public void cmdStartPB_Click(System.Object sender, System.EventArgs e)
{
boolstatus = pb.Start(0, 160, "Status");
while (!(Position == 160))
{
Position = Position + 10;
lRet = pb.UpdateProgress(Position);
}
Position = 0;
}
//Recursive method for exporting each link (and writing it to the URDF)
private void ExportFiles(Link link, URDFPackage package, int count, bool exportSTL = true)
{
progressBar.UpdateProgress(count);
progressBar.UpdateTitle("Exporting mesh: " + link.Name);
logger.Info("Exporting link: " + link.Name);
// Iterate through each child and export its files
logger.Info("Link " + link.Name + " has " + link.Children.Count + " children");
foreach (Link child in link.Children)
{
count += 1;
if (!child.isFixedFrame)
{
ExportFiles(child, package, count, exportSTL);
}
}
// Copy the texture file (if it was specified) to the textures directory
if (!link.isFixedFrame && !String.IsNullOrWhiteSpace(link.Visual.Material.Texture.wFilename))
{
if (File.Exists(link.Visual.Material.Texture.wFilename))
{
link.Visual.Material.Texture.Filename =
package.TexturesDirectory + Path.GetFileName(link.Visual.Material.Texture.wFilename);
string textureSavePath =
package.WindowsTexturesDirectory + Path.GetFileName(link.Visual.Material.Texture.wFilename);
File.Copy(link.Visual.Material.Texture.wFilename, textureSavePath, true);
}
}
// Create the mesh filenames. SolidWorks likes to use / but that will get messy in filenames so use _ instead
string linkName = link.Name.Replace('/', '_');
string meshFilename = package.MeshesDirectory + linkName + ".STL";
string windowsMeshFileName = package.WindowsMeshesDirectory + linkName + ".STL";
// Export STL
if (exportSTL)
{
SaveSTL(link, windowsMeshFileName);
}
link.Visual.Geometry.Mesh.Filename = meshFilename;
link.Collision.Geometry.Mesh.Filename = meshFilename;
}
//Recursive method for exporting each link (and writing it to the URDF)
public string exportFiles(link Link, URDFPackage package, int count)
{
progressBar.UpdateProgress(count);
progressBar.UpdateTitle("Exporting mesh: " + Link.name);
// Iterate through each child and export its files
foreach (link child in Link.Children)
{
count += 1;
if (!child.isFixedFrame)
{
string filename = exportFiles(child, package, count);
child.Visual.Geometry.Mesh.filename = filename;
child.Collision.Geometry.Mesh.filename = filename;
}
}
// Copy the texture file (if it was specified) to the textures directory
if (!Link.isFixedFrame && Link.Visual.Material.Texture.wFilename != "")
{
if (System.IO.File.Exists(Link.Visual.Material.Texture.wFilename))
{
Link.Visual.Material.Texture.filename =
package.TexturesDirectory + Path.GetFileName(Link.Visual.Material.Texture.wFilename);
string textureSavePath =
package.WindowsTexturesDirectory + Path.GetFileName(Link.Visual.Material.Texture.wFilename);
System.IO.File.Copy(Link.Visual.Material.Texture.wFilename, textureSavePath, true);
}
}
// Create the mesh filenames. SolidWorks likes to use / but that will get messy in filenames so use _ instead
string linkName = Link.name.Replace('/', '_');
string meshFileName = package.MeshesDirectory + linkName + ".STL";
string windowsMeshFileName = package.WindowsMeshesDirectory + linkName + ".STL";
// Export STL
saveSTL(Link, windowsMeshFileName);
return(meshFileName);
}
