Added NrxDebugVisualizer, not working

2026-04-08 16:06:35 +02:00
parent 0f145eaebd
commit 30aa75dc8d
15 changed files with 350 additions and 8 deletions
@@ -0,0 +1,79 @@
+using NamedPipes;
+using NrxDebugVisualizer.Scenes;
+using Num.Roto.Visualization.Math.Geometry;
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Numerics;
+using System.Threading;
+using KontractFrame = System.ValueTuple<System.Numerics.Vector3, System.Numerics.Quaternion, float>;
+namespace NrxDebugVisualizer.Models;
+
+internal sealed class PipeServer
+{
+    private string PipeName { get; }
+    private NamedPipesServer? NamedPipesServer { get; set; }
+    public PipeServer(string pipeName, DebugVisualizerScene debuggerScene,CancellationToken cancellationToken)
+    {
+        PipeName = pipeName;
+        DebugVisualizerScene = debuggerScene;
+        StartPipeServer(cancellationToken);
+    }
+    private void NamedPipesServer_PropertyChanged(object? sender, System.ComponentModel.PropertyChangedEventArgs e)
+    {
+        if (e.PropertyName != nameof(NamedPipesServer.VisualizerModel)) return;
+        var visualizerObject = NamedPipesServer?.VisualizerModel;
+        if (visualizerObject is null) return;
+
+        SetPoint(visualizerObject.Point);
+        SetPointList(visualizerObject.PointArray);
+        SetFrame(visualizerObject.Frame);
+        SetFrameList(visualizerObject.FrameArray);
+    }
+
+    #region NamedPipesServer
+    private async void StartPipeServer(CancellationToken cancellationToken)
+    {
+            NamedPipesServer = new NamedPipesServer(PipeName, logger: Console.WriteLine);
+            NamedPipesServer.PropertyChanged += NamedPipesServer_PropertyChanged;
+            await NamedPipesServer.RunAsync(cancellationToken);         
+    }
+    #endregion
+
+    #region DebugVisualizerScene
+    private DebugVisualizerScene DebugVisualizerScene { get; }
+    private static Frame ToFrame(KontractFrame kontractFrame)
+    {
+        var (translation, orientation, scale) = kontractFrame;
+        return new Frame(translation, scale, orientation);
+    }
+    private static Frame[] ToFrameArray(IEnumerable<KontractFrame> frameList)
+    {
+        return [.. frameList.Select(ToFrame)];
+    }
+
+    private void SetPoint(Vector3? point)
+    {
+        if (point is null) return;
+        DebugVisualizerScene.AddPointGeometry(point.Value, 20f);
+    }
+
+    private void SetPointList(Vector3[]? pointList)
+    {
+        if (pointList == null || pointList.Length < 1) return;
+        DebugVisualizerScene.AddPointListGeometry(pointList, 5);
+    }
+
+    private void SetFrame(KontractFrame? kontractFrame)
+    {
+        if (kontractFrame is null) return;
+        DebugVisualizerScene.AddFrameGeometry(ToFrame(kontractFrame.Value), 1);
+    }
+
+    private void SetFrameList(KontractFrame[]? frameArray)
+    {
+        if (frameArray == null || frameArray.Length < 1) return;
+        DebugVisualizerScene.AddFrameListGeometry(ToFrameArray(frameArray), 1);
+    }
+    #endregion
+}