/// <summary>
/// 递归创建装配树
/// </summary>
/// <param name="component"></param>
/// <param name="swComponet"></param>
private static void CreateTree(Component2 component, ref SWComponent swComponent) {
if (component == null) {
return;
}
/////////复制组件相关信息///////////
//名称
swComponent.Name = component.Name2;
//是否根组件
swComponent.IsRoot = component.IsRoot();
//提取配合,存放在RootComponent节点
//if (swComponent.IsRoot) {
swComponent.Mates = GetSWMatesOfRootComponent(component);
//}
//包围盒
double[] box = null;
try {
box = component.GetBox(false, false);
} catch (Exception e) {
//发生异常，说明该组件（根组件）没有包围盒
box = null;
}
if (box == null) {
swComponent.BoundingBox = CreateSWBoundingBox(box);
} else {
swComponent.BoundingBox = new SWBoundingBox();
}
//提取Body
object bodyInfo;
object[] bodies = component.GetBodies3((int)swBodyType_e.swSolidBody, out bodyInfo);
if (bodies != null) {
foreach (object objBody in bodies) {
swComponent.Bodies.Add(CreateSWBody((Body2)objBody));
}
}
//继续遍历
object[] subComponents = component.GetChildren();
if (subComponents != null) {
foreach (object obj in subComponents) {
SWComponent newComponent = new SWComponent();
CreateTree((Component2)obj, ref newComponent);
swComponent.SubComponents.Add(newComponent);
}
}
}
public static bool hitMainBodyBefore(double[] rayOrigin, double[] rayDirection, double[] hitPointToCompareTo)
{
List <IBody2> bodies = new List <IBody2>();
object vBodyInfo;
object[] componentBodies = (object[])mainBody.GetBodies3((int)swBodyType_e.swSolidBody, out vBodyInfo);
for (int i = 0; i < componentBodies.Length; i++)
{
IBody2 tempBody = ((Body2)componentBodies[i]).ICopy();
tempBody.ApplyTransform(mainBody.Transform2);
bodies.Add(tempBody);
}
int numIntersectionsFound = (int)swDoc.RayIntersections((object)bodies.ToArray(),
(object)rayOrigin,
(object)rayDirection,
(int)(swRayPtsOpts_e.swRayPtsOptsTOPOLS | swRayPtsOpts_e.swRayPtsOptsNORMALS | swRayPtsOpts_e.swRayPtsOptsENTRY_EXIT),
(double).0000001,
(double).0000001);
double[] horrifyingReturn = (double[])swDoc.GetRayIntersectionsPoints();
if (numIntersectionsFound == 0)
{
return(false);
}
int lengthOfOneReturn = 9;
for (int i = 0; i < numIntersectionsFound; i++)
{
byte intersectionType = (byte)horrifyingReturn[i * lengthOfOneReturn + 2];
if ((intersectionType & (byte)swRayPtsResults_e.swRayPtsResultsENTER) == 0)
{
// we need it to be just entry rays
continue;
}
double x = horrifyingReturn[i * lengthOfOneReturn + 3];
double y = horrifyingReturn[i * lengthOfOneReturn + 4];
double z = horrifyingReturn[i * lengthOfOneReturn + 5];
if (distanceAlongRay(rayOrigin, new double[] { x, y, z }) < distanceAlongRay(rayOrigin, hitPointToCompareTo))
{
return(true);
}
}
return(false);
}
public static bool isBody(Component2 swComponent)
{
object bodiesInfo = null;
swComponent.GetBodies3((int)swBodyType_e.swSolidBody, out bodiesInfo);
return(bodiesInfo != null && ((int[])bodiesInfo).Length > 0);
}
public static double[] whereRayHitsComponent(Component2 component, MathPoint rayOrigin, MathVector rayDirection)
{
List <IBody2> bodies = new List <IBody2>();
object vBodyInfo;
object[] componentBodies = (object[])component.GetBodies3((int)swBodyType_e.swSolidBody, out vBodyInfo);
for (int i = 0; i < componentBodies.Length; i++)
{
IBody2 tempBody = ((Body2)componentBodies[i]).ICopy();
tempBody.ApplyTransform(component.Transform2);
bodies.Add(tempBody);
}
int numIntersectionsFound = (int)swDoc.RayIntersections((object)bodies.ToArray(),
(object)rayOrigin.ArrayData,
(object)rayDirection.ArrayData,
(int)(swRayPtsOpts_e.swRayPtsOptsTOPOLS | swRayPtsOpts_e.swRayPtsOptsNORMALS),
(double).0000001,
(double).0000001);
if (numIntersectionsFound == 0)
{
return(null);
}
double[] horrifyingReturn = (double[])swDoc.GetRayIntersectionsPoints();
int lengthOfOneReturn = 9;
for (int i = 0; i < numIntersectionsFound; i++)
{
double x = horrifyingReturn[i * lengthOfOneReturn + 3];
double y = horrifyingReturn[i * lengthOfOneReturn + 4];
double z = horrifyingReturn[i * lengthOfOneReturn + 5];
double[] hitPoint = new double[] { x, y, z };
if (!hitMainBodyBefore(rayOrigin.ArrayData, rayDirection.ArrayData, hitPoint))
{
return(hitPoint);
}
}
return(null);
}
/// Convert a SolidWorks component to Wavefront OBJ mesh
///
public static void Convert(Component2 swComp, ref string asciitext, bool saveUV, ref UserProgressBar swProgress)
{
StringBuilder textbuilder = new StringBuilder();
Body2 swBody = default(Body2);
object[] vBodies = null;
object[] vBodiesSolid = null;
object[] vBodiesSheet = null;
object vBodyInfo;
int[] BodiesInfo = null;
int j = 0;
ModelDoc2 swModel;
swModel = (ModelDoc2)swComp.GetModelDoc();
vBodiesSolid = (object[])swComp.GetBodies3((int)swBodyType_e.swSolidBody, out vBodyInfo);
vBodiesSheet = (object[])swComp.GetBodies3((int)swBodyType_e.swSheetBody, out vBodyInfo);
BodiesInfo = (int[])vBodyInfo;
if (vBodiesSolid != null && vBodiesSheet == null)
{
vBodies = vBodiesSolid;
}
if (vBodiesSolid == null && vBodiesSheet != null)
{
vBodies = vBodiesSheet;
}
if (vBodiesSolid != null && vBodiesSheet != null)
{
vBodies = vBodiesSheet.Concat(vBodiesSolid).ToArray();
}
// vBodies = (object[])swComp.GetBodies3((int)swBodyType_e.swSolidBody, out vBodyInfo);
if (vBodies != null)
{
int iNumBodies = vBodies.Length;
int iNumSolidBodies = 0;
int iNumSheetBodies = 0;
int iNumTesselatedBodies = 0;
if (iNumBodies > 0)
{
asciitext += "# Wavefront .OBJ file for tesselated shape: " + swComp.Name2 + " path: " + swModel.GetPathName() + "\n\n";
}
int group_vstride = 0;
int group_nstride = 0;
// Loop through bodies
for (j = 0; j <= vBodies.Length - 1; j++)
{
swBody = (Body2)vBodies[j];
int nBodyType = (int)swBody.GetType();
if (nBodyType == (int)swBodyType_e.swSheetBody)
{
iNumSheetBodies++;
}
if (nBodyType == (int)swBodyType_e.swSolidBody)
{
iNumSolidBodies++;
}
if ((nBodyType == (int)swBodyType_e.swSheetBody ||
nBodyType == (int)swBodyType_e.swSolidBody) &&
!swBody.Name.StartsWith("COLL.") &&
swBody.Visible)
{
iNumTesselatedBodies++;
CultureInfo bz = new CultureInfo("en-BZ");
//asciitext += "g body_" + iNumTesselatedBodies + "\n";
textbuilder.Append("g body_" + iNumTesselatedBodies + "\n");
Face2 swFace = null;
Tessellation swTessellation = null;
bool bResult = false;
// Pass in null so the whole body will be tessellated
swTessellation = (Tessellation)swBody.GetTessellation(null);
// Set up the Tessellation object
swTessellation.NeedFaceFacetMap = true;
swTessellation.NeedVertexParams = true;
swTessellation.NeedVertexNormal = true;
swTessellation.ImprovedQuality = true;
// How to handle matches across common edges
swTessellation.MatchType = (int)swTesselationMatchType_e.swTesselationMatchFacetTopology;
// Do it
if (swProgress != null)
{
swProgress.UpdateTitle("Exporting (tesselate process) ...");
}
bResult = swTessellation.Tessellate();
// Get the number of vertices and facets
//System.Windows.Forms.MessageBox.Show("Body n." + j + " vert.num=" + swTessellation.GetVertexCount());
//Debug.Print("Number of vertices: " + swTessellation.GetVertexCount());
//Debug.Print("Number of facets: " + swTessellation.GetFacetCount());
// Now get the facet data per face
int[] aFacetIds;
int iNumFacetIds;
int[] aFinIds;
int[] aVertexIds;
double[] aNormal;
double[] aVertexCoords1;
double[] aVertexCoords2;
double[] aVertexParams;
int numv = swTessellation.GetVertexCount();
// Write all vertexes
string mline;
for (int iv = 0; iv < numv; iv++)
{
if ((swProgress != null) && (iv % 200 == 0))
{
swProgress.UpdateTitle("Exporting (write " + iv + "-th vertex in .obj) ...");
}
aVertexCoords1 = (double[])swTessellation.GetVertexPoint(iv);
mline = "v " + (aVertexCoords1[0] * ChScale.L).ToString("f6", bz)
+ " " + (aVertexCoords1[1] * ChScale.L).ToString("f6", bz)
+ " " + (aVertexCoords1[2] * ChScale.L).ToString("f6", bz)
+ "\n";
textbuilder.Append(mline);
}
// Write all normals
for (int iv = 0; iv < numv; iv++)
{
if ((swProgress != null) && (iv % 200 == 0))
{
swProgress.UpdateTitle("Exporting (write " + iv + "-th normal in .obj) ...");
}
aNormal = (double[])swTessellation.GetVertexNormal(iv);
mline = "vn " + aNormal[0].ToString("f3", bz)
+ " " + aNormal[1].ToString("f3", bz)
+ " " + aNormal[2].ToString("f3", bz)
+ "\n";
textbuilder.Append(mline);
}
if (nBodyType == (int)swBodyType_e.swSheetBody) // for sheets, save two-sided triangles
{
for (int iv = 0; iv < numv; iv++)
{
if ((swProgress != null) && (iv % 200 == 0))
{
swProgress.UpdateTitle("Exporting (write " + iv + "-th normal in .obj) ...");
}
aNormal = (double[])swTessellation.GetVertexNormal(iv);
mline = "vn " + (-aNormal[0]).ToString("f3", bz)
+ " " + (-aNormal[1]).ToString("f3", bz)
+ " " + (-aNormal[2]).ToString("f3", bz)
+ "\n";
textbuilder.Append(mline);
}
}
// Write all UV (also with '0' as third value, for compatibility with some OBJ reader)
if (saveUV)
{
for (int iv = 0; iv < numv; iv++)
{
if ((swProgress != null) && (iv % 200 == 0))
{
swProgress.UpdateTitle("Exporting (write " + iv + "-th UV in .obj) ...");
}
aVertexParams = (double[])swTessellation.GetVertexParams(iv);
mline = "vt " + aVertexParams[0].ToString("f4", bz)
+ " " + aVertexParams[1].ToString("f4", bz)
+ " " + "0"
+ "\n";
textbuilder.Append(mline);
}
}
// Loop over faces
swFace = (Face2)swBody.GetFirstFace();
while (swFace != null)
{
aFacetIds = (int[])swTessellation.GetFaceFacets(swFace);
iNumFacetIds = aFacetIds.Length;
for (int iFacetIdIdx = 0; iFacetIdIdx < iNumFacetIds; iFacetIdIdx++)
{
if ((swProgress != null) && (iFacetIdIdx % 100 == 0))
{
swProgress.UpdateTitle("Exporting (write " + iFacetIdIdx + "-th face in .obj) ...");
}
mline = "f";
aFinIds = (int[])swTessellation.GetFacetFins(aFacetIds[iFacetIdIdx]);
// There should always be three fins per facet
for (int iFinIdx = 0; iFinIdx < 3; iFinIdx++)
{
aVertexIds = (int[])swTessellation.GetFinVertices(aFinIds[iFinIdx]);
// Three fins per face, two vertexes each fin,
// only the 1st vertex of two is needed (because of sharing)
if (saveUV)
{
mline += " " + (aVertexIds[0] + group_vstride + 1) + "/"
+ (aVertexIds[0] + group_vstride + 1) + "/"
+ (aVertexIds[0] + group_nstride + 1);
}
else
{
mline += " " + (aVertexIds[0] + group_vstride + 1) + "//"
+ (aVertexIds[0] + group_nstride + 1);
}
}
mline += "\n";
textbuilder.Append(mline);
}
swFace = (Face2)swFace.GetNextFace();
}
swFace = (Face2)swBody.GetFirstFace();
if (nBodyType == (int)swBodyType_e.swSheetBody) // for sheets, save two-sided triangles
{
while (swFace != null)
{
aFacetIds = (int[])swTessellation.GetFaceFacets(swFace);
iNumFacetIds = aFacetIds.Length;
for (int iFacetIdIdx = 0; iFacetIdIdx < iNumFacetIds; iFacetIdIdx++)
{
if ((swProgress != null) && (iFacetIdIdx % 100 == 0))
{
swProgress.UpdateTitle("Exporting (write " + iFacetIdIdx + "-th face in .obj) ...");
}
mline = "f";
aFinIds = (int[])swTessellation.GetFacetFins(aFacetIds[iFacetIdIdx]);
for (int iFinIdx = 2; iFinIdx >= 0; iFinIdx--)
{
aVertexIds = (int[])swTessellation.GetFinVertices(aFinIds[iFinIdx]);
if (saveUV)
{
mline += " " + (aVertexIds[0] + group_vstride + 1) + "/"
+ (aVertexIds[0] + group_vstride + 1) + "/"
+ (aVertexIds[0] + swTessellation.GetVertexCount() + group_nstride + 1);
}
else
{
mline += " " + (aVertexIds[0] + group_vstride + 1) + "//"
+ (aVertexIds[0] + swTessellation.GetVertexCount() + group_nstride + 1);
}
}
mline += "\n";
textbuilder.Append(mline);
}
swFace = (Face2)swFace.GetNextFace();
}
}
group_vstride += swTessellation.GetVertexCount();
group_nstride += swTessellation.GetVertexCount();
if (nBodyType == (int)swBodyType_e.swSheetBody) // for sheets: two-sided triangles
{
group_nstride += swTessellation.GetVertexCount();
}
}
} // end loop on bodies
} // not null body
asciitext += textbuilder.ToString();
}
/// Convert a SolidWorks component to Wavefront OBJ mesh
///
public static void Convert(Component2 swComp, ref string asciitext, bool saveUV, ref UserProgressBar swProgress)
{
StringBuilder textbuilder = new StringBuilder();
Body2 swBody = default(Body2);
object[] vBodies = null;
object[] vBodiesSolid = null;
object[] vBodiesSheet = null;
object vBodyInfo;
int[] BodiesInfo = null;
int j = 0;
ModelDoc2 swModel;
swModel = (ModelDoc2)swComp.GetModelDoc();
vBodiesSolid = (object[])swComp.GetBodies3((int)swBodyType_e.swSolidBody, out vBodyInfo);
vBodiesSheet = (object[])swComp.GetBodies3((int)swBodyType_e.swSheetBody, out vBodyInfo);
BodiesInfo = (int[])vBodyInfo;
if (vBodiesSolid != null && vBodiesSheet == null)
vBodies = vBodiesSolid;
if (vBodiesSolid == null && vBodiesSheet != null)
vBodies = vBodiesSheet;
if (vBodiesSolid != null && vBodiesSheet != null)
vBodies = vBodiesSheet.Concat(vBodiesSolid).ToArray();
// vBodies = (object[])swComp.GetBodies3((int)swBodyType_e.swSolidBody, out vBodyInfo);
if (vBodies != null)
{
int iNumBodies = vBodies.Length;
int iNumSolidBodies = 0;
int iNumSheetBodies = 0;
int iNumTesselatedBodies = 0;
if (iNumBodies >0)
asciitext += "# Wavefront .OBJ file for tesselated shape: " + swComp.Name2 + " path: " + swModel.GetPathName() + "\n\n";
int group_vstride = 0;
int group_nstride = 0;
// Loop through bodies
for (j = 0; j <= vBodies.Length - 1; j++)
{
swBody = (Body2)vBodies[j];
int nBodyType = (int)swBody.GetType();
if (nBodyType == (int)swBodyType_e.swSheetBody)
iNumSheetBodies++;
if (nBodyType == (int)swBodyType_e.swSolidBody)
iNumSolidBodies++;
if ((nBodyType == (int)swBodyType_e.swSheetBody ||
nBodyType == (int)swBodyType_e.swSolidBody) &&
!swBody.Name.StartsWith("COLL.") &&
swBody.Visible)
{
iNumTesselatedBodies++;
CultureInfo bz = new CultureInfo("en-BZ");
//asciitext += "g body_" + iNumTesselatedBodies + "\n";
textbuilder.Append("g body_" + iNumTesselatedBodies + "\n");
Face2 swFace = null;
Tessellation swTessellation = null;
bool bResult = false;
// Pass in null so the whole body will be tessellated
swTessellation = (Tessellation)swBody.GetTessellation(null);
// Set up the Tessellation object
swTessellation.NeedFaceFacetMap = true;
swTessellation.NeedVertexParams = true;
swTessellation.NeedVertexNormal = true;
swTessellation.ImprovedQuality = true;
// How to handle matches across common edges
swTessellation.MatchType = (int)swTesselationMatchType_e.swTesselationMatchFacetTopology;
// Do it
if (swProgress != null)
swProgress.UpdateTitle("Exporting (tesselate process) ...");
bResult = swTessellation.Tessellate();
// Get the number of vertices and facets
//System.Windows.Forms.MessageBox.Show("Body n." + j + " vert.num=" + swTessellation.GetVertexCount());
//Debug.Print("Number of vertices: " + swTessellation.GetVertexCount());
//Debug.Print("Number of facets: " + swTessellation.GetFacetCount());
// Now get the facet data per face
int[] aFacetIds;
int iNumFacetIds;
int[] aFinIds;
int[] aVertexIds;
double[] aNormal;
double[] aVertexCoords1;
double[] aVertexCoords2;
double[] aVertexParams;
int numv = swTessellation.GetVertexCount();
// Write all vertexes
string mline;
for (int iv = 0; iv < numv; iv++)
{
if ((swProgress != null)&&(iv%200==0))
swProgress.UpdateTitle("Exporting (write " + iv + "-th vertex in .obj) ...");
aVertexCoords1 = (double[])swTessellation.GetVertexPoint(iv);
mline = "v " + (aVertexCoords1[0]*ChScale.L).ToString("f6", bz)
+ " " + (aVertexCoords1[1]*ChScale.L).ToString("f6", bz)
+ " " + (aVertexCoords1[2]*ChScale.L).ToString("f6", bz)
+ "\n";
textbuilder.Append(mline);
}
// Write all normals
for (int iv = 0; iv < numv; iv++)
{
if ((swProgress != null) && (iv % 200 == 0))
swProgress.UpdateTitle("Exporting (write " + iv + "-th normal in .obj) ...");
aNormal = (double[])swTessellation.GetVertexNormal(iv);
mline = "vn " + aNormal[0].ToString("f3", bz)
+ " " + aNormal[1].ToString("f3", bz)
+ " " + aNormal[2].ToString("f3", bz)
+ "\n";
textbuilder.Append(mline);
}
if (nBodyType == (int)swBodyType_e.swSheetBody) // for sheets, save two-sided triangles
for (int iv = 0; iv < numv; iv++)
{
if ((swProgress != null) && (iv % 200 == 0))
swProgress.UpdateTitle("Exporting (write " + iv + "-th normal in .obj) ...");
aNormal = (double[])swTessellation.GetVertexNormal(iv);
mline = "vn " + (-aNormal[0]).ToString("f3", bz)
+ " " + (-aNormal[1]).ToString("f3", bz)
+ " " + (-aNormal[2]).ToString("f3", bz)
+ "\n";
textbuilder.Append(mline);
}
// Write all UV (also with '0' as third value, for compatibility with some OBJ reader)
if (saveUV)
for (int iv = 0; iv < numv; iv++)
{
if ((swProgress != null) && (iv % 200 == 0))
swProgress.UpdateTitle("Exporting (write " + iv + "-th UV in .obj) ...");
aVertexParams = (double[])swTessellation.GetVertexParams(iv);
mline = "vt " + aVertexParams[0].ToString("f4", bz)
+ " " + aVertexParams[1].ToString("f4", bz)
+ " " + "0"
+ "\n";
textbuilder.Append(mline);
}
// Loop over faces
swFace = (Face2)swBody.GetFirstFace();
while (swFace != null)
{
aFacetIds = (int[])swTessellation.GetFaceFacets(swFace);
iNumFacetIds = aFacetIds.Length;
for (int iFacetIdIdx = 0; iFacetIdIdx < iNumFacetIds; iFacetIdIdx++)
{
if ((swProgress != null) && (iFacetIdIdx % 100 == 0))
swProgress.UpdateTitle("Exporting (write " + iFacetIdIdx + "-th face in .obj) ...");
mline = "f";
aFinIds = (int[])swTessellation.GetFacetFins(aFacetIds[iFacetIdIdx]);
// There should always be three fins per facet
for (int iFinIdx = 0; iFinIdx < 3; iFinIdx++)
{
aVertexIds = (int[])swTessellation.GetFinVertices(aFinIds[iFinIdx]);
// Three fins per face, two vertexes each fin,
// only the 1st vertex of two is needed (because of sharing)
if (saveUV)
mline += " " + (aVertexIds[0] + group_vstride +1) + "/"
+ (aVertexIds[0] + group_vstride +1) + "/"
+ (aVertexIds[0] + group_nstride +1);
else
mline += " " + (aVertexIds[0] + group_vstride + 1) + "//"
+ (aVertexIds[0] + group_nstride + 1);
}
mline += "\n";
textbuilder.Append(mline);
}
swFace = (Face2)swFace.GetNextFace();
}
swFace = (Face2)swBody.GetFirstFace();
if (nBodyType == (int)swBodyType_e.swSheetBody) // for sheets, save two-sided triangles
while (swFace != null)
{
aFacetIds = (int[])swTessellation.GetFaceFacets(swFace);
iNumFacetIds = aFacetIds.Length;
for (int iFacetIdIdx = 0; iFacetIdIdx < iNumFacetIds; iFacetIdIdx++)
{
if ((swProgress != null) && (iFacetIdIdx % 100 == 0))
swProgress.UpdateTitle("Exporting (write " + iFacetIdIdx + "-th face in .obj) ...");
mline = "f";
aFinIds = (int[])swTessellation.GetFacetFins(aFacetIds[iFacetIdIdx]);
for (int iFinIdx = 2; iFinIdx >= 0; iFinIdx--)
{
aVertexIds = (int[])swTessellation.GetFinVertices(aFinIds[iFinIdx]);
if (saveUV)
mline += " " + (aVertexIds[0] + group_vstride + 1) + "/"
+ (aVertexIds[0] + group_vstride + 1) + "/"
+ (aVertexIds[0] + swTessellation.GetVertexCount() + group_nstride + 1);
else
mline += " " + (aVertexIds[0] + group_vstride + 1) + "//"
+ (aVertexIds[0] + swTessellation.GetVertexCount() + group_nstride + 1);
}
mline += "\n";
textbuilder.Append(mline);
}
swFace = (Face2)swFace.GetNextFace();
}
group_vstride += swTessellation.GetVertexCount();
group_nstride += swTessellation.GetVertexCount();
if (nBodyType == (int)swBodyType_e.swSheetBody) // for sheets: two-sided triangles
group_nstride += swTessellation.GetVertexCount();
}
} // end loop on bodies
} // not null body
asciitext += textbuilder.ToString();
}
public static bool rawRaysSeeComponentInCurrentConfig(Component2 component)
{
/*
* see https://forum.solidworks.com/message/348151
*/
List <IBody2> bodies = new List <IBody2>();
object vBodyInfo;
object[] componentBodies = (object[])component.GetBodies3((int)swBodyType_e.swSolidBody, out vBodyInfo);
for (int i = 0; i < componentBodies.Length; i++)
{
IBody2 tempBody = ((Body2)componentBodies[i]).ICopy();
tempBody.ApplyTransform(component.Transform2);
bodies.Add(tempBody);
}
double[] rayVectorOrigins = camera.rayVectorOrigins();
double[] rayVectorDirections = camera.rayVectorDirections();
int numIntersectionsFound = (int)swDoc.RayIntersections((object)bodies.ToArray(),
(object)rayVectorOrigins,
(object)rayVectorDirections,
(int)(swRayPtsOpts_e.swRayPtsOptsTOPOLS | swRayPtsOpts_e.swRayPtsOptsNORMALS),
(double).0000001,
(double).0000001);
if (numIntersectionsFound == 0)
{
return(false);
}
double[] horrifyingReturn = (double[])swDoc.GetRayIntersectionsPoints();
for (int i = 0; i < horrifyingReturn.Length; i += 9)
{
double[] pt = new double[] { horrifyingReturn[i + 3], horrifyingReturn[i + 4], horrifyingReturn[i + 5] };
}
int lengthOfOneReturn = 9;
for (int i = 0; i < numIntersectionsFound; i++)
{
int rayIndex = (int)horrifyingReturn[i * lengthOfOneReturn + 1];
double x = horrifyingReturn[i * lengthOfOneReturn + 3];
double y = horrifyingReturn[i * lengthOfOneReturn + 4];
double z = horrifyingReturn[i * lengthOfOneReturn + 5];
double[] rayOrigin = camera.rayVectorSources().ElementAt(rayIndex).ArrayData;
double[] rayDirection = camera.rayVectors().ElementAt(rayIndex).ArrayData;
double[] hitPoint = new double[] { x, y, z };
if (!hitMainBodyBefore(rayOrigin, rayDirection, hitPoint) && !hitSomethingElseBefore(rayOrigin, rayDirection, hitPoint))
{
if (visualize)
{
startSketch();
visualizeRay(mathUtils.CreateVector(rayDirection), mathUtils.CreatePoint(rayOrigin));
finishSketch();
}
return(true);
}
}
return(false);
}
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 PythonTraverseComponent_for_visualizationshapes(Component2 swComp, long nLevel, ref string asciitext, int nbody, ref int nvisshape, Component2 chbody_comp)
{
CultureInfo bz = new CultureInfo("en-BZ");
object[] bodies;
object bodyInfo;
bodies = (object[])swComp.GetBodies3((int)swBodyType_e.swAllBodies, out bodyInfo);
if (bodies != null)
if (bodies.Length > 0)
{
// Export the component shape to a .OBJ file representing its SW body(s)
nvisshape += 1;
string bodyname = "body_" + nbody;
string shapename = "body_" + nbody + "_" + nvisshape;
string obj_filename = this.save_dir_shapes + "\\" + shapename + ".obj";
ModelDoc2 swCompModel = (ModelDoc2)swComp.GetModelDoc();
if (!this.saved_shapes.ContainsKey(swCompModel.GetPathName()))
{
try
{
FileStream ostream = new FileStream(obj_filename, FileMode.Create, FileAccess.ReadWrite);
StreamWriter writer = new StreamWriter(ostream); //, new UnicodeEncoding());
string asciiobj = "";
if (this.swProgress != null)
this.swProgress.UpdateTitle("Exporting " + swComp.Name2 + " (tesselate) ...");
// Write the OBJ converted visualization shapes:
TesselateToObj.Convert(swComp, ref asciiobj, this.checkBox_saveUV.Checked, ref this.swProgress);
writer.Write(asciiobj);
writer.Flush();
ostream.Close();
this.saved_shapes.Add(swCompModel.GetPathName(), shapename);
}
catch (Exception)
{
System.Windows.Forms.MessageBox.Show("Cannot write to file: " + obj_filename);
}
}
else
{
// reuse the already-saved shape name
shapename = (String)saved_shapes[swCompModel.GetPathName()];
}
asciitext += String.Format(bz, "\n# Visualization shape \n", bodyname);
asciitext += String.Format(bz, "{0}_shape = chrono.ChObjShapeFile() \n", shapename);
asciitext += String.Format(bz, "{0}_shape.SetFilename(shapes_dir +'{0}.obj') \n", shapename);
object foo = null;
double[] vMatProperties = (double[])swComp.GetMaterialPropertyValues2((int)swInConfigurationOpts_e.swThisConfiguration, foo);
if (vMatProperties != null)
if (vMatProperties[0] != -1)
{
asciitext += String.Format(bz, "{0}_shape.SetColor(chrono.ChColor({1},{2},{3})) \n", shapename,
vMatProperties[0], vMatProperties[1], vMatProperties[2]);
asciitext += String.Format(bz, "{0}_shape.SetFading({1}) \n", shapename, vMatProperties[7]);
}
MathTransform absframe_chbody = chbody_comp.GetTotalTransform(true);
MathTransform absframe_shape = swComp.GetTotalTransform(true);
MathTransform absframe_chbody_inv = absframe_chbody.IInverse();
MathTransform relframe_shape = absframe_shape.IMultiply(absframe_chbody_inv); // row-ordered transf. -> reverse mult.order!
double[] amatr = (double[])relframe_shape.ArrayData;
double[] quat = GetQuaternionFromMatrix(ref relframe_shape);
asciitext += String.Format(bz, "{0}_level = chrono.ChAssetLevel() \n", shapename);
asciitext += String.Format(bz, "{0}_level.GetFrame().SetPos(chrono.ChVectorD({1},{2},{3})) \n", shapename,
amatr[9] *ChScale.L,
amatr[10]*ChScale.L,
amatr[11]*ChScale.L);
asciitext += String.Format(bz, "{0}_level.GetFrame().SetRot(chrono.ChQuaternionD({1},{2},{3},{4})) \n", shapename, quat[0], quat[1], quat[2], quat[3]);
asciitext += String.Format(bz, "{0}_level.GetAssets().push_back({0}_shape) \n", shapename);
asciitext += String.Format(bz, "{0}.GetAssets().push_back({1}_level) \n", bodyname, shapename);
}
// Recursive scan of subcomponents
Component2 swChildComp;
object[] vChildComp = (object[])swComp.GetChildren();
for (long i = 0; i < vChildComp.Length; i++)
{
swChildComp = (Component2)vChildComp[i];
if (swChildComp.Visible == (int)swComponentVisibilityState_e.swComponentVisible)
PythonTraverseComponent_for_visualizationshapes(swChildComp, nLevel + 1, ref asciitext, nbody, ref nvisshape, chbody_comp);
}
}
public void PythonTraverseComponent_for_massbodies(Component2 swComp, ref object[] obodies, ref int addedb)
{
// Add bodies of this component to the list
object[] bodies;
object bodyInfo;
bodies = (object[])swComp.GetBodies3((int)swBodyType_e.swAllBodies, out bodyInfo);
if (bodies != null)
{
// note: some bodies might be collision shapes and must not enter the mass computation:
for (int ib = 0; ib < bodies.Length; ib++)
{
Body2 abody = (Body2)bodies[ib];
if (!(abody.Name.StartsWith("COLL.")))
{
obodies[addedb] = bodies[ib];
addedb += 1;
}
}
}
// Recursive scan of subcomponents
Component2 swChildComp;
object[] vChildComp = (object[])swComp.GetChildren();
for (long i = 0; i < vChildComp.Length; i++)
{
swChildComp = (Component2)vChildComp[i];
PythonTraverseComponent_for_massbodies(swChildComp, ref obodies, ref addedb);
}
}
/// <summary>
/// 递归创建装配树
/// </summary>
/// <param name="component"></param>
/// <param name="swComponet"></param>
private static void CreateTree(Component2 component, ref SWComponent swComponent)
{
if (component == null)
{
return;
}
/////////复制组件相关信息///////////
//名称
swComponent.Name = component.Name2;
//是否根组件
swComponent.IsRoot = component.IsRoot();
//提取配合,存放在RootComponent节点
//if (swComponent.IsRoot) {
swComponent.Mates = GetSWMatesOfRootComponent(component);
//}
//包围盒
double[] box = null;
try {
box = component.GetBox(false, false);
} catch (Exception e) {
//发生异常，说明该组件（根组件）没有包围盒
box = null;
}
if (box == null)
{
swComponent.BoundingBox = CreateSWBoundingBox(box);
}
else
{
swComponent.BoundingBox = new SWBoundingBox();
}
//提取Body
object bodyInfo;
object[] bodies = component.GetBodies3((int)swBodyType_e.swSolidBody, out bodyInfo);
if (bodies != null)
{
foreach (object objBody in bodies)
{
swComponent.Bodies.Add(CreateSWBody((Body2)objBody));
}
}
//继续遍历
object[] subComponents = component.GetChildren();
if (subComponents != null)
{
foreach (object obj in subComponents)
{
SWComponent newComponent = new SWComponent();
CreateTree((Component2)obj, ref newComponent);
swComponent.SubComponents.Add(newComponent);
}
}
}