public void StoreToSelection(SelectionMgr swSelMgr, ref AttributeDef mdefattr_chbody)//, ref AttributeDef defattr_chconveyor)
{
System.Windows.Forms.MessageBox.Show("StoreToSelection()");
// If user pressed OK, apply settings to all selected parts (i.e. ChBody in C::E):
for (int isel = 1; isel <= swSelMgr.GetSelectedObjectCount2(-1); isel++)
{
if ((swSelectType_e)swSelMgr.GetSelectedObjectType3(isel, -1) == swSelectType_e.swSelCOMPONENTS)
{
Component2 swPart = (Component2)swSelMgr.GetSelectedObject6(isel, -1);
ModelDoc2 swPartModel = (ModelDoc2)swPart.GetModelDoc();
// fetch SW attribute with Chrono parameters for ChBody
SolidWorks.Interop.sldworks.Attribute myattr = (SolidWorks.Interop.sldworks.Attribute)swPart.FindAttribute(mdefattr_chbody, 0);
if (myattr == null)
{
// if not already added to part, create and attach it
myattr = mdefattr_chbody.CreateInstance5(swPartModel, swPart, "Chrono ChBody data", 0, (int)swInConfigurationOpts_e.swThisConfiguration);
swPartModel.ForceRebuild3(false); // needed?
if (myattr == null)
{
System.Windows.Forms.MessageBox.Show("myattr null in setting!!");
}
}
((Parameter)myattr.GetParameter("collision_on")).SetDoubleValue2(
Convert.ToDouble(m_collide), (int)swInConfigurationOpts_e.swThisConfiguration, "");
((Parameter)myattr.GetParameter("friction")).SetDoubleValue2(
m_friction, (int)swInConfigurationOpts_e.swThisConfiguration, "");
((Parameter)myattr.GetParameter("rolling_friction")).SetDoubleValue2(
m_rolling_friction, (int)swInConfigurationOpts_e.swThisConfiguration, "");
((Parameter)myattr.GetParameter("spinning_friction")).SetDoubleValue2(
m_spinning_friction, (int)swInConfigurationOpts_e.swThisConfiguration, "");
((Parameter)myattr.GetParameter("restitution")).SetDoubleValue2(
m_restitution, (int)swInConfigurationOpts_e.swThisConfiguration, "");
((Parameter)myattr.GetParameter("collision_margin")).SetDoubleValue2(
m_collision_margin, (int)swInConfigurationOpts_e.swThisConfiguration, "");
((Parameter)myattr.GetParameter("collision_envelope")).SetDoubleValue2(
m_collision_envelope, (int)swInConfigurationOpts_e.swThisConfiguration, "");
((Parameter)myattr.GetParameter("collision_family")).SetDoubleValue2(
(double)m_collision_family, (int)swInConfigurationOpts_e.swThisConfiguration, "");
/*
* // fetch SW attribute with Chrono parameters for ChConveyor
* SolidWorks.Interop.sldworks.Attribute myattr_conveyor = (SolidWorks.Interop.sldworks.Attribute)swPart.FindAttribute(defattr_chconveyor, 0);
* if (myattr_conveyor == null)
* {
* // if not already added to part, create and attach it
* myattr_conveyor = defattr_chconveyor.CreateInstance5(swPartModel, swPart, "Chrono ChConveyor data", 0, (int)swInConfigurationOpts_e.swThisConfiguration);
* if (myattr_conveyor == null)
* System.Windows.Forms.MessageBox.Show("myattr null in setting!!");
* }
*
* ((Parameter)myattr_conveyor.GetParameter("conveyor_speed")).SetDoubleValue2(
* m_conveyor_speed, (int)swInConfigurationOpts_e.swThisConfiguration, "");
*/
}
}
}
public void UpdateFromSelection(SelectionMgr swSelMgr, ref AttributeDef mdefattr_chbody)//, ref AttributeDef defattr_chconveyor)
{
// Fetch current properties from the selected part(s) (i.e. ChBody in C::E)
for (int isel = 1; isel <= swSelMgr.GetSelectedObjectCount2(-1); isel++)
{
if ((swSelectType_e)swSelMgr.GetSelectedObjectType3(isel, -1) == swSelectType_e.swSelCOMPONENTS)
{
Component2 swPart = (Component2)swSelMgr.GetSelectedObject6(isel, -1);
ModelDoc2 swPartModel = (ModelDoc2)swPart.GetModelDoc();
// fetch SW attribute with Chrono parameters for ChBody
SolidWorks.Interop.sldworks.Attribute myattr = (SolidWorks.Interop.sldworks.Attribute)swPart.FindAttribute(mdefattr_chbody, 0);
if (myattr == null)
{
// if not already added to part, create and attach it
myattr = mdefattr_chbody.CreateInstance5(swPartModel, swPart, "Chrono::ChBody_data", 0, (int)swInConfigurationOpts_e.swAllConfiguration);
if (myattr.GetEntityState((int)swAssociatedEntityStates_e.swIsEntityInvalid))
{
System.Windows.Forms.MessageBox.Show("swIsEntityInvalid!");
}
if (myattr.GetEntityState((int)swAssociatedEntityStates_e.swIsEntitySuppressed))
{
System.Windows.Forms.MessageBox.Show("swIsEntitySuppressed!");
}
if (myattr.GetEntityState((int)swAssociatedEntityStates_e.swIsEntityAmbiguous))
{
System.Windows.Forms.MessageBox.Show("swIsEntityAmbiguous!");
}
if (myattr.GetEntityState((int)swAssociatedEntityStates_e.swIsEntityDeleted))
{
System.Windows.Forms.MessageBox.Show("swIsEntityDeleted!");
}
swPartModel.ForceRebuild3(false); // needed?
}
Set_collision_on(Convert.ToBoolean(((Parameter)myattr.GetParameter(
"collision_on")).GetDoubleValue()));
Set_friction(((Parameter)myattr.GetParameter(
"friction")).GetDoubleValue());
Set_rolling_friction(((Parameter)myattr.GetParameter(
"rolling_friction")).GetDoubleValue());
Set_spinning_friction(((Parameter)myattr.GetParameter(
"spinning_friction")).GetDoubleValue());
Set_restitution(((Parameter)myattr.GetParameter(
"restitution")).GetDoubleValue());
Set_collision_envelope(((Parameter)myattr.GetParameter(
"collision_envelope")).GetDoubleValue());
Set_collision_margin(((Parameter)myattr.GetParameter(
"collision_margin")).GetDoubleValue());
Set_collision_family((int)((Parameter)myattr.GetParameter(
"collision_family")).GetDoubleValue());
// fetch SW attribute with Chrono parameters for ChConveyor
/*
* SolidWorks.Interop.sldworks.Attribute myattr_conv = (SolidWorks.Interop.sldworks.Attribute)swPart.FindAttribute(defattr_chconveyor, 0);
* if (myattr_conv == null)
* {
* // if not already added to part, create and attach it
* //myattr_conv = defattr_chconveyor.CreateInstance5(swPartModel, swPart, "Chrono::ChConveyor_data", 0, (int)swInConfigurationOpts_e.swThisConfiguration);
* }
*/
/*
* // fetch SW attribute with Chrono parameters for ChConveyor (if any!)
* SolidWorks.Interop.sldworks.Attribute myattr_conveyor = (SolidWorks.Interop.sldworks.Attribute)swPart.FindAttribute(defattr_chconveyor, 0);
* if (myattr_conveyor != null)
* {
* show_conveyor_params = true;
*
* Set_conveyor_speed(((Parameter)myattr_conveyor.GetParameter(
* "conveyor_speed")).GetDoubleValue());
* }
*/
}
}
}
public void PythonTraverseFeatures_for_collshapes(Component2 swComp, long nLevel, ref string asciitext, int nbody, ref MathTransform chbodytransform, ref bool found_collisionshapes, Component2 swCompBase)
{
CultureInfo bz = new CultureInfo("en-BZ");
Feature swFeat;
swFeat = (Feature)swComp.FirstFeature();
String bodyname = "body_" + nbody;
MathTransform subcomp_transform = swComp.GetTotalTransform(true);
MathTransform invchbody_trasform = (MathTransform)chbodytransform.Inverse();
MathTransform collshape_subcomp_transform = subcomp_transform.IMultiply(invchbody_trasform); // row-ordered transf. -> reverse mult.order!
// Export collision shapes
if (this.checkBox_collshapes.Checked)
{
object[] bodies;
object bodyInfo;
bodies = (object[])swComp.GetBodies3((int)swBodyType_e.swAllBodies, out bodyInfo);
if (bodies != null)
{
// see if it contains some collision shape
bool build_collision_model = false;
for (int ib = 0; ib < bodies.Length; ib++)
{
Body2 swBody = (Body2)bodies[ib];
if (swBody.Name.StartsWith("COLL."))
build_collision_model = true;
}
if (build_collision_model)
{
if (!found_collisionshapes)
{
found_collisionshapes = true;
// fetch SW attribute with Chrono parameters
SolidWorks.Interop.sldworks.Attribute myattr = (SolidWorks.Interop.sldworks.Attribute)swCompBase.FindAttribute(this.mSWintegration.defattr_chbody, 0);
if (myattr != null)
{
asciitext += "\n# Collision parameters \n";
double param_friction = ((Parameter)myattr.GetParameter("friction")).GetDoubleValue();
double param_restitution = ((Parameter)myattr.GetParameter("restitution")).GetDoubleValue();
double param_rolling_friction = ((Parameter)myattr.GetParameter("rolling_friction")).GetDoubleValue();
double param_spinning_friction = ((Parameter)myattr.GetParameter("spinning_friction")).GetDoubleValue();
double param_collision_envelope = ((Parameter)myattr.GetParameter("collision_envelope")).GetDoubleValue();
double param_collision_margin = ((Parameter)myattr.GetParameter("collision_margin")).GetDoubleValue();
int param_collision_family = (int)((Parameter)myattr.GetParameter("collision_family")).GetDoubleValue();
asciitext += String.Format(bz, "{0}.SetFriction({1:g});\n", bodyname, param_friction);
if (param_restitution != 0)
asciitext += String.Format(bz, "{0}.SetImpactC({1:g});\n", bodyname, param_restitution);
if (param_rolling_friction != 0)
asciitext += String.Format(bz, "{0}.SetRollingFriction({1:g});\n", bodyname, param_rolling_friction);
if (param_spinning_friction != 0)
asciitext += String.Format(bz, "{0}.SetSpinningFriction({1:g});\n", bodyname, param_spinning_friction);
//if (param_collision_envelope != 0.03)
asciitext += String.Format(bz, "{0}.GetCollisionModel().SetEnvelope({1:g});\n", bodyname, param_collision_envelope * ChScale.L);
//if (param_collision_margin != 0.01)
asciitext += String.Format(bz, "{0}.GetCollisionModel().SetSafeMargin({1:g});\n", bodyname, param_collision_margin * ChScale.L);
if (param_collision_family != 0)
asciitext += String.Format(bz, "{0}.GetCollisionModel().SetFamily({1});\n", bodyname, param_collision_family);
}
// clear model only at 1st subcomponent where coll shapes are found in features:
asciitext += "\n# Collision shapes \n";
asciitext += String.Format(bz, "{0}.GetCollisionModel().ClearModel()\n", bodyname);
}
for (int ib = 0; ib < bodies.Length; ib++)
{
Body2 swBody = (Body2)bodies[ib];
if (swBody.Name.StartsWith("COLL."))
{
bool rbody_converted = false;
if (ConvertToCollisionShapes.SWbodyToSphere(swBody))
{
Point3D center_l = new Point3D(); // in local subcomponent
double rad = 0;
ConvertToCollisionShapes.SWbodyToSphere(swBody, ref rad, ref center_l);
Point3D center = SWTaskpaneHost.PointTransform(center_l, ref collshape_subcomp_transform);
asciitext += String.Format(bz, "{0}.GetCollisionModel().AddSphere({1}, chrono.ChVectorD({2},{3},{4}))\n", bodyname,
rad * ChScale.L,
center.X * ChScale.L,
center.Y * ChScale.L,
center.Z * ChScale.L);
rbody_converted = true;
}
if (ConvertToCollisionShapes.SWbodyToBox(swBody))
{
Point3D vC_l = new Point3D();
Vector3D eX_l = new Vector3D(); Vector3D eY_l = new Vector3D(); Vector3D eZ_l = new Vector3D();
ConvertToCollisionShapes.SWbodyToBox(swBody, ref vC_l, ref eX_l, ref eY_l, ref eZ_l);
Point3D vC = SWTaskpaneHost.PointTransform(vC_l, ref collshape_subcomp_transform);
Vector3D eX = SWTaskpaneHost.DirTransform(eX_l, ref collshape_subcomp_transform);
Vector3D eY = SWTaskpaneHost.DirTransform(eY_l, ref collshape_subcomp_transform);
Vector3D eZ = SWTaskpaneHost.DirTransform(eZ_l, ref collshape_subcomp_transform);
double hsX = eX.Length * 0.5;
double hsY = eY.Length * 0.5;
double hsZ = eZ.Length * 0.5;
Point3D vO = vC + 0.5 * eX + 0.5 * eY + 0.5 * eZ;
Vector3D Dx = eX; Dx.Normalize();
Vector3D Dy = eY; Dy.Normalize();
Vector3D Dz = Vector3D.CrossProduct(Dx, Dy);
asciitext += String.Format(bz, "mr = chrono.ChMatrix33D()\n");
asciitext += String.Format(bz, "mr[0,0]={0}; mr[1,0]={1}; mr[2,0]={2} \n", Dx.X, Dx.Y, Dx.Z);
asciitext += String.Format(bz, "mr[0,1]={0}; mr[1,1]={1}; mr[2,1]={2} \n", Dy.X, Dy.Y, Dy.Z);
asciitext += String.Format(bz, "mr[0,2]={0}; mr[1,2]={1}; mr[2,2]={2} \n", Dz.X, Dz.Y, Dz.Z);
asciitext += String.Format(bz, "{0}.GetCollisionModel().AddBox({1},{2},{3},chrono.ChVectorD({4},{5},{6}),mr)\n", bodyname,
hsX * ChScale.L,
hsY * ChScale.L,
hsZ * ChScale.L,
vO.X * ChScale.L,
vO.Y * ChScale.L,
vO.Z * ChScale.L);
rbody_converted = true;
}
if (ConvertToCollisionShapes.SWbodyToCylinder(swBody))
{
Point3D p1_l = new Point3D();
Point3D p2_l = new Point3D();
double rad = 0;
ConvertToCollisionShapes.SWbodyToCylinder(swBody, ref p1_l, ref p2_l, ref rad);
Point3D p1 = SWTaskpaneHost.PointTransform(p1_l, ref collshape_subcomp_transform);
Point3D p2 = SWTaskpaneHost.PointTransform(p2_l, ref collshape_subcomp_transform);
Vector3D Dy = p1 - p2; Dy.Normalize();
double hsY = (p1 - p2).Length * 0.5;
double hsZ = rad;
double hsX = rad;
Point3D vO = p1 + 0.5 * (p2 - p1);
Vector3D Dx = new Vector3D();
if (Dy.X < 0.9)
{
Vector3D Dtst = new Vector3D(1, 0, 0);
Dx = Vector3D.CrossProduct(Dtst, Dy);
}
else
{
Vector3D Dtst = new Vector3D(0, 1, 0);
Dx = Vector3D.CrossProduct(Dtst, Dy);
}
Vector3D Dz = Vector3D.CrossProduct(Dx, Dy);
asciitext += String.Format(bz, "mr = chrono.ChMatrix33D()\n");
asciitext += String.Format(bz, "mr[0,0]={0}; mr[1,0]={1}; mr[2,0]={2} \n", Dx.X, Dx.Y, Dx.Z);
asciitext += String.Format(bz, "mr[0,1]={0}; mr[1,1]={1}; mr[2,1]={2} \n", Dy.X, Dy.Y, Dy.Z);
asciitext += String.Format(bz, "mr[0,2]={0}; mr[1,2]={1}; mr[2,2]={2} \n", Dz.X, Dz.Y, Dz.Z);
asciitext += String.Format(bz, "{0}.GetCollisionModel().AddCylinder({1},{2},{3},chrono.ChVectorD({4},{5},{6}),mr)\n", bodyname,
hsX * ChScale.L,
hsZ * ChScale.L,
hsY * ChScale.L,
vO.X * ChScale.L,
vO.Y * ChScale.L,
vO.Z * ChScale.L); // note order hsX-Z-Y
rbody_converted = true;
}
if (ConvertToCollisionShapes.SWbodyToConvexHull(swBody, 30) && !rbody_converted)
{
Point3D[] vertexes = new Point3D[1]; // will be resized by SWbodyToConvexHull
ConvertToCollisionShapes.SWbodyToConvexHull(swBody, ref vertexes, 30);
if (vertexes.Length > 0)
{
asciitext += String.Format(bz, "pt_vect = chrono.vector_ChVectorD()\n");
for (int iv = 0; iv < vertexes.Length; iv++)
{
Point3D vert_l = vertexes[iv];
Point3D vert = SWTaskpaneHost.PointTransform(vert_l, ref collshape_subcomp_transform);
asciitext += String.Format(bz, "pt_vect.push_back(chrono.ChVectorD({0},{1},{2}))\n",
vert.X * ChScale.L,
vert.Y * ChScale.L,
vert.Z * ChScale.L);
}
asciitext += String.Format(bz, "{0}.GetCollisionModel().AddConvexHull(pt_vect)\n", bodyname);
}
}
} // end dealing with a collision shape
} // end solid bodies traversal for converting to coll.shapes
} // end if build_collision_model
}
} // end collision shapes export
}
public void UpdateFromSelection(SelectionMgr swSelMgr, ref AttributeDef mdefattr_chbody)//, ref AttributeDef defattr_chconveyor)
{
// Fetch current properties from the selected part(s) (i.e. ChBody in C::E)
for (int isel = 1; isel <= swSelMgr.GetSelectedObjectCount2(-1); isel++)
{
if ((swSelectType_e)swSelMgr.GetSelectedObjectType3(isel, -1) == swSelectType_e.swSelCOMPONENTS)
{
//Component2 swPart = (Component2)swSelMgr.GetSelectedObject6(isel, -1);
Component2 swPart = swSelMgr.GetSelectedObjectsComponent3(isel, -1);
ModelDoc2 swPartModel = (ModelDoc2)swPart.GetModelDoc2();
Component2 swPartcorr = swPartModel.Extension.GetCorresponding(swPart); // ***TODO*** for instanced parts? does not work...
swPartcorr = swPart; // ***TODO***
if (swPartModel.GetType() == (int)swDocumentTypes_e.swDocASSEMBLY)
{
if (swPart.Solving == (int)swComponentSolvingOption_e.swComponentFlexibleSolving)
{
System.Windows.Forms.MessageBox.Show("Fexible assemblies not supported as ChBody (set as Rigid?)");
return;
}
if (swPart.Solving == (int)swComponentSolvingOption_e.swComponentRigidSolving)
{
System.Windows.Forms.MessageBox.Show("Setting props to rigid assembly as ChBody");
AssemblyDoc swAssemblyDoc = (AssemblyDoc)swPartModel;
swPart.Select(false);
swAssemblyDoc.EditAssembly();
swAssemblyDoc.EditRebuild();
//return;
}
}
// fetch SW attribute with Chrono parameters for ChBody
SolidWorks.Interop.sldworks.Attribute myattr = null;
if (swPartcorr != null)
{
myattr = (SolidWorks.Interop.sldworks.Attribute)swPart.FindAttribute(mdefattr_chbody, 0);
}
if (myattr == null)
{
// if not already added to part, create and attach it
//System.Windows.Forms.MessageBox.Show("Create data");
myattr = mdefattr_chbody.CreateInstance5(swPartModel, swPartcorr, "Chrono::ChBody_data", 0, (int)swInConfigurationOpts_e.swAllConfiguration);
swPartModel.ForceRebuild3(false); // needed, but does not work...
//swPartModel.Rebuild((int)swRebuildOptions_e.swRebuildAll); // needed but does not work...
if (myattr.GetEntityState((int)swAssociatedEntityStates_e.swIsEntityInvalid))
{
System.Windows.Forms.MessageBox.Show("swIsEntityInvalid!");
}
if (myattr.GetEntityState((int)swAssociatedEntityStates_e.swIsEntitySuppressed))
{
System.Windows.Forms.MessageBox.Show("swIsEntitySuppressed!");
}
if (myattr.GetEntityState((int)swAssociatedEntityStates_e.swIsEntityAmbiguous))
{
System.Windows.Forms.MessageBox.Show("swIsEntityAmbiguous!");
}
if (myattr.GetEntityState((int)swAssociatedEntityStates_e.swIsEntityDeleted))
{
System.Windows.Forms.MessageBox.Show("swIsEntityDeleted!");
}
}
Set_collision_on(Convert.ToBoolean(((Parameter)myattr.GetParameter(
"collision_on")).GetDoubleValue()));
Set_friction(((Parameter)myattr.GetParameter(
"friction")).GetDoubleValue());
Set_rolling_friction(((Parameter)myattr.GetParameter(
"rolling_friction")).GetDoubleValue());
Set_spinning_friction(((Parameter)myattr.GetParameter(
"spinning_friction")).GetDoubleValue());
Set_restitution(((Parameter)myattr.GetParameter(
"restitution")).GetDoubleValue());
Set_collision_envelope(((Parameter)myattr.GetParameter(
"collision_envelope")).GetDoubleValue());
Set_collision_margin(((Parameter)myattr.GetParameter(
"collision_margin")).GetDoubleValue());
Set_collision_family((int)((Parameter)myattr.GetParameter(
"collision_family")).GetDoubleValue());
// fetch SW attribute with Chrono parameters for ChConveyor
/*
* SolidWorks.Interop.sldworks.Attribute myattr_conv = (SolidWorks.Interop.sldworks.Attribute)swPart.FindAttribute(defattr_chconveyor, 0);
* if (myattr_conv == null)
* {
* // if not already added to part, create and attach it
* //myattr_conv = defattr_chconveyor.CreateInstance5(swPartModel, swPart, "Chrono::ChConveyor_data", 0, (int)swInConfigurationOpts_e.swThisConfiguration);
* }
*/
/*
* // fetch SW attribute with Chrono parameters for ChConveyor (if any!)
* SolidWorks.Interop.sldworks.Attribute myattr_conveyor = (SolidWorks.Interop.sldworks.Attribute)swPart.FindAttribute(defattr_chconveyor, 0);
* if (myattr_conveyor != null)
* {
* show_conveyor_params = true;
*
* Set_conveyor_speed(((Parameter)myattr_conveyor.GetParameter(
* "conveyor_speed")).GetDoubleValue());
* }
*/
}
}
}
public void PythonTraverseComponent_for_ChBody(Component2 swComp, long nLevel, ref string asciitext, int nbody)
{
CultureInfo bz = new CultureInfo("en-BZ");
object[] vmyChildComp = (object[])swComp.GetChildren();
bool found_chbody_equivalent = false;
if (nLevel > 1)
if (nbody == -1)
if ((swComp.Solving == (int)swComponentSolvingOption_e.swComponentRigidSolving) ||
(vmyChildComp.Length == 0))
{
// OK! this is a 'leaf' of the tree of ChBody equivalents (a SDW subassebly or part)
found_chbody_equivalent = true;
this.num_comp++;
nbody = this.num_comp; // mark the rest of recursion as 'n-th body found'
if (this.swProgress != null)
{
this.swProgress.UpdateTitle("Exporting " + swComp.Name2 + " ...");
this.swProgress.UpdateProgress(this.num_comp % 5);
}
// fetch SW attribute with Chrono parameters
SolidWorks.Interop.sldworks.Attribute myattr = (SolidWorks.Interop.sldworks.Attribute)swComp.FindAttribute(this.mSWintegration.defattr_chbody, 0);
MathTransform chbodytransform = swComp.GetTotalTransform(true);
double[] amatr;
amatr = (double[])chbodytransform.ArrayData;
string bodyname = "body_" + this.num_comp;
// Write create body
asciitext += "# Rigid body part\n";
asciitext += bodyname + "= chrono.ChBodyAuxRef()" + "\n";
// Write name
asciitext += bodyname + ".SetName('" + swComp.Name2 + "')" + "\n";
// Write position
asciitext += bodyname + ".SetPos(chrono.ChVectorD("
+ (amatr[9] * ChScale.L).ToString("g", bz) + ","
+ (amatr[10]* ChScale.L).ToString("g", bz) + ","
+ (amatr[11]* ChScale.L).ToString("g", bz) + "))" + "\n";
// Write rotation
double[] quat = GetQuaternionFromMatrix(ref chbodytransform);
asciitext += String.Format(bz, "{0}.SetRot(chrono.ChQuaternionD({1:g},{2:g},{3:g},{4:g}))\n",
bodyname, quat[0], quat[1], quat[2], quat[3]);
// Compute mass
int nvalid_bodies = 0;
PythonTraverseComponent_for_countingmassbodies(swComp, ref nvalid_bodies);
int addedb = 0;
object[] bodies_nocollshapes = new object[nvalid_bodies];
PythonTraverseComponent_for_massbodies(swComp, ref bodies_nocollshapes, ref addedb);
MassProperty swMass;
swMass = (MassProperty)swComp.IGetModelDoc().Extension.CreateMassProperty();
bool boolstatus = false;
boolstatus = swMass.AddBodies((object[])bodies_nocollshapes);
swMass.SetCoordinateSystem(chbodytransform);
swMass.UseSystemUnits = true;
//note: do not set here the COG-to-REF position because here SW express it in absolute coords
// double cogX = ((double[])swMass.CenterOfMass)[0];
// double cogY = ((double[])swMass.CenterOfMass)[1];
// double cogZ = ((double[])swMass.CenterOfMass)[2];
double mass = swMass.Mass;
double[] Itensor = (double[])swMass.GetMomentOfInertia((int)swMassPropertyMoment_e.swMassPropertyMomentAboutCenterOfMass);
double Ixx = Itensor[0];
double Iyy = Itensor[4];
double Izz = Itensor[8];
double Ixy = Itensor[1];
double Izx = Itensor[2];
double Iyz = Itensor[5];
MassProperty swMassb;
swMassb = (MassProperty)swComp.IGetModelDoc().Extension.CreateMassProperty();
bool boolstatusb = false;
boolstatusb = swMassb.AddBodies(bodies_nocollshapes);
swMassb.UseSystemUnits = true;
double cogXb = ((double[])swMassb.CenterOfMass)[0];
double cogYb = ((double[])swMassb.CenterOfMass)[1];
double cogZb = ((double[])swMassb.CenterOfMass)[2];
asciitext += String.Format(bz, "{0}.SetMass({1:g})\n",
bodyname,
mass * ChScale.M);
// Write inertia tensor
asciitext += String.Format(bz, "{0}.SetInertiaXX(chrono.ChVectorD({1:g},{2:g},{3:g}))\n",
bodyname,
Ixx * ChScale.M * ChScale.L * ChScale.L,
Iyy * ChScale.M * ChScale.L * ChScale.L,
Izz * ChScale.M * ChScale.L * ChScale.L);
// Note: C::E assumes that's up to you to put a 'minus' sign in values of Ixy, Iyz, Izx
asciitext += String.Format(bz, "{0}.SetInertiaXY(chrono.ChVectorD({1:g},{2:g},{3:g}))\n",
bodyname,
-Ixy * ChScale.M * ChScale.L * ChScale.L,
-Izx * ChScale.M * ChScale.L * ChScale.L,
-Iyz * ChScale.M * ChScale.L * ChScale.L);
// Write the position of the COG respect to the REF
asciitext += String.Format(bz, "{0}.SetFrame_COG_to_REF(chrono.ChFrameD(chrono.ChVectorD({1:g},{2:g},{3:g}),chrono.ChQuaternionD(1,0,0,0)))\n",
bodyname,
cogXb * ChScale.L,
cogYb * ChScale.L,
cogZb * ChScale.L);
// Write 'fixed' state
if (swComp.IsFixed())
asciitext += String.Format(bz, "{0}.SetBodyFixed(True)\n", bodyname);
// Write shapes (saving also Wavefront files .obj)
if (this.checkBox_surfaces.Checked)
{
int nvisshape = 0;
if (swComp.Visible == (int)swComponentVisibilityState_e.swComponentVisible)
PythonTraverseComponent_for_visualizationshapes(swComp, nLevel, ref asciitext, nbody, ref nvisshape, swComp);
}
// Write markers (SW coordsystems) contained in this component or subcomponents
// if any.
PythonTraverseComponent_for_markers(swComp, nLevel, ref asciitext, nbody);
// Write collision shapes (customized SW solid bodies) contained in this component or subcomponents
// if any.
bool param_collide = true;
if (myattr != null)
param_collide = Convert.ToBoolean(((Parameter)myattr.GetParameter("collision_on")).GetDoubleValue());
if (param_collide)
{
bool found_collisionshapes = false;
PythonTraverseComponent_for_collshapes(swComp, nLevel, ref asciitext, nbody, ref chbodytransform, ref found_collisionshapes, swComp);
if (found_collisionshapes)
{
asciitext += String.Format(bz, "{0}.GetCollisionModel().BuildModel()\n", bodyname);
asciitext += String.Format(bz, "{0}.SetCollide(True)\n", bodyname);
}
}
// Insert to a list of exported items
asciitext += String.Format(bz, "\n" +"exported_items.append({0})\n", bodyname);
// End writing body in Python-
asciitext += "\n\n\n";
} // end if ChBody equivalent (tree leaf or non-flexible assembly)
// Things to do also for sub-components of 'non flexible' assemblies:
//
// store in hashtable, will be useful later when adding constraints
if ((nLevel > 1) && (nbody != -1))
try
{
string bodyname = "body_" + this.num_comp;
ModelDocExtension swModelDocExt = default(ModelDocExtension);
ModelDoc2 swModel = (ModelDoc2)this.mSWApplication.ActiveDoc;
//if (swModel != null)
swModelDocExt = swModel.Extension;
this.saved_parts.Add(swModelDocExt.GetPersistReference3(swComp), bodyname);
}
catch
{
System.Windows.Forms.MessageBox.Show("Cannot add part to hashtable?");
}
// Traverse all children, proceeding to subassemblies and parts, if any
//
object[] vChildComp;
Component2 swChildComp;
vChildComp = (object[])swComp.GetChildren();
for (long i = 0; i < vChildComp.Length; i++)
{
swChildComp = (Component2)vChildComp[i];
PythonTraverseComponent_for_ChBody(swChildComp, nLevel + 1, ref asciitext, nbody);
}
}
