public joint()
{
Origin = new origin();
Parent = new parent_link();
Child = new child_link();
Axis = new axis();
Limit = new limit();
Calibration = new calibration();
Dynamics = new dynamics();
Safety = new safety_controller();
}
public visual()
{
Origin = new origin();
Geometry = new geometry();
Material = new material();
}
public collision()
{
Origin = new origin();
Geometry = new geometry();
}
public visual()
{
Origin = new origin();
Geometry = new geometry();
Material = new material();
}
public inertial()
{
Origin = new origin();
Mass = new mass();
Inertia = new inertia();
}
public joint()
{
Origin = new origin();
Parent = new parent_link();
Child = new child_link();
Axis = new axis();
Name = new Attribute();
Name.isRequired = true;
Name.type = "name";
name = "";
Type = new Attribute();
Type.isRequired = true;
Type.type = "type";
}
public inertial()
{
Origin = new origin();
Mass = new mass();
Inertia = new inertia();
}
public collision()
{
Origin = new origin();
Geometry = new geometry();
}
//Inserts a sketch segment for use when creating a Reference Axis
public SketchSegment addSketchGeometry(axis Axis, origin Origin)
{
if (ActiveSWModel.SketchManager.ActiveSketch == null)
{
bool sketchExists = ActiveSWModel.Extension.SelectByID2(referenceSketchName, "SKETCH", 0, 0, 0, false, 0, null, 0);
ActiveSWModel.SketchManager.Insert3DSketch(true);
}
//Insert sketch segment 0.1m long centered on the origin.
SketchSegment RotAxis = ActiveSWModel.SketchManager.CreateLine(Origin.X - 0.05 * Axis.X,
Origin.Y - 0.05 * Axis.Y,
Origin.Z - 0.05 * Axis.Z,
Origin.X + 0.05 * Axis.X,
Origin.Y + 0.05 * Axis.Y,
Origin.Z + 0.05 * Axis.Z);
if (RotAxis == null)
{
return null;
}
RotAxis.ConstructionGeometry = true;
RotAxis.Width = 2;
//Close sketch
if (ActiveSWModel.SketchManager.ActiveSketch != null)
{
ActiveSWModel.SketchManager.Insert3DSketch(true);
}
return RotAxis;
}
// Adds lines and a point to create the entities for a reference coordinates
public object[] addSketchGeometry(origin Origin)
{
//Find if the sketch exists first
if (ActiveSWModel.SketchManager.ActiveSketch == null)
{
bool sketchExists = ActiveSWModel.Extension.SelectByID2(referenceSketchName, "SKETCH", 0, 0, 0, false, 0, null, 0);
ActiveSWModel.SketchManager.Insert3DSketch(true);
}
IFeature sketch = (IFeature)ActiveSWModel.SketchManager.ActiveSketch;
//Calculate the lines that need to be drawn
Matrix<double> transform = ops.getRotation(Origin.rpy);
Matrix<double> Axes = 0.01 * DenseMatrix.Identity(4);
Matrix<double> tA = transform * Axes;
// origin at X, Y, Z
SketchPoint OriginPoint = ActiveSWModel.SketchManager.CreatePoint(Origin.X,
Origin.Y,
Origin.Z);
// xAxis is a 1cm line from the origin in the direction of the xaxis of the coordinate system
SketchSegment XAxis = ActiveSWModel.SketchManager.CreateLine(Origin.X,
Origin.Y,
Origin.Z,
Origin.X + tA[0, 0],
Origin.Y + tA[1, 0],
Origin.Z + tA[2, 0]);
XAxis.ConstructionGeometry = true;
//yAxis is a 1cm line from the origin in the direction of the yaxis of the coordinate system
SketchSegment YAxis = ActiveSWModel.SketchManager.CreateLine(Origin.X,
Origin.Y,
Origin.Z,
Origin.X + tA[0, 1],
Origin.Y + tA[1, 1],
Origin.Z + tA[2, 1]);
YAxis.ConstructionGeometry = true;
//Close the sketch
if (ActiveSWModel.SketchManager.ActiveSketch != null)
{
ActiveSWModel.SketchManager.Insert3DSketch(true);
}
// Return an array of objects representing the sketch items that were just inserted, as well as the actual locations of those objecs (aids selection).
return new object[] { OriginPoint, XAxis, YAxis, Origin.X, Origin.Y, Origin.Z, Origin.X + tA[0, 0], Origin.Y + tA[1, 0], Origin.Z + tA[2, 0], Origin.X + tA[0, 1], Origin.Y + tA[1, 1], Origin.Z + tA[2, 1] };
}
// Creates a Reference Coordinate System in the SolidWorks Model to symbolize the joint location
public void createRefOrigin(origin Origin, string CoordinateSystemName)
{
// Adds the sketch segments and point to the 3D sketch. The sketchEnties are the actual items created (and their locations)
object[] sketchEntities = addSketchGeometry(Origin);
SketchPoint OriginPoint = (SketchPoint)sketchEntities[0];
SketchSegment xaxis = (SketchSegment)sketchEntities[1];
SketchSegment yaxis = (SketchSegment)sketchEntities[2];
double origin_X = (double)sketchEntities[3]; //OriginPoint X
double origin_Y = (double)sketchEntities[4];
double origin_Z = (double)sketchEntities[5];
double xAxis_X = (double)sketchEntities[6];
double xAxis_Y = (double)sketchEntities[7];
double xAxis_Z = (double)sketchEntities[8];
double yAxis_X = (double)sketchEntities[9];
double yAxis_Y = (double)sketchEntities[10];
double yAxis_Z = (double)sketchEntities[11];
IFeature coordinates = default(IFeature);
ActiveSWModel.ClearSelection2(true);
SelectionMgr selectionManager = ActiveSWModel.SelectionManager;
SelectData data = selectionManager.CreateSelectData();
// First select the origin
bool SelectedOrigin = false; bool SelectedXAxis = false; bool SelectedYAxis = false;
if (OriginPoint != null)
{
data.Mark = 1;
SelectedOrigin = OriginPoint.Select4(true, data);
}
if (!SelectedOrigin)
{
SelectedOrigin = ActiveSWModel.Extension.SelectByID2("", "EXTSKETCHPOINT", origin_X, origin_Y, origin_Z, true, 1, null, 0);
}
// Second, select the xaxis
if (xaxis != null)
{
data.Mark = 2;
SelectedXAxis = xaxis.Select4(true, data);
}
if (!SelectedXAxis)
{
SelectedXAxis = ActiveSWModel.Extension.SelectByID2("", "EXTSKETCHPOINT", xAxis_X, xAxis_Y, xAxis_Z, true, 2, null, 0);
}
// Third, select the yaxis
if (yaxis != null)
{
data.Mark = 4;
SelectedYAxis = yaxis.Select4(true, data);
}
if (!SelectedYAxis)
{
SelectedYAxis = ActiveSWModel.Extension.SelectByID2("", "EXTSKETCHPOINT", yAxis_X, yAxis_Y, yAxis_Z, true, 4, null, 0);
}
//From the selected items, insert a coordinate system.
coordinates = ActiveSWModel.FeatureManager.InsertCoordinateSystem(false, false, false);
if (coordinates != null)
{
coordinates.Name = CoordinateSystemName;
}
}
public joint()
{
Origin = new origin();
Parent = new parent_link();
Child = new child_link();
Axis = new axis();
Limit = new limit();
Calibration = new calibration();
Dynamics = new dynamics();
Safety = new safety_controller();
}
