public void DrawZone(RsMechanicalUnit mechanicalUnit)
{
// Draw a part that cointaions a body (cylinder)
Part part = new Part();
Body cylinder = Body.CreateSolidCylinder(new Matrix4(new Vector3()), Decimal.ToDouble(_dimensions.Radius / 1000), Decimal.ToDouble(_dimensions.Height / 1000));
cylinder.Color = System.Drawing.Color.Purple;
part.Bodies.Add(cylinder);
// Get the base frame and modify only the translation part, this way the cylinder orientation is the same as the robots orientation
Matrix4 cylinderMatrix = mechanicalUnit.BaseFrame.GlobalMatrix;
cylinderMatrix.Translation = new Vector3(_dimensions.x, _dimensions.y, _dimensions.z);
// Drawing a temporary graphic requires it to be present in the station, therefore the part is added prior to it being drawn as a temorary graphic
// then immedietely removed from the station
Station.ActiveStation.GraphicComponents.Add(part);
TemporaryGraphic tg = Station.ActiveStation.TemporaryGraphics.DrawPart(cylinderMatrix, part, 0.3d);
Station.ActiveStation.GraphicComponents.Remove(part);
if (_CylinderGraphic != null)
{
Station.ActiveStation.TemporaryGraphics.Remove(_CylinderGraphic);
_CylinderGraphic.Delete();
}
_CylinderGraphic = tg;
}
public string CreateRapidZone(RsMechanicalUnit mechanicalUnit)
{
if (_boxGraphic == null)
{
return("");
}
// Get the translation of p1 in world coordinate system
Matrix4 p1Matrix = _boxGraphic.Matrix;
// Calculate the translation of p2 in world coordinate system
Matrix4 p2Matrix = p1Matrix;
p2Matrix.TranslateLocal(Decimal.ToDouble(_dimensions.Length / 1000), Decimal.ToDouble(_dimensions.Width / 1000), Decimal.ToDouble(_dimensions.Height / 1000));
// Transform to robot coordinate system
p1Matrix.Translation = p1Matrix.Translation.TransformPoint(Station.ActiveStation.Transform.GlobalMatrix, mechanicalUnit.BaseFrame.GlobalMatrix);
p2Matrix.Translation = p2Matrix.Translation.TransformPoint(Station.ActiveStation.Transform.GlobalMatrix, mechanicalUnit.BaseFrame.GlobalMatrix);
string rapidZone = "[";
rapidZone += (p1Matrix.Translation.x * 1000).ToString("0.00", CultureInfo.InvariantCulture) + ",";
rapidZone += (p1Matrix.Translation.y * 1000).ToString("0.00", CultureInfo.InvariantCulture) + ",";
rapidZone += (p1Matrix.Translation.z * 1000).ToString("0.00", CultureInfo.InvariantCulture) + "],[";
rapidZone += (p2Matrix.Translation.x * 1000).ToString("0.00", CultureInfo.InvariantCulture) + ",";
rapidZone += (p2Matrix.Translation.y * 1000).ToString("0.00", CultureInfo.InvariantCulture) + ",";
rapidZone += (p2Matrix.Translation.z * 1000).ToString("0.00", CultureInfo.InvariantCulture) + "]";
return(rapidZone);
}
public void DrawZone(RsMechanicalUnit mechanicalUnit)
{
// Draw a part that cointaions a body (sphere)
Part part = new Part();
Body sphere = Body.CreateSolidSphere(new Vector3(), Decimal.ToDouble(_dimensions.Radius / 1000));
sphere.Color = System.Drawing.Color.Purple;
part.Bodies.Add(sphere);
// Drawing a temporary graphic requires it to be present in the station, therefore the part is added prior to it being drawn as a temorary graphic
// then immedietely removed from the station
Matrix4 spherePosition = new Matrix4(new Vector3(_dimensions.x, _dimensions.y, _dimensions.z));
Station.ActiveStation.GraphicComponents.Add(part);
TemporaryGraphic tg = Station.ActiveStation.TemporaryGraphics.DrawPart(spherePosition, part, 0.3);
Station.ActiveStation.GraphicComponents.Remove(part);
if (_sphereGraphic != null)
{
Station.ActiveStation.TemporaryGraphics.Remove(_sphereGraphic);
_sphereGraphic.Delete();
}
_sphereGraphic = tg;
}
private void ZoneDimensionsChanged(object sender, ZoneDimensions.DimensionsChangedEventArgs args)
{
if (RobotCombobox.SelectedItem != null)
{
RsMechanicalUnit mechUnit = RobotCombobox.SelectedItem as RsMechanicalUnit;
args.zone.DrawZone(mechUnit);
args.oldZone?.DeleteZone();
InstructionRichTextBox.Text = args.zone.CreateRapidZone(mechUnit);
}
else
{
Logger.AddMessage("WZcalculator: Invalid selection", true);
}
}
private void ProjectObjectChanged(object sender, ProjectObjectChangedEventArgs e)
{
if (e.ChangedObject.GetType() == typeof(Mechanism))
{
if (e.ChangeType == ProjectObjectChangeType.Transform)
{
if (RobotCombobox.SelectedItem != null)
{
// Recreate the zone with the updated transform
RsMechanicalUnit selectedMechUnit = RobotCombobox.SelectedItem as RsMechanicalUnit;
zoneDimensions.GetCurrentZone().DrawZone(selectedMechUnit);
InstructionRichTextBox.Text = zoneDimensions.GetCurrentZone().CreateRapidZone(selectedMechUnit);
}
}
}
}
public string CreateRapidZone(RsMechanicalUnit mechanicalUnit)
{
if (_sphereGraphic == null)
{
return("");
}
// Transform the position of the sphere to the robots coordinate system
Vector3 sphereVector = _sphereGraphic.Matrix.Translation.TransformPoint(Station.ActiveStation.Transform.GlobalMatrix, mechanicalUnit.BaseFrame.GlobalMatrix);
// Build the rapid string
string rapidZone = "[";
rapidZone += (sphereVector.x * 1000).ToString("0.00", CultureInfo.InvariantCulture) + ",";
rapidZone += (sphereVector.y * 1000).ToString("0.00", CultureInfo.InvariantCulture) + ",";
rapidZone += (sphereVector.z * 1000).ToString("0.00", CultureInfo.InvariantCulture) + "],";
rapidZone += _dimensions.Radius;
return(rapidZone);
}
public void DrawZone(RsMechanicalUnit mechanicalUnit)
{
// Find the orientation of the robot base frame
Vector3 orientationVector = mechanicalUnit.BaseFrame.GlobalMatrix.EulerZYX;
// Create a Matrix4 with the same orientation as the robot base frame and the translation of the first corner of the box
Vector3 boxTranslation = new Vector3(_dimensions.x, _dimensions.y, _dimensions.z);
Matrix4 boxPosition = new Matrix4(boxTranslation, orientationVector);
// Create a Vector3 that contains the dimensions
Vector3 dimensionVector = new Vector3()
{
x = Decimal.ToDouble(_dimensions.Length) / 1000,
y = Decimal.ToDouble(_dimensions.Width) / 1000,
z = Decimal.ToDouble(_dimensions.Height) / 1000
};
// Draw a part that contains a box (body)
Part part = new Part();
Body box = Body.CreateSolidBox(new Matrix4(new Vector3()), dimensionVector);
box.Color = Color.Purple;
part.Bodies.Add(box);
// Drawing a temporary graphic requires it to be present in the station, therefore the part is added prior to it being drawn as a temorary graphic
// then immedietely removed from the station
Station.ActiveStation.GraphicComponents.Add(part);
TemporaryGraphic tg = Station.ActiveStation.TemporaryGraphics.DrawPart(boxPosition, part, 0.3);
Station.ActiveStation.GraphicComponents.Remove(part);
if (_boxGraphic != null)
{
Station.ActiveStation.TemporaryGraphics.Remove(_boxGraphic);
_boxGraphic.Delete();
}
_boxGraphic = tg;
}
private void RobotCombobox_SelectedIndexChanged(object sender, EventArgs e)
{
if (RobotCombobox.SelectedItem != null)
{
if (_lastSelectedMechUnit != null)
{
Selection.SelectedObjects.Remove(_lastSelectedMechUnit);
}
RsMechanicalUnit mech = RobotCombobox.SelectedItem as RsMechanicalUnit;
// Recreate the zone with the new robot
zoneDimensions.GetCurrentZone().DrawZone(mech);
InstructionRichTextBox.Text = zoneDimensions.GetCurrentZone().CreateRapidZone(mech);
// Only highlight the robot if the stations cointains more than 1 robots
if (RobotCombobox.Items.Count > 1)
{
Selection.SelectedObjects.Add(mech.Mechanism);
_lastSelectedMechUnit = mech.Mechanism;
}
}
}
public string CreateRapidZone(RsMechanicalUnit mechanicalUnit)
{
if (_CylinderGraphic == null)
{
return("");
}
// Transform cylinder position to the robots coordinate system
Vector3 transformedVector = new Vector3(_dimensions.x, _dimensions.y, _dimensions.z);
transformedVector = transformedVector.TransformPoint(Station.ActiveStation.Transform.GlobalMatrix, mechanicalUnit.BaseFrame.GlobalMatrix);
// Zone is declared as [x,y,z,R,H] where R is radius in mm and H is height in mm
string rapidZone = "[";
rapidZone += (transformedVector.x * 1000).ToString("0.00", CultureInfo.InvariantCulture) + ",";
rapidZone += (transformedVector.y * 1000).ToString("0.00", CultureInfo.InvariantCulture) + ",";
rapidZone += (transformedVector.z * 1000).ToString("0.00", CultureInfo.InvariantCulture) + "],";
rapidZone += _dimensions.Radius + ",";
rapidZone += _dimensions.Height;
return(rapidZone);
}
