public PointDirection3 Transform(MathTransform tran, MathUtility uti)
{
var vec = Direction.ToSwMathVector(uti).IMultiplyTransform(tran);
var point = Point.ToSwMathPoint(uti).IMultiplyTransform(tran);
return(new PointDirection3(vec.ToVector3(), point.ToVector3()));
}
/// <summary>
/// Creates a Point in the global frame that was in the specified direction in the given component's frame
/// </summary>
/// <param name="compTransform">The transfrom that the orginal vector was in. If null the vector will be based in the global frame</param>
/// <param name="point">The local location of the point to be created</param>
/// <returns>The transformed MathPoint</returns>
public static MathPoint CreatePoint(MathTransform compTransform, double[] point)
{
if (compTransform != null)
return RobotInfo.mathUtil.CreatePoint(point).MultiplyTransform(compTransform);
else
return RobotInfo.mathUtil.CreatePoint(point);
}
public GeomVue(View vue, Sketch esquisse)
{
MathUtility SwMath = App.Sw.GetMathUtility();
gPoint ptCentreVue = new gPoint(vue.Position);
gPoint ptMin = new gPoint(Double.PositiveInfinity, Double.PositiveInfinity, 0);
gPoint ptMax = new gPoint(Double.NegativeInfinity, Double.NegativeInfinity, 0);
foreach (SketchPoint s in esquisse.GetSketchPoints2())
{
MathPoint swStartPoint = SwMath.CreatePoint(new Double[3] {
s.X, s.Y, s.Z
});
MathTransform SketchXform = esquisse.ModelToSketchTransform;
SketchXform = SketchXform.Inverse();
swStartPoint = swStartPoint.MultiplyTransform(SketchXform);
MathTransform ViewXform = vue.ModelToViewTransform;
swStartPoint = swStartPoint.MultiplyTransform(ViewXform);
gPoint swViewStartPt = new gPoint(swStartPoint);
ptMin.Min(swViewStartPt);
ptMax.Max(swViewStartPt);
}
ptMinX = ptMin.X;
ptMinY = ptMin.Y;
ptMaxX = ptMax.X;
ptMaxY = ptMax.Y;
MajCentreRectangle();
ptCentreVueX = ptCentreVue.X;
ptCentreVueY = ptCentreVue.Y;
}
private double[] putInComponentSpace(ReflectionPoint rp, Component2 component)
{
// TODO : debug!!
MathTransform invertMainBodyXForm = component.Transform2.Inverse();
return(rp.location.IMultiplyTransform(invertMainBodyXForm).ArrayData);
}
/// <summary>
/// Class constructor
/// </summary>
/// <param name="elasticSearchGateway"></param>
/// <param name="elevationDataStorage"></param>
/// <param name="clentsFactory"></param>
/// <param name="osmGeoJsonPreprocessorExecutor"></param>
/// <param name="osmRepository"></param>
/// <param name="dataContainerConverterService"></param>
/// <param name="wikipediaGateway"></param>
/// <param name="itmWgs84MathTransfromFactory"></param>
/// <param name="latestFileFetcherExecutor"></param>
/// <param name="tagsHelper"></param>
/// <param name="options"></param>
/// <param name="logger"></param>
public OsmPointsOfInterestAdapter(IElasticSearchGateway elasticSearchGateway,
IElevationDataStorage elevationDataStorage,
IClientsFactory clentsFactory,
IOsmGeoJsonPreprocessorExecutor osmGeoJsonPreprocessorExecutor,
IOsmRepository osmRepository,
IDataContainerConverterService dataContainerConverterService,
IWikipediaGateway wikipediaGateway,
IItmWgs84MathTransfromFactory itmWgs84MathTransfromFactory,
IOsmLatestFileFetcherExecutor latestFileFetcherExecutor,
ITagsHelper tagsHelper,
IOptions <ConfigurationData> options,
ILogger logger) :
base(dataContainerConverterService,
logger)
{
_clientsFactory = clentsFactory;
_osmGeoJsonPreprocessorExecutor = osmGeoJsonPreprocessorExecutor;
_osmRepository = osmRepository;
_wikipediaGateway = wikipediaGateway;
_tagsHelper = tagsHelper;
_latestFileFetcherExecutor = latestFileFetcherExecutor;
_elevationDataStorage = elevationDataStorage;
_wgs84ItmMathTransform = itmWgs84MathTransfromFactory.CreateInverse();
_options = options.Value;
_elasticSearchGateway = elasticSearchGateway;
}
public static Camera createCamera(Component2 fieldOfView, SldWorks swApp, ModelDoc2 swDoc, AssemblyDoc swAssembly, SelectionMgr swSelectionMgr, MathUtility mathUtils)
{
IMathPoint centreOfVision = getCentreOfVision(fieldOfView, swDoc, swSelectionMgr, mathUtils);
if (centreOfVision == null)
{
swApp.SendMsgToUser2("you need to insert the camera first!", 1, 1);
return(null);
}
RefPlane cameraNormalPlane = getCameraNormalPlane(fieldOfView, swDoc, swSelectionMgr);
// note that we reverse this transform because our plane normal is pointing the wrong direction :(
MathTransform cameraTransform = Camera.reverseTransform(cameraNormalPlane.Transform, mathUtils);
MathVector cameraDirection = getCameraDirection(cameraTransform, mathUtils);
drawRayForCamera(cameraDirection, centreOfVision, swDoc, swSelectionMgr);
Camera camera = new Camera(fieldOfView, mathUtils.CreatePoint((double[])centreOfVision.ArrayData), cameraDirection);
camera.swApp = swApp;
camera.swDoc = swDoc;
camera.swAssembly = swAssembly;
camera.swSelectionMgr = swSelectionMgr;
camera.mathUtils = mathUtils;
return(camera);
}
public CoordinateConverter(string _projection)
{
try
{
CoordinateSystemFactory csFactory = new CoordinateSystemFactory();
CoordinateSystem = csFactory.CreateFromWkt(_projection);
CoordinateTransformationFactory ctFactory = new CoordinateTransformationFactory();
XYToLonLatTransform = ctFactory.CreateFromCoordinateSystems(CoordinateSystem, WGS84).MathTransform;
LonLatToXYTransform = ctFactory.CreateFromCoordinateSystems(WGS84, CoordinateSystem).MathTransform;
XYToWebTransform = ctFactory.CreateFromCoordinateSystems(CoordinateSystem, WebMercator).MathTransform;
WebToXYTransform = ctFactory.CreateFromCoordinateSystems(WebMercator, CoordinateSystem).MathTransform;
} catch (Exception ex)
{
if (_projection.ToLowerInvariant().Contains("web_mercator"))
{
CoordinateTransformationFactory ctFactory = new CoordinateTransformationFactory();
LonLatToXYTransform = ctFactory.CreateFromCoordinateSystems(WGS84, WebMercator).MathTransform;
XYToLonLatTransform = LonLatToXYTransform.Inverse();
}
else
{
throw ex;
}
}
}
private static Geometry Transform(Geometry geom, MathTransform transform, int targetSrid)
{
geom = geom.Copy();
geom.Apply(new MathTransformFilter(transform));
geom.SRID = targetSrid;
return(geom);
}
/// <summary>
/// Service's constructor
/// </summary>
/// <param name="clinetsFactory"></param>
/// <param name="elasticSearchGateway"></param>
/// <param name="osmGeoJsonPreprocessorExecutor"></param>
/// <param name="tagsHelper"></param>
/// <param name="osmRepository"></param>
/// <param name="pointsOfInterestAdapterFactory"></param>
/// <param name="featuresMergeExecutor"></param>
/// <param name="latestFileFetcherExecutor"></param>
/// <param name="graphHopperGateway"></param>
/// <param name="pointsOfInterestFilesCreatorExecutor"></param>
/// <param name="elevationDataStorage"></param>
/// <param name="itmWgs84MathTransfromFactory"></param>
/// <param name="logger"></param>
public DatabasesUpdaterService(IClientsFactory clinetsFactory,
IElasticSearchGateway elasticSearchGateway,
IOsmGeoJsonPreprocessorExecutor osmGeoJsonPreprocessorExecutor,
ITagsHelper tagsHelper, IOsmRepository osmRepository,
IPointsOfInterestAdapterFactory pointsOfInterestAdapterFactory,
IFeaturesMergeExecutor featuresMergeExecutor,
IOsmLatestFileFetcherExecutor latestFileFetcherExecutor,
IGraphHopperGateway graphHopperGateway,
IPointsOfInterestFilesCreatorExecutor pointsOfInterestFilesCreatorExecutor,
IElevationDataStorage elevationDataStorage,
IItmWgs84MathTransfromFactory itmWgs84MathTransfromFactory,
ILogger logger)
{
_elasticSearchGateway = elasticSearchGateway;
_osmGeoJsonPreprocessorExecutor = osmGeoJsonPreprocessorExecutor;
_tagsHelper = tagsHelper;
_osmRepository = osmRepository;
_pointsOfInterestAdapterFactory = pointsOfInterestAdapterFactory;
_pointsOfInterestFilesCreatorExecutor = pointsOfInterestFilesCreatorExecutor;
_featuresMergeExecutor = featuresMergeExecutor;
_latestFileFetcherExecutor = latestFileFetcherExecutor;
_graphHopperGateway = graphHopperGateway;
_osmGateway = clinetsFactory.CreateNonAuthClient();
_elevationDataStorage = elevationDataStorage;
_logger = logger;
_mathTransform = itmWgs84MathTransfromFactory.CreateInverse();
}
/// <summary>
/// Converts coordinates in projected meters to decimal degrees.
/// </summary>
/// <param name="p">Point in meters</param>
/// <returns>Transformed point in decimal degrees</returns>
public override double[] MetersToDegrees(double[] p)
{
double num = Math.Atan((p[0] - this._falseEasting) / (this.ro0 - (p[1] - this._falseNorthing)));
double x = Math.Sqrt(Math.Pow(p[0] - this._falseEasting, 2) + Math.Pow(this.ro0 - (p[1] - this._falseNorthing), 2));
double num3 = (this.C - ((Math.Pow(x, 2) * Math.Pow(this.n, 2)) / Math.Pow(base._semiMajor, 2))) / this.n;
Math.Sin(num3 / (1 - (((1 - this.e_sq) / (2 * this.e)) * Math.Log((1 - this.e) / (1 + this.e)))));
double a = Math.Asin(num3 * 0.5);
double maxValue = double.MaxValue;
int num6 = 0;
while (Math.Abs((double)(a - maxValue)) > 1E-06)
{
maxValue = a;
double num7 = Math.Sin(a);
double num8 = this.e_sq * Math.Pow(num7, 2);
a += (Math.Pow(1 - num8, 2) / (2 * Math.Cos(a))) * (((num3 / (1 - this.e_sq)) - (num7 / (1 - num8))) + ((1 / (2 * this.e)) * Math.Log((1 - (this.e * num7)) / (1 + (this.e * num7)))));
num6++;
if (num6 > 0x19)
{
throw new ApplicationException("Transformation failed to converge in Albers backwards transformation");
}
}
double rad = this.lon_center + (num / this.n);
return(new double[] { MathTransform.Radians2Degrees(rad), MathTransform.Radians2Degrees(a) });
}
/// <summary>
/// Converts coordinates in decimal degrees to projected meters.
/// </summary>
/// <param name="lonlat">The point in decimal degrees.</param>
/// <returns>Point in projected meters</returns>
public override double[] DegreesToMeters(double[] lonlat)
{
double num4;
double num = MathTransform.Degrees2Radians(lonlat[0]);
double num2 = MathTransform.Degrees2Radians(lonlat[1]);
if (Math.Abs((double)(Math.Abs(num2) - 1.5707963267948966)) > 1E-10)
{
double sinphi = Math.Sin(num2);
double x = MapProjection.tsfnz(this.e, num2, sinphi);
num4 = (base._semiMajor * this.f0) * Math.Pow(x, this.ns);
}
else
{
double num3 = num2 * this.ns;
if (num3 <= 0)
{
throw new ApplicationException();
}
num4 = 0;
}
double a = this.ns * MapProjection.adjust_lon(num - this.center_lon);
return(new double[] { ((num4 * Math.Sin(a)) + this._falseEasting), ((this.rh - (num4 * Math.Cos(a))) + this._falseNorthing) });
}
/// <summary>
/// Creates a vector in the global frame that was in the specified direction in the given component's frame
/// </summary>
/// <param name="compTransform">The transfrom that the orginal vector was in. If null the vector will be based in the global frame</param>
/// <param name="vector">The direction of the vector to be created</param>
/// <returns>The transformed MathVector</returns>
public static MathVector CreateVector(MathTransform compTransform, double[] vector)
{
if (compTransform != null)
return RobotInfo.mathUtil.CreateVector(vector).MultiplyTransform(compTransform).Normalise();
else
return RobotInfo.mathUtil.CreateVector(vector).Normalise();
}
/// <summary>
/// Converts a latitude value in degrees to radians.
/// </summary>
/// <param name="y">The value in degrees to to radians.</param>
/// <param name="edge">If true, -90 and +90 are valid, otherwise they are considered out of range.</param>
/// <returns></returns>
protected static double LatitudeToRadians(double y, bool edge)
{
if (!(edge ? ((y >= -90) && (y <= 90)) : ((y > -90) && (y < 90))))
{
throw new ArgumentOutOfRangeException("x", y, " not a valid latitude in degrees.");
}
return(MathTransform.Degrees2Radians(y));
}
private static MathVector getCameraDirection(MathTransform cameraTransform, MathUtility mathUtils)
{
double[] canonicalRay = { 0, 0, 1 };
MathVector normalVector = mathUtils.CreateVector(canonicalRay);
MathVector cameraDirection = normalVector.MultiplyTransform(cameraTransform);
return(cameraDirection);
}
/// <summary>
/// Converts a longitude value in degrees to radians.
/// </summary>
/// <param name="x">The value in degrees to convert to radians.</param>
/// <param name="edge">If true, -180 and +180 are valid, otherwise they are considered out of range.</param>
/// <returns></returns>
protected static double LongitudeToRadians(double x, bool edge)
{
if (!(edge ? ((x >= -180) && (x <= 180)) : ((x > -180) && (x < 180))))
{
throw new ArgumentOutOfRangeException("x", x, " not a valid longitude in degrees.");
}
return(MathTransform.Degrees2Radians(x));
}
public static double[] GetXYZ(MathTransform transform)
{
double[] XYZ = new double[3];
XYZ[0] = transform.ArrayData[9];
XYZ[1] = transform.ArrayData[10];
XYZ[2] = transform.ArrayData[11];
return(XYZ);
}
// Used only by the part exporter
public void exportLink(bool zIsUp)
{
createBaseRefOrigin(zIsUp);
MathTransform coordSysTransform =
ActiveSWModel.Extension.GetCoordinateSystemTransformByName("Origin_global");
Matrix <double> GlobalTransform = ops.getTransformation(coordSysTransform);
localizeLink(mRobot.BaseLink, GlobalTransform);
//Creating package directories
URDFPackage package = new URDFPackage(mPackageName, mSavePath);
package.createDirectories();
string meshFileName = package.MeshesDirectory + mRobot.BaseLink.name + ".STL";
string windowsMeshFileName = package.WindowsMeshesDirectory + mRobot.BaseLink.name + ".STL";
string windowsURDFFileName = package.WindowsRobotsDirectory + mRobot.name + ".urdf";
string windowsManifestFileName = package.WindowsPackageDirectory + "manifest.xml";
//Creating manifest file
PackageXMLWriter manifestWriter = new PackageXMLWriter(windowsManifestFileName);
PackageXML Manifest = new PackageXML(mRobot.name);
Manifest.writeElement(manifestWriter);
//Customizing STL preferences to how I want them
saveUserPreferences();
setSTLExportPreferences();
setLinkSpecificSTLPreferences("", mRobot.BaseLink.STLQualityFine, ActiveSWModel);
int errors = 0;
int warnings = 0;
//Saving part as STL mesh
ActiveSWModel.Extension.SaveAs(windowsMeshFileName, (int)swSaveAsVersion_e.swSaveAsCurrentVersion,
(int)swSaveAsOptions_e.swSaveAsOptions_Silent, null, ref errors, ref warnings);
mRobot.BaseLink.Visual.Geometry.Mesh.filename = meshFileName;
mRobot.BaseLink.Collision.Geometry.Mesh.filename = meshFileName;
correctSTLMesh(windowsMeshFileName);
mRobot.BaseLink.Visual.Material.Texture.filename =
package.TexturesDirectory + Path.GetFileName(mRobot.BaseLink.Visual.Material.Texture.wFilename);
string textureSavePath =
package.WindowsTexturesDirectory + Path.GetFileName(mRobot.BaseLink.Visual.Material.Texture.wFilename);
if (mRobot.BaseLink.Visual.Material.Texture.wFilename != "")
{
System.IO.File.Copy(mRobot.BaseLink.Visual.Material.Texture.wFilename, textureSavePath, true);
}
//Writing URDF to file
URDFWriter uWriter = new URDFWriter(windowsURDFFileName);
//mRobot.addLink(mLink);
mRobot.writeURDF(uWriter.writer);
resetUserPreferences();
}
private Double AngleCubeDeVisualisation(View vue, Sketch esquisse)
{
MathUtility SwMath = App.Sw.GetMathUtility();
List <gPoint> LstPt = new List <gPoint>();
foreach (SketchPoint s in esquisse.GetSketchPoints2())
{
MathPoint point = SwMath.CreatePoint(new Double[3] {
s.X, s.Y, s.Z
});
MathTransform SketchXform = esquisse.ModelToSketchTransform;
SketchXform = SketchXform.Inverse();
point = point.MultiplyTransform(SketchXform);
MathTransform ViewXform = vue.ModelToViewTransform;
point = point.MultiplyTransform(ViewXform);
gPoint swViewStartPt = new gPoint(point);
LstPt.Add(swViewStartPt);
}
// On recherche le point le point le plus à droite puis le plus haut
LstPt.Sort(new gPointComparer(ListSortDirection.Descending, p => p.X));
LstPt.Sort(new gPointComparer(ListSortDirection.Descending, p => p.Y));
// On le supprime
LstPt.RemoveAt(0);
// On recherche le point le point le plus à gauche puis le plus bas
LstPt.Sort(new gPointComparer(ListSortDirection.Ascending, p => p.X));
LstPt.Sort(new gPointComparer(ListSortDirection.Ascending, p => p.Y));
// C'est le point de rotation
gPoint pt1 = LstPt[0];
// On recherche le plus loin
gPoint pt2;
Double d1 = pt1.Distance(LstPt[1]);
Double d2 = pt1.Distance(LstPt[2]);
if (d1 > d2)
{
pt2 = LstPt[1];
}
// En cas d'égalité, on renvoi le point le plus à gauche
else if (d1 == d2)
{
pt2 = (LstPt[1].X < LstPt[2].X) ? LstPt[1] : LstPt[2];
}
else
{
pt2 = LstPt[2];
}
gVecteur v = new gVecteur(pt1, pt2);
return(Math.Atan2(v.Y, v.X));
}
public static MathTransform reverseTransform(MathTransform transform, MathUtility mathUtility)
{
double[] transformData = (double[])transform.ArrayData;
for (int i = 0; i < transformData.GetLength(0); i++)
{
transformData[i] = -transformData[i];
}
return(mathUtility.CreateTransform(transformData));
}
/// <summary>
/// Creates an instance of an TransverseMercatorProjection projection object.
/// </summary>
/// <param name="parameters">List of parameters to initialize the projection.</param>
/// <param name="inverse">Flag indicating wether is a forward/projection (false) or an inverse projection (true).</param>
/// <remarks>
/// <list type="bullet">
/// <listheader><term>Items</term><description>Descriptions</description></listheader>
/// <item><term>semi_major</term><description>Semi major radius</description></item>
/// <item><term>semi_minor</term><description>Semi minor radius</description></item>
/// <item><term>scale_factor</term><description></description></item>
/// <item><term>central meridian</term><description></description></item>
/// <item><term>latitude_origin</term><description></description></item>
/// <item><term>false_easting</term><description></description></item>
/// <item><term>false_northing</term><description></description></item>
/// </list>
/// </remarks>
public TransverseMercator(List <ProjectionParameter> parameters, bool inverse) : base(parameters, inverse)
{
base.Name = "Transverse_Mercator";
base.Authority = "EPSG";
base.AuthorityCode = 0x264fL;
ProjectionParameter parameter = base.GetParameter("semi_major");
ProjectionParameter parameter2 = base.GetParameter("semi_minor");
ProjectionParameter parameter3 = base.GetParameter("scale_factor");
ProjectionParameter parameter4 = base.GetParameter("central_meridian");
ProjectionParameter parameter5 = base.GetParameter("latitude_of_origin");
ProjectionParameter parameter6 = base.GetParameter("false_easting");
ProjectionParameter parameter7 = base.GetParameter("false_northing");
if (parameter == null)
{
throw new ArgumentException("Missing projection parameter 'semi_major'");
}
if (parameter2 == null)
{
throw new ArgumentException("Missing projection parameter 'semi_minor'");
}
if (parameter3 == null)
{
throw new ArgumentException("Missing projection parameter 'scale_factor'");
}
if (parameter4 == null)
{
throw new ArgumentException("Missing projection parameter 'central_meridian'");
}
if (parameter5 == null)
{
throw new ArgumentException("Missing projection parameter 'latitude_of_origin'");
}
if (parameter6 == null)
{
throw new ArgumentException("Missing projection parameter 'false_easting'");
}
if (parameter7 == null)
{
throw new ArgumentException("Missing projection parameter 'false_northing'");
}
this.r_major = parameter.Value;
this.r_minor = parameter2.Value;
this.scale_factor = parameter3.Value;
this.central_meridian = MathTransform.Degrees2Radians(parameter4.Value);
this.lat_origin = MathTransform.Degrees2Radians(parameter5.Value);
this.false_easting = parameter6.Value;
this.false_northing = parameter7.Value;
this.es = 1 - Math.Pow(this.r_minor / this.r_major, 2);
this.e = Math.Sqrt(this.es);
this.e0 = MapProjection.e0fn(this.es);
this.e1 = MapProjection.e1fn(this.es);
this.e2 = MapProjection.e2fn(this.es);
this.e3 = MapProjection.e3fn(this.es);
this.ml0 = this.r_major * MapProjection.mlfn(this.e0, this.e1, this.e2, this.e3, this.lat_origin);
this.esp = this.es / (1 - this.es);
}
/// <summary>
/// Creates an instance of an Albers projection object.
/// </summary>
/// <remarks>
/// <para>The parameters this projection expects are listed below.</para>
/// <list type="table">
/// <listheader><term>Items</term><description>Descriptions</description></listheader>
/// <item><term>latitude_of_center</term><description>The latitude of the point which is not the natural origin and at which grid coordinate values false easting and false northing are defined.</description></item>
/// <item><term>longitude_of_center</term><description>The longitude of the point which is not the natural origin and at which grid coordinate values false easting and false northing are defined.</description></item>
/// <item><term>standard_parallel_1</term><description>For a conic projection with two standard parallels, this is the latitude of intersection of the cone with the ellipsoid that is nearest the pole. Scale is true along this parallel.</description></item>
/// <item><term>standard_parallel_2</term><description>For a conic projection with two standard parallels, this is the latitude of intersection of the cone with the ellipsoid that is furthest from the pole. Scale is true along this parallel.</description></item>
/// <item><term>false_easting</term><description>The easting value assigned to the false origin.</description></item>
/// <item><term>false_northing</term><description>The northing value assigned to the false origin.</description></item>
/// </list>
/// </remarks>
/// <param name="parameters">List of parameters to initialize the projection.</param>
/// <param name="isInverse">Indicates whether the projection forward (meters to degrees or degrees to meters).</param>
public AlbersProjection(List <ProjectionParameter> parameters, bool isInverse) : base(parameters, isInverse)
{
base.Name = "Albers_Conic_Equal_Area";
ProjectionParameter parameter = base.GetParameter("longitude_of_center");
ProjectionParameter parameter2 = base.GetParameter("latitude_of_center");
ProjectionParameter parameter3 = base.GetParameter("standard_parallel_1");
ProjectionParameter parameter4 = base.GetParameter("standard_parallel_2");
ProjectionParameter parameter5 = base.GetParameter("false_easting");
ProjectionParameter parameter6 = base.GetParameter("false_northing");
if (parameter == null)
{
throw new ArgumentException("Missing projection parameter 'longitude_of_center'");
}
if (parameter2 == null)
{
throw new ArgumentException("Missing projection parameter 'latitude_of_center'");
}
if (parameter3 == null)
{
throw new ArgumentException("Missing projection parameter 'standard_parallel_1'");
}
if (parameter4 == null)
{
throw new ArgumentException("Missing projection parameter 'standard_parallel_2'");
}
if (parameter5 == null)
{
throw new ArgumentException("Missing projection parameter 'false_easting'");
}
if (parameter6 == null)
{
throw new ArgumentException("Missing projection parameter 'false_northing'");
}
this.lon_center = MathTransform.Degrees2Radians(parameter.Value);
double lat = MathTransform.Degrees2Radians(parameter2.Value);
double num2 = MathTransform.Degrees2Radians(parameter3.Value);
double num3 = MathTransform.Degrees2Radians(parameter4.Value);
this._falseEasting = MathTransform.Degrees2Radians(parameter5.Value);
this._falseNorthing = MathTransform.Degrees2Radians(parameter6.Value);
if (Math.Abs((double)(num2 + num3)) < double.Epsilon)
{
throw new ApplicationException("Equal latitudes for standard parallels on opposite sides of Equator.");
}
this.e_sq = 1 - Math.Pow(base._semiMinor / base._semiMajor, 2);
this.e = Math.Sqrt(this.e_sq);
double num4 = this.alpha(num2);
double num5 = this.alpha(num3);
double x = Math.Cos(num2) / Math.Sqrt(1 - (this.e_sq * Math.Pow(Math.Sin(num2), 2)));
double num7 = Math.Cos(num3) / Math.Sqrt(1 - (this.e_sq * Math.Pow(Math.Sin(num3), 2)));
this.n = (Math.Pow(x, 2) - Math.Pow(num7, 2)) / (num5 - num4);
this.C = Math.Pow(x, 2) + (this.n * num4);
this.ro0 = this.Ro(this.alpha(lat));
}
/// <summary>
/// Converts coordinates in decimal degrees to projected meters.
/// </summary>
/// <param name="lonlat">The point in decimal degrees.</param>
/// <returns>Point in projected meters</returns>
public override double[] DegreesToMeters(double[] lonlat)
{
double num = MathTransform.Degrees2Radians(lonlat[0]);
double lat = MathTransform.Degrees2Radians(lonlat[1]);
double a = this.alpha(lat);
double num4 = this.Ro(a);
double num5 = this.n * (num - this.lon_center);
return(new double[] { (this._falseEasting + (num4 * Math.Sin(num5))), ((this._falseNorthing + this.ro0) - (num4 * Math.Cos(num5))) });
}
public CrsTransform(CoordinateSystem from, CoordinateSystem to)
{
_from = from;
_to = to;
CoordinateTransformationFactory ctfac = new CoordinateTransformationFactory();
_trans = ctfac.CreateFromCoordinateSystems(_from, _to);
_mathTransform = _trans.MathTransform;
}
/// <summary>
/// Controller's constructor
/// </summary>
/// <param name="graphHopperGateway"></param>
/// <param name="elevationDataStorage"></param>
/// <param name="itmWgs84MathTransfromFactory"></param>
/// <param name="geometryFactory"></param>
public RoutingController(IGraphHopperGateway graphHopperGateway,
IElevationDataStorage elevationDataStorage,
IItmWgs84MathTransfromFactory itmWgs84MathTransfromFactory,
GeometryFactory geometryFactory)
{
_graphHopperGateway = graphHopperGateway;
_elevationDataStorage = elevationDataStorage;
_geometryFactory = geometryFactory;
_wgs84ItmMathTransform = itmWgs84MathTransfromFactory.CreateInverse();
}
public static Matrix3D GetMatrixFromMathTransform(ref MathTransform trasf)
{
double[] amatr = (double[])trasf.ArrayData;
Matrix3D res = new Matrix3D(amatr[0], amatr[1], amatr[2], 0,
amatr[3], amatr[4], amatr[5], 0,
amatr[6], amatr[7], amatr[8], 0,
amatr[9], amatr[10], amatr[11], 1);
return res;
}
// ReSharper restore InconsistentNaming
/// <summary>
/// Creates an instance of this class
/// </summary>
/// <param name="parameters">An enumeration of projection parameters</param>
/// <param name="inverse">Indicator if this projection is inverse</param>
protected MapProjection(IEnumerable <ProjectionParameter> parameters, MapProjection inverse)
: this(parameters)
{
_inverse = inverse;
if (_inverse != null)
{
inverse._inverse = this;
_isInverse = !inverse._isInverse;
}
}
public override Point LocationToPoint(Location location)
{
if (MathTransform == null)
{
throw new InvalidOperationException("The CoordinateSystem property is not set.");
}
var coordinate = MathTransform.Transform(new Coordinate(location.Longitude, location.Latitude));
return(new Point(coordinate.X, coordinate.Y));
}
public void MultiplyTransfom(MathTransform trans)
{
MathUtility Mu = App.Sw.GetMathUtility();
MathPoint mp = Mu.CreatePoint(new double[] { X, Y, Z });
mp = mp.MultiplyTransform(trans);
Double[] pt = (Double[])mp.ArrayData;
X = pt[0];
Y = pt[1];
Z = pt[2];
}
public void TestGetRPYMathTransform(double[] matrixData, double[] expected)
{
MathUtility util = SwApp.GetMathUtility();
MathTransform transform = util.CreateTransform((object)matrixData);
double[] result = MathOps.GetRPY(transform);
for (int i = 0; i < expected.Length; i++)
{
Assert.Equal(expected[i], result[i], 10);
}
}
public void TestGetTransformationFromMathTransform(double[] matrixData, double[] expected)
{
MathUtility util = SwApp.GetMathUtility();
MathTransform transform = util.CreateTransform((object)matrixData);
double[] result = MathOps.GetTransformation(transform).AsColumnMajorArray();
for (int i = 0; i < expected.Length; i++)
{
Assert.Equal(expected[i], result[i]);
}
}
/// <summary>
/// Class constructor
/// </summary>
/// <param name="adaptersFactory"></param>
/// <param name="elevationDataStorage"></param>
/// <param name="elasticSearchGateway"></param>
/// <param name="itmWgs84MathTransfromFactory"></param>
/// <param name="logger"></param>
public ExternalSourcesController(IPointsOfInterestAdapterFactory adaptersFactory,
IElevationDataStorage elevationDataStorage,
IElasticSearchGateway elasticSearchGateway,
IItmWgs84MathTransfromFactory itmWgs84MathTransfromFactory,
ILogger logger)
{
_adaptersFactory = adaptersFactory;
_elevationDataStorage = elevationDataStorage;
_elasticSearchGateway = elasticSearchGateway;
_wgs84ItmTransform = itmWgs84MathTransfromFactory.CreateInverse();
_logger = logger;
}
/// <summary>
/// Constructor
/// </summary>
/// <param name="logger"></param>
/// <param name="elevationDataStorage"></param>
/// <param name="itmWgs84MathTransfromFactory"></param>
/// <param name="osmGeoJsonConverter"></param>
/// <param name="tagsHelper"></param>
public OsmGeoJsonPreprocessorExecutor(ILogger logger,
IElevationDataStorage elevationDataStorage,
IItmWgs84MathTransfromFactory itmWgs84MathTransfromFactory,
IOsmGeoJsonConverter osmGeoJsonConverter,
ITagsHelper tagsHelper)
{
_logger = logger;
_osmGeoJsonConverter = osmGeoJsonConverter;
_elevationDataStorage = elevationDataStorage;
_wgs84ItmConverter = itmWgs84MathTransfromFactory.CreateInverse();
_tagsHelper = tagsHelper;
}
public static Matrix getRotationMatrix(MathTransform transform)
{
var rot = new DenseMatrix(3);
for (int i = 0; i < 3; i++)
{
for (int j = 0; j < 3; j++)
{
rot.At(i, j, transform.ArrayData[i + 3 * j]);
}
}
return(rot);
}
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
public double[] GetQuaternionFromMatrix(ref MathTransform trasf)
{
double[] q = new double[4];
double[] amatr = (double[])trasf.ArrayData;
double s, tr;
// for speed reasons: ..
double m00 = amatr[0];
double m01 = amatr[3];
double m02 = amatr[6];
double m10 = amatr[1];
double m11 = amatr[4];
double m12 = amatr[7];
double m20 = amatr[2];
double m21 = amatr[5];
double m22 = amatr[8];
tr=m00 + m11 + m22; // diag sum
if (tr >= 0)
{
s = Math.Sqrt(tr + 1.0);
q[0] = 0.5 * s;
s = 0.5 / s;
q[1] = (m21 - m12) * s;
q[2] = (m02 - m20) * s;
q[3] = (m10 - m01) * s;
}
else
{
int i = 0;
if (m11 > m00)
{
i = 1;
if (m22 > m11) i = 2;
}
else
{
if (m22 > m00) i = 2;
}
switch (i)
{
case 0:
s = Math.Sqrt(m00 - m11 - m22 + 1);
q[1] = 0.5 * s;
s = 0.5 / s;
q[2] = (m01 + m10) * s;
q[3] = (m20 + m02) * s;
q[0] = (m21 - m12) * s;
break;
case 1:
s = Math.Sqrt(m11 - m22 - m00 + 1);
q[2] = 0.5 * s;
s = 0.5 / s;
q[3] = (m12 + m21) * s;
q[1] = (m01 + m10) * s;
q[0] = (m02 - m20) * s;
break;
case 2:
s = Math.Sqrt(m22 - m00 - m11 + 1);
q[3] = 0.5 * s;
s = 0.5 / s;
q[1] = (m20 + m02) * s;
q[2] = (m12 + m21) * s;
q[0] = (m10 - m01) * s;
break;
}
}
return q;
}
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 static Point3D PointTransform(Point3D pt, ref MathTransform trasf)
{
//Point3D pp = new Point3D(pt.X,pt.Y,pt.Z);
Matrix3D M = GetMatrixFromMathTransform(ref trasf);
return M.Transform(pt);
}
public void globalAxis(double[] Axis, MathTransform coordsysTransform)
{
if (coordsysTransform != null)
{
Vector<double> vec = new DenseVector(new double[] { Axis[0], Axis[1], Axis[2], 0 });
Matrix<double> transform = ops.getTransformation(coordsysTransform);
vec = transform * vec;
Axis[0] = vec[0]; Axis[1] = vec[1]; Axis[2] = vec[2];
}
ops.threshold(Axis, 0.00001);
}
public void PythonTraverseFeatures_for_links(Feature swFeat, long nLevel, ref string asciitext, ref MathTransform roottrasf, ref Component2 assemblyofmates)
{
Feature swSubFeat;
int num_link = 0;
while ((swFeat != null))
{
// Export mates as constraints
if ((swFeat.GetTypeName2() == "MateGroup") &&
(this.checkBox_constraints.Checked))
{
swSubFeat = (Feature)swFeat.GetFirstSubFeature();
while ((swSubFeat != null))
{
ConvertMates.ConvertMateToPython(ref swSubFeat, ref asciitext, ref mSWApplication, ref saved_parts, ref num_link, ref roottrasf, ref assemblyofmates);
swSubFeat = (Feature)swSubFeat.GetNextSubFeature();
} // end while loop on subfeatures mates
} // end if mate group
swFeat = (Feature)swFeat.GetNextFeature();
} // end while loop on features
}
public void PythonTraverseFeatures_for_markers(Feature swFeat, long nLevel, ref string asciitext, int nbody, MathTransform swCompTotalTrasf)
{
CultureInfo bz = new CultureInfo("en-BZ");
int nmarker = 0;
String bodyname = "body_" + nbody;
while ((swFeat != null))
{
// asciitext += "# feature: " + swFeat.Name + " [" + swFeat.GetTypeName2() + "]" + "\n";
// Export markers, if any (as coordinate systems)
if (swFeat.GetTypeName2() == "CoordSys")
{
nmarker++;
CoordinateSystemFeatureData swCoordSys = (CoordinateSystemFeatureData)swFeat.GetDefinition();
MathTransform tr = swCoordSys.Transform;
MathTransform tr_part = swCompTotalTrasf;
MathTransform tr_abs = tr.IMultiply(tr_part); // row-ordered transf. -> reverse mult.order!
double[] quat = GetQuaternionFromMatrix(ref tr_abs);
double[] amatr = (double[])tr_abs.ArrayData;
String markername = "marker_" + nbody + "_" + nmarker;
asciitext += "\n# Auxiliary marker (coordinate system feature)\n";
asciitext += String.Format(bz, "{0} =chrono.ChMarker()\n", markername);
asciitext += String.Format(bz, "{0}.SetName('{1}')" + "\n", markername, swFeat.Name);
asciitext += String.Format(bz, "{0}.AddMarker({1})\n", bodyname, markername);
asciitext += String.Format(bz, "{0}.Impose_Abs_Coord(chrono.ChCoordsysD(chrono.ChVectorD({1},{2},{3}),chrono.ChQuaternionD({4},{5},{6},{7})))\n",
markername,
amatr[9]*ChScale.L,
amatr[10]*ChScale.L,
amatr[11]*ChScale.L,
quat[0], quat[1], quat[2], quat[3]);
}
swFeat = (Feature)swFeat.GetNextFeature();
}
}
public static bool ConvertMateToPython(
ref Feature swMateFeature,
ref string asciitext,
ref ISldWorks mSWApplication,
ref Hashtable saved_parts,
ref int num_link,
ref MathTransform roottrasf,
ref Component2 assemblyofmates
)
{
if (swMateFeature == null)
return false;
Mate2 swMate = (Mate2)swMateFeature.GetSpecificFeature2();
if (swMate == null)
return false;
object foo =null;
bool[] suppressedflags;
suppressedflags = (bool[])swMateFeature.IsSuppressed2((int)swInConfigurationOpts_e.swThisConfiguration, foo);
if (suppressedflags[0] == true)
return false;
if (swMate.GetMateEntityCount() >= 2)
{
// Get the mated parts
MateEntity2 swEntityA = swMate.MateEntity(0);
MateEntity2 swEntityB = swMate.MateEntity(1);
Component2 swCompA = swEntityA.ReferenceComponent;
Component2 swCompB = swEntityB.ReferenceComponent;
double[] paramsA = (double[])swEntityA.EntityParams;
double[] paramsB = (double[])swEntityB.EntityParams;
// this is needed because parts might reside in subassemblies, and mate params are expressed in parent subassembly
MathTransform invroottrasf = (MathTransform)roottrasf.Inverse();
MathTransform trA = roottrasf;
MathTransform trB = roottrasf;
if (assemblyofmates != null)
{
MathTransform partrasfA = assemblyofmates.GetTotalTransform(true);
if (partrasfA != null)
trA = partrasfA.IMultiply(invroottrasf); // row-ordered transf. -> reverse mult.order!
MathTransform partrasfB = assemblyofmates.GetTotalTransform(true);
if (partrasfB != null)
trB = partrasfB.IMultiply(invroottrasf); // row-ordered transf. -> reverse mult.order!
}
// Fetch the python names using hash map (python names added when scanning parts)
ModelDocExtension swModelDocExt = default(ModelDocExtension);
ModelDoc2 swModel = (ModelDoc2)mSWApplication.ActiveDoc;
swModelDocExt = swModel.Extension;
String name1 = (String)saved_parts[swModelDocExt.GetPersistReference3(swCompA)];
String name2 = (String)saved_parts[swModelDocExt.GetPersistReference3(swCompB)];
// Only constraints between two parts or part & layout can be created
if ( ((name1 != null) || (name2 != null)) && (name1 != name2) )
{
CultureInfo bz = new CultureInfo("en-BZ");
if (name1 == null)
name1 = "body_0";
if (name2 == null)
name2 = "body_0";
// Add some comment in Python, to list the referenced SW items
asciitext += "\n# Mate constraint: " + swMateFeature.Name + " [" + swMateFeature.GetTypeName2() + "]" + " type:" + swMate.Type + " align:" + swMate.Alignment + " flip:" + swMate.Flipped + "\n";
for (int e = 0; e < swMate.GetMateEntityCount(); e++)
{
MateEntity2 swEntityN = swMate.MateEntity(e);
Component2 swCompN = swEntityN.ReferenceComponent;
String ce_nameN = (String)saved_parts[swModelDocExt.GetPersistReference3(swCompN)];
asciitext += "# Entity " + e + ": C::E name: " + ce_nameN + " , SW name: " + swCompN.Name2 + " , SW ref.type:" + swEntityN.Reference.GetType() + " (" + swEntityN.ReferenceType2 + ")\n";
}
asciitext += "\n";
//
// For each type of SW mate, see which C::E mate constraint(s)
// must be created. Some SW mates correspond to more than one C::E constraints.
//
bool swapAB_1 = false;
bool do_CHmate_Xdistance = false;
double do_distance_val = 0.0;
bool do_CHmate_parallel = false;
bool do_parallel_flip = false;
bool do_CHmate_orthogonal = false;
bool do_CHmate_spherical = false;
bool do_CHmate_pointline = false;
// to simplify things later...
// NOTE: swMate.MateEntity(0).Reference.GetType() seems equivalent to swMate.MateEntity(0).ReferenceType2
// but in some cases the latter fails.
bool entity_0_as_FACE = (swMate.MateEntity(0).Reference.GetType() == (int)swSelectType_e.swSelFACES);
bool entity_0_as_EDGE = (swMate.MateEntity(0).Reference.GetType() == (int)swSelectType_e.swSelEDGES) ||
(swMate.MateEntity(0).Reference.GetType() == (int)swSelectType_e.swSelSKETCHSEGS) ||
(swMate.MateEntity(0).Reference.GetType() == (int)swSelectType_e.swSelDATUMAXES);
bool entity_0_as_VERTEX = (swMate.MateEntity(0).Reference.GetType() == (int)swSelectType_e.swSelVERTICES) ||
(swMate.MateEntity(0).Reference.GetType() == (int)swSelectType_e.swSelSKETCHPOINTS) ||
(swMate.MateEntity(0).Reference.GetType() == (int)swSelectType_e.swSelDATUMPOINTS);
bool entity_1_as_FACE = (swMate.MateEntity(1).Reference.GetType() == (int)swSelectType_e.swSelFACES);
bool entity_1_as_EDGE = (swMate.MateEntity(1).Reference.GetType() == (int)swSelectType_e.swSelEDGES) ||
(swMate.MateEntity(1).Reference.GetType() == (int)swSelectType_e.swSelSKETCHSEGS) ||
(swMate.MateEntity(1).Reference.GetType() == (int)swSelectType_e.swSelDATUMAXES);
bool entity_1_as_VERTEX = (swMate.MateEntity(1).Reference.GetType() == (int)swSelectType_e.swSelVERTICES) ||
(swMate.MateEntity(1).Reference.GetType() == (int)swSelectType_e.swSelSKETCHPOINTS) ||
(swMate.MateEntity(1).Reference.GetType() == (int)swSelectType_e.swSelDATUMPOINTS);
Point3D cA = new Point3D(0, 0, 0);
Point3D cB = new Point3D(0, 0, 0);
Vector3D dA = new Vector3D(1, 0, 0);
Vector3D dB = new Vector3D(1, 0, 0);
Point3D cAloc = new Point3D(paramsA[0], paramsA[1], paramsA[2]);
cA = SWTaskpaneHost.PointTransform(cAloc, ref trA);
Point3D cBloc = new Point3D(paramsB[0], paramsB[1], paramsB[2]);
cB = SWTaskpaneHost.PointTransform(cBloc, ref trB);
if (!entity_0_as_VERTEX)
{
Vector3D dAloc = new Vector3D(paramsA[3], paramsA[4], paramsA[5]);
dA = SWTaskpaneHost.DirTransform(dAloc, ref trA);
}
if (!entity_1_as_VERTEX)
{
Vector3D dBloc = new Vector3D(paramsB[3], paramsB[4], paramsB[5]);
dB = SWTaskpaneHost.DirTransform(dBloc, ref trB);
}
if (swMateFeature.GetTypeName2() == "MateCoincident")
{
if ((entity_0_as_FACE) &&
(entity_1_as_FACE))
{
do_CHmate_Xdistance = true;
do_CHmate_parallel = true;
}
if ((entity_0_as_EDGE) &&
(entity_1_as_EDGE))
{
do_CHmate_pointline = true;
do_CHmate_parallel = true;
}
if ((entity_0_as_VERTEX) &&
(entity_1_as_VERTEX))
{
do_CHmate_spherical = true;
}
if ((entity_0_as_VERTEX) &&
(entity_1_as_EDGE))
{
do_CHmate_pointline = true;
}
if ((entity_0_as_EDGE) &&
(entity_1_as_VERTEX))
{
do_CHmate_pointline = true;
swapAB_1 = true;
}
if ((entity_0_as_VERTEX) &&
(entity_1_as_FACE))
{
do_CHmate_Xdistance = true;
}
if ((entity_0_as_FACE) &&
(entity_1_as_VERTEX))
{
do_CHmate_Xdistance = true;
swapAB_1 = true;
}
if ((entity_0_as_EDGE) &&
(entity_1_as_FACE))
{
do_CHmate_Xdistance = true;
do_CHmate_orthogonal = true;
}
if ((entity_0_as_FACE) &&
(entity_1_as_EDGE))
{
do_CHmate_Xdistance = true;
do_CHmate_orthogonal = true;
swapAB_1 = true;
}
if (swMate.Alignment == (int)swMateAlign_e.swMateAlignANTI_ALIGNED)
do_parallel_flip = true;
}
if (swMateFeature.GetTypeName2() == "MateConcentric")
{
if ((entity_0_as_FACE) &&
(entity_1_as_FACE))
{
do_CHmate_pointline = true;
do_CHmate_parallel = true;
}
if ((entity_0_as_EDGE) &&
(entity_1_as_EDGE))
{
do_CHmate_pointline = true;
do_CHmate_parallel = true;
}
if ((entity_0_as_VERTEX) &&
(entity_1_as_FACE))
{
do_CHmate_pointline = true;
}
if ((entity_0_as_FACE) &&
(entity_1_as_VERTEX))
{
do_CHmate_pointline = true;
swapAB_1 = true;
}
if ((entity_0_as_EDGE) &&
(entity_1_as_FACE))
{
do_CHmate_pointline = true;
do_CHmate_parallel = true;
}
if ((entity_0_as_FACE) &&
(entity_1_as_EDGE))
{
do_CHmate_pointline = true;
do_CHmate_parallel = true;
swapAB_1 = true;
}
if (swMate.Alignment == (int)swMateAlign_e.swMateAlignANTI_ALIGNED)
do_parallel_flip = true;
}
if (swMateFeature.GetTypeName2() == "MateParallel")
{
if ((entity_0_as_FACE) &&
(entity_1_as_FACE))
{
do_CHmate_parallel = true;
}
if ((entity_0_as_EDGE) &&
(entity_1_as_EDGE))
{
do_CHmate_parallel = true;
}
if ((entity_0_as_EDGE) &&
(entity_1_as_FACE))
{
do_CHmate_orthogonal = true;
}
if ((entity_0_as_FACE) &&
(entity_1_as_EDGE))
{
do_CHmate_orthogonal = true;
swapAB_1 = true;
}
if (swMate.Alignment == (int)swMateAlign_e.swMateAlignANTI_ALIGNED)
do_parallel_flip = true;
}
if (swMateFeature.GetTypeName2() == "MatePerpendicular")
{
if ((entity_0_as_FACE) &&
(entity_1_as_FACE))
{
do_CHmate_orthogonal = true;
}
if ((entity_0_as_EDGE) &&
(entity_1_as_EDGE))
{
do_CHmate_orthogonal = true;
}
if ((entity_0_as_EDGE) &&
(entity_1_as_FACE))
{
do_CHmate_parallel = true;
}
if ((entity_0_as_FACE) &&
(entity_1_as_EDGE))
{
do_CHmate_parallel = true;
swapAB_1 = true;
}
if (swMate.Alignment == (int)swMateAlign_e.swMateAlignANTI_ALIGNED)
do_parallel_flip = true;
}
if (swMateFeature.GetTypeName2() == "MateDistanceDim")
{
if ((entity_0_as_FACE) &&
(entity_1_as_FACE))
{
do_CHmate_Xdistance = true;
do_CHmate_parallel = true;
}
if ((entity_0_as_VERTEX) &&
(entity_1_as_FACE))
{
do_CHmate_Xdistance = true;
}
if ((entity_0_as_FACE) &&
(entity_1_as_VERTEX))
{
do_CHmate_Xdistance = true;
swapAB_1 = true;
}
//***TO DO*** cases of distance line-vs-line and line-vs-vertex and vert-vert.
// Those will require another .cpp ChLinkMate specialized class(es).
if (swMate.Alignment == (int)swMateAlign_e.swMateAlignANTI_ALIGNED)
do_parallel_flip = true;
// Get the imposed distance value, in SI units
string confnames = "";
do_distance_val = swMate.DisplayDimension.GetDimension2(0).IGetSystemValue3((int)swInConfigurationOpts_e.swThisConfiguration, 0, ref confnames);
if (swMate.Flipped)
do_distance_val = -do_distance_val;
}
////
//// WRITE PYHTON CODE CORRESPONDING TO CONSTRAINTS
////
if (do_CHmate_Xdistance)
{
num_link++;
String linkname = "link_" + num_link;
asciitext += String.Format(bz, "{0} = chrono.ChLinkMateXdistance()\n", linkname);
asciitext += String.Format(bz, "cA = chrono.ChVectorD({0:g},{1:g},{2:g})\n",
cA.X * ChScale.L,
cA.Y * ChScale.L,
cA.Z * ChScale.L);
asciitext += String.Format(bz, "cB = chrono.ChVectorD({0:g},{1:g},{2:g})\n",
cB.X * ChScale.L,
cB.Y * ChScale.L,
cB.Z * ChScale.L);
if (!entity_0_as_VERTEX)
asciitext += String.Format(bz, "dA = chrono.ChVectorD({0:g},{1:g},{2:g})\n",
dA.X, dA.Y, dA.Z);
if (!entity_1_as_VERTEX)
asciitext += String.Format(bz, "dB = chrono.ChVectorD({0:g},{1:g},{2:g})\n",
dB.X, dB.Y, dB.Z);
// Initialize link, by setting the two csys, in absolute space,
if (!swapAB_1)
asciitext += String.Format(bz, "{0}.Initialize({1},{2},False,cA,cB,dB)\n", linkname, name1, name2);
else
asciitext += String.Format(bz, "{0}.Initialize({1},{2},False,cB,cA,dA)\n", linkname, name2, name1);
//if (do_distance_val!=0)
asciitext += String.Format(bz, "{0}.SetDistance({1})\n", linkname,
do_distance_val * ChScale.L *-1);
asciitext += String.Format(bz, "{0}.SetName(\"{1}\")\n", linkname, swMateFeature.Name);
// Insert to a list of exported items
asciitext += String.Format(bz, "exported_items.append({0})\n\n", linkname);
}
if (do_CHmate_parallel)
{
if (Math.Abs(Vector3D.DotProduct(dA, dB)) > 0.98)
{
num_link++;
String linkname = "link_" + num_link;
asciitext += String.Format(bz, "{0} = chrono.ChLinkMateParallel()\n", linkname);
asciitext += String.Format(bz, "cA = chrono.ChVectorD({0:g},{1:g},{2:g})\n",
cA.X * ChScale.L,
cA.Y * ChScale.L,
cA.Z * ChScale.L);
asciitext += String.Format(bz, "dA = chrono.ChVectorD({0:g},{1:g},{2:g})\n",
dA.X, dA.Y, dA.Z);
asciitext += String.Format(bz, "cB = chrono.ChVectorD({0:g},{1:g},{2:g})\n",
cB.X * ChScale.L,
cB.Y * ChScale.L,
cB.Z * ChScale.L);
asciitext += String.Format(bz, "dB = chrono.ChVectorD({0:g},{1:g},{2:g})\n",
dB.X, dB.Y, dB.Z);
if (do_parallel_flip)
asciitext += String.Format(bz, "{0}.SetFlipped(True)\n", linkname);
// Initialize link, by setting the two csys, in absolute space,
if (!swapAB_1)
asciitext += String.Format(bz, "{0}.Initialize({1},{2},False,cA,cB,dA,dB)\n", linkname, name1, name2);
else
asciitext += String.Format(bz, "{0}.Initialize({1},{2},False,cB,cA,dB,dA)\n", linkname, name2, name1);
asciitext += String.Format(bz, "{0}.SetName(\"{1}\")\n", linkname, swMateFeature.Name);
// Insert to a list of exported items
asciitext += String.Format(bz, "exported_items.append({0})\n\n", linkname);
}
else
{
asciitext += "\n# ChLinkMateParallel skipped because directions not parallel! \n";
}
}
if (do_CHmate_orthogonal)
{
if (Math.Abs(Vector3D.DotProduct(dA, dB)) < 0.02)
{
num_link++;
String linkname = "link_" + num_link;
asciitext += String.Format(bz, "{0} = chrono.ChLinkMateOrthogonal()\n", linkname);
asciitext += String.Format(bz, "cA = chrono.ChVectorD({0:g},{1:g},{2:g})\n",
cA.X * ChScale.L,
cA.Y * ChScale.L,
cA.Z * ChScale.L);
asciitext += String.Format(bz, "dA = chrono.ChVectorD({0:g},{1:g},{2:g})\n",
dA.X, dA.Y, dA.Z);
asciitext += String.Format(bz, "cB = chrono.ChVectorD({0:g},{1:g},{2:g})\n",
cB.X * ChScale.L,
cB.Y * ChScale.L,
cB.Z * ChScale.L);
asciitext += String.Format(bz, "dB = chrono.ChVectorD({0:g},{1:g},{2:g})\n",
dB.X, dB.Y, dB.Z);
// Initialize link, by setting the two csys, in absolute space,
if (!swapAB_1)
asciitext += String.Format(bz, "{0}.Initialize({1},{2},False,cA,cB,dA,dB)\n", linkname, name1, name2);
else
asciitext += String.Format(bz, "{0}.Initialize({1},{2},False,cB,cA,dB,dA)\n", linkname, name2, name1);
asciitext += String.Format(bz, "{0}.SetName(\"{1}\")\n", linkname, swMateFeature.Name);
// Insert to a list of exported items
asciitext += String.Format(bz, "exported_items.append({0})\n\n", linkname);
}
else
{
asciitext += "\n# ChLinkMateOrthogonal skipped because directions not orthogonal! \n";
}
}
if (do_CHmate_spherical)
{
num_link++;
String linkname = "link_" + num_link;
asciitext += String.Format(bz, "{0} = chrono.ChLinkMateSpherical()\n", linkname);
asciitext += String.Format(bz, "cA = chrono.ChVectorD({0:g},{1:g},{2:g})\n",
cA.X * ChScale.L,
cA.Y * ChScale.L,
cA.Z * ChScale.L);
asciitext += String.Format(bz, "cB = chrono.ChVectorD({0:g},{1:g},{2:g})\n",
cB.X * ChScale.L,
cB.Y * ChScale.L,
cB.Z * ChScale.L);
// Initialize link, by setting the two csys, in absolute space,
if (!swapAB_1)
asciitext += String.Format(bz, "{0}.Initialize({1},{2},False,cA,cB)\n", linkname, name1, name2);
else
asciitext += String.Format(bz, "{0}.Initialize({1},{2},False,cB,cA)\n", linkname, name2, name1);
asciitext += String.Format(bz, "{0}.SetName(\"{1}\")\n", linkname, swMateFeature.Name);
// Insert to a list of exported items
asciitext += String.Format(bz, "exported_items.append({0})\n\n", linkname);
}
if (do_CHmate_pointline)
{
num_link++;
String linkname = "link_" + num_link;
asciitext += String.Format(bz, "{0} = chrono.ChLinkMateGeneric()\n", linkname);
asciitext += String.Format(bz, "{0}.SetConstrainedCoords(False, True, True, False, False, False)\n", linkname);
asciitext += String.Format(bz, "cA = chrono.ChVectorD({0:g},{1:g},{2:g})\n",
cA.X * ChScale.L,
cA.Y * ChScale.L,
cA.Z * ChScale.L);
asciitext += String.Format(bz, "cB = chrono.ChVectorD({0:g},{1:g},{2:g})\n",
cB.X * ChScale.L,
cB.Y * ChScale.L,
cB.Z * ChScale.L);
if (!entity_0_as_VERTEX)
asciitext += String.Format(bz, "dA = chrono.ChVectorD({0:g},{1:g},{2:g})\n", dA.X, dA.Y, dA.Z);
else
asciitext += String.Format(bz, "dA = chrono.VNULL\n");
if (!entity_1_as_VERTEX)
asciitext += String.Format(bz, "dB = chrono.ChVectorD({0:g},{1:g},{2:g})\n", dB.X, dB.Y, dB.Z);
else
asciitext += String.Format(bz, "dB = chrono.VNULL\n");
// Initialize link, by setting the two csys, in absolute space,
if (!swapAB_1)
asciitext += String.Format(bz, "{0}.Initialize({1},{2},False,cA,cB,dA,dB)\n", linkname, name1, name2);
else
asciitext += String.Format(bz, "{0}.Initialize({1},{2},False,cB,cA,dB,dA)\n", linkname, name2, name1);
asciitext += String.Format(bz, "{0}.SetName(\"{1}\")\n", linkname, swMateFeature.Name);
// Insert to a list of exported items
asciitext += String.Format(bz, "exported_items.append({0})\n\n", linkname);
}
// Now, do some other special mate type that did not fall in combinations
// of do_CHmate_pointline, do_CHmate_spherical, etc etc
if (swMateFeature.GetTypeName2() == "MateHinge")
{
// auto flip direction if anti aligned (seems that this is assumed automatically in MateHinge in SW)
if (Vector3D.DotProduct(dA, dB) < 0)
dB.Negate();
// Hinge constraint must be splitted in two C::E constraints: a coaxial and a point-vs-plane
num_link++;
String linkname = "link_" + num_link;
asciitext += String.Format(bz, "{0} = chrono.ChLinkMateCoaxial()\n", linkname);
asciitext += String.Format(bz, "cA = chrono.ChVectorD({0:g},{1:g},{2:g})\n",
cA.X * ChScale.L,
cA.Y * ChScale.L,
cA.Z * ChScale.L);
asciitext += String.Format(bz, "dA = chrono.ChVectorD({0:g},{1:g},{2:g})\n",
dA.X, dA.Y, dA.Z);
asciitext += String.Format(bz, "cB = chrono.ChVectorD({0:g},{1:g},{2:g})\n",
cB.X * ChScale.L,
cB.Y * ChScale.L,
cB.Z * ChScale.L);
asciitext += String.Format(bz, "dB = chrono.ChVectorD({0:g},{1:g},{2:g})\n",
dB.X, dB.Y, dB.Z);
asciitext += String.Format(bz, "{0}.SetName(\"{1}\")\n", linkname, swMateFeature.Name);
// Initialize link, by setting the two csys, in absolute space,
asciitext += String.Format(bz, "{0}.Initialize({1},{2},False,cA,cB,dA,dB)\n", linkname, name1, name2);
// Insert to a list of exported items
asciitext += String.Format(bz, "exported_items.append({0})\n", linkname);
// NOTE!!! The 'hinge' mate uses 4 references: fetch the two others remaining
// and build another C::E link, for point-vs-face mating
MateEntity2 swEntityC = swMate.MateEntity(2);
MateEntity2 swEntityD = swMate.MateEntity(3);
Component2 swCompC = swEntityC.ReferenceComponent;
Component2 swCompD = swEntityD.ReferenceComponent;
double[] paramsC = (double[])swEntityC.EntityParams;
double[] paramsD = (double[])swEntityD.EntityParams;
String name3 = (String)saved_parts[swModelDocExt.GetPersistReference3(swCompC)];
String name4 = (String)saved_parts[swModelDocExt.GetPersistReference3(swCompD)];
MathTransform trC = roottrasf;
MathTransform trD = roottrasf;
if (assemblyofmates != null)
{
MathTransform partrasfC = assemblyofmates.GetTotalTransform(true);
if (partrasfC != null)
trC = partrasfC.IMultiply(invroottrasf);
MathTransform partrasfD = assemblyofmates.GetTotalTransform(true);
if (partrasfD != null)
trD = partrasfD.IMultiply(invroottrasf);
}
bool entity_2_as_VERTEX = (swMate.MateEntity(2).Reference.GetType() == (int)swSelectType_e.swSelVERTICES) ||
(swMate.MateEntity(2).Reference.GetType() == (int)swSelectType_e.swSelSKETCHPOINTS) ||
(swMate.MateEntity(2).Reference.GetType() == (int)swSelectType_e.swSelDATUMPOINTS);
bool entity_3_as_VERTEX = (swMate.MateEntity(3).Reference.GetType() == (int)swSelectType_e.swSelVERTICES) ||
(swMate.MateEntity(3).Reference.GetType() == (int)swSelectType_e.swSelSKETCHPOINTS) ||
(swMate.MateEntity(3).Reference.GetType() == (int)swSelectType_e.swSelDATUMPOINTS);
Point3D cC = new Point3D(0, 0, 0);
Point3D cD = new Point3D(0, 0, 0);
Vector3D dC = new Vector3D(1, 0, 0);
Vector3D dD = new Vector3D(1, 0, 0);
Point3D cCloc = new Point3D(paramsC[0], paramsC[1], paramsC[2]);
cC = SWTaskpaneHost.PointTransform(cCloc, ref trC);
Point3D cDloc = new Point3D(paramsD[0], paramsD[1], paramsD[2]);
cD = SWTaskpaneHost.PointTransform(cDloc, ref trD);
if (!entity_2_as_VERTEX)
{
Vector3D dCloc = new Vector3D(paramsC[3], paramsC[4], paramsC[5]);
dC = SWTaskpaneHost.DirTransform(dCloc, ref trC);
}
if (!entity_3_as_VERTEX)
{
Vector3D dDloc = new Vector3D(paramsD[3], paramsD[4], paramsD[5]);
dD = SWTaskpaneHost.DirTransform(dDloc, ref trD);
}
num_link++;
linkname = "link_" + num_link;
asciitext += String.Format(bz, "{0} = chrono.ChLinkMateXdistance()\n", linkname);
asciitext += String.Format(bz, "cA = chrono.ChVectorD({0:g},{1:g},{2:g})\n",
cC.X * ChScale.L,
cC.Y * ChScale.L,
cC.Z * ChScale.L);
asciitext += String.Format(bz, "dA = chrono.ChVectorD({0:g},{1:g},{2:g})\n",
dC.X, dC.Y, dC.Z);
asciitext += String.Format(bz, "cB = chrono.ChVectorD({0:g},{1:g},{2:g})\n",
cD.X * ChScale.L,
cD.Y * ChScale.L,
cD.Z * ChScale.L);
asciitext += String.Format(bz, "dB = chrono.ChVectorD({0:g},{1:g},{2:g})\n",
dD.X, dD.Y, dD.Z);
asciitext += String.Format(bz, "{0}.SetName(\"{1}\")\n", linkname, swMateFeature.Name);
// Initialize link, by setting the two csys, in absolute space,
if (entity_2_as_VERTEX)
asciitext += String.Format(bz, "{0}.Initialize({1},{2},False,cA,cB,dA)\n", linkname, name3, name4);
else
asciitext += String.Format(bz, "{0}.Initialize({1},{2},False,cA,cB,dB)\n", linkname, name3, name4);
// Insert to a list of exported items
asciitext += String.Format(bz, "exported_items.append({0})\n", linkname);
return true;
}
}
}
return false;
}
/// <summary>
/// Transforms the inputed array by the inputted transform.
/// </summary>
/// <param name="trans">Transform to move the point by</param>
/// <param name="Pt">Point to be Transformed</param>
/// <returns>The transformed point</returns>
public static double[] TransformPoint(MathTransform trans, double[] Pt)
{
double[] newPoint;
if (Pt.Length > 3)
newPoint = Pt.Take(3).ToArray();
else
newPoint = Pt;
return RobotInfo.mathUtil.CreatePoint(newPoint).MultiplyTransform(trans).ArrayData;
}
public void PythonTraverseComponent_for_collshapes(Component2 swComp, long nLevel, ref string asciitext, int nbody, ref MathTransform chbodytransform, ref bool found_collisionshapes, Component2 swCompBase)
{
// Look if component contains collision shapes (customized SW solid bodies):
PythonTraverseFeatures_for_collshapes(swComp, nLevel, ref asciitext, nbody, ref chbodytransform, ref found_collisionshapes, swCompBase);
// 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_collshapes(swChildComp, nLevel + 1, ref asciitext, nbody, ref chbodytransform, ref found_collisionshapes, swCompBase);
}
}
//
// LINK EXPORTING FUNCTIONS
//
public void PythonTraverseComponent_for_links(Component2 swComp, long nLevel, ref string asciitext, ref MathTransform roottrasf)
{
// Scan assembly features and save mating info
if (nLevel > 1)
{
Feature swFeat = (Feature)swComp.FirstFeature();
PythonTraverseFeatures_for_links(swFeat, nLevel, ref asciitext, ref roottrasf, ref swComp);
}
// Recursive scan of subassemblies
object[] vChildComp;
Component2 swChildComp;
vChildComp = (object[])swComp.GetChildren();
for (long i = 0; i < vChildComp.Length; i++)
{
swChildComp = (Component2)vChildComp[i];
if (swChildComp.Solving == (int)swComponentSolvingOption_e.swComponentFlexibleSolving)
PythonTraverseComponent_for_links(swChildComp, nLevel + 1, ref asciitext, ref roottrasf);
}
}
public static Vector3D DirTransform(Vector3D dir, ref MathTransform trasf)
{
Matrix3D M = GetMatrixFromMathTransform(ref trasf);
M.OffsetX = 0; M.OffsetY = 0; M.OffsetZ = 0;
return M.Transform(dir);
}
