SampleApp.MainForm.MainForm_Load C# (CSharp) Method

        private void MainForm_Load(object sender, EventArgs e)
        {
            // Ok, let's start to build our virtual robot arm !

            model = new DenavitHartenbergModel(new Vector3(0, 0, 0));

            // Add the first joint 
            model.Joints.Add(alpha: 0, theta: Math.PI / 4, radius: 35, offset: 0);

            // Add the second joint
            model.Joints.Add(alpha: 0, theta: -Math.PI / 3, radius: 35, offset: 0);

            // Create the top finger
            model_tgripper = new DenavitHartenbergModel();
            model_tgripper.Joints.Add(alpha: 0, theta: Math.PI / 4, radius: 20, offset: 0);
            model_tgripper.Joints.Add(alpha: 0, theta: -Math.PI / 3, radius: 20, offset: 0);

            // Create the bottom finger
            model_bgripper = new DenavitHartenbergModel();
            model_bgripper.Joints.Add(alpha: 0, theta: -Math.PI / 4, radius: 20, offset: 0);
            model_bgripper.Joints.Add(alpha: 0, theta: Math.PI / 3, radius: 20, offset: 0);

            // Create the model combinator from the parent model
            arm = new DenavitHartenbergNode(model);

            // Add the top finger
            arm.Children.Add(model_tgripper);

            // Add the bottom finger
            arm.Children.Add(model_bgripper);

            // Calculate the whole model (parent model + children models)
            arm.Compute();

            // Create the model visualizer
            viewer = new DenavitHartenbergViewer(pictureBox1.Width, pictureBox1.Height);

            // Assign each projection image of the model to a picture box
            pictureBox1.Image = viewer.PlaneXY;
            pictureBox2.Image = viewer.PlaneXZ;
            pictureBox3.Image = viewer.PlaneYZ;

            // Start the animation
            timer1.Interval = 40;
            timer1.Enabled = true;
        }