// public bool childIsTheOne;
public SkeletalJoint(CustomRigidGroup parent, CustomRigidJoint rigidJoint)
{
if (rigidJoint.joints.Count != 1)
{
throw new Exception("Not a proper joint");
}
asmJoint = rigidJoint.joints[0].Definition;
asmJointOccurrence = rigidJoint.joints[0];
childGroup = null;
parentGroup = parent;
this.rigidJoint = rigidJoint;
if (rigidJoint.groupOne.Equals(parent))
{
childGroup = rigidJoint.groupTwo;
}
else if (rigidJoint.groupTwo.Equals(parent))
{
childGroup = rigidJoint.groupOne;
}
else
{
throw new Exception("Couldn't match parent group");
}
if (childGroup == null)
{
throw new Exception("Not a proper joint: No child joint found");
}
/*childIsTheOne = childGroup.Contains(asmJointOccurrence.AffectedOccurrenceOne);
* if (!childIsTheOne && !childGroup.Contains(asmJointOccurrence.AffectedOccurrenceTwo))
* {
* throw new Exception("Expected child not found inside assembly joint.");
* }*/
}
//private FindPartMatches
public RotationalJoint(CustomRigidGroup parent, CustomRigidJoint rigidJoint)
{
if (!(IsRotationalJoint(rigidJoint)))
{
throw new Exception("Not a rotational joint");
}
wrapped = new SkeletalJoint(parent, rigidJoint);
try
{
axis = Utilities.ToBXDVector(rigidJoint.geomOne.Normal);
basePoint = Utilities.ToBXDVector(rigidJoint.geomOne.Center);
}
catch
{
axis = Utilities.ToBXDVector(rigidJoint.geomOne.Direction);
basePoint = Utilities.ToBXDVector(rigidJoint.geomOne.RootPoint);
}
hasAngularLimit = wrapped.asmJoint.HasAngularPositionLimits;
if ((hasAngularLimit))
{
angularLimitLow = (float)wrapped.asmJoint.AngularPositionStartLimit.Value;
angularLimitHigh = (float)wrapped.asmJoint.AngularPositionEndLimit.Value;
}
currentAngularPosition = !((wrapped.asmJoint.AngularPosition == null)) ? (float)wrapped.asmJoint.AngularPosition.Value : 0;
}
public LinearJoint(CustomRigidGroup parent, CustomRigidJoint rigidJoint)
{
Console.WriteLine(rigidJoint);
if (!(IsLinearJoint(rigidJoint)))
{
throw new Exception("Not a linear joint");
}
wrapped = new SkeletalJoint(parent, rigidJoint);
if (wrapped.childGroup == rigidJoint.groupOne)
{
axis = Utilities.ToBXDVector(rigidJoint.geomTwo.Direction);
basePoint = Utilities.ToBXDVector(rigidJoint.geomTwo.RootPoint);
}
else
{
axis = Utilities.ToBXDVector(rigidJoint.geomOne.Direction);
basePoint = Utilities.ToBXDVector(rigidJoint.geomOne.RootPoint);
}
if ((hasUpperLimit = wrapped.asmJoint.HasLinearPositionEndLimit) && (hasLowerLimit = wrapped.asmJoint.HasLinearPositionStartLimit))
{
linearLimitHigh = (float)wrapped.asmJoint.LinearPositionEndLimit.Value;
linearLimitLow = (float)wrapped.asmJoint.LinearPositionStartLimit.Value;
}
else
{
throw new Exception("Joints with linear motion need two limits.");
}
currentLinearPosition = !((wrapped.asmJoint.LinearPosition == null)) ? ((float)wrapped.asmJoint.LinearPosition.Value) : 0;
}
public static bool IsPlanarJoint(CustomRigidJoint jointI)
{
if (jointI.joints.Count == 1)
{
AssemblyJointDefinition joint = jointI.joints[0].Definition;
return(joint.JointType == AssemblyJointTypeEnum.kPlanarJointType);
}
return(false);
}
public CylindricalJoint(CustomRigidGroup parent, CustomRigidJoint rigidJoint)
{
if (!(IsCylindricalJoint(rigidJoint)))
{
throw new Exception("Not a Cylindrical joint");
}
wrapped = new SkeletalJoint(parent, rigidJoint);
ReloadInventorJoint();
}
public static bool IsCylindricalJoint(CustomRigidJoint jointI)
{
// kMateLineLineJoint
if (jointI.joints.Count == 1)
{
AssemblyJointDefinition joint = jointI.joints[0].Definition;
return(joint.JointType == AssemblyJointTypeEnum.kCylindricalJointType);
}
return(false);
}
public PlanarJoint(CustomRigidGroup parent, CustomRigidJoint rigidJoint)
{
if (!(IsPlanarJoint(rigidJoint)))
{
throw new Exception("Not a planar joint");
}
wrapped = new SkeletalJoint(parent, rigidJoint);
ReloadInventorJoint();
}
public static bool IsBallJoint(CustomRigidJoint jointI)
{
if (jointI.joints.Count == 1)
{
AssemblyJointDefinition joint = jointI.joints[0].Definition;
//Checks if there is no linear motion allowed.
return(joint.JointType == AssemblyJointTypeEnum.kBallJointType);
}
return(false);
}
public BallJoint(CustomRigidGroup parent, CustomRigidJoint rigidJoint)
{
if (!(IsBallJoint(rigidJoint)))
{
throw new Exception("Not a rotational joint");
}
wrapped = new SkeletalJoint(parent, rigidJoint);
basePoint = Utilities.ToBXDVector(rigidJoint.geomOne);
}
public LinearJoint(CustomRigidGroup parent, CustomRigidJoint rigidJoint)
{
Console.WriteLine(rigidJoint);
if (!(IsLinearJoint(rigidJoint)))
{
throw new Exception("Not a linear joint");
}
wrapped = new SkeletalJoint(parent, rigidJoint);
ReloadInventorJoint();
}
public static bool IsLinearJoint(CustomRigidJoint jointI)
{
// kTranslationalJoint
if (jointI.joints.Count == 1)
{
AssemblyJointDefinition joint = jointI.joints[0].Definition;
//Cylindrical joints with no rotaion are effectively sliding joints.
return(joint.JointType == AssemblyJointTypeEnum.kSlideJointType ||
(joint.JointType == AssemblyJointTypeEnum.kCylindricalJointType &&
joint.HasAngularPositionLimits && joint.AngularPositionStartLimit.Value == joint.AngularPositionEndLimit.Value));
}
return(false);
}
public static bool IsRotationalJoint(CustomRigidJoint jointI)
{
// RigidBodyJointType = kConcentricCircleCircleJoint
if (jointI.jointBased && jointI.joints.Count == 1)
{
AssemblyJointDefinition joint = jointI.joints[0].Definition;
//Checks if there is no linear motion allowed.
return(joint.JointType == AssemblyJointTypeEnum.kRotationalJointType ||
(joint.JointType == AssemblyJointTypeEnum.kCylindricalJointType &&
joint.HasLinearPositionStartLimit && joint.HasLinearPositionEndLimit &&
joint.LinearPositionStartLimit.Value == joint.LinearPositionEndLimit.Value));
}
return(false);
}
public CylindricalJoint(CustomRigidGroup parent, CustomRigidJoint rigidJoint)
{
if (!(IsCylindricalJoint(rigidJoint)))
{
throw new Exception("Not a Cylindrical joint");
}
wrapped = new SkeletalJoint(parent, rigidJoint);
if (wrapped.childGroup == rigidJoint.groupOne)
{
axis = Utilities.ToBXDVector(rigidJoint.geomTwo.Direction);
basePoint = Utilities.ToBXDVector(rigidJoint.geomTwo.RootPoint);
}
else
{
axis = Utilities.ToBXDVector(rigidJoint.geomOne.Direction);
basePoint = Utilities.ToBXDVector(rigidJoint.geomOne.RootPoint);
}
currentLinearPosition = wrapped.asmJoint.LinearPosition != null ? (float)wrapped.asmJoint.LinearPosition.Value : 0;
hasAngularLimit = wrapped.asmJoint.HasAngularPositionLimits;
if (hasAngularLimit)
{
angularLimitLow = (float)wrapped.asmJoint.AngularPositionStartLimit.Value;
angularLimitHigh = (float)wrapped.asmJoint.AngularPositionEndLimit.Value;
}
currentAngularPosition = wrapped.asmJoint.AngularPosition != null ? (float)wrapped.asmJoint.AngularPosition.Value : 0;
hasLinearStartLimit = wrapped.asmJoint.HasLinearPositionStartLimit;
hasLinearEndLimit = wrapped.asmJoint.HasLinearPositionEndLimit;
if (hasLinearStartLimit && hasLinearEndLimit)
{
linearLimitStart = (float)wrapped.asmJoint.LinearPositionStartLimit.Value;
linearLimitEnd = (float)wrapped.asmJoint.LinearPositionEndLimit.Value;
}
else
{
throw new Exception("Joints with linear motion need two limits.");
}
wrapped.asmJoint.LinearPosition = wrapped.asmJoint.LinearPosition;
}
public PlanarJoint(CustomRigidGroup parent, CustomRigidJoint rigidJoint)
{
if (!(IsPlanarJoint(rigidJoint)))
{
throw new Exception("Not a planar joint");
}
wrapped = new SkeletalJoint(parent, rigidJoint);
if (wrapped.childGroup == rigidJoint.groupOne)
{
normal = Utilities.ToBXDVector(rigidJoint.geomTwo.Normal);
basePoint = Utilities.ToBXDVector(rigidJoint.geomTwo.RootPoint);
}
else
{
normal = Utilities.ToBXDVector(rigidJoint.geomOne.Normal);
basePoint = Utilities.ToBXDVector(rigidJoint.geomOne.RootPoint);
}
}
public static SkeletalJoint_Base Create(CustomRigidJoint rigidJoint, CustomRigidGroup parent)
{
if (RotationalJoint.IsRotationalJoint(rigidJoint))
{
return(new RotationalJoint(parent, rigidJoint));
}
if (LinearJoint.IsLinearJoint(rigidJoint))
{
return(new LinearJoint(parent, rigidJoint));
}
if (CylindricalJoint.IsCylindricalJoint(rigidJoint))
{
return(new CylindricalJoint(parent, rigidJoint));
}
if (PlanarJoint.IsPlanarJoint(rigidJoint))
{
return(new PlanarJoint(parent, rigidJoint));
}
if (BallJoint.IsBallJoint(rigidJoint))
{
return(new BallJoint(parent, rigidJoint));
}
return(null);
}
