protected override void SolveInstance(IGH_DataAccess DA)
{
GH_Structure <GH_Plane> raw_bricks = new GH_Structure <GH_Plane>();
GH_Structure <GH_String> raw_types = new GH_Structure <GH_String>();
GH_Structure <GH_Point> raw_corners = new GH_Structure <GH_Point>();
Plane suckerCenter = new Plane();
Plane sensorCenter = new Plane();
Plane homePlane = new Plane();
double retreat = 160;
if (!DA.GetDataTree("Bricks", out raw_bricks))
{
return;
}
if (!DA.GetDataTree("Types", out raw_types))
{
return;
}
if (!DA.GetDataTree("Corners", out raw_corners))
{
return;
}
if (!DA.GetData("SuckerCenter", ref suckerCenter))
{
return;
}
if (!DA.GetData("SensorCenter", ref sensorCenter))
{
return;
}
if (!DA.GetData("HomePlane", ref homePlane))
{
return;
}
if (!DA.GetData("Retreat", ref retreat))
{
return;
}
if (raw_bricks.DataCount == 0)
{
return;
}
if (raw_types.DataCount == 0)
{
return;
}
if (raw_corners.DataCount == 0)
{
return;
}
if (!raw_bricks.get_DataItem(0).IsValid)
{
return;
}
if (!raw_types.get_DataItem(0).IsValid)
{
return;
}
if (!raw_corners.get_DataItem(0).IsValid)
{
return;
}
if (!DataTools.IsTreeDimension2(raw_bricks))
{
AddRuntimeMessage(GH_RuntimeMessageLevel.Error, "Wrong tree structure of bricks, please use {0}{1} type");
return;
}
if (!DataTools.IsTreeDimension2(raw_types))
{
AddRuntimeMessage(GH_RuntimeMessageLevel.Error, "Wrong tree structure of types, please use {0}{1} type");
return;
}
if (!DataTools.IsTreeDimension3(raw_corners))
{
AddRuntimeMessage(GH_RuntimeMessageLevel.Error, "Wrong tree structure of corners, please use {0;0}{0;1} type");
return;
}
if (!DataTools.IsTreeMatch23(raw_bricks, raw_corners))
{
AddRuntimeMessage(GH_RuntimeMessageLevel.Error, "Bricks and corners does not match");
return;
}
if (!DataTools.IsTreeMatch23(raw_types, raw_corners))
{
AddRuntimeMessage(GH_RuntimeMessageLevel.Error, "Types and corners does not match");
return;
}
if (retreat < 0)
{
AddRuntimeMessage(GH_RuntimeMessageLevel.Error, "Retreat must not be negative");
return;
}
List <List <Plane> > bricks = DataTools.TreeToList2(raw_bricks);
List <List <string> > types = DataTools.TreeToList2(raw_types);
List <List <List <Point3d> > > corners = DataTools.TreeToList3(raw_corners);
List <List <Plane> > targets_list = new List <List <Plane> >();
List <List <string> > names_list = new List <List <string> >();
string[] title = { "Floor", "Middle", "Brick", "Sensor" };
for (int i = 0; i < bricks.Count - 1; i++)
{
targets_list.Add(new List <Plane>());
names_list.Add(new List <string>());
targets_list[i].Add(GeometryTools.Move(homePlane, new Vector3d(0, 0, (bricks[i][0].OriginZ - bricks[0][0].OriginZ) * 0.8)));
names_list[i].Add(title[0] + i.ToString() + title[1] + "0");
for (int j = 0; j < bricks[i].Count; j++)
{
Point3d[] now_points = new Point3d[4];
Point3d[] this_corners = corners[i][j].ToArray();
Point3d this_center = GeometryTools.Average(this_corners);
if (types[i][j] == "Horizontal" || types[i][j] == "Half")
{
now_points[0] = GeometryTools.Average(this_center, this_corners[0]);
now_points[1] = GeometryTools.Average(this_center, this_corners[1]);
now_points[2] = GeometryTools.Average(this_center, this_corners[3]);
now_points[3] = GeometryTools.Average(this_center, this_corners[2]);
}
else if (types[i][j] == "Vertical")
{
now_points[0] = GeometryTools.Average(this_center, this_corners[1]);
now_points[1] = GeometryTools.Average(this_center, this_corners[3]);
now_points[2] = GeometryTools.Average(this_center, this_corners[2]);
now_points[3] = GeometryTools.Average(this_center, this_corners[0]);
}
for (int k = 0; k < now_points.Count(); k++)
{
Plane now_plane = GeometryTools.Move(bricks[i][j], GeometryTools.P2P(bricks[i][j].Origin, now_points[k]));
now_plane = GeometryTools.Move(now_plane, 0, 0, retreat - 50);
now_plane = GeometryTools.Transform(sensorCenter, suckerCenter, now_plane);
targets_list[i].Add(now_plane);
names_list[i].Add(title[0] + i.ToString() + title[2] + j.ToString() + title[3] + k.ToString());
}
}
targets_list[i].Add(GeometryTools.Move(homePlane, new Vector3d(0, 0, (bricks[i][0].OriginZ - bricks[0][0].OriginZ) * 0.8)));
names_list[i].Add(title[0] + i.ToString() + title[1] + "1");
}
DataTree <Plane> targets = DataTools.ListToTree2(targets_list);
DataTree <string> names = DataTools.ListToTree2(names_list);
DA.SetDataTree(0, targets);
DA.SetDataTree(1, names);
}
protected override void SolveInstance(IGH_DataAccess DA)
{
List <Mesh> bricks = new List <Mesh>();
Point3d center_d = new Point3f();
double mortarth_d = 8;
double tolerence_d = 0.1;
if (!DA.GetDataList("Bricks", bricks))
{
return;
}
if (!DA.GetData("Center", ref center_d))
{
return;
}
if (!DA.GetData("MortarThickness", ref mortarth_d))
{
return;
}
if (!DA.GetData("zTolerence", ref tolerence_d))
{
return;
}
if (bricks.Count == 0)
{
return;
}
if (!bricks[0].IsValid)
{
return;
}
if (!center_d.IsValid)
{
return;
}
if (tolerence_d <= 0)
{
AddRuntimeMessage(GH_RuntimeMessageLevel.Error, "zTolerence must be positive");
return;
}
if (mortarth_d <= 0)
{
AddRuntimeMessage(GH_RuntimeMessageLevel.Error, "MortarThickness must be positive");
return;
}
Point3f center = GeometryTools.D2F(center_d);
float mortarth = (float)mortarth_d;
float tolerence = (float)tolerence_d;
List <float> z_list = new List <float>();
List <Plane> planes_list = new List <Plane>();
List <string> types_list = new List <string>();
List <Point3f[]> corners_list = new List <Point3f[]>();
for (int i = 0; i < bricks.Count; i++)
{
Mesh this_brick = bricks[i];
List <Point3f> vertices = new List <Point3f>();
List <float> zs = new List <float>();
List <Point3f> this_corner = new List <Point3f>();
Plane this_plane = new Plane();
//读取所有顶点，检测是否为8个
vertices = this_brick.Vertices.ToList();
GeometryTools.PurifyPoints(ref vertices, 0.1f);
if (vertices.Count != 8)
{
AddRuntimeMessage(GH_RuntimeMessageLevel.Error, "For a brick, there must be 8 vertices, now here is" + vertices.Count.ToString());
return;
}
//将顶点根据高度排序
for (int j = 0; j < vertices.Count; j++)
{
zs.Add(vertices[j].Z);
}
if (!DataTools.Sort(ref zs, ref vertices))
{
return;
}
//提取出上顶点并按3241象限顺序排序
for (int j = 4; j < vertices.Count; j++)
{
this_corner.Add(vertices[j]);
}
if (!GeometryTools.Sortby3241Q(ref this_corner, center))
{
AddRuntimeMessage(GH_RuntimeMessageLevel.Warning, "Has slanted bricks");
GeometryTools.Sortby3241D(ref this_corner, center);
if (GeometryTools.Distance(this_corner[0], this_corner[2]) > GeometryTools.Distance(this_corner[0], this_corner[3]))
{
AddRuntimeMessage(GH_RuntimeMessageLevel.Error, "Geometric error");
return;
}
}
//检验砖块是否存在几何错误
if (GeometryTools.Distance(this_corner[0], this_corner[2]) > GeometryTools.Distance(this_corner[0], this_corner[3]))
{
AddRuntimeMessage(GH_RuntimeMessageLevel.Error, "Geometrical Error.");
return;
}
//将砖块类型及放砖坐标系加入列表
if (GeometryTools.Distance(this_corner[0], this_corner[1]) - GeometryTools.Distance(this_corner[0], this_corner[2]) > 50)
{
types_list.Add("Vertical");
this_plane = new Plane(GeometryTools.Average(this_corner), GeometryTools.P2P(this_corner[0], this_corner[2]), GeometryTools.P2P(this_corner[0], this_corner[1]));
}
else if (GeometryTools.Distance(this_corner[0], this_corner[2]) - GeometryTools.Distance(this_corner[0], this_corner[1]) > 50)
{
types_list.Add("Horizontal");
this_plane = new Plane(GeometryTools.Average(this_corner), GeometryTools.P2P(this_corner[0], this_corner[2]), GeometryTools.P2P(this_corner[0], this_corner[1]));
}
else
{
types_list.Add("Half");
this_plane = new Plane(GeometryTools.Average(new Point3f[] { this_corner[0], this_corner[1] }), GeometryTools.P2P(this_corner[0], this_corner[2]), GeometryTools.P2P(this_corner[0], this_corner[1]));
}
planes_list.Add(this_plane);
//将坐标系原点高度加入列表
z_list.Add((float)this_plane.Origin.Z);
//将上顶点加入列表
corners_list.Add(this_corner.ToArray());
}
//将各元素按高度排序
List <float> z_list_copy1 = new List <float>(z_list);
List <float> z_list_copy2 = new List <float>(z_list);
if (!DataTools.Sort(ref z_list_copy1, ref planes_list))
{
return;
}
if (!DataTools.Sort(ref z_list_copy2, ref types_list))
{
return;
}
if (!DataTools.Sort(ref z_list, ref corners_list))
{
return;
}
DataTree <Plane> planes = new DataTree <Plane>();
DataTree <string> types = new DataTree <string>();
DataTree <Point3f> corners = new DataTree <Point3f>();
int now_floor = 0;
float now_z = 0;
List <Plane> now_planes = new List <Plane>();
List <string> now_types = new List <string>();
List <Point3f[]> now_corners = new List <Point3f[]>();
GH_Path now_path1 = new GH_Path();
GH_Path now_path2 = new GH_Path();
for (int i = 0; i < z_list.Count; i++)
{
//常执行
planes_list[i] = GeometryTools.Move(planes_list[i], 0, 0, now_floor * mortarth);
for (int j = 0; j < 4; j++)
{
corners_list[i][j] = GeometryTools.Move(corners_list[i][j], 0, 0, now_floor * mortarth);
}
//第一个元素
if (i == 0)
{
now_floor = 0;
now_z = z_list[i];
now_planes.Clear();
now_types.Clear();
now_corners.Clear();
now_planes.Add(planes_list[i]);
now_types.Add(types_list[i]);
now_corners.Add(corners_list[i]);
}
//最后一个元素
else if (i == z_list.Count - 1)
{
now_planes.Add(planes_list[i]);
now_types.Add(types_list[i]);
now_corners.Add(corners_list[i]);
List <Plane> now_planes_copy = new List <Plane>(now_planes);
GeometryTools.SortbyClock(ref now_planes_copy, ref now_types, center);
GeometryTools.SortbyClock(ref now_planes, ref now_corners, center);
now_path1 = new GH_Path();
now_path1.FromString("{" + now_floor.ToString() + "}");
planes.AddRange(now_planes, now_path1);
types.AddRange(now_types, now_path1);
for (int j = 0; j < now_corners.Count; j++)
{
now_path2 = new GH_Path();
now_path2.FromString("{" + now_floor.ToString() + ";" + j.ToString() + "}");
corners.AddRange(now_corners[j].ToList(), now_path2);
}
}
//没有高度突变
else if (Math.Abs(z_list[i] - now_z) < tolerence)
{
now_planes.Add(planes_list[i]);
now_types.Add(types_list[i]);
now_corners.Add(corners_list[i]);
}
//高度突变
else
{
List <Plane> now_planes_copy = new List <Plane>(now_planes);
GeometryTools.SortbyClock(ref now_planes_copy, ref now_types, center);
GeometryTools.SortbyClock(ref now_planes, ref now_corners, center);
now_path1 = new GH_Path();
now_path1.FromString("{" + now_floor.ToString() + "}");
planes.AddRange(now_planes, now_path1);
types.AddRange(now_types, now_path1);
for (int j = 0; j < now_corners.Count; j++)
{
now_path2 = new GH_Path();
now_path2.FromString("{" + now_floor.ToString() + ";" + j.ToString() + "}");
corners.AddRange(now_corners[j].ToList(), now_path2);
}
now_planes.Clear();
now_types.Clear();
now_corners.Clear();
planes_list[i] = GeometryTools.Move(planes_list[i], 0, 0, mortarth);
for (int j = 0; j < 4; j++)
{
corners_list[i][j] = GeometryTools.Move(corners_list[i][j], 0, 0, mortarth);
}
now_planes.Add(planes_list[i]);
now_types.Add(types_list[i]);
now_corners.Add(corners_list[i]);
now_floor++;
now_z = z_list[i];
}
}
DA.SetDataTree(0, planes);
DA.SetDataTree(1, types);
DA.SetDataTree(2, corners);
}
protected override void SolveInstance(IGH_DataAccess DA)
{
Mesh brick = new Mesh();
Point3d center_d = new Point3f();
GH_Structure <GH_String> raw_types = new GH_Structure <GH_String>();
if (!DA.GetData("Brick", ref brick))
{
return;
}
if (!DA.GetData("Center", ref center_d))
{
return;
}
if (!DA.GetDataTree("Types", out raw_types))
{
return;
}
if (raw_types.DataCount == 0)
{
return;
}
if (!raw_types.get_DataItem(0).IsValid)
{
return;
}
if (!center_d.IsValid)
{
return;
}
if (!DataTools.IsTreeDimension2(raw_types))
{
AddRuntimeMessage(GH_RuntimeMessageLevel.Error, "Wrong tree structure of types, please use {0}{1} type");
return;
}
Point3f center = GeometryTools.D2F(center_d);
List <List <string> > types = DataTools.TreeToList2(raw_types);
List <Point3f> vertices = new List <Point3f>();
List <Line> lines = new List <Line>();
List <float> distances = new List <float>();
List <Point3f> corners = new List <Point3f>();
Point3f corner = new Point3f();
Point3f average = new Point3f();
Point3f average2 = new Point3f();
//读取所有顶点，检测是否为8个
vertices = brick.Vertices.ToList();
GeometryTools.PurifyPoints(ref vertices, 0.1f);
if (vertices.Count != 8)
{
AddRuntimeMessage(GH_RuntimeMessageLevel.Error, "For a brick, there must be 8 vertices, now here is" + vertices.Count.ToString());
return;
}
//取出各边，按边长排序
for (int i = 0; i < vertices.Count - 1; i++)
{
for (int j = i + 1; j < vertices.Count; j++)
{
lines.Add(new Line(vertices[i], vertices[j]));
distances.Add(GeometryTools.Distance(vertices[i], vertices[j]));
}
}
DataTools.Sort(ref distances, ref lines);
//取出最短四条边的上顶点
for (int i = 0; i < 4; i++)
{
Point3f from = GeometryTools.D2F(lines[i].From);
Point3f to = GeometryTools.D2F(lines[i].To);
float z1 = from.Z;
float z2 = to.Z;
if (z1 > z2)
{
corners.Add(from);
}
else
{
corners.Add(to);
}
}
//按据角点距离排序顶点
distances.Clear();
for (int i = 0; i < corners.Count; i++)
{
distances.Add(GeometryTools.Distance(corners[i], center));
}
DataTools.Sort(ref distances, ref corners);
corner = corners[0];
distances.Clear();
for (int i = 0; i < corners.Count; i++)
{
distances.Add(GeometryTools.Distance(corners[i], corner));
}
DataTools.Sort(ref distances, ref corners);
average = GeometryTools.Average(corners);
average2 = GeometryTools.Average(new Point3f[] { corners[2], corners[3] });
average2 = GeometryTools.Average(new Point3f[] { average, average2 });
List <List <Plane> > planes_list = new List <List <Plane> >();
//生成抓取坐标系
for (int i = 0; i < types.Count; i++)
{
planes_list.Add(new List <Plane>());
for (int j = 0; j < types[i].Count; j++)
{
if (types[i][j] == "Horizontal" || types[i][j] == "Half")
{
planes_list[i].Add(new Plane(average, GeometryTools.P2P(corners[0], corners[2]), GeometryTools.P2P(corners[0], corners[1])));
}
else if (types[i][j] == "Vertical")
{
planes_list[i].Add(new Plane(average, GeometryTools.P2P(corners[0], corners[1]), GeometryTools.P2P(corners[0], corners[2])));
}
else
{
AddRuntimeMessage(GH_RuntimeMessageLevel.Error, "Wrong type name");
return;
}
}
}
DataTree <Plane> plane = DataTools.ListToTree2(planes_list);
Plane home = planes_list[0][0];
home = GeometryTools.Move(home, home.ZAxis * 200);
DA.SetDataTree(0, plane);
DA.SetData("Home", home);
}