private static List <string> PartsLockedByTheFastenerFinder(TessellatedSolid fastener, Dictionary <string, List <TessellatedSolid> > solidsNoFastener,
Dictionary <TessellatedSolid, List <PrimitiveSurface> > solidPrimitive)
{
PotentialCollisionOfFastenerAndSolid = new List <string>();
PotentialCollisionOfFastenerAndSolidStep2 = new List <string>();
PotentialCollisionOfFastenerAndSolidStep3 = new List <string>();
var lockedByTheFastener = new List <string>();
foreach (var subAssem in solidsNoFastener)
{
foreach (var solid in subAssem.Value)
{
// This has a way simpler blocking determination code. Check it out:
if (!BlockingDetermination.BoundingBoxOverlap(fastener, solid))
{
continue;
}
if (!BlockingDetermination.ConvexHullOverlap(fastener, solid))
{
continue;
}
if (!BlockingDetermination.ProximityFastener(fastener, solid))
{
continue;
}
//if (!FastenerPrimitiveOverlap(solidPrimitive[fastener], solidPrimitives)) continue;
lockedByTheFastener.Add(subAssem.Key);
break;
}
}
if (!lockedByTheFastener.Any() && PotentialCollisionOfFastenerAndSolid.Any())
{
lockedByTheFastener.AddRange(PotentialCollisionOfFastenerAndSolid);
}
else if (!lockedByTheFastener.Any() && PotentialCollisionOfFastenerAndSolidStep2.Any())
{
lockedByTheFastener.AddRange(PotentialCollisionOfFastenerAndSolidStep2);
}
else if (!lockedByTheFastener.Any() && PotentialCollisionOfFastenerAndSolidStep3.Any())
{
lockedByTheFastener.AddRange(PotentialCollisionOfFastenerAndSolidStep3);
}
return(lockedByTheFastener);
}
internal static Dictionary <int, List <Component[]> > NonAdjacentBlocking = new Dictionary <int, List <Component[]> >(); //Component[0] is blocked by Component[1]
internal static List <int> Run(designGraph assemblyGraph, List <TessellatedSolid> solids)
{
Solids = new List <TessellatedSolid>(solids);
Directions = IcosahedronPro.DirectionGeneration();
var globalDirPool = new List <int>();
var solidPrimitive = BlockingDetermination.PrimitiveMaker(solids);
//var gears = BoltAndGearDetection.GearDetector(solidPrimitive);
AddingNodesToGraph(assemblyGraph, solids);//, gears, screwsAndBolts);
/*for (var i = 0; i < solids.Count - 1; i++)
* {
* var solid1 = solids[i];
* var solid1Primitives = solidPrimitive[solid1];
* for (var j = i + 1; j < solids.Count; j++)
* {
* var solid2 = solids[j];
* var solid2Primitives = solidPrimitive[solid2];
* List<int> localDirInd;
* double cert;
* if (BlockingDetermination.DefineBlocking(assemblyGraph, solid1, solid2, solid1Primitives, solid2Primitives,
* globalDirPool, out localDirInd, out cert))
* {
* // I wrote the code in a way that "solid1" is always "Reference" and "solid2" is always "Moving".
* //List<int> finDirs, infDirs;
* //UnconnectedBlockingDetermination.FiniteDirectionsBetweenConnectedParts(solid1, solid2, localDirInd, out finDirs, out infDirs);
* var from = assemblyGraph[solid2.Name]; // Moving
* var to = assemblyGraph[solid1.Name]; // Reference
* assemblyGraph.addArc((Component)from, (Component)to);
* var a = (Connection)assemblyGraph.arcs.Last();
* a.Certainty = cert;
* AddInformationToArc(a, localDirInd);
* }
* }
* }*/
return(globalDirPool);
}
internal static void RunPerecptronLearner(bool regenerateTrainingData)
{
// this functions, finds the training stls, opens them,
// read them and creates the csv file of the training data
// which includes the features of each solid.
// Here is what I need to pay attention:
// 1. if the csv file exists and the user doesnt want to improve(!) the results
// do nothing
// 2. if the csv doesnt exist or the user has new training stls, we can run it and
// improve the classifier.
var path =
#if NOSRC
Program.state.inputDir + "src/Assembly Planner/InitialGraphMaker/BoltAndGearDetector";
#else
"bin/training";
#endif
//Path to write the csv to:
#if NOSRC
var trainingDataPath = path + "/TrainingData.csv";
var weightsAndVotesPath = path + "/WeightsAndVotes.csv";
#else
var trainingDataPath = path + "/ClassifierFiles/TrainingData.csv";
var weightsAndVotesPath = path + "/ClassifierFiles/WeightsAndVotes.csv";
#endif
if (!regenerateTrainingData && File.Exists(weightsAndVotesPath))
{
return;
}
if (!regenerateTrainingData && !File.Exists(weightsAndVotesPath) && File.Exists(trainingDataPath))
{
// CSV of the training data exists, but weights and votes, dont exist, therefore: run the Learner
Learner(); // this will automatically create the csv containing weights and votes
return;
}
if (!regenerateTrainingData && !File.Exists(weightsAndVotesPath) && !File.Exists(trainingDataPath))
{
Console.WriteLine("Sorry!! csv files don't exist. We need to generate the training data");
}
//statusReporter.PrintMessage("BOUNDING GEOMETRIES ARE SUCCESSFULLY CREATED.", 1f);
//Path to read STLs from:
#if NOSRC
var stlFastenerPath = path + "/Fastener";
var stlNotFastenerPath = path + "/notFastener";
#else
var stlFastenerPath = path + "/TrainingSTLs/Fastener";
var stlNotFastenerPath = path + "/TrainingSTLs/notFastener";
#endif
var fastenersTraining = StlToSolid(stlFastenerPath);
var fastenerPrimitive = BlockingDetermination.PrimitiveMaker(fastenersTraining);
var ntFastenersTraining = StlToSolid(stlNotFastenerPath);
var notFastenerPrimitive = BlockingDetermination.PrimitiveMaker(ntFastenersTraining);
if (!File.Exists(trainingDataPath))
{
File.Create(trainingDataPath).Close();
}
// now fill the csv:
TrainingDataCsvFiller(trainingDataPath, fastenerPrimitive, notFastenerPrimitive);
Learner();
}
internal static void Run(designGraph graph,
List <TessellatedSolid> solids, List <int> gDir)
{
//Parallel.ForEach(gDir, dir =>
foreach (var dir in gDir)
{
var direction = DisassemblyDirections.Directions[dir];
var blockingsForDirection = new List <NonAdjacentBlockings>();
//Parallel.ForEach(solids.Where(s => graph.nodes.Any(n => n.name == s.Name)), solid =>
foreach (var solid in solids.Where(s => graph.nodes.Any(n => n.name == s.Name)))
{
// now find the blocking parts
var rays = new List <Ray>();
foreach (var vertex in solid.ConvexHull.Vertices)
{
rays.Add(
new Ray(
new Vertex(new[] { vertex.Position[0], vertex.Position[1],
vertex.Position[2] }),
new[] { direction[0], direction[1], direction[2] }));
}
// add more vertices to the ray
rays.AddRange(
AddingMoreRays(solid.ConvexHull.Edges.Where(e => e != null && e.Length > 2).ToArray(),
direction));
foreach (var solidBlocking in
solids.Where(s => graph.nodes.Any(n => n.name == s.Name) && // it is not fastener
s != solid // it is not the same as current solid
&&
!graph.arcs.Any(a => // there is no arc between the current and the candidate
(a.From.name == solid.Name && a.To.name == s.Name) ||
(a.From.name == s.Name && a.To.name == solid.Name))))
{
if (!BoundingBoxBlocking(direction, solidBlocking, solid))
{
continue;
}
var distanceToTheClosestFace = double.PositiveInfinity;
var overlap = false;
if (BlockingDetermination.ConvexHullOverlap(solid, solidBlocking))
{
overlap = ConvexHullOverlappNonAdjacent(rays, solid, solidBlocking, direction);
continue;
}
else
{
overlap = DontConcexHullsOverlapNonAdjacent(rays, solidBlocking);
}
if (overlap)
{
blockingsForDirection.Add(new NonAdjacentBlockings
{
blockingSolids = new[] { solid, solidBlocking },
blockingDistance = distanceToTheClosestFace
});
}
}
}
//);
// lock (NonAdjacentBlocking)
NonAdjacentBlocking.Add(dir, blockingsForDirection);
}
// );
// To be fixed later:
// This ConvertToSecondary can be later added directly after generation.
//ConvertToSecondaryArc(graph, NonAdjacentBlocking);
}
internal static List <int> RunGraphGeneration(designGraph assemblyGraph, Dictionary <string, List <TessellatedSolid> > solidsNoFastener)
{
Solids = Program.Solids;
solidsNoFastener = Program.SolidsNoFastener;
//$ Added because it seems that primitive surfaces are populated in step one
// Extracting primitives from the list of solids
foreach (KeyValuePair <string, List <TessellatedSolid> > p in Solids)
{
foreach (TessellatedSolid t in p.Value)
{
SolidPrimitive[t] = t.Primitives;
}
}
//
//PrintOutSomeInitialStats();
var globalDirPool = new List <int>();
// Detect gear mates
//------------------------------------------------------------------------------------------
var gears = GearDetector.Run(PartsWithOneGeom, SolidPrimitive);
var sw = new Stopwatch();
sw.Start();
// Add the solids as nodes to the graph. Exclude the fasteners
//------------------------------------------------------------------------------------------
//DisassemblyDirections.Solids = new List<TessellatedSolid>(solidsNoFastener);
AddingNodesToGraph(assemblyGraph, solidsNoFastener); //, gears, screwsAndBolts);
// Implementing region octree for every solid
//------------------------------------------------------------------------------------------
PartitioningSolid.Partitions = new Dictionary <TessellatedSolid, Partition[]>();
PartitioningSolid.PartitionsAABB = new Dictionary <TessellatedSolid, PartitionAABB[]>();
PartitioningSolid.CreatePartitions(solidsNoFastener);
// Part to part interaction to obtain removal directions between every connected pair
//------------------------------------------------------------------------------------------
Console.WriteLine(" \n\nAdjacent Blocking Determination ...");
var width = 55;
LoadingBar.start(width, 0);
BlockingDetermination.OverlappingSurfaces = new List <OverlappedSurfaces>();
var solidNofastenerList = solidsNoFastener.ToList();
long totalTriTobeChecked = 0;
var overlapCheck = new HashSet <KeyValuePair <string, List <TessellatedSolid> >[]>();
for (var i = 0; i < solidsNoFastener.Count - 1; i++)
{
var subAssem1 = solidNofastenerList[i];
for (var j = i + 1; j < solidsNoFastener.Count; j++)
{
var subAssem2 = solidNofastenerList[j];
overlapCheck.Add(new[] { subAssem1, subAssem2 });
var tri2Sub1 = subAssem1.Value.Sum(s => s.Faces.Length);
var tri2Sub2 = subAssem2.Value.Sum(s => s.Faces.Length);
totalTriTobeChecked += tri2Sub1 * tri2Sub2;
}
}
var total = overlapCheck.Count;
var refresh = (int)Math.Ceiling(((float)total) / ((float)(width * 4)));
var check = 0;
long counter = 0;
//$ Need to convert back to parallel after debug
//foreach (var each in overlapCheck)
Parallel.ForEach(overlapCheck, each =>
{
if (check % refresh == 0)
{
LoadingBar.refresh(width, ((float)check) / ((float)total));
}
check++;
var localDirInd = new List <int>();
for (var t = 0; t < DisassemblyDirections.Directions.Count; t++)
{
localDirInd.Add(t);
}
var connected = false;
var certainty = 0.0;
foreach (var solid1 in each[0].Value)
{
foreach (var solid2 in each[1].Value)
{
counter += solid1.Faces.Length * solid2.Faces.Length;
double localCertainty;
var blocked = BlockingDetermination.DefineBlocking(solid1, solid2, globalDirPool,
localDirInd, out localCertainty);
if (connected == false)
{
connected = blocked;
}
if (localCertainty > certainty)
{
certainty = localCertainty;
}
}
}
if (connected)
{
// I wrote the code in a way that "solid1" is always "Reference" and "solid2" is always "Moving".
// Update the romoval direction if it is a gear mate:
localDirInd = GearDetector.UpdateRemovalDirectionsIfGearMate(each[0].Value,
each[1].Value, gears, localDirInd);
List <int> finDirs, infDirs;
NonadjacentBlockingDetermination.FiniteDirectionsBetweenConnectedPartsWithPartitioning(
each[0].Value, each[1].Value, localDirInd, out finDirs, out infDirs);
lock (assemblyGraph)
{
var from = assemblyGraph[each[1].Key]; // Moving
var to = assemblyGraph[each[0].Key]; // Reference
assemblyGraph.addArc((node)from, (node)to, "", typeof(Connection));
var a = (Connection)assemblyGraph.arcs.Last();
a.Certainty = certainty;
AddInformationToArc(a, finDirs, infDirs);
}
}
});
LoadingBar.refresh(width, 1);
Fastener.AddFastenersInformation(assemblyGraph, solidsNoFastener, SolidPrimitive);
// create oppositeDirections for global direction pool.
FindingOppositeDirectionsForGlobalPool(globalDirPool);
// Simplify the solids, before doing anything
//------------------------------------------------------------------------------------------
foreach (var solid in solidsNoFastener)
{
Program.SolidsNoFastenerSimplified.Add(solid.Key, Program.SimplifiedSolids[solid.Key]);
}
SimplifySolids(Program.SimplifiedSolids, 0.7);
// Implementing region octree for every solid
//------------------------------------------------------------------------------------------
PartitioningSolid.Partitions = new Dictionary <TessellatedSolid, Partition[]>();
PartitioningSolid.PartitionsAABB = new Dictionary <TessellatedSolid, PartitionAABB[]>();
PartitioningSolid.CreatePartitions(Program.SimplifiedSolids);
CheckToHaveConnectedGraph(assemblyGraph);
return(globalDirPool);
}
private static void CheckToHaveConnectedGraph(designGraph assemblyGraph)
{
// The code will crash if the graph is not connected
// let's take a look:
var batches = new List <HashSet <Component> >();
var stack = new Stack <Component>();
var visited = new HashSet <Component>();
var globalVisited = new HashSet <Component>();
foreach (Component Component in assemblyGraph.nodes.Where(n => !globalVisited.Contains(n)))
{
stack.Clear();
visited.Clear();
stack.Push(Component);
while (stack.Count > 0)
{
var pNode = stack.Pop();
visited.Add(pNode);
globalVisited.Add(pNode);
List <Connection> a2;
lock (pNode.arcs)
a2 = pNode.arcs.Where(a => a is Connection).Cast <Connection>().ToList();
foreach (Connection arc in a2)
{
if (!assemblyGraph.nodes.Contains(arc.From) || !assemblyGraph.nodes.Contains(arc.To))
{
continue;
}
var otherNode = (Component)(arc.From == pNode ? arc.To : arc.From);
if (visited.Contains(otherNode))
{
continue;
}
stack.Push(otherNode);
}
}
if (visited.Count == assemblyGraph.nodes.Count)
{
return;
}
batches.Add(new HashSet <Component>(visited));
}
Console.WriteLine("\nSome of the assembly parts are not connected to the rest of the model.");
var referenceBatch = batches[0];
var c = false;
var visits = 0;
var loop = 0;
while (referenceBatch.Count < assemblyGraph.nodes.Count)
{
loop++;
if (loop >= 15)
{
break;
}
foreach (var rb in referenceBatch)
{
for (var j = 1; j < batches.Count; j++)
{
foreach (var b in batches[j])
{
foreach (var p1 in Program.Solids[rb.name])
{
foreach (var p2 in Program.Solids[b.name])
{
if (BlockingDetermination.BoundingBoxOverlap(p1, p2))
{
if (BlockingDetermination.ConvexHullOverlap(p1, p2))
{
visits++;
if (visits == 1)
{
Console.WriteLine(
"\n * Since the graph needs to be connected, the following connections are added by the software:");
}
// add a connection with low cetainty between them
var lastAdded = (Connection)assemblyGraph.addArc(rb, b, "", typeof(Connection));
lastAdded.Certainty = 0.1;
referenceBatch.UnionWith(batches[j]);
batches.RemoveAt(j);
c = true;
Console.WriteLine("\n - " + lastAdded.XmlFrom + lastAdded.XmlTo);
}
}
if (c)
{
break;
}
}
if (c)
{
break;
}
}
if (c)
{
break;
}
}
if (c)
{
break;
}
}
if (c)
{
break;
}
}
}
if (loop < 15)
{
Console.WriteLine(
"\n * When you are reviewing the connections, please pay a closer attention to the connections above");
}
else
{
Console.WriteLine("\n * Some connections must be added manually between the following batches");
}
for (int i = 0; i < batches.Count; i++)
{
var batch = batches[i];
Console.WriteLine("\n - Batch " + i + ":");
foreach (var component in batch)
{
Console.WriteLine(" + " + component.name);
}
}
}
