainWindow.xmal.cs

#define IRB6700

using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using System.Windows;
using System.Windows.Controls;
using System.Windows.Data;
using System.Windows.Documents;
using System.Windows.Input;
using System.Windows.Media;
using System.Windows.Media.Imaging;
using System.Windows.Media.Media3D;
using System.Windows.Navigation;
using System.Windows.Shapes;
using HelixToolkit.Wpf;
using System.IO;


/**
 * Author: Gabriele Marini (Gabryxx7)
 * This class load the 3d models of all the parts of the robotic arms and add them to the viewport
 * It also defines the relations among the joints of the robotic arms in order to reflect the movement of the robot in the real world
 * **/
namespace RobotArmDemo
{
    class Joint
    {
        public Model3D model = null;
        public double angle = 0;
        public double angleMin = -180;
        public double angleMax = 180;
        public int rotPointX = 0;
        public int rotPointY = 0;
        public int rotPointZ = 0;
        public int rotAxisX = 0;
        public int rotAxisY = 0;
        public int rotAxisZ = 0;

        public Joint(Model3D pModel)
        {
            model = pModel;
        }
    }

    /// <summary>
    /// Interaction logic for UserControl1.xaml
    /// </summary>
    public partial class MainWindow : Window
    {
        //provides functionality to 3d models
        Model3DGroup RA = new Model3DGroup(); //RoboticArm 3d group
        Model3D geom = null; //Debug sphere to check in which point the joint is rotatin

        List<Joint> joints = null;

        bool switchingJoint = false;
        bool isAnimating = false;

        Color oldColor = Colors.White;
        GeometryModel3D oldSelectedModel = null;
        string basePath = "";
        ModelVisual3D visual;
        double LearningRate = 0.01;
        double SamplingDistance = 0.15;
        double DistanceThreshold = 20;
        //provides render to model3d objects
        ModelVisual3D RoboticArm = new ModelVisual3D();
        Transform3DGroup F1;
        Transform3DGroup F2;
        Transform3DGroup F3;
        Transform3DGroup F4;
        Transform3DGroup F5;
        Transform3DGroup F6;
        RotateTransform3D R;
        TranslateTransform3D T;
        Vector3D reachingPoint;
        int movements = 10;
        System.Windows.Forms.Timer timer1;

#if IRB6700
        //directroy of all stl files
        private const string MODEL_PATH1 = "IRB6700-MH3_245-300_IRC5_rev02_LINK01_CAD.stl";
        private const string MODEL_PATH2 = "IRB6700-MH3_245-300_IRC5_rev00_LINK02_CAD.stl";
        private const string MODEL_PATH3 = "IRB6700-MH3_245-300_IRC5_rev02_LINK03_CAD.stl";
        private const string MODEL_PATH4 = "IRB6700-MH3_245-300_IRC5_rev01_LINK04_CAD.stl";
        private const string MODEL_PATH5 = "IRB6700-MH3_245-300_IRC5_rev01_LINK05_CAD.stl";
        private const string MODEL_PATH6 = "IRB6700-MH3_245-300_IRC5_rev01_LINK06_CAD.stl";
        private const string MODEL_PATH7 = "IRB6700-MH3_245-300_IRC5_rev02_LINK01_CABLE.stl";
        private const string MODEL_PATH8 = "IRB6700-MH3_245-300_IRC5_rev02_LINK01m_CABLE.stl";
        private const string MODEL_PATH9 = "IRB6700-MH3_245-300_IRC5_rev00_LINK02_CABLE.stl";
        private const string MODEL_PATH10 = "IRB6700-MH3_245-300_IRC5_rev00_LINK02m_CABLE.stl";
        private const string MODEL_PATH11 = "IRB6700-MH3_245-300_IRC5_rev00_LINK03a_CABLE.stl";
        private const string MODEL_PATH12 = "IRB6700-MH3_245-300_IRC5_rev00_LINK03b_CABLE.stl";
        private const string MODEL_PATH13 = "IRB6700-MH3_245-300_IRC5_rev02_LINK03m_CABLE.stl";
        private const string MODEL_PATH14 = "IRB6700-MH3_245-300_IRC5_rev01_LINK04_CABLE.stl";
        private const string MODEL_PATH15 = "IRB6700-MH3_245-300_IRC5_rev00_ROD_CAD.stl";
        private const string MODEL_PATH16 = "IRB6700-MH3_245-300_IRC5_rev00_LOGO1_CAD.stl";
        private const string MODEL_PATH17 = "IRB6700-MH3_245-300_IRC5_rev00_LOGO2_CAD.stl";
        private const string MODEL_PATH18 = "IRB6700-MH3_245-300_IRC5_rev00_LOGO3_CAD.stl";
        private const string MODEL_PATH19 = "IRB6700-MH3_245-300_IRC5_rev01_BASE_CAD.stl";
        private const string MODEL_PATH20 = "IRB6700-MH3_245-300_IRC5_rev00_CYLINDER_CAD.stl";
#else

        private const string MODEL_PATH1 = "IRB4600_20kg-250_LINK1_CAD_rev04.stl";
        private const string MODEL_PATH2 = "IRB4600_20kg-250_LINK2_CAD_rev04.stl";
        private const string MODEL_PATH3 = "IRB4600_20kg-250_LINK3_CAD_rev005.stl";
        private const string MODEL_PATH4 = "IRB4600_20kg-250_LINK4_CAD_rev04.stl";
        private const string MODEL_PATH5 = "IRB4600_20kg-250_LINK5_CAD_rev04.stl";
        private const string MODEL_PATH6 = "IRB4600_20kg-250_LINK6_CAD_rev04.stl";
        private const string MODEL_PATH7 = "IRB4600_20kg-250_LINK3_CAD_rev04.stl";
        private const string MODEL_PATH8 = "IRB4600_20kg-250_CABLES_LINK1_rev03.stl";
        private const string MODEL_PATH9 = "IRB4600_20kg-250_CABLES_LINK2_rev03.stl";
        private const string MODEL_PATH10 = "IRB4600_20kg-250_CABLES_LINK3_rev03.stl";
        private const string MODEL_PATH11 = "IRB4600_20kg-250_BASE_CAD_rev04.stl";
#endif


        public MainWindow()
        {
            InitializeComponent();
            basePath = Directory.GetParent(Directory.GetCurrentDirectory()).Parent.FullName + "\\3D_Models\\";
            List<string> modelsNames = new List<string>();
            modelsNames.Add(MODEL_PATH1);
            modelsNames.Add(MODEL_PATH2);
            modelsNames.Add(MODEL_PATH3);
            modelsNames.Add(MODEL_PATH4);
            modelsNames.Add(MODEL_PATH5);
            modelsNames.Add(MODEL_PATH6);
            modelsNames.Add(MODEL_PATH7);
            modelsNames.Add(MODEL_PATH8);
            modelsNames.Add(MODEL_PATH9);
            modelsNames.Add(MODEL_PATH10);
            modelsNames.Add(MODEL_PATH11);//Until here for the 4600
#if IRB6700
            modelsNames.Add(MODEL_PATH12);
            modelsNames.Add(MODEL_PATH13);
            modelsNames.Add(MODEL_PATH14);
            modelsNames.Add(MODEL_PATH15);
            modelsNames.Add(MODEL_PATH16);
            modelsNames.Add(MODEL_PATH17);
            modelsNames.Add(MODEL_PATH18);
            modelsNames.Add(MODEL_PATH19);
            modelsNames.Add(MODEL_PATH20);
#endif
            RoboticArm.Content = Initialize_Environment(modelsNames);

            /** Debug sphere to check in which point the joint is rotating**/
            var builder = new MeshBuilder(true, true);
            var position = new Point3D(0, 0, 0);
            builder.AddSphere(position, 50, 15, 15);
            geom = new GeometryModel3D(builder.ToMesh(), Materials.Brown);
            visual = new ModelVisual3D();
            visual.Content = geom;

            viewPort3d.RotateGesture = new MouseGesture(MouseAction.RightClick);
            viewPort3d.PanGesture = new MouseGesture(MouseAction.LeftClick);
            viewPort3d.Children.Add(visual);
            viewPort3d.Children.Add(RoboticArm);
            viewPort3d.Camera.LookDirection = new Vector3D(2038, -5200, -2930);
            viewPort3d.Camera.UpDirection = new Vector3D(-0.145, 0.372, 0.917);
            viewPort3d.Camera.Position = new Point3D(-1571, 4801, 3774);

            double[] angles = { joints[0].angle, joints[1].angle, joints[2].angle, joints[3].angle, joints[4].angle, joints[5].angle };
            ForwardKinematics(angles);

            changeSelectedJoint();

            timer1 = new System.Windows.Forms.Timer();
            timer1.Interval = 5;
            timer1.Tick += new System.EventHandler(timer1_Tick);
        }

        private Model3DGroup Initialize_Environment(List<string> modelsNames)
        {
            try
            {
                ModelImporter import = new ModelImporter();
                joints = new List<Joint>();

                foreach (string modelName in modelsNames)
                {
                    var materialGroup = new MaterialGroup();
                    Color mainColor = Colors.White;
                    EmissiveMaterial emissMat = new EmissiveMaterial(new SolidColorBrush(mainColor));
                    DiffuseMaterial diffMat = new DiffuseMaterial(new SolidColorBrush(mainColor));
                    SpecularMaterial specMat = new SpecularMaterial(new SolidColorBrush(mainColor), 200);
                    materialGroup.Children.Add(emissMat);
                    materialGroup.Children.Add(diffMat);
                    materialGroup.Children.Add(specMat);

                    var link = import.Load(basePath + modelName);
                    GeometryModel3D model = link.Children[0] as GeometryModel3D;
                    model.Material = materialGroup;
                    model.BackMaterial = materialGroup;
                    joints.Add(new Joint(link));
                }

                RA.Children.Add(joints[0].model);
                RA.Children.Add(joints[1].model);
                RA.Children.Add(joints[2].model);
                RA.Children.Add(joints[3].model);
                RA.Children.Add(joints[4].model);
                RA.Children.Add(joints[5].model);
                RA.Children.Add(joints[6].model);
                RA.Children.Add(joints[7].model);
                RA.Children.Add(joints[8].model);
                RA.Children.Add(joints[9].model);
                RA.Children.Add(joints[10].model);
#if IRB6700
                RA.Children.Add(joints[11].model);
                RA.Children.Add(joints[12].model);
                RA.Children.Add(joints[13].model);
                RA.Children.Add(joints[14].model);
                RA.Children.Add(joints[15].model);
                RA.Children.Add(joints[16].model);
                RA.Children.Add(joints[17].model);
                RA.Children.Add(joints[18].model);
                RA.Children.Add(joints[19].model);
#endif

#if IRB6700
                Color cableColor = Colors.DarkSlateGray;
                changeModelColor(joints[6], cableColor);
                changeModelColor(joints[7], cableColor);
                changeModelColor(joints[8], cableColor);
                changeModelColor(joints[9], cableColor);
                changeModelColor(joints[10], cableColor);
                changeModelColor(joints[11], cableColor);
                changeModelColor(joints[12], cableColor);
                changeModelColor(joints[13], cableColor);

                changeModelColor(joints[14], Colors.Gray);

                changeModelColor(joints[15], Colors.Red);
                changeModelColor(joints[16], Colors.Red);
                changeModelColor(joints[17], Colors.Red);

                changeModelColor(joints[18], Colors.Gray);
                changeModelColor(joints[19], Colors.Gray);

                joints[0].angleMin = -180;
                joints[0].angleMax = 180;
                joints[0].rotAxisX = 0;
                joints[0].rotAxisY = 0;
                joints[0].rotAxisZ = 1;
                joints[0].rotPointX = 0;
                joints[0].rotPointY = 0;
                joints[0].rotPointZ = 0;

                joints[1].angleMin = -100;
                joints[1].angleMax = 60;
                joints[1].rotAxisX = 0;
                joints[1].rotAxisY = 1;
                joints[1].rotAxisZ = 0;
                joints[1].rotPointX = 348;
                joints[1].rotPointY = -243;
                joints[1].rotPointZ = 775;

                joints[2].angleMin = -90;
                joints[2].angleMax = 90;
                joints[2].rotAxisX = 0;
                joints[2].rotAxisY = 1;
                joints[2].rotAxisZ = 0;
                joints[2].rotPointX = 347;
                joints[2].rotPointY = -376;
                joints[2].rotPointZ = 1923;

                joints[3].angleMin = -180;
                joints[3].angleMax = 180;
                joints[3].rotAxisX = 1;
                joints[3].rotAxisY = 0;
                joints[3].rotAxisZ = 0;
                joints[3].rotPointX = 60;
                joints[3].rotPointY = 0;
                joints[3].rotPointZ = 2125;

                joints[4].angleMin = -115;
                joints[4].angleMax = 115;
                joints[4].rotAxisX = 0;
                joints[4].rotAxisY = 1;
                joints[4].rotAxisZ = 0;
                joints[4].rotPointX = 1815;
                joints[4].rotPointY = 0;
                joints[4].rotPointZ = 2125;

                joints[5].angleMin = -180;
                joints[5].angleMax = 180;
                joints[5].rotAxisX = 1;
                joints[5].rotAxisY = 0;
                joints[5].rotAxisZ = 0;
                joints[5].rotPointX = 2008;
                joints[5].rotPointY = 0;
                joints[5].rotPointZ = 2125;

#else
                changeModelColor(joints[6], Colors.Red);
                changeModelColor(joints[7], Colors.Black);
                changeModelColor(joints[8], Colors.Black);
                changeModelColor(joints[9], Colors.Black);
                changeModelColor(joints[10], Colors.Gray);

                RA.Children.Add(joints[0].model);
                RA.Children.Add(joints[1].model);
                RA.Children.Add(joints[2].model);
                RA.Children.Add(joints[3].model);
                RA.Children.Add(joints[4].model);
                RA.Children.Add(joints[5].model);
                RA.Children.Add(joints[6].model);
                RA.Children.Add(joints[7].model);
                RA.Children.Add(joints[8].model);
                RA.Children.Add(joints[9].model);
                RA.Children.Add(joints[10].model);
                
                joints[0].angleMin = -180;
                joints[0].angleMax = 180;
                joints[0].rotAxisX = 0;
                joints[0].rotAxisY = 0;
                joints[0].rotAxisZ = 1;
                joints[0].rotPointX = 0;
                joints[0].rotPointY = 0;
                joints[0].rotPointZ = 0;

                joints[1].angleMin = -100;
                joints[1].angleMax = 60;
                joints[1].rotAxisX = 0;
                joints[1].rotAxisY = 1;
                joints[1].rotAxisZ = 0;
                joints[1].rotPointX = 175; 
                joints[1].rotPointY = -200;
                joints[1].rotPointZ = 500;

                joints[2].angleMin = -90;
                joints[2].angleMax = 90;
                joints[2].rotAxisX = 0;
                joints[2].rotAxisY = 1;
                joints[2].rotAxisZ = 0;
                joints[2].rotPointX = 190;
                joints[2].rotPointY = -700;
                joints[2].rotPointZ = 1595;

                joints[3].angleMin = -180;
                joints[3].angleMax = 180;
                joints[3].rotAxisX = 1;
                joints[3].rotAxisY = 0;
                joints[3].rotAxisZ = 0;
                joints[3].rotPointX = 400;
                joints[3].rotPointY = 0;
                joints[3].rotPointZ = 1765;

                joints[4].angleMin = -115;
                joints[4].angleMax = 115;
                joints[4].rotAxisX = 0;
                joints[4].rotAxisY = 1;
                joints[4].rotAxisZ = 0;
                joints[4].rotPointX = 1405;
                joints[4].rotPointY = 50;
                joints[4].rotPointZ = 1765;

                joints[5].angleMin = -180;
                joints[5].angleMax = 180;
                joints[5].rotAxisX = 1;
                joints[5].rotAxisY = 0;
                joints[5].rotAxisZ = 0;
                joints[5].rotPointX = 1405;
                joints[5].rotPointY = 0;
                joints[5].rotPointZ = 1765;
#endif
            }
            catch (Exception e)
            {
                MessageBox.Show("Exception Error:" + e.StackTrace);
            }
            return RA;
        }

        public static T Clamp<T>(T value, T min, T max)
            where T : System.IComparable<T>
        {
            T result = value;
            if (value.CompareTo(max) > 0)
                result = max;
            if (value.CompareTo(min) < 0)
                result = min;
            return result;
        }

        private void ReachingPoint_TextChanged(object sender, TextChangedEventArgs e)
        {
            try
            {
                //reachingPoint = new Vector3D(Double.Parse(TbX.Text), Double.Parse(TbY.Text), Double.Parse(TbZ.Text));
                //geom.Transform = new TranslateTransform3D(reachingPoint);
            }
            catch (Exception exc)
            {

            }
        }

        private void jointSelector_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
        {
            changeSelectedJoint();
        }

        private void changeSelectedJoint()
        {
            if (joints == null)
                return;

            int sel = ((int)jointSelector.Value) - 1;
            switchingJoint = true;
            unselectModel();
            if (sel < 0)
            {
                jointX.IsEnabled = false;
                jointY.IsEnabled = false;
                jointZ.IsEnabled = false;
                jointXAxis.IsEnabled = false;
                jointYAxis.IsEnabled = false;
                jointZAxis.IsEnabled = false;
            }
            else
            {
                if (!jointX.IsEnabled)
                {
                    jointX.IsEnabled = true;
                    jointY.IsEnabled = true;
                    jointZ.IsEnabled = true;
                    jointXAxis.IsEnabled = true;
                    jointYAxis.IsEnabled = true;
                    jointZAxis.IsEnabled = true;
                }
                jointX.Value = joints[sel].rotPointX;
                jointY.Value = joints[sel].rotPointY;
                jointZ.Value = joints[sel].rotPointZ;
                jointXAxis.IsChecked = joints[sel].rotAxisX == 1 ? true : false;
                jointYAxis.IsChecked = joints[sel].rotAxisY == 1 ? true : false;
                jointZAxis.IsChecked = joints[sel].rotAxisZ == 1 ? true : false;
                selectModel(joints[sel].model);
                updateSpherePosition();
            }
            switchingJoint = false;
        }

        private void rotationPointChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
        {
            if (switchingJoint)
                return;

            int sel = ((int)jointSelector.Value) - 1;
            joints[sel].rotPointX = (int)jointX.Value;
            joints[sel].rotPointY = (int)jointY.Value;
            joints[sel].rotPointZ = (int)jointZ.Value;
            updateSpherePosition();
        }

        private void updateSpherePosition()
        {
            int sel = ((int)jointSelector.Value) - 1;
            if (sel < 0)
                return;

            Transform3DGroup F = new Transform3DGroup();
            F.Children.Add(new TranslateTransform3D(joints[sel].rotPointX, joints[sel].rotPointY, joints[sel].rotPointZ));
            F.Children.Add(joints[sel].model.Transform);
            geom.Transform = F;
        }

        private void joint_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
        {
            if (isAnimating)
                return;

            joints[0].angle = joint1.Value;
            joints[1].angle = joint2.Value;
            joints[2].angle = joint3.Value;
            joints[3].angle = joint4.Value;
            joints[4].angle = joint5.Value;
            joints[5].angle = joint6.Value;
            execute_fk();
        }


        private void CheckBox_StateChanged(object sender, RoutedEventArgs e)
        {
            if (switchingJoint)
                return;

            int sel = ((int)jointSelector.Value) - 1;
            joints[sel].rotAxisX = jointXAxis.IsChecked.Value ? 1 : 0;
            joints[sel].rotAxisY = jointYAxis.IsChecked.Value ? 1 : 0;
            joints[sel].rotAxisZ = jointZAxis.IsChecked.Value ? 1 : 0;
        }


        /**
         * This methodes execute the FK (Forward Kinematics). It starts from the first joint, the base.
         * */
        private void execute_fk()
        {
            /** Debug sphere, it takes the x,y,z of the textBoxes and update its position
             * This is useful when using x,y,z in the "new Point3D(x,y,z)* when defining a new RotateTransform3D() to check where the joints is actually  rotating */
            double[] angles = { joints[0].angle, joints[1].angle, joints[2].angle, joints[3].angle, joints[4].angle, joints[5].angle };
            ForwardKinematics(angles);
            updateSpherePosition();
        }

        private Color changeModelColor(Joint pJoint, Color newColor)
        {
            Model3DGroup models = ((Model3DGroup)pJoint.model);
            return changeModelColor(models.Children[0] as GeometryModel3D, newColor);
        }

        private Color changeModelColor(GeometryModel3D pModel, Color newColor)
        {
            if (pModel == null)
                return oldColor;

            Color previousColor = Colors.Black;

            MaterialGroup mg = (MaterialGroup)pModel.Material;
            if (mg.Children.Count > 0)
            {
                try
                {
                    previousColor = ((EmissiveMaterial)mg.Children[0]).Color;
                    ((EmissiveMaterial)mg.Children[0]).Color = newColor;
                    ((DiffuseMaterial)mg.Children[1]).Color = newColor;
                }
                catch (Exception exc)
                {
                    previousColor = oldColor;
                }
            }

            return previousColor;
        }


        private void selectModel(Model3D pModel)
        {
            try
            {
                Model3DGroup models = ((Model3DGroup)pModel);
                oldSelectedModel = models.Children[0] as GeometryModel3D;
            }
            catch (Exception exc)
            {
                oldSelectedModel = (GeometryModel3D)pModel;
            }
            oldColor = changeModelColor(oldSelectedModel, ColorHelper.HexToColor("#ff3333"));
        }

        private void unselectModel()
        {
            changeModelColor(oldSelectedModel, oldColor);
        }

        private void ViewPort3D_OnMouseLeftButtonDown(object sender, MouseButtonEventArgs e)
        {
            Point mousePos = e.GetPosition(viewPort3d);
            PointHitTestParameters hitParams = new PointHitTestParameters(mousePos);
            VisualTreeHelper.HitTest(viewPort3d, null, ResultCallback, hitParams);
        }

        private void ViewPort3D_OnMouseLeftButtonUp(object sender, MouseButtonEventArgs e)
        {
            // Perform the hit test on the mouse's position relative to the viewport.
            HitTestResult result = VisualTreeHelper.HitTest(viewPort3d, e.GetPosition(viewPort3d));
            RayMeshGeometry3DHitTestResult mesh_result = result as RayMeshGeometry3DHitTestResult;

            if (oldSelectedModel != null)
                unselectModel();

            if (mesh_result != null)
            {
                selectModel(mesh_result.ModelHit);
            }
        }

        public HitTestResultBehavior ResultCallback(HitTestResult result)
        {
            // Did we hit 3D?
            RayHitTestResult rayResult = result as RayHitTestResult;
            if (rayResult != null)
            {
                // Did we hit a MeshGeometry3D?
                RayMeshGeometry3DHitTestResult rayMeshResult = rayResult as RayMeshGeometry3DHitTestResult;
                geom.Transform = new TranslateTransform3D(new Vector3D(rayResult.PointHit.X, rayResult.PointHit.Y, rayResult.PointHit.Z));

                if (rayMeshResult != null)
                {
                    // Yes we did!
                }
            }

            return HitTestResultBehavior.Continue;
        }

        public void StartInverseKinematics(object sender, RoutedEventArgs e)
        {
            if (timer1.Enabled)
            {
                button.Content = "Go to position";
                isAnimating = false;
                timer1.Stop();
                movements = 0;
            }
            else
            {
                geom.Transform = new TranslateTransform3D(reachingPoint);
                movements = 5000;
                button.Content = "STOP";
                isAnimating = true;
                timer1.Start();
            }
        }

        public void timer1_Tick(object sender, EventArgs e)
        {
            double[] angles = { joints[0].angle, joints[1].angle, joints[2].angle, joints[3].angle, joints[4].angle, joints[5].angle };
            angles = InverseKinematics(reachingPoint, angles);
            joint1.Value = joints[0].angle = angles[0];
            joint2.Value = joints[1].angle = angles[1];
            joint3.Value = joints[2].angle = angles[2];
            joint4.Value = joints[3].angle = angles[3];
            joint5.Value = joints[4].angle = angles[4];
            joint6.Value = joints[5].angle = angles[5];

            if ((--movements) <= 0)
            {
                button.Content = "Go to position";
                isAnimating = false;
                timer1.Stop();
            }
        }

        public double[] InverseKinematics(Vector3D target, double[] angles)
        {
            if (DistanceFromTarget(target, angles) < DistanceThreshold)
            {
                movements = 0;
                return angles;
            }

            double[] oldAngles = { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 };
            angles.CopyTo(oldAngles, 0);
            for (int i = 0; i <= 5; i++)
            {
                // Gradient descent
                // Update : Solution -= LearningRate * Gradient
                double gradient = PartialGradient(target, angles, i);
                angles[i] -= LearningRate * gradient;

                // Clamp
                angles[i] = Clamp(angles[i], joints[i].angleMin, joints[i].angleMax);

                // Early termination
                if (DistanceFromTarget(target, angles) < DistanceThreshold || checkAngles(oldAngles, angles))
                {
                    movements = 0;
                    return angles;
                }
            }

            return angles;
        }

        public bool checkAngles(double[] oldAngles, double[] angles)
        {
            for (int i = 0; i <= 5; i++)
            {
                if (oldAngles[i] != angles[i])
                    return false;
            }

            return true;
        }

        public double PartialGradient(Vector3D target, double[] angles, int i)
        {
            // Saves the angle,
            // it will be restored later
            double angle = angles[i];

            // Gradient : [F(x+SamplingDistance) - F(x)] / h
            double f_x = DistanceFromTarget(target, angles);

            angles[i] += SamplingDistance;
            double f_x_plus_d = DistanceFromTarget(target, angles);

            double gradient = (f_x_plus_d - f_x) / SamplingDistance;

            // Restores
            angles[i] = angle;

            return gradient;
        }


        public double DistanceFromTarget(Vector3D target, double[] angles)
        {
            Vector3D point = ForwardKinematics(angles);
            return Math.Sqrt(Math.Pow((point.X - target.X), 2.0) + Math.Pow((point.Y - target.Y), 2.0) + Math.Pow((point.Z - target.Z), 2.0));
        }


        public Vector3D ForwardKinematics(double[] angles)
        {
            //The base only has rotation and is always at the origin, so the only transform in the transformGroup is the rotation R
            F1 = new Transform3DGroup();
            R = new RotateTransform3D(new AxisAngleRotation3D(new Vector3D(joints[0].rotAxisX, joints[0].rotAxisY, joints[0].rotAxisZ), angles[0]), new Point3D(joints[0].rotPointX, joints[0].rotPointY, joints[0].rotPointZ));
            F1.Children.Add(R);

            //This moves the first joint attached to the base, it may translate and rotate. Since the joint are already in the right position (the .stl model also store the joints position
            //in the virtual world when they were first created, so if you load all the .stl models of the joint they will be automatically positioned in the right locations)
            //so in all of these cases the first translation is always 0, I just left it for future purposes if something need to be moved
            //After that, the joint needs to rotate of a certain amount (given by the value in the slider), and the rotation must be executed on a specific point
            //After some testing it looks like the point 175, -200, 500 is the sweet spot to achieve the rotation intended for the joint
            //finally we also need to apply the transformation applied to the base 
            F2 = new Transform3DGroup();
            T = new TranslateTransform3D(0, 0, 0);
            R = new RotateTransform3D(new AxisAngleRotation3D(new Vector3D(joints[1].rotAxisX, joints[1].rotAxisY, joints[1].rotAxisZ), angles[1]), new Point3D(joints[1].rotPointX, joints[1].rotPointY, joints[1].rotPointZ));
            F2.Children.Add(T);
            F2.Children.Add(R);
            F2.Children.Add(F1);

            //The second joint is attached to the first one. As before I found the sweet spot after testing, and looks like is rotating just fine. No pre-translation as before
            //and again the previous transformation needs to be applied
            F3 = new Transform3DGroup();
            T = new TranslateTransform3D(0, 0, 0);
            R = new RotateTransform3D(new AxisAngleRotation3D(new Vector3D(joints[2].rotAxisX, joints[2].rotAxisY, joints[2].rotAxisZ), angles[2]), new Point3D(joints[2].rotPointX, joints[2].rotPointY, joints[2].rotPointZ));
            F3.Children.Add(T);
            F3.Children.Add(R);
            F3.Children.Add(F2);

            //as before
            F4 = new Transform3DGroup();
            T = new TranslateTransform3D(0, 0, 0); //1500, 650, 1650
            R = new RotateTransform3D(new AxisAngleRotation3D(new Vector3D(joints[3].rotAxisX, joints[3].rotAxisY, joints[3].rotAxisZ), angles[3]), new Point3D(joints[3].rotPointX, joints[3].rotPointY, joints[3].rotPointZ));
            F4.Children.Add(T);
            F4.Children.Add(R);
            F4.Children.Add(F3);

            //as before
            F5 = new Transform3DGroup();
            T = new TranslateTransform3D(0, 0, 0);
            R = new RotateTransform3D(new AxisAngleRotation3D(new Vector3D(joints[4].rotAxisX, joints[4].rotAxisY, joints[4].rotAxisZ), angles[4]), new Point3D(joints[4].rotPointX, joints[4].rotPointY, joints[4].rotPointZ));
            F5.Children.Add(T);
            F5.Children.Add(R);
            F5.Children.Add(F4);

            //NB: I was having a nightmare trying to understand why it was always rotating in a weird way... SO I realized that the order in which
            //you add the Children is actually VERY IMPORTANT in fact before I was applyting F and then T and R, but the previous transformation
            //Should always be applied as last (FORWARD Kinematics)
            F6 = new Transform3DGroup();
            T = new TranslateTransform3D(0, 0, 0);
            R = new RotateTransform3D(new AxisAngleRotation3D(new Vector3D(joints[5].rotAxisX, joints[5].rotAxisY, joints[5].rotAxisZ), angles[5]), new Point3D(joints[5].rotPointX, joints[5].rotPointY, joints[5].rotPointZ));
            F6.Children.Add(T);
            F6.Children.Add(R);
            F6.Children.Add(F5);


            joints[0].model.Transform = F1; //First joint
            joints[1].model.Transform = F2; //Second joint (the "biceps")
            joints[2].model.Transform = F3; //third joint (the "knee" or "elbow")
            joints[3].model.Transform = F4; //the "forearm"
            joints[4].model.Transform = F5; //the tool plate
            joints[5].model.Transform = F6; //the tool

            Tx.Content = joints[5].model.Bounds.Location.X;
            Ty.Content = joints[5].model.Bounds.Location.Y;
            Tz.Content = joints[5].model.Bounds.Location.Z;
            Tx_Copy.Content = geom.Bounds.Location.X;
            Ty_Copy.Content = geom.Bounds.Location.Y;
            Tz_Copy.Content = geom.Bounds.Location.Z;

#if IRB6700
            joints[6].model.Transform = F1;
            joints[7].model.Transform = F1;
            joints[19].model.Transform = F1;
            joints[14].model.Transform = F1;

            joints[8].model.Transform = F2;
            joints[9].model.Transform = F2;

            joints[10].model.Transform = F3;
            joints[11].model.Transform = F3;
            joints[12].model.Transform = F3;
            joints[16].model.Transform = F3;

            joints[13].model.Transform = F4;
            joints[17].model.Transform = F4;
#else
            joints[7].model.Transform = F1; //Cables

            joints[8].model.Transform = F2; //Cables

            joints[6].model.Transform = F3; //The ABB writing
            joints[9].model.Transform = F3; //Cables
#endif

            return new Vector3D(joints[5].model.Bounds.Location.X, joints[5].model.Bounds.Location.Y, joints[5].model.Bounds.Location.Z);
        }

    }

}

7. 启动运行

 

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Helix工具包 Helix Toolkit是.NET Framework的3D组件的集合。 在内部WPF 3D模型（Media3D名称空间）的顶部添加了各种功能/模型。 在内部.NET Core WPF 3D模型（Media3D命名空间）的顶部添加了各种功能/模型。 基于 （DirectX 11）的自定义3D引擎和XAML / MVVM兼容场景图，可实现高性能。 基于通用Windows App的 （DirectX 11）的自定义3D引擎和XAML / MVVM兼容的场景图。 用于Netstandard和.NET Core的基于 （DirectX 11）的自定义3D引擎和场景图。 基于WPF的包装部件HelixToolkit.SharpDX.Core对.NET的核心WPF。 对HelixToolkit.SharpDX组件的 3D模型导入器/扩展器支持。 请下载完整的源代码以运行示例。 或下载 描述 值 网页 维基 文献资料 聊天室 源库 最新版本 问题追踪器 NuGet软件包 每晚建造 堆栈溢出 推特 项目建设 Visual Studio 2019.
HelixToolkit使用教程
wanxiweilai的博客
03-09 4357
2、配置相机参数和相机位置：HelixViewPort3D.DefaultCamera。通过对前台代码的修改即可。或者是使用mvvm进行绑定修改。4、配置坐标网格 hv:GridLinesVisual3D。5、配置模型的属性ModelVisual3D两个属性。1、配置HelixViewPort3d基本参数。设置相机的放置方向和观看位置。3、配置光线:hv:SunLight。1）模型内位置的修改。2）整体模型位置的修改。实现对模型的运动控制。
HelixToolkit学习笔记（一）
binlu979的专栏
11-15 3054
HelixToolkit学习笔记，主要记录在学习HelixToolkit的过程中遇到的我问题以及常用的方法
WPF使用HelixToolkit加载obj格式模型
bcbobo21cn的专栏
12-02 1958
HelixToolkit是一个WPF下的3D开发框架；
WPF 插件HelixToolkit库实现3D显示
qq_43305512的博客
10-04 8204
WPF 3D显示
WPF三维立体动画（一个WPF项目，利用viewport3D呈现）
01-01
WPF三维立体动画源码 利用viewport3D来呈现
Helix 3D Toolkit
10-08
Helix 3D Toolkit是一为WPF中3D开发提供了控件集合 和帮助类。包含了WinRt和Metro控件，源码中包含了丰富 的demo例子。
WPF HelixToolkitWPF 中文手册 HelixToolkitWPF中文手册.pdf
11-12
WPF HelixToolkitWPF 中文手册 HelixToolkitWPF中文手册.pdf
HelixToolkit.WPF文档
07-08
helixtoolkit wpf
使用WPF和helix-toolkit在C#中对机械臂进行3D模拟、正向和反向运动学_C#_下载.zip
04-25
在本项目中，我们主要探讨如何使用Windows Presentation Foundation (WPF) 和 Helix Toolkit 在C#编程环境下实现一个机械臂的3D模拟，包括正向和反向运动学的计算。WPF是微软开发的一种用于构建桌面应用的框架，而...
WPF 官方3D模型和3D动画库(helix-toolkit)
03-04
Helix Toolkit是一个开源项目，专为Windows Presentation Foundation (WPF) 平台提供3D模型和3D动画功能。这个库极大地扩展了WPF的原生3D支持，使得开发者可以更加轻松地创建复杂的3D应用程序，包括但不限于游戏、...
Helix Toolkit：为.NET开发者带来的3D视觉盛宴
成长的足迹
11-08 1236
它有许多优点，例如提供各种各样的功能，包括基于MVVM的3D模型编辑器、可编程的着色器、3D网格渲染、相机控制和3D基元等。此外，它还支持各种3D模型导入器和导出器的Assimp.Net组件，方便在项目中使用不同格式的3D模型。推荐一个基于.Net开源的3、功能强大的3D图形库和工具包，适用于WPF应用程序的3D渲染和开发。场景编辑器：提供了一个场景编辑器，用于创建和管理3D场景，包括添加、删除、修改3D对象等操作。3D图形渲染：提供了一系列用于渲染3D图形的类和方法，包括3D模型、材质、光照、纹理等。
Helix3DToolkit.Wpf.SharpDX学习（一）
Linder_Xu的博客
02-10 7836
这篇文章适合初学C#的菜鸟，主要是其中WPF的部分。我的学习目标是，学习并掌握Helix3DToolkit.Wpf.SharpDX的控件集合和帮助类。（ Helix3DToolkit是一为WPF中3D开发提供了控件集合和帮助类。包含了WinRt和Metro控件，源码中包含了丰富的demo例子），虽然我们可以很容易的下载下来源码，但是运行代码却总报错，这对于我们学习控件是很不利的，接下来我就介绍一下...
WPF专业编程指南 - DispatcherUnhandledException
06-09
抱歉，我不太明白您的问题。您需要问我有关WPF编程中的DispatcherUnhandledException的问题吗？如果是的话，我可以告诉您，DispatcherUnhandledException是WPF中的一个事件，当应用程序中未捕获的异常时会触发该事件。您可以使用该事件来处理应用程序中未处理的异常，以便您可以在发生异常时执行一些操作，如记录日志或显示错误消息。

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