private TVGLConvexHull CreateCombinedConvexHull(TVGLConvexHull refCVXHull, TVGLConvexHull movingCVXHull)
{
var pointCloud = new List <Vertex>(refCVXHull.Vertices);
pointCloud.AddRange(movingCVXHull.Vertices);
return(new TVGLConvexHull(pointCloud, 1e-8));
}
public SubAssembly(Part refAssembly, Part movingAssembly, TVGLConvexHull combinedCVXHull,
InstallCharacterType InstallCharacter, List <PolygonalFace> refFacesInCombined)
{
PartNames = new List <string>(refAssembly.PartNames);
PartNames.AddRange(movingAssembly.PartNames);
Name = "subasm-" + PartNames.Aggregate((i, j) => i + "," + j);
Install = new InstallAction {
Reference = refAssembly, Moving = movingAssembly
};
InstallModelInputs = new double[1, 6];
Secure = new SecureAction();
Rotate = new RotateAction();
RotateModelInputs = new double[1, 5];
MoveRoate = new MoveRotateAction();
MoveRoateModelInputs = new double[1, 5];
this.InstallCharacter = InstallCharacter;
Mass = refAssembly.Mass + movingAssembly.Mass;
Volume = refAssembly.Volume + movingAssembly.Volume;
//volume of sphere = (4/3)*Math.Pi*r*r*r
var radius = Math.Pow(0.75 * Volume / Math.PI, 1.0 / 3.0);
AvgMomentofInertia = Mass * radius * radius;
CVXHull = combinedCVXHull;
this.refFacesInCombined = refFacesInCombined;
InternalStabilityInfo = new InternalStability();
InternalStabilityInfo.needfixture = false;
}
public SubAssembly(HashSet <Component> nodes, TVGLConvexHull combinedCVXHull,
double Mass, double Volume, Vertex centerOfMass)
{
PartNames = nodes.Select(n => n.name).ToList();
Name = Name = "subasm-" + PartNames.Aggregate((i, j) => i + "," + j);
this.Mass = Mass;
this.Volume = Volume;
//volume of sphere = (4/3)*Math.Pi*r*r*r
var radius = Math.Pow(0.75 * Volume / Math.PI, 1.0 / 3.0);
AvgMomentofInertia = Mass * radius * radius;
CVXHull = combinedCVXHull;
CenterOfMass = centerOfMass;
}
public Part(string name, double mass, double volume, TVGLConvexHull convexHull, Vertex centerOfMass)
{
Name = name;
PartNames = new List <string>();
PartNames.Add(name);
Mass = mass;
Volume = volume;
//volume of sphere = (4/3)*Math.Pi*r*r*r
var radius = Math.Pow(0.75 * volume / Math.PI, 1.0 / 3.0);
AvgMomentofInertia = mass * radius * radius;
CVXHull = convexHull;
/*var com = new Vector(0, 0, 0);
* // find install direction by averaging all visible_DOF
* if (convexHull!=null)
* foreach (var pt in convexHull.Vertices)
* com.AddInPlace(pt);*/
//CenterOfMass = new Vertex(StarMath.divide(com.Position, convexHull.Points.Count(), 3));
CenterOfMass = centerOfMass;
}
private InstallCharacterType shouldReferenceAndMovingBeSwitched(Part refAssembly, Part movingAssembly,
TVGLConvexHull combinedCVXHull,
out List <PolygonalFace> refFacesInCombined,
out List <PolygonalFace> movingFacesInCombined)
{
/* first, create a list of vertices from the reference hull that are present in the combined hull.
* likewise, with the moving. */
var refVertsInCombined = new List <Vertex>();
var movingVertsInCombined = new List <Vertex>();
foreach (var pt in combinedCVXHull.Vertices)
{
if (refAssembly.CVXHull.Vertices.Contains(pt))
{
refVertsInCombined.Add(pt);
}
else
{
/* this additional Contains function is unnecessary and potential time-consuming.
* It was implemented for initial validiation, but it is commented out now.
* if (!movingAssembly.CVXHull.Points.Contains(pt))
* throw new Exception("The point is in neither original part!"); */
movingVertsInCombined.Add(pt);
}
}
/* If none of the combined vertices are from the moving, we can end this function early and save time. */
if (movingVertsInCombined.Count == 0)
{
movingFacesInCombined = null;
refFacesInCombined = new List <PolygonalFace>(combinedCVXHull.Faces);
return(InstallCharacterType.MovingIsInsideReference);
}
/* ...likewise for the original reference */
if (refVertsInCombined.Count == 0)
{
refFacesInCombined = null;
movingFacesInCombined = new List <PolygonalFace>(combinedCVXHull.Faces);
return(InstallCharacterType.ReferenceIsInsideMoving);
}
/* we could just count the number of vertices, but that would not be as accurate a prediction
* as the area of the faces */
refFacesInCombined = new List <PolygonalFace>();
movingFacesInCombined = new List <PolygonalFace>();
double refFaceArea = 0.0;
var movingFaceArea = 0.0;
var totalFaceArea = 0.0;
foreach (var face in combinedCVXHull.Faces)
{
var faceArea = findFaceArea(face);
totalFaceArea += faceArea;
if (face.Vertices.All(v => refAssembly.CVXHull.Vertices.Contains(v)))
{
refFacesInCombined.Add(face);
refFaceArea += faceArea;
}
else if (face.Vertices.All(v => movingAssembly.CVXHull.Vertices.Contains(v)))
{
movingFacesInCombined.Add(face);
movingFaceArea += faceArea;
}
}
/* former faces is the sum areas of faces from prior cvx hulls */
var formerFacesArea = refFaceArea + movingFaceArea;
/* if the former face area does not take up a significant portion of
* the new faces then we do not have the confidence to make the judgement
* based on this fact. */
if (formerFacesArea / totalFaceArea > Constants.CVXFormerFaceConfidence)
{
/* there are two check here: if the common area is very small, we assume the
* subassembly is inside the other. If not, maybe it is more on the outside
* but a smaller effect on resulting convex hull. */
if (refFaceArea / formerFacesArea < Constants.CVXOnInsideThreshold)
{
return(InstallCharacterType.ReferenceIsInsideMoving);
}
if (movingFaceArea / formerFacesArea < Constants.CVXOnInsideThreshold)
{
return(InstallCharacterType.MovingIsInsideReference);
}
if (refFaceArea / formerFacesArea < Constants.CVXOnOutsideThreshold)
{
return(InstallCharacterType.ReferenceIsOnOutsideOfMoving);
}
if (movingFaceArea / formerFacesArea < Constants.CVXOnOutsideThreshold)
{
return(InstallCharacterType.MovingIsOnOutsideOfReference);
}
}
/* if we cannot confidently use face area then we switch to comparing
* the magnitudes of the moment of inertia. */
else
{
if (refAssembly.AvgMomentofInertia >= movingAssembly.AvgMomentofInertia)
{
return(InstallCharacterType.MovingReferenceSimiliar);
}
else
{
return(InstallCharacterType.ReferenceMovingSimiliarSwitch);
}
}
/* this will not be invoked, but it is left as a final result in case these heuristic cases should change. */
return(InstallCharacterType.Unknown);
}
public SubAssembly Update(option opt, List <Component> rest, Dictionary <string, TVGLConvexHull> convexHullForParts)
{
Part refAssembly, movingAssembly;
//if (ActionIsAssemblyByAssembly())
//{
// //var node0 = (Component)opt.nodes[0];
// //var node1 = (Component)opt.nodes[1];
// //var node0name = node0.name;
// //var node1name = node1.name;
// //refAssembly = Subassemblies.FirstOrDefault(subasm => subasm.PartNames.Contains(node0name));
// //if (refAssembly == null)
// // refAssembly = new Part(node0name, GetPartMass(node0), GetPartVolume(node0),
// // convexHullForParts[node0name], GetPartCenterOfMass(node0));
// //else Subassemblies.Remove((SubAssembly) refAssembly);
// //movingAssembly = Subassemblies.FirstOrDefault(subasm => subasm.PartNames.Contains(node1name));
// //if (movingAssembly == null)
// // movingAssembly = new Part(node1name, GetPartMass(node1), GetPartVolume(node1),
// // convexHullForParts[node1name], GetPartCenterOfMass(node0));
// //else Subassemblies.Remove((SubAssembly) movingAssembly);
//}
//else if (ActionIsRemoveSCC())
//{
var movingNodes = opt.Nodes.Cast <Component>().ToList();
var newSubAsmNodes = rest;
if (movingNodes.Count == 1)
{
var nodeName = movingNodes[0].name;
movingAssembly = new Part(nodeName,
GetPartMass(movingNodes[0]), GetPartVolume(movingNodes[0]),
convexHullForParts[nodeName], GetPartCenterOfMass(movingNodes[0]));
}
else
{
var combinedCVXHullM = CreateCombinedConvexHull2(movingNodes, convexHullForParts);
var VolumeM = GetSubassemblyVolume(movingNodes);
var MassM = GetSubassemblyMass(movingNodes);
var centerOfMass = GetSubassemblyCenterOfMass(movingNodes);
movingAssembly = new SubAssembly(new HashSet <Component>(movingNodes), combinedCVXHullM, MassM, VolumeM, centerOfMass);
}
var referenceHyperArcnodes = new List <Component>();
referenceHyperArcnodes = newSubAsmNodes.Where(a => !movingNodes.Contains(a)).ToList();
if (referenceHyperArcnodes.Count == 1)
{
var nodeName = referenceHyperArcnodes[0].name;
refAssembly = new Part(nodeName,
GetPartMass(referenceHyperArcnodes[0]), GetPartVolume(referenceHyperArcnodes[0]),
convexHullForParts[nodeName], GetPartCenterOfMass(referenceHyperArcnodes[0]));
}
else
{
var combinedCVXHullR = CreateCombinedConvexHull2(referenceHyperArcnodes, convexHullForParts);
var VolumeR = GetSubassemblyVolume(referenceHyperArcnodes);
var MassR = GetSubassemblyMass(referenceHyperArcnodes);
var centerOfMass = GetSubassemblyCenterOfMass(referenceHyperArcnodes);
refAssembly = new SubAssembly(new HashSet <Component>(referenceHyperArcnodes), combinedCVXHullR, MassR, VolumeR, centerOfMass);
}
//}
//else throw new Exception("Only install rules in assembly at this point.");
TVGLConvexHull combinedCVXHull = CreateCombinedConvexHull(
refAssembly.CVXHull, movingAssembly.CVXHull);
//List<PolygonalFace> refFacesInCombined, movingFacesInCombined;
var InstallCharacter = shouldReferenceAndMovingBeSwitched(refAssembly, movingAssembly, combinedCVXHull,
out refFacesInCombined, out movingFacesInCombined);
if ((int)InstallCharacter < 0)
{
var tempASM = refAssembly;
refAssembly = movingAssembly;
movingAssembly = tempASM;
refFacesInCombined = movingFacesInCombined; // no need to use temp here, as the movingFaces in the
// combined convex hull are not needed.
InstallCharacter = (InstallCharacterType)(-((int)InstallCharacter));
}
string refName = NameMaker(refAssembly);
string movName = NameMaker(movingAssembly);
var newSubassembly = new SubAssembly(refAssembly, movingAssembly, combinedCVXHull, InstallCharacter,
refFacesInCombined);
//newSubassembly.Name = refName +" on "+movName;
newSubassembly.CenterOfMass = CombinedCenterOfMass(newSubassembly);
// instead of adding to Subassemblies, newSubassembly must be added to its preceeding subassembly (to its parent)
Subassemblies.Add(newSubassembly);
return(newSubassembly);
}