public CyPhy.KinematicJoint CyphyJoint; // The original joint
public KinematicJoint(CyPhy.KinematicJoint kJoint)
{
CyphyJoint = kJoint;
JointType = GetJointType(kJoint);
Name = kJoint.Name;
CyPhyID = kJoint.ID;
// TODO: Error handling - many things can go wrong here
if (kJoint is CyPhy.HasKinematicRotationalLimit)
{
foreach (var limit in (kJoint as CyPhy.HasKinematicRotationalLimit).SrcConnections.KinematicRotationalLimitCollection)
{
if (limit.Attributes.LimitType == CyPhyClasses.KinematicRotationalLimit.AttributesClass.LimitType_enum.Default)
{
RotationLimitDefault = Double.Parse(limit.SrcEnds.Parameter.Attributes.Value);
}
else if (limit.Attributes.LimitType == CyPhyClasses.KinematicRotationalLimit.AttributesClass.LimitType_enum.Max)
{
RotationLimitMax = Double.Parse(limit.SrcEnds.Parameter.Attributes.Value);
}
else if (limit.Attributes.LimitType == CyPhyClasses.KinematicRotationalLimit.AttributesClass.LimitType_enum.Min)
{
RotationLimitMin = Double.Parse(limit.SrcEnds.Parameter.Attributes.Value);
}
}
}
if (kJoint is CyPhy.HasKinematicTranslationalLimit)
{
foreach (var limit in (kJoint as CyPhy.HasKinematicTranslationalLimit).DstConnections.KinematicTranslationallLimitCollection)
{
if (limit.Attributes.LimitType == CyPhyClasses.KinematicTranslationallLimit.AttributesClass.LimitType_enum.Default)
{
TranslationLimitDefault = Double.Parse(limit.DstEnds.Parameter.Attributes.Value);
}
else if (limit.Attributes.LimitType == CyPhyClasses.KinematicTranslationallLimit.AttributesClass.LimitType_enum.Max)
{
TranslationLimitMax = Double.Parse(limit.DstEnds.Parameter.Attributes.Value);
}
else if (limit.Attributes.LimitType == CyPhyClasses.KinematicTranslationallLimit.AttributesClass.LimitType_enum.Min)
{
TranslationLimitMin = Double.Parse(limit.DstEnds.Parameter.Attributes.Value);
}
}
}
if (!String.IsNullOrEmpty(kJoint.Attributes.GeometricMarker))
{
Marker = new GeometryMarkerRep(kJoint.Attributes.GeometricMarker);
if (kJoint.ParentContainer.ParentContainer.Kind == "Component")
{
Marker.ComponentID = CyPhyClasses.Component.Cast(kJoint.ParentContainer.ParentContainer.Impl).Attributes.InstanceGUID;
}
}
}
KinematicJointType GetJointType(CyPhy.KinematicJoint joint)
{
if (joint is CyPhy.KinematicCylindricalJoint)
{
return(KinematicJointType.CYLINDRICAL);
}
else if (joint is CyPhy.KinematicTranslationalJoint)
{
return(KinematicJointType.PRISMATIC);
}
else if (joint is CyPhy.KinematicRevoluteJoint)
{
return(KinematicJointType.REVOLUTE);
}
else if (joint is CyPhy.KinematicSphericalJoint)
{
return(KinematicJointType.SPHERICAL);
}
else
{
return(KinematicJointType.UNDEFINED);
}
}
public override void TraverseTestBench(CyPhy.TestBenchType testBenchBase)
{
CyPhy.KinematicTestBench testBench = testBenchBase as CyPhy.KinematicTestBench;
if (testBench == null)
{
testBench = CyPhyClasses.KinematicTestBench.Cast(testBenchBase.Impl);
}
base.TraverseTestBench(testBenchBase);
//NonSTEP_DataExchangeFormats.Add("Parasolid");
Name = testBench.Name;
SimulationStep = testBench.Attributes.SimulationResolution;
SimulationTime = testBench.Attributes.Duration;
if (testBench.Children.GravityLoadCollection.Any())
{
CyPhy.GravityLoad load = testBench.Children.GravityLoadCollection.First();
double x = 0;
double y = 0;
double z = 0;
GetGravityLoadParam(load, "X", out x);
GetGravityLoadParam(load, "Y", out y);
GetGravityLoadParam(load, "Z", out z);
Gravity = new KinematicGravity(x, y, z, load.Attributes.Active);
}
var terrain = testBench.Children.ComponentRefCollection.Where(c => ((MgaFCO)c.Impl).MetaRole.Name == "Terrain");
if (terrain.Any())
{
CyPhy.Component terraincomp = terrain.First().AllReferred as CyPhy.Component;
if (terraincomp == null)
{
Logger.Instance.AddLogMessage("Terrain component reference must refer to a cyphy component.", Severity.Error);
return;
}
if (!terraincomp.Children.CADModelCollection.Any())
{
Logger.Instance.AddLogMessage("Terrain component must contain a CAD model.", Severity.Error);
return;
}
TerrainFileName = terraincomp.Children.ResourceCollection.First().Attributes.Path;
try
{
File.Copy(Path.Combine(terraincomp.GetDirectoryPath(), TerrainFileName), Path.Combine(OutputDirectory, Path.GetFileName(TerrainFileName)));
}
catch (Exception e)
{
Logger.Instance.AddLogMessage("Unable to copy terrain file: " + e.Message, Severity.Warning);
}
TerrainFileName = Path.GetFileNameWithoutExtension(TerrainFileName);
}
else
{
if (testBench.Children.AnchorCollection.Any())
{
CyPhy.Anchor anchor = testBench.Children.AnchorCollection.First();
var pointList = anchor
.DstConnections
.SetAnchorCollection
.Select(x => x.DstEnds.Point)
.Concat(anchor
.SrcConnections
.SetAnchorCollection
.Select(x => x.SrcEnds.Point));
if (!pointList.Any())
{
Logger.Instance.AddLogMessage("Anchor is not connected to a point. Anchor should be connected to a datum point on one of the components.", Severity.Error);
return;
}
var point = pointList.First();
PointMetricTraversal traverser = new PointMetricTraversal(point);
foreach (var pointFound in traverser.portsFound)
{
string name = (pointFound as CyPhy.Point).Attributes.DatumName;
string componentID = CyPhyClasses.Component.Cast((pointFound as CyPhy.Point).ParentContainer.ParentContainer.Impl).Attributes.InstanceGUID;
StaticAnalysisMetrics.Add(new TBComputation()
{
ComponentID = componentID, Details = name, MetricID = "Anchor", ComputationType = TBComputation.Type.POINTCOORDINATES, RequestedValueType = "Vector"
});
//Computations.Add(new TBComputation() { ComponentID = componentID, FeatureDatumName = name, MetricID = "Anchor", ComputationType = TBComputation.Type.POINTCOORDINATES, RequestedValueType = "Vector" });
GroundCyphyID = componentID;
}
}
else
{
Logger.Instance.AddLogMessage("Anchor not found. There should be exactly one anchor in the testbench, to specify which body is fixed to the ground in the kinematic simnulation.", Severity.Error);
return;
}
}
foreach (var motion in testBench.Children.MotionLoadCollection)
{
var connectorList = motion
.SrcConnections
.ApplyMotionToJointCollection
.Select(x => x.SrcEnds.Connector)
.Concat(motion
.DstConnections
.ApplyMotionToJointCollection
.Select(x => x.DstEnds.Connector)
);
var toplevelSUT = testBench.Children.ComponentAssemblyCollection.FirstOrDefault();
foreach (var connector in connectorList)
{
OriginatingConnectorTraversal traverser = new OriginatingConnectorTraversal(connector);
if (traverser.result != null)
{
CyPhy.KinematicJoint joint = GetJoint(traverser.result);
if (joint != null)
{
Multibody.ModelLoadsMotion mbdMotion = new Multibody.ModelLoadsMotion();
mbdMotion.Active = (motion.Attributes.Active) ? Multibody.ModelLoadsMotionActive.on : Multibody.ModelLoadsMotionActive.off;
mbdMotion.FreedomType = (Multibody.ModelLoadsMotionFreedomType)((int)motion.Attributes.JointFreedomType);
mbdMotion.Function = motion.Attributes.CustomFunction;
mbdMotion.JointID = cadDataContainer.GetJointIDFromGMEID(joint.ID);
mbdMotion.MotionID = motion.Name;
mbdMotion.TimeDerivative = (Multibody.ModelLoadsMotionTimeDerivative)((int)motion.Attributes.TimeDerivative);
mbdMotion.Type = "JointMotion";
MotionList.Add(mbdMotion);
}
else
{
Logger.Instance.AddLogMessage("Kinematic motion is connected to a connector without joint information: " + connector.ToHyperLink(), Severity.Error);
}
}
}
}
if (testBench.Children.AdamsScriptCollection.Any())
{
Scripts = new List <Multibody.ModelScript>();
foreach (var script in testBench.Children.AdamsScriptCollection)
{
Scripts.Add(new Multibody.ModelScript()
{
Path = script.Attributes.Path
});
}
}
ProcessContacts(testBench);
}
public CyPhy.KinematicJoint CyphyJoint; // The original joint
public KinematicJoint(CyPhy.KinematicJoint kJoint)
{
CyphyJoint = kJoint;
JointType = GetJointType(kJoint);
Name = kJoint.Name;
CyPhyID = kJoint.ID;
// TODO: Error handling - many things can go wrong here
if (kJoint is CyPhy.HasKinematicRotationalLimit)
{
foreach (var limit in (kJoint as CyPhy.HasKinematicRotationalLimit).SrcConnections.KinematicRotationalLimitCollection)
{
if (limit.Attributes.LimitType == CyPhyClasses.KinematicRotationalLimit.AttributesClass.LimitType_enum.Default)
{
RotationLimitDefault = Double.Parse(limit.SrcEnds.Parameter.Attributes.Value);
}
else if (limit.Attributes.LimitType == CyPhyClasses.KinematicRotationalLimit.AttributesClass.LimitType_enum.Max)
{
RotationLimitMax = Double.Parse(limit.SrcEnds.Parameter.Attributes.Value);
}
else if (limit.Attributes.LimitType == CyPhyClasses.KinematicRotationalLimit.AttributesClass.LimitType_enum.Min)
{
RotationLimitMin = Double.Parse(limit.SrcEnds.Parameter.Attributes.Value);
}
}
}
if (kJoint is CyPhy.HasKinematicTranslationalLimit)
{
foreach (var limit in (kJoint as CyPhy.HasKinematicTranslationalLimit).DstConnections.KinematicTranslationallLimitCollection)
{
if (limit.Attributes.LimitType == CyPhyClasses.KinematicTranslationallLimit.AttributesClass.LimitType_enum.Default)
{
TranslationLimitDefault = Double.Parse(limit.DstEnds.Parameter.Attributes.Value);
}
else if (limit.Attributes.LimitType == CyPhyClasses.KinematicTranslationallLimit.AttributesClass.LimitType_enum.Max)
{
TranslationLimitMax = Double.Parse(limit.DstEnds.Parameter.Attributes.Value);
}
else if (limit.Attributes.LimitType == CyPhyClasses.KinematicTranslationallLimit.AttributesClass.LimitType_enum.Min)
{
TranslationLimitMin = Double.Parse(limit.DstEnds.Parameter.Attributes.Value);
}
}
}
if (!String.IsNullOrEmpty(kJoint.Attributes.GeometricMarker))
{
Marker = new GeometryMarkerRep(kJoint.Attributes.GeometricMarker);
if (kJoint.ParentContainer.ParentContainer.Kind == "Component")
{
Marker.ComponentID = CyPhyClasses.Component.Cast(kJoint.ParentContainer.ParentContainer.Impl).Attributes.InstanceGUID;
}
}
}
