public Datum(CyPhy.CADDatum datum,
string compid, bool guide)
{
DatumName = datum.Attributes.DatumName;
if (datum.Kind == "CoordinateSystem")
{
Type = DatumType.CSYS;
}
else if (datum.Kind == "Point")
{
Type = DatumType.Point;
}
else if (datum.Kind == "Surface")
{
Type = DatumType.Surface;
}
else if (datum.Kind == "Axis")
{
Type = DatumType.Axis;
}
ComponentID = compid;
DatumID = datum.ID;
Guide = guide;
if (!String.IsNullOrEmpty(datum.Attributes.GeometricMarker))
{
Marker = new GeometryMarkerRep(datum.Attributes.GeometricMarker);
}
}
public CyPhy.KinematicJoint CyphyJoint; // The original joint
public KinematicJoint(CyPhy.KinematicJoint kJoint)
{
CyphyJoint = kJoint;
JointType = GetJointType(kJoint);
Name = kJoint.Name;
CyPhyID = kJoint.ID;
// TODO: Error handling - many things can go wrong here
if (kJoint is CyPhy.HasKinematicRotationalLimit)
{
foreach (var limit in (kJoint as CyPhy.HasKinematicRotationalLimit).SrcConnections.KinematicRotationalLimitCollection)
{
if (limit.Attributes.LimitType == CyPhyClasses.KinematicRotationalLimit.AttributesClass.LimitType_enum.Default)
{
RotationLimitDefault = Double.Parse(limit.SrcEnds.Parameter.Attributes.Value);
}
else if (limit.Attributes.LimitType == CyPhyClasses.KinematicRotationalLimit.AttributesClass.LimitType_enum.Max)
{
RotationLimitMax = Double.Parse(limit.SrcEnds.Parameter.Attributes.Value);
}
else if (limit.Attributes.LimitType == CyPhyClasses.KinematicRotationalLimit.AttributesClass.LimitType_enum.Min)
{
RotationLimitMin = Double.Parse(limit.SrcEnds.Parameter.Attributes.Value);
}
}
}
if (kJoint is CyPhy.HasKinematicTranslationalLimit)
{
foreach (var limit in (kJoint as CyPhy.HasKinematicTranslationalLimit).DstConnections.KinematicTranslationallLimitCollection)
{
if (limit.Attributes.LimitType == CyPhyClasses.KinematicTranslationallLimit.AttributesClass.LimitType_enum.Default)
{
TranslationLimitDefault = Double.Parse(limit.DstEnds.Parameter.Attributes.Value);
}
else if (limit.Attributes.LimitType == CyPhyClasses.KinematicTranslationallLimit.AttributesClass.LimitType_enum.Max)
{
TranslationLimitMax = Double.Parse(limit.DstEnds.Parameter.Attributes.Value);
}
else if (limit.Attributes.LimitType == CyPhyClasses.KinematicTranslationallLimit.AttributesClass.LimitType_enum.Min)
{
TranslationLimitMin = Double.Parse(limit.DstEnds.Parameter.Attributes.Value);
}
}
}
if (!String.IsNullOrEmpty(kJoint.Attributes.GeometricMarker))
{
Marker = new GeometryMarkerRep(kJoint.Attributes.GeometricMarker);
if (kJoint.ParentContainer.ParentContainer.Kind == "Component")
{
Marker.ComponentID = CyPhyClasses.Component.Cast(kJoint.ParentContainer.ParentContainer.Impl).Attributes.InstanceGUID;
}
}
}
public Datum(CyPhy.CADDatum datum,
string compid, bool guide)
{
DatumName = datum.Attributes.DatumName;
if (datum.Kind == "CoordinateSystem")
Type = DatumType.CSYS;
else if (datum.Kind == "Point")
Type = DatumType.Point;
else if (datum.Kind == "Surface")
Type = DatumType.Surface;
else if (datum.Kind == "Axis")
Type = DatumType.Axis;
ComponentID = compid;
DatumID = datum.ID;
Guide = guide;
if (!String.IsNullOrEmpty(datum.Attributes.GeometricMarker))
Marker = new GeometryMarkerRep(datum.Attributes.GeometricMarker);
}
public CyPhy.KinematicJoint CyphyJoint; // The original joint
public KinematicJoint(CyPhy.KinematicJoint kJoint)
{
CyphyJoint = kJoint;
JointType = GetJointType(kJoint);
Name = kJoint.Name;
CyPhyID = kJoint.ID;
// TODO: Error handling - many things can go wrong here
if (kJoint is CyPhy.HasKinematicRotationalLimit)
{
foreach (var limit in (kJoint as CyPhy.HasKinematicRotationalLimit).SrcConnections.KinematicRotationalLimitCollection)
{
if (limit.Attributes.LimitType == CyPhyClasses.KinematicRotationalLimit.AttributesClass.LimitType_enum.Default)
{
RotationLimitDefault = Double.Parse(limit.SrcEnds.Parameter.Attributes.Value);
}
else if (limit.Attributes.LimitType == CyPhyClasses.KinematicRotationalLimit.AttributesClass.LimitType_enum.Max)
{
RotationLimitMax = Double.Parse(limit.SrcEnds.Parameter.Attributes.Value);
}
else if (limit.Attributes.LimitType == CyPhyClasses.KinematicRotationalLimit.AttributesClass.LimitType_enum.Min)
{
RotationLimitMin = Double.Parse(limit.SrcEnds.Parameter.Attributes.Value);
}
}
}
if (kJoint is CyPhy.HasKinematicTranslationalLimit)
{
foreach (var limit in (kJoint as CyPhy.HasKinematicTranslationalLimit).DstConnections.KinematicTranslationallLimitCollection)
{
if (limit.Attributes.LimitType == CyPhyClasses.KinematicTranslationallLimit.AttributesClass.LimitType_enum.Default)
{
TranslationLimitDefault = Double.Parse(limit.DstEnds.Parameter.Attributes.Value);
}
else if (limit.Attributes.LimitType == CyPhyClasses.KinematicTranslationallLimit.AttributesClass.LimitType_enum.Max)
{
TranslationLimitMax = Double.Parse(limit.DstEnds.Parameter.Attributes.Value);
}
else if (limit.Attributes.LimitType == CyPhyClasses.KinematicTranslationallLimit.AttributesClass.LimitType_enum.Min)
{
TranslationLimitMin = Double.Parse(limit.DstEnds.Parameter.Attributes.Value);
}
}
}
if (!String.IsNullOrEmpty(kJoint.Attributes.GeometricMarker))
{
Marker = new GeometryMarkerRep(kJoint.Attributes.GeometricMarker);
if (kJoint.ParentContainer.ParentContainer.Kind == "Component")
{
Marker.ComponentID = CyPhyClasses.Component.Cast(kJoint.ParentContainer.ParentContainer.Impl).Attributes.InstanceGUID;
}
}
}