public void UpdateProgressBar(int value, string labeltext)
{
this.Invoke((MethodInvoker) delegate
{
progressBar1.Value = value;
label1.Text = labeltext;
pb.UpdateTitle(labeltext);
if (value == 100)
{
closebttn.Visible = true;
}
});
}
//Recursive method for exporting each link (and writing it to the URDF)
private void ExportFiles(Link link, URDFPackage package, int count, bool exportSTL = true)
{
progressBar.UpdateProgress(count);
progressBar.UpdateTitle("Exporting mesh: " + link.Name);
logger.Info("Exporting link: " + link.Name);
// Iterate through each child and export its files
logger.Info("Link " + link.Name + " has " + link.Children.Count + " children");
foreach (Link child in link.Children)
{
count += 1;
if (!child.isFixedFrame)
{
ExportFiles(child, package, count, exportSTL);
}
}
// Copy the texture file (if it was specified) to the textures directory
if (!link.isFixedFrame && !String.IsNullOrWhiteSpace(link.Visual.Material.Texture.wFilename))
{
if (File.Exists(link.Visual.Material.Texture.wFilename))
{
link.Visual.Material.Texture.Filename =
package.TexturesDirectory + Path.GetFileName(link.Visual.Material.Texture.wFilename);
string textureSavePath =
package.WindowsTexturesDirectory + Path.GetFileName(link.Visual.Material.Texture.wFilename);
File.Copy(link.Visual.Material.Texture.wFilename, textureSavePath, true);
}
}
// Create the mesh filenames. SolidWorks likes to use / but that will get messy in filenames so use _ instead
string linkName = link.Name.Replace('/', '_');
string meshFilename = package.MeshesDirectory + linkName + ".STL";
string windowsMeshFileName = package.WindowsMeshesDirectory + linkName + ".STL";
// Export STL
if (exportSTL)
{
SaveSTL(link, windowsMeshFileName);
}
link.Visual.Geometry.Mesh.Filename = meshFilename;
link.Collision.Geometry.Mesh.Filename = meshFilename;
}
//Recursive method for exporting each link (and writing it to the URDF)
public string exportFiles(link Link, URDFPackage package, int count)
{
progressBar.UpdateProgress(count);
progressBar.UpdateTitle("Exporting mesh: " + Link.name);
// Iterate through each child and export its files
foreach (link child in Link.Children)
{
count += 1;
if (!child.isFixedFrame)
{
string filename = exportFiles(child, package, count);
child.Visual.Geometry.Mesh.filename = filename;
child.Collision.Geometry.Mesh.filename = filename;
}
}
// Copy the texture file (if it was specified) to the textures directory
if (!Link.isFixedFrame && Link.Visual.Material.Texture.wFilename != "")
{
if (System.IO.File.Exists(Link.Visual.Material.Texture.wFilename))
{
Link.Visual.Material.Texture.filename =
package.TexturesDirectory + Path.GetFileName(Link.Visual.Material.Texture.wFilename);
string textureSavePath =
package.WindowsTexturesDirectory + Path.GetFileName(Link.Visual.Material.Texture.wFilename);
System.IO.File.Copy(Link.Visual.Material.Texture.wFilename, textureSavePath, true);
}
}
// Create the mesh filenames. SolidWorks likes to use / but that will get messy in filenames so use _ instead
string linkName = Link.name.Replace('/', '_');
string meshFileName = package.MeshesDirectory + linkName + ".STL";
string windowsMeshFileName = package.WindowsMeshesDirectory + linkName + ".STL";
// Export STL
saveSTL(Link, windowsMeshFileName);
return(meshFileName);
}
/// Convert a SolidWorks component to Wavefront OBJ mesh
///
public static void Convert(Component2 swComp, ref string asciitext, bool saveUV, ref UserProgressBar swProgress)
{
StringBuilder textbuilder = new StringBuilder();
Body2 swBody = default(Body2);
object[] vBodies = null;
object[] vBodiesSolid = null;
object[] vBodiesSheet = null;
object vBodyInfo;
int[] BodiesInfo = null;
int j = 0;
ModelDoc2 swModel;
swModel = (ModelDoc2)swComp.GetModelDoc();
vBodiesSolid = (object[])swComp.GetBodies3((int)swBodyType_e.swSolidBody, out vBodyInfo);
vBodiesSheet = (object[])swComp.GetBodies3((int)swBodyType_e.swSheetBody, out vBodyInfo);
BodiesInfo = (int[])vBodyInfo;
if (vBodiesSolid != null && vBodiesSheet == null)
{
vBodies = vBodiesSolid;
}
if (vBodiesSolid == null && vBodiesSheet != null)
{
vBodies = vBodiesSheet;
}
if (vBodiesSolid != null && vBodiesSheet != null)
{
vBodies = vBodiesSheet.Concat(vBodiesSolid).ToArray();
}
// vBodies = (object[])swComp.GetBodies3((int)swBodyType_e.swSolidBody, out vBodyInfo);
if (vBodies != null)
{
int iNumBodies = vBodies.Length;
int iNumSolidBodies = 0;
int iNumSheetBodies = 0;
int iNumTesselatedBodies = 0;
if (iNumBodies > 0)
{
asciitext += "# Wavefront .OBJ file for tesselated shape: " + swComp.Name2 + " path: " + swModel.GetPathName() + "\n\n";
}
int group_vstride = 0;
int group_nstride = 0;
// Loop through bodies
for (j = 0; j <= vBodies.Length - 1; j++)
{
swBody = (Body2)vBodies[j];
int nBodyType = (int)swBody.GetType();
if (nBodyType == (int)swBodyType_e.swSheetBody)
{
iNumSheetBodies++;
}
if (nBodyType == (int)swBodyType_e.swSolidBody)
{
iNumSolidBodies++;
}
if ((nBodyType == (int)swBodyType_e.swSheetBody ||
nBodyType == (int)swBodyType_e.swSolidBody) &&
!swBody.Name.StartsWith("COLL.") &&
swBody.Visible)
{
iNumTesselatedBodies++;
CultureInfo bz = new CultureInfo("en-BZ");
//asciitext += "g body_" + iNumTesselatedBodies + "\n";
textbuilder.Append("g body_" + iNumTesselatedBodies + "\n");
Face2 swFace = null;
Tessellation swTessellation = null;
bool bResult = false;
// Pass in null so the whole body will be tessellated
swTessellation = (Tessellation)swBody.GetTessellation(null);
// Set up the Tessellation object
swTessellation.NeedFaceFacetMap = true;
swTessellation.NeedVertexParams = true;
swTessellation.NeedVertexNormal = true;
swTessellation.ImprovedQuality = true;
// How to handle matches across common edges
swTessellation.MatchType = (int)swTesselationMatchType_e.swTesselationMatchFacetTopology;
// Do it
if (swProgress != null)
{
swProgress.UpdateTitle("Exporting (tesselate process) ...");
}
bResult = swTessellation.Tessellate();
// Get the number of vertices and facets
//System.Windows.Forms.MessageBox.Show("Body n." + j + " vert.num=" + swTessellation.GetVertexCount());
//Debug.Print("Number of vertices: " + swTessellation.GetVertexCount());
//Debug.Print("Number of facets: " + swTessellation.GetFacetCount());
// Now get the facet data per face
int[] aFacetIds;
int iNumFacetIds;
int[] aFinIds;
int[] aVertexIds;
double[] aNormal;
double[] aVertexCoords1;
double[] aVertexCoords2;
double[] aVertexParams;
int numv = swTessellation.GetVertexCount();
// Write all vertexes
string mline;
for (int iv = 0; iv < numv; iv++)
{
if ((swProgress != null) && (iv % 200 == 0))
{
swProgress.UpdateTitle("Exporting (write " + iv + "-th vertex in .obj) ...");
}
aVertexCoords1 = (double[])swTessellation.GetVertexPoint(iv);
mline = "v " + (aVertexCoords1[0] * ChScale.L).ToString("f6", bz)
+ " " + (aVertexCoords1[1] * ChScale.L).ToString("f6", bz)
+ " " + (aVertexCoords1[2] * ChScale.L).ToString("f6", bz)
+ "\n";
textbuilder.Append(mline);
}
// Write all normals
for (int iv = 0; iv < numv; iv++)
{
if ((swProgress != null) && (iv % 200 == 0))
{
swProgress.UpdateTitle("Exporting (write " + iv + "-th normal in .obj) ...");
}
aNormal = (double[])swTessellation.GetVertexNormal(iv);
mline = "vn " + aNormal[0].ToString("f3", bz)
+ " " + aNormal[1].ToString("f3", bz)
+ " " + aNormal[2].ToString("f3", bz)
+ "\n";
textbuilder.Append(mline);
}
if (nBodyType == (int)swBodyType_e.swSheetBody) // for sheets, save two-sided triangles
{
for (int iv = 0; iv < numv; iv++)
{
if ((swProgress != null) && (iv % 200 == 0))
{
swProgress.UpdateTitle("Exporting (write " + iv + "-th normal in .obj) ...");
}
aNormal = (double[])swTessellation.GetVertexNormal(iv);
mline = "vn " + (-aNormal[0]).ToString("f3", bz)
+ " " + (-aNormal[1]).ToString("f3", bz)
+ " " + (-aNormal[2]).ToString("f3", bz)
+ "\n";
textbuilder.Append(mline);
}
}
// Write all UV (also with '0' as third value, for compatibility with some OBJ reader)
if (saveUV)
{
for (int iv = 0; iv < numv; iv++)
{
if ((swProgress != null) && (iv % 200 == 0))
{
swProgress.UpdateTitle("Exporting (write " + iv + "-th UV in .obj) ...");
}
aVertexParams = (double[])swTessellation.GetVertexParams(iv);
mline = "vt " + aVertexParams[0].ToString("f4", bz)
+ " " + aVertexParams[1].ToString("f4", bz)
+ " " + "0"
+ "\n";
textbuilder.Append(mline);
}
}
// Loop over faces
swFace = (Face2)swBody.GetFirstFace();
while (swFace != null)
{
aFacetIds = (int[])swTessellation.GetFaceFacets(swFace);
iNumFacetIds = aFacetIds.Length;
for (int iFacetIdIdx = 0; iFacetIdIdx < iNumFacetIds; iFacetIdIdx++)
{
if ((swProgress != null) && (iFacetIdIdx % 100 == 0))
{
swProgress.UpdateTitle("Exporting (write " + iFacetIdIdx + "-th face in .obj) ...");
}
mline = "f";
aFinIds = (int[])swTessellation.GetFacetFins(aFacetIds[iFacetIdIdx]);
// There should always be three fins per facet
for (int iFinIdx = 0; iFinIdx < 3; iFinIdx++)
{
aVertexIds = (int[])swTessellation.GetFinVertices(aFinIds[iFinIdx]);
// Three fins per face, two vertexes each fin,
// only the 1st vertex of two is needed (because of sharing)
if (saveUV)
{
mline += " " + (aVertexIds[0] + group_vstride + 1) + "/"
+ (aVertexIds[0] + group_vstride + 1) + "/"
+ (aVertexIds[0] + group_nstride + 1);
}
else
{
mline += " " + (aVertexIds[0] + group_vstride + 1) + "//"
+ (aVertexIds[0] + group_nstride + 1);
}
}
mline += "\n";
textbuilder.Append(mline);
}
swFace = (Face2)swFace.GetNextFace();
}
swFace = (Face2)swBody.GetFirstFace();
if (nBodyType == (int)swBodyType_e.swSheetBody) // for sheets, save two-sided triangles
{
while (swFace != null)
{
aFacetIds = (int[])swTessellation.GetFaceFacets(swFace);
iNumFacetIds = aFacetIds.Length;
for (int iFacetIdIdx = 0; iFacetIdIdx < iNumFacetIds; iFacetIdIdx++)
{
if ((swProgress != null) && (iFacetIdIdx % 100 == 0))
{
swProgress.UpdateTitle("Exporting (write " + iFacetIdIdx + "-th face in .obj) ...");
}
mline = "f";
aFinIds = (int[])swTessellation.GetFacetFins(aFacetIds[iFacetIdIdx]);
for (int iFinIdx = 2; iFinIdx >= 0; iFinIdx--)
{
aVertexIds = (int[])swTessellation.GetFinVertices(aFinIds[iFinIdx]);
if (saveUV)
{
mline += " " + (aVertexIds[0] + group_vstride + 1) + "/"
+ (aVertexIds[0] + group_vstride + 1) + "/"
+ (aVertexIds[0] + swTessellation.GetVertexCount() + group_nstride + 1);
}
else
{
mline += " " + (aVertexIds[0] + group_vstride + 1) + "//"
+ (aVertexIds[0] + swTessellation.GetVertexCount() + group_nstride + 1);
}
}
mline += "\n";
textbuilder.Append(mline);
}
swFace = (Face2)swFace.GetNextFace();
}
}
group_vstride += swTessellation.GetVertexCount();
group_nstride += swTessellation.GetVertexCount();
if (nBodyType == (int)swBodyType_e.swSheetBody) // for sheets: two-sided triangles
{
group_nstride += swTessellation.GetVertexCount();
}
}
} // end loop on bodies
} // not null body
asciitext += textbuilder.ToString();
}
/// Convert a SolidWorks component to Wavefront OBJ mesh
///
public static void Convert(Component2 swComp, ref string asciitext, bool saveUV, ref UserProgressBar swProgress)
{
StringBuilder textbuilder = new StringBuilder();
Body2 swBody = default(Body2);
object[] vBodies = null;
object[] vBodiesSolid = null;
object[] vBodiesSheet = null;
object vBodyInfo;
int[] BodiesInfo = null;
int j = 0;
ModelDoc2 swModel;
swModel = (ModelDoc2)swComp.GetModelDoc();
vBodiesSolid = (object[])swComp.GetBodies3((int)swBodyType_e.swSolidBody, out vBodyInfo);
vBodiesSheet = (object[])swComp.GetBodies3((int)swBodyType_e.swSheetBody, out vBodyInfo);
BodiesInfo = (int[])vBodyInfo;
if (vBodiesSolid != null && vBodiesSheet == null)
vBodies = vBodiesSolid;
if (vBodiesSolid == null && vBodiesSheet != null)
vBodies = vBodiesSheet;
if (vBodiesSolid != null && vBodiesSheet != null)
vBodies = vBodiesSheet.Concat(vBodiesSolid).ToArray();
// vBodies = (object[])swComp.GetBodies3((int)swBodyType_e.swSolidBody, out vBodyInfo);
if (vBodies != null)
{
int iNumBodies = vBodies.Length;
int iNumSolidBodies = 0;
int iNumSheetBodies = 0;
int iNumTesselatedBodies = 0;
if (iNumBodies >0)
asciitext += "# Wavefront .OBJ file for tesselated shape: " + swComp.Name2 + " path: " + swModel.GetPathName() + "\n\n";
int group_vstride = 0;
int group_nstride = 0;
// Loop through bodies
for (j = 0; j <= vBodies.Length - 1; j++)
{
swBody = (Body2)vBodies[j];
int nBodyType = (int)swBody.GetType();
if (nBodyType == (int)swBodyType_e.swSheetBody)
iNumSheetBodies++;
if (nBodyType == (int)swBodyType_e.swSolidBody)
iNumSolidBodies++;
if ((nBodyType == (int)swBodyType_e.swSheetBody ||
nBodyType == (int)swBodyType_e.swSolidBody) &&
!swBody.Name.StartsWith("COLL.") &&
swBody.Visible)
{
iNumTesselatedBodies++;
CultureInfo bz = new CultureInfo("en-BZ");
//asciitext += "g body_" + iNumTesselatedBodies + "\n";
textbuilder.Append("g body_" + iNumTesselatedBodies + "\n");
Face2 swFace = null;
Tessellation swTessellation = null;
bool bResult = false;
// Pass in null so the whole body will be tessellated
swTessellation = (Tessellation)swBody.GetTessellation(null);
// Set up the Tessellation object
swTessellation.NeedFaceFacetMap = true;
swTessellation.NeedVertexParams = true;
swTessellation.NeedVertexNormal = true;
swTessellation.ImprovedQuality = true;
// How to handle matches across common edges
swTessellation.MatchType = (int)swTesselationMatchType_e.swTesselationMatchFacetTopology;
// Do it
if (swProgress != null)
swProgress.UpdateTitle("Exporting (tesselate process) ...");
bResult = swTessellation.Tessellate();
// Get the number of vertices and facets
//System.Windows.Forms.MessageBox.Show("Body n." + j + " vert.num=" + swTessellation.GetVertexCount());
//Debug.Print("Number of vertices: " + swTessellation.GetVertexCount());
//Debug.Print("Number of facets: " + swTessellation.GetFacetCount());
// Now get the facet data per face
int[] aFacetIds;
int iNumFacetIds;
int[] aFinIds;
int[] aVertexIds;
double[] aNormal;
double[] aVertexCoords1;
double[] aVertexCoords2;
double[] aVertexParams;
int numv = swTessellation.GetVertexCount();
// Write all vertexes
string mline;
for (int iv = 0; iv < numv; iv++)
{
if ((swProgress != null)&&(iv%200==0))
swProgress.UpdateTitle("Exporting (write " + iv + "-th vertex in .obj) ...");
aVertexCoords1 = (double[])swTessellation.GetVertexPoint(iv);
mline = "v " + (aVertexCoords1[0]*ChScale.L).ToString("f6", bz)
+ " " + (aVertexCoords1[1]*ChScale.L).ToString("f6", bz)
+ " " + (aVertexCoords1[2]*ChScale.L).ToString("f6", bz)
+ "\n";
textbuilder.Append(mline);
}
// Write all normals
for (int iv = 0; iv < numv; iv++)
{
if ((swProgress != null) && (iv % 200 == 0))
swProgress.UpdateTitle("Exporting (write " + iv + "-th normal in .obj) ...");
aNormal = (double[])swTessellation.GetVertexNormal(iv);
mline = "vn " + aNormal[0].ToString("f3", bz)
+ " " + aNormal[1].ToString("f3", bz)
+ " " + aNormal[2].ToString("f3", bz)
+ "\n";
textbuilder.Append(mline);
}
if (nBodyType == (int)swBodyType_e.swSheetBody) // for sheets, save two-sided triangles
for (int iv = 0; iv < numv; iv++)
{
if ((swProgress != null) && (iv % 200 == 0))
swProgress.UpdateTitle("Exporting (write " + iv + "-th normal in .obj) ...");
aNormal = (double[])swTessellation.GetVertexNormal(iv);
mline = "vn " + (-aNormal[0]).ToString("f3", bz)
+ " " + (-aNormal[1]).ToString("f3", bz)
+ " " + (-aNormal[2]).ToString("f3", bz)
+ "\n";
textbuilder.Append(mline);
}
// Write all UV (also with '0' as third value, for compatibility with some OBJ reader)
if (saveUV)
for (int iv = 0; iv < numv; iv++)
{
if ((swProgress != null) && (iv % 200 == 0))
swProgress.UpdateTitle("Exporting (write " + iv + "-th UV in .obj) ...");
aVertexParams = (double[])swTessellation.GetVertexParams(iv);
mline = "vt " + aVertexParams[0].ToString("f4", bz)
+ " " + aVertexParams[1].ToString("f4", bz)
+ " " + "0"
+ "\n";
textbuilder.Append(mline);
}
// Loop over faces
swFace = (Face2)swBody.GetFirstFace();
while (swFace != null)
{
aFacetIds = (int[])swTessellation.GetFaceFacets(swFace);
iNumFacetIds = aFacetIds.Length;
for (int iFacetIdIdx = 0; iFacetIdIdx < iNumFacetIds; iFacetIdIdx++)
{
if ((swProgress != null) && (iFacetIdIdx % 100 == 0))
swProgress.UpdateTitle("Exporting (write " + iFacetIdIdx + "-th face in .obj) ...");
mline = "f";
aFinIds = (int[])swTessellation.GetFacetFins(aFacetIds[iFacetIdIdx]);
// There should always be three fins per facet
for (int iFinIdx = 0; iFinIdx < 3; iFinIdx++)
{
aVertexIds = (int[])swTessellation.GetFinVertices(aFinIds[iFinIdx]);
// Three fins per face, two vertexes each fin,
// only the 1st vertex of two is needed (because of sharing)
if (saveUV)
mline += " " + (aVertexIds[0] + group_vstride +1) + "/"
+ (aVertexIds[0] + group_vstride +1) + "/"
+ (aVertexIds[0] + group_nstride +1);
else
mline += " " + (aVertexIds[0] + group_vstride + 1) + "//"
+ (aVertexIds[0] + group_nstride + 1);
}
mline += "\n";
textbuilder.Append(mline);
}
swFace = (Face2)swFace.GetNextFace();
}
swFace = (Face2)swBody.GetFirstFace();
if (nBodyType == (int)swBodyType_e.swSheetBody) // for sheets, save two-sided triangles
while (swFace != null)
{
aFacetIds = (int[])swTessellation.GetFaceFacets(swFace);
iNumFacetIds = aFacetIds.Length;
for (int iFacetIdIdx = 0; iFacetIdIdx < iNumFacetIds; iFacetIdIdx++)
{
if ((swProgress != null) && (iFacetIdIdx % 100 == 0))
swProgress.UpdateTitle("Exporting (write " + iFacetIdIdx + "-th face in .obj) ...");
mline = "f";
aFinIds = (int[])swTessellation.GetFacetFins(aFacetIds[iFacetIdIdx]);
for (int iFinIdx = 2; iFinIdx >= 0; iFinIdx--)
{
aVertexIds = (int[])swTessellation.GetFinVertices(aFinIds[iFinIdx]);
if (saveUV)
mline += " " + (aVertexIds[0] + group_vstride + 1) + "/"
+ (aVertexIds[0] + group_vstride + 1) + "/"
+ (aVertexIds[0] + swTessellation.GetVertexCount() + group_nstride + 1);
else
mline += " " + (aVertexIds[0] + group_vstride + 1) + "//"
+ (aVertexIds[0] + swTessellation.GetVertexCount() + group_nstride + 1);
}
mline += "\n";
textbuilder.Append(mline);
}
swFace = (Face2)swFace.GetNextFace();
}
group_vstride += swTessellation.GetVertexCount();
group_nstride += swTessellation.GetVertexCount();
if (nBodyType == (int)swBodyType_e.swSheetBody) // for sheets: two-sided triangles
group_nstride += swTessellation.GetVertexCount();
}
} // end loop on bodies
} // not null body
asciitext += textbuilder.ToString();
}