private byte[] ProcessBallJoint(RigidBodyJoint ballJoint)
{
try
{
List <byte> ballJointBytes = new List <byte>();
//Adds ID to signify that it's a rotational joint
ushort ID = 4;
byte[] ballJointID = BitConverter.GetBytes(ID);
ballJointBytes.AddRange(ballJointID);
foreach (AssemblyJoint joint in ballJoint.Joints)
{
//Adds the ID of the parent STL to the output array
STLData parentSTL = new STLData();
STLDictionary.TryGetValue(NameFilter(joint.OccurrenceOne.Name), out parentSTL);
byte[] parentIDBytes = BitConverter.GetBytes((uint)(parentSTL.getID()));
ballJointBytes.AddRange(parentIDBytes);
//Adds the ID of the child STL to the output array
STLData childSTL = new STLData();
STLDictionary.TryGetValue(NameFilter(joint.OccurrenceTwo.Name), out childSTL);
byte[] childIDBytes = BitConverter.GetBytes((uint)(childSTL.getID()));
ballJointBytes.AddRange(childIDBytes);
//Adds the vector parallel to the movement onto the array of bytes
ballJoint.GetJointData(out object GeometryOne, out object GeometryTwo, out NameValueMap nameMap);
Circle vectorCircle = (Circle)GeometryTwo;
byte[] vectorJointData = new byte[12];
BitConverter.GetBytes((float)vectorCircle.Center.X).CopyTo(vectorJointData, 0);
BitConverter.GetBytes((float)vectorCircle.Center.Y).CopyTo(vectorJointData, 4);
BitConverter.GetBytes((float)vectorCircle.Center.Z).CopyTo(vectorJointData, 8);
ballJointBytes.AddRange(vectorJointData);
//Adds the point of connection relative to the parent part
byte[] transJointData = new byte[12];
AssemblyJointDefinition jointData = joint.Definition;
BitConverter.GetBytes((float)jointData.OriginTwo.Point.X).CopyTo(transJointData, 0);
BitConverter.GetBytes((float)jointData.OriginTwo.Point.Y).CopyTo(transJointData, 4);
BitConverter.GetBytes((float)jointData.OriginTwo.Point.Z).CopyTo(transJointData, 8);
ballJointBytes.AddRange(transJointData);
//Adds the degrees of freedom
byte[] freedomData = new byte[8];
ModelParameter positionData = (ModelParameter)jointData.AngularPosition;
double relataivePosition = positionData._Value;
if (jointData.HasLinearPositionEndLimit)
{
positionData = (ModelParameter)jointData.AngularPositionEndLimit;
BitConverter.GetBytes((float)(Math.Abs(relataivePosition) - Math.Abs(positionData._Value))).CopyTo(freedomData, 0);
}
positionData = (ModelParameter)jointData.AngularPositionStartLimit;
BitConverter.GetBytes((float)(Math.Abs(relataivePosition) - Math.Abs(positionData._Value))).CopyTo(freedomData, 4);
ballJointBytes.AddRange(freedomData);
}
return(ballJointBytes.ToArray());
}
catch (Exception e)
{
//catches problems
MessageBox.Show(e.Message + "\n\n\n" + e.StackTrace);
return(null);
}
}
private Vector3D GetNormalOrDirection(AssemblyJointDefinition assemblyJointDefinition)
{
try { return(GetVector3D(GetNormDirFromGeometry(assemblyJointDefinition.OriginOne))); } catch {}
try { return(GetVector3D(GetNormDirFromGeometry(assemblyJointDefinition.OriginTwo))); } catch {}
warnings.Add("No joint axis found for joint " + assemblyJointDefinition.Parent.Name);
return(new Vector3D());
}
// public bool childIsTheOne;
public SkeletalJoint(CustomRigidGroup parent, CustomRigidJoint rigidJoint)
{
if (rigidJoint.joints.Count != 1)
{
throw new Exception("Not a proper joint");
}
asmJoint = rigidJoint.joints[0].Definition;
asmJointOccurrence = rigidJoint.joints[0];
childGroup = null;
parentGroup = parent;
this.rigidJoint = rigidJoint;
if (rigidJoint.groupOne.Equals(parent))
{
childGroup = rigidJoint.groupTwo;
}
else if (rigidJoint.groupTwo.Equals(parent))
{
childGroup = rigidJoint.groupOne;
}
else
{
throw new Exception("Couldn't match parent group");
}
if (childGroup == null)
{
throw new Exception("Not a proper joint: No child joint found");
}
/*childIsTheOne = childGroup.Contains(asmJointOccurrence.AffectedOccurrenceOne);
* if (!childIsTheOne && !childGroup.Contains(asmJointOccurrence.AffectedOccurrenceTwo))
* {
* throw new Exception("Expected child not found inside assembly joint.");
* }*/
}
private BallJointMotion GetBallJointMotion(AssemblyJointDefinition assemblyJointDefinition)
{
var protoJointMotion = new BallJointMotion();
warnings.Add("Limits not implemented for ball joints! Joint: " + assemblyJointDefinition.Parent.Name);
// TODO
return(protoJointMotion);
}
private double GetLinearPosition(AssemblyJointDefinition assemblyJointDefinition)
{
if (assemblyJointDefinition.LinearPosition != null)
{
return(assemblyJointDefinition.LinearPosition.Value);
}
return(0);
}
private Vector3D GetCenterOrRoot(AssemblyJointDefinition assemblyJointDefinition)
{
// TODO: The point returned from getCenter is very often wrong...
try { return(GetVector3DConvertUnits(GetCenterFromGeometry(assemblyJointDefinition.OriginTwo))); } catch {}
try { return(GetVector3DConvertUnits(GetCenterFromGeometry(assemblyJointDefinition.OriginOne))); } catch {}
warnings.Add("No joint center found for joint " + assemblyJointDefinition.Parent.Name);
throw new Exception();
}
//Соединение кручение
public void Rotate()
{
GeometryIntent OriginOne = assDefinition.CreateGeometryIntent(assDefinition.Occurrences[1].SurfaceBodies[1].Faces[2].Edges[1]);
GeometryIntent OriginTwo = assDefinition.CreateGeometryIntent(assDefinition.Occurrences[2].SurfaceBodies[1].Faces[3].Edges[2]);
AssemblyJointDefinition jointDef = assDefinition.Joints.CreateAssemblyJointDefinition(AssemblyJointTypeEnum.kRotationalJointType, OriginTwo, OriginOne);
joints = assDefinition.Joints;
joints.Add(jointDef);
}
private SliderJointMotion GetSliderJointMotion(AssemblyJointDefinition assemblyJointDefinition)
{
var protoJointMotion = new SliderJointMotion();
protoJointMotion.SlideDirectionVector = GetNormalOrDirection(assemblyJointDefinition);
protoJointMotion.SlideValue = GetLinearPosition(assemblyJointDefinition);
protoJointMotion.SlideLimits = GetLinearLimits(assemblyJointDefinition);
return(protoJointMotion);
}
private RevoluteJointMotion GetRevoluteJointMotion(AssemblyJointDefinition assemblyJointDefinition)
{
var protoJointMotion = new RevoluteJointMotion();
protoJointMotion.RotationAxisVector = GetNormalOrDirection(assemblyJointDefinition);
protoJointMotion.RotationValue = GetAngularPosition(assemblyJointDefinition);
protoJointMotion.RotationLimits = GetAngularLimits(assemblyJointDefinition);
return(protoJointMotion);
}
public static bool IsPlanarJoint(CustomRigidJoint jointI)
{
if (jointI.joints.Count == 1)
{
AssemblyJointDefinition joint = jointI.joints[0].Definition;
return(joint.JointType == AssemblyJointTypeEnum.kPlanarJointType);
}
return(false);
}
public static bool IsBallJoint(CustomRigidJoint jointI)
{
if (jointI.joints.Count == 1)
{
AssemblyJointDefinition joint = jointI.joints[0].Definition;
//Checks if there is no linear motion allowed.
return(joint.JointType == AssemblyJointTypeEnum.kBallJointType);
}
return(false);
}
public static bool IsCylindricalJoint(CustomRigidJoint jointI)
{
// kMateLineLineJoint
if (jointI.joints.Count == 1)
{
AssemblyJointDefinition joint = jointI.joints[0].Definition;
return(joint.JointType == AssemblyJointTypeEnum.kCylindricalJointType);
}
return(false);
}
private CylindricalJointMotion GetCylindricalJointMotion(AssemblyJointDefinition assemblyJointDefinition)
{
var protoJointMotion = new CylindricalJointMotion();
protoJointMotion.RotationAxisVector = GetNormalOrDirection(assemblyJointDefinition);
protoJointMotion.RotationValue = GetAngularPosition(assemblyJointDefinition);
protoJointMotion.RotationLimits = GetAngularLimits(assemblyJointDefinition);
protoJointMotion.SlideValue = GetLinearPosition(assemblyJointDefinition);
protoJointMotion.SlideLimits = GetLinearLimits(assemblyJointDefinition);
return(protoJointMotion);
}
public static bool IsLinearJoint(CustomRigidJoint jointI)
{
// kTranslationalJoint
if (jointI.joints.Count == 1)
{
AssemblyJointDefinition joint = jointI.joints[0].Definition;
//Cylindrical joints with no rotaion are effectively sliding joints.
return(joint.JointType == AssemblyJointTypeEnum.kSlideJointType ||
(joint.JointType == AssemblyJointTypeEnum.kCylindricalJointType &&
joint.HasAngularPositionLimits && joint.AngularPositionStartLimit.Value == joint.AngularPositionEndLimit.Value));
}
return(false);
}
public static bool IsRotationalJoint(CustomRigidJoint jointI)
{
// RigidBodyJointType = kConcentricCircleCircleJoint
if (jointI.jointBased && jointI.joints.Count == 1)
{
AssemblyJointDefinition joint = jointI.joints[0].Definition;
//Checks if there is no linear motion allowed.
return(joint.JointType == AssemblyJointTypeEnum.kRotationalJointType ||
(joint.JointType == AssemblyJointTypeEnum.kCylindricalJointType &&
joint.HasLinearPositionStartLimit && joint.HasLinearPositionEndLimit &&
joint.LinearPositionStartLimit.Value == joint.LinearPositionEndLimit.Value));
}
return(false);
}
private JointLimits GetLinearLimits(AssemblyJointDefinition assemblyJointDefinition)
{
var limits = new JointLimits();
limits.IsMaximumValueEnabled = assemblyJointDefinition.HasLinearPositionEndLimit;
limits.IsMinimumValueEnabled = assemblyJointDefinition.HasLinearPositionStartLimit;
limits.IsRestValueEnabled = false;
if (limits.IsMaximumValueEnabled)
{
limits.MaximumValue = assemblyJointDefinition.LinearPositionEndLimit.Value;
}
if (limits.IsMinimumValueEnabled)
{
limits.MinimumValue = assemblyJointDefinition.LinearPositionStartLimit.Value;
}
// limits.RestValue = assemblyJointDefinition.LinearPosition;
return(limits);
}
public void AssemblyJoint()
{
#region inventor öffnen
Application inventorApp = null;
Document inventordoc = null;
// Enable error handling.
try
{
// Try to connect to a running instance of Inventor.
inventorApp = (Application)Marshal.GetActiveObject("Inventor.Application");
}
catch (Exception ex)
{
// Connecting to a running instance failed so try to start Inventor.
try
{
inventorApp = (Application)Activator.CreateInstance(Type.GetTypeFromProgID("Inventor.Application"), true);
inventorApp.Visible = true;
}
catch (Exception ex2)
{
// Unable to start Inventor.
Console.WriteLine("Unable to connect to or start Inventor.");
return;
}
}
//System.Threading.Thread.Sleep(5000);
//inventordoc = inventorApp.Documents.Add(Inventor.DocumentTypeEnum.kPartDocumentObject, "C:\\Users\\Public\\Documents\\Autodesk\\Inventor 2017\\Templates\\English\\Sheet Metal (in).ipt", true);
#endregion
#region Create a new assembly document.
AssemblyDocument asmDoc =
(AssemblyDocument)inventorApp.Documents.Add
(DocumentTypeEnum.kAssemblyDocumentObject,
inventorApp.FileManager.GetTemplateFile
(DocumentTypeEnum.kAssemblyDocumentObject));
AssemblyComponentDefinition asmDef =
asmDoc.ComponentDefinition;
Matrix trans =
inventorApp.TransientGeometry.CreateMatrix();
#endregion
#region die Bauelemente
// Place an occurrence into the assembly.
ComponentOccurrence occ1 =
asmDef.Occurrences.Add
("Pfad or element like c\\:...",
trans);
// Place a second occurrence with the matrix
//adjusted so it fits correctly with the
//first occurrence.
trans.Cell[1, 4] = 6 * 2.54;
ComponentOccurrence occ2 =
asmDef.Occurrences.Add
("Pfad or element like c\\:...",
trans);
#endregion
// Get Face 1 from occ1 and
// create a FaceProxy.
Face face1 =
(Face)GetNamedEntity(occ1, "Face1");
// Get Face 2 from occ2 and
// create a FaceProxy.
Face face2 =
(Face)GetNamedEntity(occ2, "Face2");
// Get Edge 1 from occ2 and
// create an EdgeProxy.
Edge Edge1 =
(Edge)GetNamedEntity(occ2, "Edge1");
// Get Edge 3 from occ1 and
// create an EdgeProxy.
Edge Edge3 =
(Edge)GetNamedEntity(occ1, "Edge3");
// Create an intent to the
// center of Edge1.
GeometryIntent edge1Intent =
asmDef.CreateGeometryIntent
(Edge1, PointIntentEnum.kMidPointIntent);
// Create an intent to the center of Edge3.
GeometryIntent edge3Intent =
asmDef.CreateGeometryIntent
(Edge3, PointIntentEnum.kMidPointIntent);
// Create two intents to define
// the geometry for the joint.
GeometryIntent intentOne =
asmDef.CreateGeometryIntent
(face2, edge1Intent);
GeometryIntent intentTwo =
asmDef.CreateGeometryIntent
(face1, edge3Intent);
// Create a rotation joint between the two parts.
AssemblyJointDefinition jointDef =
asmDef.Joints.CreateAssemblyJointDefinition
(AssemblyJointTypeEnum.kRotationalJointType,
intentOne, intentTwo);
jointDef.FlipAlignmentDirection = false;
jointDef.FlipOriginDirection = true;
AssemblyJoint joint =
asmDef.Joints.Add(jointDef);
// Make the joint visible.
joint.Visible = true;
// Drive the joint to animate it.
joint.DriveSettings.StartValue = "0 deg";
joint.DriveSettings.EndValue = "180 deg";
joint.DriveSettings.GoToStart();
joint.DriveSettings.PlayForward();
joint.DriveSettings.PlayReverse();
}
private RigidJointMotion GetRigidJointMotion(AssemblyJointDefinition assemblyJointDefinition)
{
var protoJointMotion = new RigidJointMotion();
return(protoJointMotion);
}
private byte[] ProcessLinearJoint(RigidBodyJoint linearJoint, JointData jointDataObject)
{
try {
ArrayList linearJointBytes = new ArrayList();
//Adds ID to signify that it's a linear joint
ushort ID = 1;
byte[] linearJointID = BitConverter.GetBytes(ID);
linearJointBytes.Add(linearJointID);
foreach (AssemblyJoint joint in linearJoint.Joints)
{
//Adds the ID of the parent STL to the output array
STLData parentSTL = new STLData();
STLDictionary.TryGetValue(NameFilter(joint.OccurrenceOne.Name), out parentSTL);
byte[] parentIDBytes = BitConverter.GetBytes((uint)(parentSTL.getID()));
linearJointBytes.Add(parentIDBytes);
//Adds the ID of the child STL to the output array
STLData childSTL = new STLData();
STLDictionary.TryGetValue(NameFilter(joint.OccurrenceTwo.Name), out childSTL);
byte[] childIDBytes = BitConverter.GetBytes((uint)(childSTL.getID()));
linearJointBytes.Add(childIDBytes);
//Adds the vector parallel to the movement onto the array of bytes
object GeometryOne, GeometryTwo;
NameValueMap nameMap;
linearJoint.GetJointData(out GeometryOne, out GeometryTwo, out nameMap);
Line vectorLine = (Line)GeometryTwo;
byte[] vectorJointData = new byte[12];
BitConverter.GetBytes(vectorLine.RootPoint.X).CopyTo(vectorJointData, 0);
BitConverter.GetBytes(vectorLine.RootPoint.Y).CopyTo(vectorJointData, 4);
BitConverter.GetBytes(vectorLine.RootPoint.Z).CopyTo(vectorJointData, 8);
linearJointBytes.Add(vectorJointData);
//Adds the point of connection relative to the parent part
byte[] transJointData = new byte[12];
AssemblyJointDefinition jointData = joint.Definition;
BitConverter.GetBytes(jointData.OriginTwo.Point.X).CopyTo(transJointData, 0);
BitConverter.GetBytes(jointData.OriginTwo.Point.Y).CopyTo(transJointData, 4);
BitConverter.GetBytes(jointData.OriginTwo.Point.Z).CopyTo(transJointData, 8);
linearJointBytes.Add(transJointData);
//Adds the degrees of freedom
byte[] freedomData = new byte[8];
ModelParameter positionData = (ModelParameter)jointData.LinearPosition;
double relataivePosition = positionData._Value;
positionData = (ModelParameter)jointData.LinearPositionEndLimit;
BitConverter.GetBytes((float)(Math.Abs(relataivePosition) - Math.Abs(positionData._Value))).CopyTo(freedomData, 0);
positionData = (ModelParameter)jointData.LinearPositionStartLimit;
BitConverter.GetBytes((float)(Math.Abs(relataivePosition) - Math.Abs(positionData._Value))).CopyTo(freedomData, 4);
linearJointBytes.Add(freedomData);
linearJointBytes.Add(processJointAttributes(jointDataObject));
}
object[] tempArray = linearJointBytes.ToArray();
byte[] returnedArray = new byte[tempArray.Length];
tempArray.CopyTo(returnedArray, 0);
return(returnedArray);
}
catch (Exception e) {
//catches problems
MessageBox.Show(e.Message + "\n\n\n" + e.StackTrace);
return(null);
}
}
private byte[] ProcessCylindricalJoint(RigidBodyJoint cylindricalJoint)
{
try
{
List <byte> cylindricalJointBytes = new List <byte>();
//Adds ID to signify that it's a cylindrical joint
cylindricalJointBytes.AddRange(BitConverter.GetBytes((ushort)2));
foreach (AssemblyJoint joint in cylindricalJoint.Joints)
{
//Adds the ID of the parent STL to the output array
STLData parentSTL = new STLData();
STLDictionary.TryGetValue(NameFilter(joint.OccurrenceOne.Name), out parentSTL);
byte[] parentIDBytes = BitConverter.GetBytes((uint)(parentSTL.getID()));
cylindricalJointBytes.AddRange(parentIDBytes);
//Adds the ID of the child STL to the output array
STLData childSTL = new STLData();
STLDictionary.TryGetValue(NameFilter(joint.OccurrenceTwo.Name), out childSTL);
byte[] childIDBytes = BitConverter.GetBytes((uint)(childSTL.getID()));
cylindricalJointBytes.AddRange(childIDBytes);
//Adds the vector normal to the plane of rotation
cylindricalJoint.GetJointData(out object GeometryOne, out object GeometryTwo, out NameValueMap nameMap);
/* Circle vectorCircle = (Circle)GeometryTwo;
* byte[] vectorJointData = new byte[12];
* BitConverter.GetBytes((float)vectorCircle.Center.X).CopyTo(vectorJointData, 0);
* BitConverter.GetBytes((float)vectorCircle.Center.Y).CopyTo(vectorJointData, 4);
* BitConverter.GetBytes((float)vectorCircle.Center.Z).CopyTo(vectorJointData, 8);
* cylindricalJointBytes.AddRange(vectorJointData);
*///Adds the vector parallel to the movement
MessageBox.Show(GeometryTwo.GetType().ToString());
//Adds the vector parallel to movement
Line vectorLine = (Line)GeometryTwo;
byte[] vectorJointData = new byte[12];
BitConverter.GetBytes((float)vectorLine.RootPoint.X).CopyTo(vectorJointData, 0);
BitConverter.GetBytes((float)vectorLine.RootPoint.Y).CopyTo(vectorJointData, 4);
BitConverter.GetBytes((float)vectorLine.RootPoint.Z).CopyTo(vectorJointData, 8);
cylindricalJointBytes.AddRange(vectorJointData);
//Adds the point of connection relative to the parent part
byte[] transJointData = new byte[12];
AssemblyJointDefinition jointData = joint.Definition;
BitConverter.GetBytes((float)jointData.OriginTwo.Point.X).CopyTo(transJointData, 0);
BitConverter.GetBytes((float)jointData.OriginTwo.Point.Y).CopyTo(transJointData, 4);
BitConverter.GetBytes((float)jointData.OriginTwo.Point.Z).CopyTo(transJointData, 8);
cylindricalJointBytes.AddRange(transJointData);
//Adds the degrees of freedom
List <byte> freedomData = new List <byte>();
ModelParameter positionData = (ModelParameter)jointData.AngularPosition;
double relataivePosition = positionData._Value;
if (jointData.HasLinearPositionEndLimit)
{
positionData = (ModelParameter)jointData.LinearPositionEndLimit;
freedomData.AddRange(BitConverter.GetBytes((float)(Math.Abs(relataivePosition) - Math.Abs(positionData._Value))));
}
if (jointData.HasLinearPositionStartLimit)
{
positionData = (ModelParameter)jointData.LinearPositionStartLimit;
freedomData.AddRange(BitConverter.GetBytes((float)(Math.Abs(relataivePosition) - Math.Abs(positionData._Value))));
}
if (jointData.HasAngularPositionLimits)
{
positionData = (ModelParameter)jointData.AngularPositionEndLimit;
freedomData.AddRange(BitConverter.GetBytes((float)(Math.Abs(relataivePosition) - Math.Abs(positionData._Value))));
positionData = (ModelParameter)jointData.AngularPositionStartLimit;
freedomData.AddRange(BitConverter.GetBytes((float)(Math.Abs(relataivePosition) - Math.Abs(positionData._Value))));
}
if (freedomData != null)
{
cylindricalJointBytes.AddRange(freedomData);
}
}
return(cylindricalJointBytes.ToArray());
}
catch (Exception e)
{
//catches problems
MessageBox.Show(e.Message + "\n\n\n" + e.StackTrace);
return(null);
}
}
