//This function gets the transform matrix of a given component respect to its father.
public static MyTransformMatrix GetTransformMatrix(Component2 swComponent, SldWorks swApplication)
{
var componentXForm = swComponent.GetTotalTransform(true);
var newMyTransformMatrix = new MyTransformMatrix();
if (componentXForm != null)
{
var xForm = (Array)componentXForm.ArrayData;
double[,] newRotationMatrix = new double[3, 3]
{
{ (double)xForm.GetValue(0), (double)xForm.GetValue(3), (double)xForm.GetValue(6) },
{ (double)xForm.GetValue(1), (double)xForm.GetValue(4), (double)xForm.GetValue(7) },
{ (double)xForm.GetValue(2), (double)xForm.GetValue(5), (double)xForm.GetValue(8) }
};
double[] newTranslationalVector =
{ (double)xForm.GetValue(9), (double)xForm.GetValue(10), (double)xForm.GetValue(11) };
newMyTransformMatrix = new MyTransformMatrix(newRotationMatrix, newTranslationalVector,
(double)xForm.GetValue(12));
}
else
{
swApplication.SendMsgToUser("La componente " + swComponent.Name +
" ha matrice di trasformazione NULLA ---->> ERRORE.");
}
return(newMyTransformMatrix);
}
public static bool ConvertMateToPython(
ref Feature swMateFeature,
ref string asciitext,
ref ISldWorks mSWApplication,
ref Hashtable saved_parts,
ref int num_link,
ref MathTransform roottrasf,
ref Component2 assemblyofmates
)
{
if (swMateFeature == null)
{
return(false);
}
Mate2 swMate = (Mate2)swMateFeature.GetSpecificFeature2();
if (swMate == null)
{
return(false);
}
object foo = null;
bool[] suppressedflags;
suppressedflags = (bool[])swMateFeature.IsSuppressed2((int)swInConfigurationOpts_e.swThisConfiguration, foo);
if (suppressedflags[0] == true)
{
return(false);
}
if (swMate.GetMateEntityCount() >= 2)
{
// Get the mated parts
MateEntity2 swEntityA = swMate.MateEntity(0);
MateEntity2 swEntityB = swMate.MateEntity(1);
Component2 swCompA = swEntityA.ReferenceComponent;
Component2 swCompB = swEntityB.ReferenceComponent;
double[] paramsA = (double[])swEntityA.EntityParams;
double[] paramsB = (double[])swEntityB.EntityParams;
// this is needed because parts might reside in subassemblies, and mate params are expressed in parent subassembly
MathTransform invroottrasf = (MathTransform)roottrasf.Inverse();
MathTransform trA = roottrasf;
MathTransform trB = roottrasf;
if (assemblyofmates != null)
{
MathTransform partrasfA = assemblyofmates.GetTotalTransform(true);
if (partrasfA != null)
{
trA = partrasfA.IMultiply(invroottrasf); // row-ordered transf. -> reverse mult.order!
}
MathTransform partrasfB = assemblyofmates.GetTotalTransform(true);
if (partrasfB != null)
{
trB = partrasfB.IMultiply(invroottrasf); // row-ordered transf. -> reverse mult.order!
}
}
// Fetch the python names using hash map (python names added when scanning parts)
ModelDocExtension swModelDocExt = default(ModelDocExtension);
ModelDoc2 swModel = (ModelDoc2)mSWApplication.ActiveDoc;
swModelDocExt = swModel.Extension;
String name1 = (String)saved_parts[swModelDocExt.GetPersistReference3(swCompA)];
String name2 = (String)saved_parts[swModelDocExt.GetPersistReference3(swCompB)];
// Only constraints between two parts or part & layout can be created
if (((name1 != null) || (name2 != null)) && (name1 != name2))
{
CultureInfo bz = new CultureInfo("en-BZ");
if (name1 == null)
{
name1 = "body_0";
}
if (name2 == null)
{
name2 = "body_0";
}
// Add some comment in Python, to list the referenced SW items
asciitext += "\n# Mate constraint: " + swMateFeature.Name + " [" + swMateFeature.GetTypeName2() + "]" + " type:" + swMate.Type + " align:" + swMate.Alignment + " flip:" + swMate.Flipped + "\n";
for (int e = 0; e < swMate.GetMateEntityCount(); e++)
{
MateEntity2 swEntityN = swMate.MateEntity(e);
Component2 swCompN = swEntityN.ReferenceComponent;
String ce_nameN = (String)saved_parts[swModelDocExt.GetPersistReference3(swCompN)];
if (ce_nameN == "")
{
ce_nameN = "body_0"; // reference assembly
}
asciitext += "# Entity " + e + ": C::E name: " + ce_nameN + " , SW name: " + swCompN.Name2 + " , SW ref.type:" + swEntityN.Reference.GetType() + " (" + swEntityN.ReferenceType2 + ")\n";
}
asciitext += "\n";
//
// For each type of SW mate, see which C::E mate constraint(s)
// must be created. Some SW mates correspond to more than one C::E constraints.
//
bool swapAB_1 = false;
bool do_CHmate_Xdistance = false;
double do_distance_val = 0.0;
bool do_CHmate_parallel = false;
bool do_parallel_flip = false;
bool do_CHmate_orthogonal = false;
bool do_CHmate_spherical = false;
bool do_CHmate_pointline = false;
// to simplify things later...
// NOTE: swMate.MateEntity(0).Reference.GetType() seems equivalent to swMate.MateEntity(0).ReferenceType2
// but in some cases the latter fails.
/*
* bool entity_0_as_FACE = (swMate.MateEntity(0).Reference.GetType() == (int)swSelectType_e.swSelFACES);
* bool entity_0_as_EDGE = (swMate.MateEntity(0).Reference.GetType() == (int)swSelectType_e.swSelEDGES) ||
* (swMate.MateEntity(0).Reference.GetType() == (int)swSelectType_e.swSelSKETCHSEGS) ||
* (swMate.MateEntity(0).Reference.GetType() == (int)swSelectType_e.swSelDATUMAXES);
* bool entity_0_as_VERTEX = (swMate.MateEntity(0).Reference.GetType() == (int)swSelectType_e.swSelVERTICES) ||
* (swMate.MateEntity(0).Reference.GetType() == (int)swSelectType_e.swSelSKETCHPOINTS) ||
* (swMate.MateEntity(0).Reference.GetType() == (int)swSelectType_e.swSelDATUMPOINTS);
*
* bool entity_1_as_FACE = (swMate.MateEntity(1).Reference.GetType() == (int)swSelectType_e.swSelFACES);
* bool entity_1_as_EDGE = (swMate.MateEntity(1).Reference.GetType() == (int)swSelectType_e.swSelEDGES) ||
* (swMate.MateEntity(1).Reference.GetType() == (int)swSelectType_e.swSelSKETCHSEGS) ||
* (swMate.MateEntity(1).Reference.GetType() == (int)swSelectType_e.swSelDATUMAXES);
* bool entity_1_as_VERTEX = (swMate.MateEntity(1).Reference.GetType() == (int)swSelectType_e.swSelVERTICES) ||
* (swMate.MateEntity(1).Reference.GetType() == (int)swSelectType_e.swSelSKETCHPOINTS) ||
* (swMate.MateEntity(1).Reference.GetType() == (int)swSelectType_e.swSelDATUMPOINTS);
*/
// NOTE: swMate.MateEntity(0).Reference.GetType() seems equivalent to swMate.MateEntity(0).ReferenceType2
// but in some cases the latter fails. However, sometimes swMate.MateEntity(0).Reference.GetType() is null ReferenceType2 is ok,
// so do the following trick:
int entity0_ref = swMate.MateEntity(0).Reference.GetType();
if (entity0_ref == (int)swSelectType_e.swSelNOTHING)
{
entity0_ref = swMate.MateEntity(0).ReferenceType2;
}
int entity1_ref = swMate.MateEntity(1).Reference.GetType();
if (entity1_ref == (int)swSelectType_e.swSelNOTHING)
{
entity1_ref = swMate.MateEntity(1).ReferenceType2;
}
bool entity_0_as_FACE = (entity0_ref == (int)swSelectType_e.swSelFACES) ||
(entity0_ref == (int)swSelectType_e.swSelDATUMPLANES);
bool entity_0_as_EDGE = (entity0_ref == (int)swSelectType_e.swSelEDGES) ||
(entity0_ref == (int)swSelectType_e.swSelSKETCHSEGS) ||
(entity0_ref == (int)swSelectType_e.swSelDATUMAXES);
bool entity_0_as_VERTEX = (entity0_ref == (int)swSelectType_e.swSelVERTICES) ||
(entity0_ref == (int)swSelectType_e.swSelSKETCHPOINTS) ||
(entity0_ref == (int)swSelectType_e.swSelDATUMPOINTS);
bool entity_1_as_FACE = (entity1_ref == (int)swSelectType_e.swSelFACES) ||
(entity1_ref == (int)swSelectType_e.swSelDATUMPLANES);
bool entity_1_as_EDGE = (entity1_ref == (int)swSelectType_e.swSelEDGES) ||
(entity1_ref == (int)swSelectType_e.swSelSKETCHSEGS) ||
(entity1_ref == (int)swSelectType_e.swSelDATUMAXES);
bool entity_1_as_VERTEX = (entity1_ref == (int)swSelectType_e.swSelVERTICES) ||
(entity1_ref == (int)swSelectType_e.swSelSKETCHPOINTS) ||
(entity1_ref == (int)swSelectType_e.swSelDATUMPOINTS);
Point3D cA = new Point3D(0, 0, 0);
Point3D cB = new Point3D(0, 0, 0);
Vector3D dA = new Vector3D(1, 0, 0);
Vector3D dB = new Vector3D(1, 0, 0);
Point3D cAloc = new Point3D(paramsA[0], paramsA[1], paramsA[2]);
cA = SWTaskpaneHost.PointTransform(cAloc, ref trA);
Point3D cBloc = new Point3D(paramsB[0], paramsB[1], paramsB[2]);
cB = SWTaskpaneHost.PointTransform(cBloc, ref trB);
if (!entity_0_as_VERTEX)
{
Vector3D dAloc = new Vector3D(paramsA[3], paramsA[4], paramsA[5]);
dA = SWTaskpaneHost.DirTransform(dAloc, ref trA);
}
if (!entity_1_as_VERTEX)
{
Vector3D dBloc = new Vector3D(paramsB[3], paramsB[4], paramsB[5]);
dB = SWTaskpaneHost.DirTransform(dBloc, ref trB);
}
if (swMateFeature.GetTypeName2() == "MateCoincident")
{
if ((entity_0_as_FACE) &&
(entity_1_as_FACE))
{
do_CHmate_Xdistance = true;
do_CHmate_parallel = true;
}
if ((entity_0_as_EDGE) &&
(entity_1_as_EDGE))
{
do_CHmate_pointline = true;
do_CHmate_parallel = true;
}
if ((entity_0_as_VERTEX) &&
(entity_1_as_VERTEX))
{
do_CHmate_spherical = true;
}
if ((entity_0_as_VERTEX) &&
(entity_1_as_EDGE))
{
do_CHmate_pointline = true;
}
if ((entity_0_as_EDGE) &&
(entity_1_as_VERTEX))
{
do_CHmate_pointline = true;
swapAB_1 = true;
}
if ((entity_0_as_VERTEX) &&
(entity_1_as_FACE))
{
do_CHmate_Xdistance = true;
}
if ((entity_0_as_FACE) &&
(entity_1_as_VERTEX))
{
do_CHmate_Xdistance = true;
swapAB_1 = true;
}
if ((entity_0_as_EDGE) &&
(entity_1_as_FACE))
{
do_CHmate_Xdistance = true;
do_CHmate_orthogonal = true;
}
if ((entity_0_as_FACE) &&
(entity_1_as_EDGE))
{
do_CHmate_Xdistance = true;
do_CHmate_orthogonal = true;
swapAB_1 = true;
}
if (swMate.Alignment == (int)swMateAlign_e.swMateAlignANTI_ALIGNED)
{
do_parallel_flip = true;
}
}
if (swMateFeature.GetTypeName2() == "MateConcentric")
{
if ((entity_0_as_FACE) &&
(entity_1_as_FACE))
{
do_CHmate_pointline = true;
do_CHmate_parallel = true;
}
if ((entity_0_as_EDGE) &&
(entity_1_as_EDGE))
{
do_CHmate_pointline = true;
do_CHmate_parallel = true;
}
if ((entity_0_as_VERTEX) &&
(entity_1_as_FACE))
{
do_CHmate_pointline = true;
}
if ((entity_0_as_FACE) &&
(entity_1_as_VERTEX))
{
do_CHmate_pointline = true;
swapAB_1 = true;
}
if ((entity_0_as_EDGE) &&
(entity_1_as_FACE))
{
do_CHmate_pointline = true;
do_CHmate_parallel = true;
}
if ((entity_0_as_FACE) &&
(entity_1_as_EDGE))
{
do_CHmate_pointline = true;
do_CHmate_parallel = true;
swapAB_1 = true;
}
if (swMate.Alignment == (int)swMateAlign_e.swMateAlignANTI_ALIGNED)
{
do_parallel_flip = true;
}
}
if (swMateFeature.GetTypeName2() == "MateParallel")
{
if ((entity_0_as_FACE) &&
(entity_1_as_FACE))
{
do_CHmate_parallel = true;
}
if ((entity_0_as_EDGE) &&
(entity_1_as_EDGE))
{
do_CHmate_parallel = true;
}
if ((entity_0_as_EDGE) &&
(entity_1_as_FACE))
{
do_CHmate_orthogonal = true;
}
if ((entity_0_as_FACE) &&
(entity_1_as_EDGE))
{
do_CHmate_orthogonal = true;
swapAB_1 = true;
}
if (swMate.Alignment == (int)swMateAlign_e.swMateAlignANTI_ALIGNED)
{
do_parallel_flip = true;
}
}
if (swMateFeature.GetTypeName2() == "MatePerpendicular")
{
if ((entity_0_as_FACE) &&
(entity_1_as_FACE))
{
do_CHmate_orthogonal = true;
}
if ((entity_0_as_EDGE) &&
(entity_1_as_EDGE))
{
do_CHmate_orthogonal = true;
}
if ((entity_0_as_EDGE) &&
(entity_1_as_FACE))
{
do_CHmate_parallel = true;
}
if ((entity_0_as_FACE) &&
(entity_1_as_EDGE))
{
do_CHmate_parallel = true;
swapAB_1 = true;
}
if (swMate.Alignment == (int)swMateAlign_e.swMateAlignANTI_ALIGNED)
{
do_parallel_flip = true;
}
}
if (swMateFeature.GetTypeName2() == "MateDistanceDim")
{
if ((entity_0_as_FACE) &&
(entity_1_as_FACE))
{
do_CHmate_Xdistance = true;
do_CHmate_parallel = true;
}
if ((entity_0_as_VERTEX) &&
(entity_1_as_FACE))
{
do_CHmate_Xdistance = true;
}
if ((entity_0_as_FACE) &&
(entity_1_as_VERTEX))
{
do_CHmate_Xdistance = true;
swapAB_1 = true;
}
//***TO DO*** cases of distance line-vs-line and line-vs-vertex and vert-vert.
// Those will require another .cpp ChLinkMate specialized class(es).
if (swMate.Alignment == (int)swMateAlign_e.swMateAlignANTI_ALIGNED)
{
do_parallel_flip = true;
}
// Get the imposed distance value, in SI units
string confnames = "";
do_distance_val = swMate.DisplayDimension.GetDimension2(0).IGetSystemValue3((int)swInConfigurationOpts_e.swThisConfiguration, 0, ref confnames);
if (swMate.Flipped)
{
do_distance_val = -do_distance_val;
}
}
////
//// WRITE PYHTON CODE CORRESPONDING TO CONSTRAINTS
////
if (do_CHmate_Xdistance)
{
num_link++;
String linkname = "link_" + num_link;
asciitext += String.Format(bz, "{0} = chrono.ChLinkMateXdistance()\n", linkname);
asciitext += String.Format(bz, "cA = chrono.ChVectorD({0:g},{1:g},{2:g})\n",
cA.X * ChScale.L,
cA.Y * ChScale.L,
cA.Z * ChScale.L);
asciitext += String.Format(bz, "cB = chrono.ChVectorD({0:g},{1:g},{2:g})\n",
cB.X * ChScale.L,
cB.Y * ChScale.L,
cB.Z * ChScale.L);
if (!entity_0_as_VERTEX)
{
asciitext += String.Format(bz, "dA = chrono.ChVectorD({0:g},{1:g},{2:g})\n",
dA.X, dA.Y, dA.Z);
}
if (!entity_1_as_VERTEX)
{
asciitext += String.Format(bz, "dB = chrono.ChVectorD({0:g},{1:g},{2:g})\n",
dB.X, dB.Y, dB.Z);
}
// Initialize link, by setting the two csys, in absolute space,
if (!swapAB_1)
{
asciitext += String.Format(bz, "{0}.Initialize({1},{2},False,cA,cB,dB)\n", linkname, name1, name2);
}
else
{
asciitext += String.Format(bz, "{0}.Initialize({1},{2},False,cB,cA,dA)\n", linkname, name2, name1);
}
//if (do_distance_val!=0)
asciitext += String.Format(bz, "{0}.SetDistance({1})\n", linkname,
do_distance_val * ChScale.L * -1);
asciitext += String.Format(bz, "{0}.SetName(\"{1}\")\n", linkname, swMateFeature.Name);
// Insert to a list of exported items
asciitext += String.Format(bz, "exported_items.append({0})\n\n", linkname);
}
if (do_CHmate_parallel)
{
if (Math.Abs(Vector3D.DotProduct(dA, dB)) > 0.98)
{
num_link++;
String linkname = "link_" + num_link;
asciitext += String.Format(bz, "{0} = chrono.ChLinkMateParallel()\n", linkname);
asciitext += String.Format(bz, "cA = chrono.ChVectorD({0:g},{1:g},{2:g})\n",
cA.X * ChScale.L,
cA.Y * ChScale.L,
cA.Z * ChScale.L);
asciitext += String.Format(bz, "dA = chrono.ChVectorD({0:g},{1:g},{2:g})\n",
dA.X, dA.Y, dA.Z);
asciitext += String.Format(bz, "cB = chrono.ChVectorD({0:g},{1:g},{2:g})\n",
cB.X * ChScale.L,
cB.Y * ChScale.L,
cB.Z * ChScale.L);
asciitext += String.Format(bz, "dB = chrono.ChVectorD({0:g},{1:g},{2:g})\n",
dB.X, dB.Y, dB.Z);
if (do_parallel_flip)
{
asciitext += String.Format(bz, "{0}.SetFlipped(True)\n", linkname);
}
// Initialize link, by setting the two csys, in absolute space,
if (!swapAB_1)
{
asciitext += String.Format(bz, "{0}.Initialize({1},{2},False,cA,cB,dA,dB)\n", linkname, name1, name2);
}
else
{
asciitext += String.Format(bz, "{0}.Initialize({1},{2},False,cB,cA,dB,dA)\n", linkname, name2, name1);
}
asciitext += String.Format(bz, "{0}.SetName(\"{1}\")\n", linkname, swMateFeature.Name);
// Insert to a list of exported items
asciitext += String.Format(bz, "exported_items.append({0})\n\n", linkname);
}
else
{
asciitext += "\n# ChLinkMateParallel skipped because directions not parallel! \n";
}
}
if (do_CHmate_orthogonal)
{
if (Math.Abs(Vector3D.DotProduct(dA, dB)) < 0.02)
{
num_link++;
String linkname = "link_" + num_link;
asciitext += String.Format(bz, "{0} = chrono.ChLinkMateOrthogonal()\n", linkname);
asciitext += String.Format(bz, "cA = chrono.ChVectorD({0:g},{1:g},{2:g})\n",
cA.X * ChScale.L,
cA.Y * ChScale.L,
cA.Z * ChScale.L);
asciitext += String.Format(bz, "dA = chrono.ChVectorD({0:g},{1:g},{2:g})\n",
dA.X, dA.Y, dA.Z);
asciitext += String.Format(bz, "cB = chrono.ChVectorD({0:g},{1:g},{2:g})\n",
cB.X * ChScale.L,
cB.Y * ChScale.L,
cB.Z * ChScale.L);
asciitext += String.Format(bz, "dB = chrono.ChVectorD({0:g},{1:g},{2:g})\n",
dB.X, dB.Y, dB.Z);
// Initialize link, by setting the two csys, in absolute space,
if (!swapAB_1)
{
asciitext += String.Format(bz, "{0}.Initialize({1},{2},False,cA,cB,dA,dB)\n", linkname, name1, name2);
}
else
{
asciitext += String.Format(bz, "{0}.Initialize({1},{2},False,cB,cA,dB,dA)\n", linkname, name2, name1);
}
asciitext += String.Format(bz, "{0}.SetName(\"{1}\")\n", linkname, swMateFeature.Name);
// Insert to a list of exported items
asciitext += String.Format(bz, "exported_items.append({0})\n\n", linkname);
}
else
{
asciitext += "\n# ChLinkMateOrthogonal skipped because directions not orthogonal! \n";
}
}
if (do_CHmate_spherical)
{
num_link++;
String linkname = "link_" + num_link;
asciitext += String.Format(bz, "{0} = chrono.ChLinkMateSpherical()\n", linkname);
asciitext += String.Format(bz, "cA = chrono.ChVectorD({0:g},{1:g},{2:g})\n",
cA.X * ChScale.L,
cA.Y * ChScale.L,
cA.Z * ChScale.L);
asciitext += String.Format(bz, "cB = chrono.ChVectorD({0:g},{1:g},{2:g})\n",
cB.X * ChScale.L,
cB.Y * ChScale.L,
cB.Z * ChScale.L);
// Initialize link, by setting the two csys, in absolute space,
if (!swapAB_1)
{
asciitext += String.Format(bz, "{0}.Initialize({1},{2},False,cA,cB)\n", linkname, name1, name2);
}
else
{
asciitext += String.Format(bz, "{0}.Initialize({1},{2},False,cB,cA)\n", linkname, name2, name1);
}
asciitext += String.Format(bz, "{0}.SetName(\"{1}\")\n", linkname, swMateFeature.Name);
// Insert to a list of exported items
asciitext += String.Format(bz, "exported_items.append({0})\n\n", linkname);
}
if (do_CHmate_pointline)
{
num_link++;
String linkname = "link_" + num_link;
asciitext += String.Format(bz, "{0} = chrono.ChLinkMateGeneric()\n", linkname);
asciitext += String.Format(bz, "{0}.SetConstrainedCoords(False, True, True, False, False, False)\n", linkname);
asciitext += String.Format(bz, "cA = chrono.ChVectorD({0:g},{1:g},{2:g})\n",
cA.X * ChScale.L,
cA.Y * ChScale.L,
cA.Z * ChScale.L);
asciitext += String.Format(bz, "cB = chrono.ChVectorD({0:g},{1:g},{2:g})\n",
cB.X * ChScale.L,
cB.Y * ChScale.L,
cB.Z * ChScale.L);
if (!entity_0_as_VERTEX)
{
asciitext += String.Format(bz, "dA = chrono.ChVectorD({0:g},{1:g},{2:g})\n", dA.X, dA.Y, dA.Z);
}
else
{
asciitext += String.Format(bz, "dA = chrono.VNULL\n");
}
if (!entity_1_as_VERTEX)
{
asciitext += String.Format(bz, "dB = chrono.ChVectorD({0:g},{1:g},{2:g})\n", dB.X, dB.Y, dB.Z);
}
else
{
asciitext += String.Format(bz, "dB = chrono.VNULL\n");
}
// Initialize link, by setting the two csys, in absolute space,
if (!swapAB_1)
{
asciitext += String.Format(bz, "{0}.Initialize({1},{2},False,cA,cB,dA,dB)\n", linkname, name1, name2);
}
else
{
asciitext += String.Format(bz, "{0}.Initialize({1},{2},False,cB,cA,dB,dA)\n", linkname, name2, name1);
}
asciitext += String.Format(bz, "{0}.SetName(\"{1}\")\n", linkname, swMateFeature.Name);
// Insert to a list of exported items
asciitext += String.Format(bz, "exported_items.append({0})\n\n", linkname);
}
// Now, do some other special mate type that did not fall in combinations
// of do_CHmate_pointline, do_CHmate_spherical, etc etc
if (swMateFeature.GetTypeName2() == "MateHinge")
{
// auto flip direction if anti aligned (seems that this is assumed automatically in MateHinge in SW)
if (Vector3D.DotProduct(dA, dB) < 0)
{
dB.Negate();
}
// Hinge constraint must be splitted in two C::E constraints: a coaxial and a point-vs-plane
num_link++;
String linkname = "link_" + num_link;
asciitext += String.Format(bz, "{0} = chrono.ChLinkMateCoaxial()\n", linkname);
asciitext += String.Format(bz, "cA = chrono.ChVectorD({0:g},{1:g},{2:g})\n",
cA.X * ChScale.L,
cA.Y * ChScale.L,
cA.Z * ChScale.L);
asciitext += String.Format(bz, "dA = chrono.ChVectorD({0:g},{1:g},{2:g})\n",
dA.X, dA.Y, dA.Z);
asciitext += String.Format(bz, "cB = chrono.ChVectorD({0:g},{1:g},{2:g})\n",
cB.X * ChScale.L,
cB.Y * ChScale.L,
cB.Z * ChScale.L);
asciitext += String.Format(bz, "dB = chrono.ChVectorD({0:g},{1:g},{2:g})\n",
dB.X, dB.Y, dB.Z);
asciitext += String.Format(bz, "{0}.SetName(\"{1}\")\n", linkname, swMateFeature.Name);
// Initialize link, by setting the two csys, in absolute space,
asciitext += String.Format(bz, "{0}.Initialize({1},{2},False,cA,cB,dA,dB)\n", linkname, name1, name2);
// Insert to a list of exported items
asciitext += String.Format(bz, "exported_items.append({0})\n", linkname);
// NOTE!!! The 'hinge' mate uses 4 references: fetch the two others remaining
// and build another C::E link, for point-vs-face mating
MateEntity2 swEntityC = swMate.MateEntity(2);
MateEntity2 swEntityD = swMate.MateEntity(3);
Component2 swCompC = swEntityC.ReferenceComponent;
Component2 swCompD = swEntityD.ReferenceComponent;
double[] paramsC = (double[])swEntityC.EntityParams;
double[] paramsD = (double[])swEntityD.EntityParams;
String name3 = (String)saved_parts[swModelDocExt.GetPersistReference3(swCompC)];
String name4 = (String)saved_parts[swModelDocExt.GetPersistReference3(swCompD)];
MathTransform trC = roottrasf;
MathTransform trD = roottrasf;
if (assemblyofmates != null)
{
MathTransform partrasfC = assemblyofmates.GetTotalTransform(true);
if (partrasfC != null)
{
trC = partrasfC.IMultiply(invroottrasf);
}
MathTransform partrasfD = assemblyofmates.GetTotalTransform(true);
if (partrasfD != null)
{
trD = partrasfD.IMultiply(invroottrasf);
}
}
// NOTE: swMate.MateEntity(0).Reference.GetType() seems equivalent to swMate.MateEntity(0).ReferenceType2
// but in some cases the latter fails. However, sometimes swMate.MateEntity(0).Reference.GetType() is null ReferenceType2 is ok,
// so do the following trick:
int entity2_ref = swMate.MateEntity(2).Reference.GetType();
if (entity2_ref == (int)swSelectType_e.swSelNOTHING)
{
entity2_ref = swMate.MateEntity(2).ReferenceType2;
}
int entity3_ref = swMate.MateEntity(3).Reference.GetType();
if (entity3_ref == (int)swSelectType_e.swSelNOTHING)
{
entity3_ref = swMate.MateEntity(3).ReferenceType2;
}
bool entity_2_as_VERTEX = (entity2_ref == (int)swSelectType_e.swSelVERTICES) ||
(entity2_ref == (int)swSelectType_e.swSelSKETCHPOINTS) ||
(entity2_ref == (int)swSelectType_e.swSelDATUMPOINTS);
bool entity_3_as_VERTEX = (entity3_ref == (int)swSelectType_e.swSelVERTICES) ||
(entity3_ref == (int)swSelectType_e.swSelSKETCHPOINTS) ||
(entity3_ref == (int)swSelectType_e.swSelDATUMPOINTS);
Point3D cC = new Point3D(0, 0, 0);
Point3D cD = new Point3D(0, 0, 0);
Vector3D dC = new Vector3D(1, 0, 0);
Vector3D dD = new Vector3D(1, 0, 0);
Point3D cCloc = new Point3D(paramsC[0], paramsC[1], paramsC[2]);
cC = SWTaskpaneHost.PointTransform(cCloc, ref trC);
Point3D cDloc = new Point3D(paramsD[0], paramsD[1], paramsD[2]);
cD = SWTaskpaneHost.PointTransform(cDloc, ref trD);
if (!entity_2_as_VERTEX)
{
Vector3D dCloc = new Vector3D(paramsC[3], paramsC[4], paramsC[5]);
dC = SWTaskpaneHost.DirTransform(dCloc, ref trC);
}
if (!entity_3_as_VERTEX)
{
Vector3D dDloc = new Vector3D(paramsD[3], paramsD[4], paramsD[5]);
dD = SWTaskpaneHost.DirTransform(dDloc, ref trD);
}
num_link++;
linkname = "link_" + num_link;
asciitext += String.Format(bz, "{0} = chrono.ChLinkMateXdistance()\n", linkname);
asciitext += String.Format(bz, "cA = chrono.ChVectorD({0:g},{1:g},{2:g})\n",
cC.X * ChScale.L,
cC.Y * ChScale.L,
cC.Z * ChScale.L);
asciitext += String.Format(bz, "dA = chrono.ChVectorD({0:g},{1:g},{2:g})\n",
dC.X, dC.Y, dC.Z);
asciitext += String.Format(bz, "cB = chrono.ChVectorD({0:g},{1:g},{2:g})\n",
cD.X * ChScale.L,
cD.Y * ChScale.L,
cD.Z * ChScale.L);
asciitext += String.Format(bz, "dB = chrono.ChVectorD({0:g},{1:g},{2:g})\n",
dD.X, dD.Y, dD.Z);
asciitext += String.Format(bz, "{0}.SetName(\"{1}\")\n", linkname, swMateFeature.Name);
// Initialize link, by setting the two csys, in absolute space,
if (entity_2_as_VERTEX)
{
asciitext += String.Format(bz, "{0}.Initialize({1},{2},False,cA,cB,dA)\n", linkname, name3, name4);
}
else
{
asciitext += String.Format(bz, "{0}.Initialize({1},{2},False,cA,cB,dB)\n", linkname, name3, name4);
}
// Insert to a list of exported items
asciitext += String.Format(bz, "exported_items.append({0})\n", linkname);
return(true);
}
}
}
return(false);
}
public static bool ConvertMateToPython(
ref Feature swMateFeature,
ref string asciitext,
ref ISldWorks mSWApplication,
ref Hashtable saved_parts,
ref int num_link,
ref MathTransform roottrasf,
ref Component2 assemblyofmates
)
{
if (swMateFeature == null)
return false;
Mate2 swMate = (Mate2)swMateFeature.GetSpecificFeature2();
if (swMate == null)
return false;
object foo =null;
bool[] suppressedflags;
suppressedflags = (bool[])swMateFeature.IsSuppressed2((int)swInConfigurationOpts_e.swThisConfiguration, foo);
if (suppressedflags[0] == true)
return false;
if (swMate.GetMateEntityCount() >= 2)
{
// Get the mated parts
MateEntity2 swEntityA = swMate.MateEntity(0);
MateEntity2 swEntityB = swMate.MateEntity(1);
Component2 swCompA = swEntityA.ReferenceComponent;
Component2 swCompB = swEntityB.ReferenceComponent;
double[] paramsA = (double[])swEntityA.EntityParams;
double[] paramsB = (double[])swEntityB.EntityParams;
// this is needed because parts might reside in subassemblies, and mate params are expressed in parent subassembly
MathTransform invroottrasf = (MathTransform)roottrasf.Inverse();
MathTransform trA = roottrasf;
MathTransform trB = roottrasf;
if (assemblyofmates != null)
{
MathTransform partrasfA = assemblyofmates.GetTotalTransform(true);
if (partrasfA != null)
trA = partrasfA.IMultiply(invroottrasf); // row-ordered transf. -> reverse mult.order!
MathTransform partrasfB = assemblyofmates.GetTotalTransform(true);
if (partrasfB != null)
trB = partrasfB.IMultiply(invroottrasf); // row-ordered transf. -> reverse mult.order!
}
// Fetch the python names using hash map (python names added when scanning parts)
ModelDocExtension swModelDocExt = default(ModelDocExtension);
ModelDoc2 swModel = (ModelDoc2)mSWApplication.ActiveDoc;
swModelDocExt = swModel.Extension;
String name1 = (String)saved_parts[swModelDocExt.GetPersistReference3(swCompA)];
String name2 = (String)saved_parts[swModelDocExt.GetPersistReference3(swCompB)];
// Only constraints between two parts or part & layout can be created
if ( ((name1 != null) || (name2 != null)) && (name1 != name2) )
{
CultureInfo bz = new CultureInfo("en-BZ");
if (name1 == null)
name1 = "body_0";
if (name2 == null)
name2 = "body_0";
// Add some comment in Python, to list the referenced SW items
asciitext += "\n# Mate constraint: " + swMateFeature.Name + " [" + swMateFeature.GetTypeName2() + "]" + " type:" + swMate.Type + " align:" + swMate.Alignment + " flip:" + swMate.Flipped + "\n";
for (int e = 0; e < swMate.GetMateEntityCount(); e++)
{
MateEntity2 swEntityN = swMate.MateEntity(e);
Component2 swCompN = swEntityN.ReferenceComponent;
String ce_nameN = (String)saved_parts[swModelDocExt.GetPersistReference3(swCompN)];
asciitext += "# Entity " + e + ": C::E name: " + ce_nameN + " , SW name: " + swCompN.Name2 + " , SW ref.type:" + swEntityN.Reference.GetType() + " (" + swEntityN.ReferenceType2 + ")\n";
}
asciitext += "\n";
//
// For each type of SW mate, see which C::E mate constraint(s)
// must be created. Some SW mates correspond to more than one C::E constraints.
//
bool swapAB_1 = false;
bool do_CHmate_Xdistance = false;
double do_distance_val = 0.0;
bool do_CHmate_parallel = false;
bool do_parallel_flip = false;
bool do_CHmate_orthogonal = false;
bool do_CHmate_spherical = false;
bool do_CHmate_pointline = false;
// to simplify things later...
// NOTE: swMate.MateEntity(0).Reference.GetType() seems equivalent to swMate.MateEntity(0).ReferenceType2
// but in some cases the latter fails.
bool entity_0_as_FACE = (swMate.MateEntity(0).Reference.GetType() == (int)swSelectType_e.swSelFACES);
bool entity_0_as_EDGE = (swMate.MateEntity(0).Reference.GetType() == (int)swSelectType_e.swSelEDGES) ||
(swMate.MateEntity(0).Reference.GetType() == (int)swSelectType_e.swSelSKETCHSEGS) ||
(swMate.MateEntity(0).Reference.GetType() == (int)swSelectType_e.swSelDATUMAXES);
bool entity_0_as_VERTEX = (swMate.MateEntity(0).Reference.GetType() == (int)swSelectType_e.swSelVERTICES) ||
(swMate.MateEntity(0).Reference.GetType() == (int)swSelectType_e.swSelSKETCHPOINTS) ||
(swMate.MateEntity(0).Reference.GetType() == (int)swSelectType_e.swSelDATUMPOINTS);
bool entity_1_as_FACE = (swMate.MateEntity(1).Reference.GetType() == (int)swSelectType_e.swSelFACES);
bool entity_1_as_EDGE = (swMate.MateEntity(1).Reference.GetType() == (int)swSelectType_e.swSelEDGES) ||
(swMate.MateEntity(1).Reference.GetType() == (int)swSelectType_e.swSelSKETCHSEGS) ||
(swMate.MateEntity(1).Reference.GetType() == (int)swSelectType_e.swSelDATUMAXES);
bool entity_1_as_VERTEX = (swMate.MateEntity(1).Reference.GetType() == (int)swSelectType_e.swSelVERTICES) ||
(swMate.MateEntity(1).Reference.GetType() == (int)swSelectType_e.swSelSKETCHPOINTS) ||
(swMate.MateEntity(1).Reference.GetType() == (int)swSelectType_e.swSelDATUMPOINTS);
Point3D cA = new Point3D(0, 0, 0);
Point3D cB = new Point3D(0, 0, 0);
Vector3D dA = new Vector3D(1, 0, 0);
Vector3D dB = new Vector3D(1, 0, 0);
Point3D cAloc = new Point3D(paramsA[0], paramsA[1], paramsA[2]);
cA = SWTaskpaneHost.PointTransform(cAloc, ref trA);
Point3D cBloc = new Point3D(paramsB[0], paramsB[1], paramsB[2]);
cB = SWTaskpaneHost.PointTransform(cBloc, ref trB);
if (!entity_0_as_VERTEX)
{
Vector3D dAloc = new Vector3D(paramsA[3], paramsA[4], paramsA[5]);
dA = SWTaskpaneHost.DirTransform(dAloc, ref trA);
}
if (!entity_1_as_VERTEX)
{
Vector3D dBloc = new Vector3D(paramsB[3], paramsB[4], paramsB[5]);
dB = SWTaskpaneHost.DirTransform(dBloc, ref trB);
}
if (swMateFeature.GetTypeName2() == "MateCoincident")
{
if ((entity_0_as_FACE) &&
(entity_1_as_FACE))
{
do_CHmate_Xdistance = true;
do_CHmate_parallel = true;
}
if ((entity_0_as_EDGE) &&
(entity_1_as_EDGE))
{
do_CHmate_pointline = true;
do_CHmate_parallel = true;
}
if ((entity_0_as_VERTEX) &&
(entity_1_as_VERTEX))
{
do_CHmate_spherical = true;
}
if ((entity_0_as_VERTEX) &&
(entity_1_as_EDGE))
{
do_CHmate_pointline = true;
}
if ((entity_0_as_EDGE) &&
(entity_1_as_VERTEX))
{
do_CHmate_pointline = true;
swapAB_1 = true;
}
if ((entity_0_as_VERTEX) &&
(entity_1_as_FACE))
{
do_CHmate_Xdistance = true;
}
if ((entity_0_as_FACE) &&
(entity_1_as_VERTEX))
{
do_CHmate_Xdistance = true;
swapAB_1 = true;
}
if ((entity_0_as_EDGE) &&
(entity_1_as_FACE))
{
do_CHmate_Xdistance = true;
do_CHmate_orthogonal = true;
}
if ((entity_0_as_FACE) &&
(entity_1_as_EDGE))
{
do_CHmate_Xdistance = true;
do_CHmate_orthogonal = true;
swapAB_1 = true;
}
if (swMate.Alignment == (int)swMateAlign_e.swMateAlignANTI_ALIGNED)
do_parallel_flip = true;
}
if (swMateFeature.GetTypeName2() == "MateConcentric")
{
if ((entity_0_as_FACE) &&
(entity_1_as_FACE))
{
do_CHmate_pointline = true;
do_CHmate_parallel = true;
}
if ((entity_0_as_EDGE) &&
(entity_1_as_EDGE))
{
do_CHmate_pointline = true;
do_CHmate_parallel = true;
}
if ((entity_0_as_VERTEX) &&
(entity_1_as_FACE))
{
do_CHmate_pointline = true;
}
if ((entity_0_as_FACE) &&
(entity_1_as_VERTEX))
{
do_CHmate_pointline = true;
swapAB_1 = true;
}
if ((entity_0_as_EDGE) &&
(entity_1_as_FACE))
{
do_CHmate_pointline = true;
do_CHmate_parallel = true;
}
if ((entity_0_as_FACE) &&
(entity_1_as_EDGE))
{
do_CHmate_pointline = true;
do_CHmate_parallel = true;
swapAB_1 = true;
}
if (swMate.Alignment == (int)swMateAlign_e.swMateAlignANTI_ALIGNED)
do_parallel_flip = true;
}
if (swMateFeature.GetTypeName2() == "MateParallel")
{
if ((entity_0_as_FACE) &&
(entity_1_as_FACE))
{
do_CHmate_parallel = true;
}
if ((entity_0_as_EDGE) &&
(entity_1_as_EDGE))
{
do_CHmate_parallel = true;
}
if ((entity_0_as_EDGE) &&
(entity_1_as_FACE))
{
do_CHmate_orthogonal = true;
}
if ((entity_0_as_FACE) &&
(entity_1_as_EDGE))
{
do_CHmate_orthogonal = true;
swapAB_1 = true;
}
if (swMate.Alignment == (int)swMateAlign_e.swMateAlignANTI_ALIGNED)
do_parallel_flip = true;
}
if (swMateFeature.GetTypeName2() == "MatePerpendicular")
{
if ((entity_0_as_FACE) &&
(entity_1_as_FACE))
{
do_CHmate_orthogonal = true;
}
if ((entity_0_as_EDGE) &&
(entity_1_as_EDGE))
{
do_CHmate_orthogonal = true;
}
if ((entity_0_as_EDGE) &&
(entity_1_as_FACE))
{
do_CHmate_parallel = true;
}
if ((entity_0_as_FACE) &&
(entity_1_as_EDGE))
{
do_CHmate_parallel = true;
swapAB_1 = true;
}
if (swMate.Alignment == (int)swMateAlign_e.swMateAlignANTI_ALIGNED)
do_parallel_flip = true;
}
if (swMateFeature.GetTypeName2() == "MateDistanceDim")
{
if ((entity_0_as_FACE) &&
(entity_1_as_FACE))
{
do_CHmate_Xdistance = true;
do_CHmate_parallel = true;
}
if ((entity_0_as_VERTEX) &&
(entity_1_as_FACE))
{
do_CHmate_Xdistance = true;
}
if ((entity_0_as_FACE) &&
(entity_1_as_VERTEX))
{
do_CHmate_Xdistance = true;
swapAB_1 = true;
}
//***TO DO*** cases of distance line-vs-line and line-vs-vertex and vert-vert.
// Those will require another .cpp ChLinkMate specialized class(es).
if (swMate.Alignment == (int)swMateAlign_e.swMateAlignANTI_ALIGNED)
do_parallel_flip = true;
// Get the imposed distance value, in SI units
string confnames = "";
do_distance_val = swMate.DisplayDimension.GetDimension2(0).IGetSystemValue3((int)swInConfigurationOpts_e.swThisConfiguration, 0, ref confnames);
if (swMate.Flipped)
do_distance_val = -do_distance_val;
}
////
//// WRITE PYHTON CODE CORRESPONDING TO CONSTRAINTS
////
if (do_CHmate_Xdistance)
{
num_link++;
String linkname = "link_" + num_link;
asciitext += String.Format(bz, "{0} = chrono.ChLinkMateXdistance()\n", linkname);
asciitext += String.Format(bz, "cA = chrono.ChVectorD({0:g},{1:g},{2:g})\n",
cA.X * ChScale.L,
cA.Y * ChScale.L,
cA.Z * ChScale.L);
asciitext += String.Format(bz, "cB = chrono.ChVectorD({0:g},{1:g},{2:g})\n",
cB.X * ChScale.L,
cB.Y * ChScale.L,
cB.Z * ChScale.L);
if (!entity_0_as_VERTEX)
asciitext += String.Format(bz, "dA = chrono.ChVectorD({0:g},{1:g},{2:g})\n",
dA.X, dA.Y, dA.Z);
if (!entity_1_as_VERTEX)
asciitext += String.Format(bz, "dB = chrono.ChVectorD({0:g},{1:g},{2:g})\n",
dB.X, dB.Y, dB.Z);
// Initialize link, by setting the two csys, in absolute space,
if (!swapAB_1)
asciitext += String.Format(bz, "{0}.Initialize({1},{2},False,cA,cB,dB)\n", linkname, name1, name2);
else
asciitext += String.Format(bz, "{0}.Initialize({1},{2},False,cB,cA,dA)\n", linkname, name2, name1);
//if (do_distance_val!=0)
asciitext += String.Format(bz, "{0}.SetDistance({1})\n", linkname,
do_distance_val * ChScale.L *-1);
asciitext += String.Format(bz, "{0}.SetName(\"{1}\")\n", linkname, swMateFeature.Name);
// Insert to a list of exported items
asciitext += String.Format(bz, "exported_items.append({0})\n\n", linkname);
}
if (do_CHmate_parallel)
{
if (Math.Abs(Vector3D.DotProduct(dA, dB)) > 0.98)
{
num_link++;
String linkname = "link_" + num_link;
asciitext += String.Format(bz, "{0} = chrono.ChLinkMateParallel()\n", linkname);
asciitext += String.Format(bz, "cA = chrono.ChVectorD({0:g},{1:g},{2:g})\n",
cA.X * ChScale.L,
cA.Y * ChScale.L,
cA.Z * ChScale.L);
asciitext += String.Format(bz, "dA = chrono.ChVectorD({0:g},{1:g},{2:g})\n",
dA.X, dA.Y, dA.Z);
asciitext += String.Format(bz, "cB = chrono.ChVectorD({0:g},{1:g},{2:g})\n",
cB.X * ChScale.L,
cB.Y * ChScale.L,
cB.Z * ChScale.L);
asciitext += String.Format(bz, "dB = chrono.ChVectorD({0:g},{1:g},{2:g})\n",
dB.X, dB.Y, dB.Z);
if (do_parallel_flip)
asciitext += String.Format(bz, "{0}.SetFlipped(True)\n", linkname);
// Initialize link, by setting the two csys, in absolute space,
if (!swapAB_1)
asciitext += String.Format(bz, "{0}.Initialize({1},{2},False,cA,cB,dA,dB)\n", linkname, name1, name2);
else
asciitext += String.Format(bz, "{0}.Initialize({1},{2},False,cB,cA,dB,dA)\n", linkname, name2, name1);
asciitext += String.Format(bz, "{0}.SetName(\"{1}\")\n", linkname, swMateFeature.Name);
// Insert to a list of exported items
asciitext += String.Format(bz, "exported_items.append({0})\n\n", linkname);
}
else
{
asciitext += "\n# ChLinkMateParallel skipped because directions not parallel! \n";
}
}
if (do_CHmate_orthogonal)
{
if (Math.Abs(Vector3D.DotProduct(dA, dB)) < 0.02)
{
num_link++;
String linkname = "link_" + num_link;
asciitext += String.Format(bz, "{0} = chrono.ChLinkMateOrthogonal()\n", linkname);
asciitext += String.Format(bz, "cA = chrono.ChVectorD({0:g},{1:g},{2:g})\n",
cA.X * ChScale.L,
cA.Y * ChScale.L,
cA.Z * ChScale.L);
asciitext += String.Format(bz, "dA = chrono.ChVectorD({0:g},{1:g},{2:g})\n",
dA.X, dA.Y, dA.Z);
asciitext += String.Format(bz, "cB = chrono.ChVectorD({0:g},{1:g},{2:g})\n",
cB.X * ChScale.L,
cB.Y * ChScale.L,
cB.Z * ChScale.L);
asciitext += String.Format(bz, "dB = chrono.ChVectorD({0:g},{1:g},{2:g})\n",
dB.X, dB.Y, dB.Z);
// Initialize link, by setting the two csys, in absolute space,
if (!swapAB_1)
asciitext += String.Format(bz, "{0}.Initialize({1},{2},False,cA,cB,dA,dB)\n", linkname, name1, name2);
else
asciitext += String.Format(bz, "{0}.Initialize({1},{2},False,cB,cA,dB,dA)\n", linkname, name2, name1);
asciitext += String.Format(bz, "{0}.SetName(\"{1}\")\n", linkname, swMateFeature.Name);
// Insert to a list of exported items
asciitext += String.Format(bz, "exported_items.append({0})\n\n", linkname);
}
else
{
asciitext += "\n# ChLinkMateOrthogonal skipped because directions not orthogonal! \n";
}
}
if (do_CHmate_spherical)
{
num_link++;
String linkname = "link_" + num_link;
asciitext += String.Format(bz, "{0} = chrono.ChLinkMateSpherical()\n", linkname);
asciitext += String.Format(bz, "cA = chrono.ChVectorD({0:g},{1:g},{2:g})\n",
cA.X * ChScale.L,
cA.Y * ChScale.L,
cA.Z * ChScale.L);
asciitext += String.Format(bz, "cB = chrono.ChVectorD({0:g},{1:g},{2:g})\n",
cB.X * ChScale.L,
cB.Y * ChScale.L,
cB.Z * ChScale.L);
// Initialize link, by setting the two csys, in absolute space,
if (!swapAB_1)
asciitext += String.Format(bz, "{0}.Initialize({1},{2},False,cA,cB)\n", linkname, name1, name2);
else
asciitext += String.Format(bz, "{0}.Initialize({1},{2},False,cB,cA)\n", linkname, name2, name1);
asciitext += String.Format(bz, "{0}.SetName(\"{1}\")\n", linkname, swMateFeature.Name);
// Insert to a list of exported items
asciitext += String.Format(bz, "exported_items.append({0})\n\n", linkname);
}
if (do_CHmate_pointline)
{
num_link++;
String linkname = "link_" + num_link;
asciitext += String.Format(bz, "{0} = chrono.ChLinkMateGeneric()\n", linkname);
asciitext += String.Format(bz, "{0}.SetConstrainedCoords(False, True, True, False, False, False)\n", linkname);
asciitext += String.Format(bz, "cA = chrono.ChVectorD({0:g},{1:g},{2:g})\n",
cA.X * ChScale.L,
cA.Y * ChScale.L,
cA.Z * ChScale.L);
asciitext += String.Format(bz, "cB = chrono.ChVectorD({0:g},{1:g},{2:g})\n",
cB.X * ChScale.L,
cB.Y * ChScale.L,
cB.Z * ChScale.L);
if (!entity_0_as_VERTEX)
asciitext += String.Format(bz, "dA = chrono.ChVectorD({0:g},{1:g},{2:g})\n", dA.X, dA.Y, dA.Z);
else
asciitext += String.Format(bz, "dA = chrono.VNULL\n");
if (!entity_1_as_VERTEX)
asciitext += String.Format(bz, "dB = chrono.ChVectorD({0:g},{1:g},{2:g})\n", dB.X, dB.Y, dB.Z);
else
asciitext += String.Format(bz, "dB = chrono.VNULL\n");
// Initialize link, by setting the two csys, in absolute space,
if (!swapAB_1)
asciitext += String.Format(bz, "{0}.Initialize({1},{2},False,cA,cB,dA,dB)\n", linkname, name1, name2);
else
asciitext += String.Format(bz, "{0}.Initialize({1},{2},False,cB,cA,dB,dA)\n", linkname, name2, name1);
asciitext += String.Format(bz, "{0}.SetName(\"{1}\")\n", linkname, swMateFeature.Name);
// Insert to a list of exported items
asciitext += String.Format(bz, "exported_items.append({0})\n\n", linkname);
}
// Now, do some other special mate type that did not fall in combinations
// of do_CHmate_pointline, do_CHmate_spherical, etc etc
if (swMateFeature.GetTypeName2() == "MateHinge")
{
// auto flip direction if anti aligned (seems that this is assumed automatically in MateHinge in SW)
if (Vector3D.DotProduct(dA, dB) < 0)
dB.Negate();
// Hinge constraint must be splitted in two C::E constraints: a coaxial and a point-vs-plane
num_link++;
String linkname = "link_" + num_link;
asciitext += String.Format(bz, "{0} = chrono.ChLinkMateCoaxial()\n", linkname);
asciitext += String.Format(bz, "cA = chrono.ChVectorD({0:g},{1:g},{2:g})\n",
cA.X * ChScale.L,
cA.Y * ChScale.L,
cA.Z * ChScale.L);
asciitext += String.Format(bz, "dA = chrono.ChVectorD({0:g},{1:g},{2:g})\n",
dA.X, dA.Y, dA.Z);
asciitext += String.Format(bz, "cB = chrono.ChVectorD({0:g},{1:g},{2:g})\n",
cB.X * ChScale.L,
cB.Y * ChScale.L,
cB.Z * ChScale.L);
asciitext += String.Format(bz, "dB = chrono.ChVectorD({0:g},{1:g},{2:g})\n",
dB.X, dB.Y, dB.Z);
asciitext += String.Format(bz, "{0}.SetName(\"{1}\")\n", linkname, swMateFeature.Name);
// Initialize link, by setting the two csys, in absolute space,
asciitext += String.Format(bz, "{0}.Initialize({1},{2},False,cA,cB,dA,dB)\n", linkname, name1, name2);
// Insert to a list of exported items
asciitext += String.Format(bz, "exported_items.append({0})\n", linkname);
// NOTE!!! The 'hinge' mate uses 4 references: fetch the two others remaining
// and build another C::E link, for point-vs-face mating
MateEntity2 swEntityC = swMate.MateEntity(2);
MateEntity2 swEntityD = swMate.MateEntity(3);
Component2 swCompC = swEntityC.ReferenceComponent;
Component2 swCompD = swEntityD.ReferenceComponent;
double[] paramsC = (double[])swEntityC.EntityParams;
double[] paramsD = (double[])swEntityD.EntityParams;
String name3 = (String)saved_parts[swModelDocExt.GetPersistReference3(swCompC)];
String name4 = (String)saved_parts[swModelDocExt.GetPersistReference3(swCompD)];
MathTransform trC = roottrasf;
MathTransform trD = roottrasf;
if (assemblyofmates != null)
{
MathTransform partrasfC = assemblyofmates.GetTotalTransform(true);
if (partrasfC != null)
trC = partrasfC.IMultiply(invroottrasf);
MathTransform partrasfD = assemblyofmates.GetTotalTransform(true);
if (partrasfD != null)
trD = partrasfD.IMultiply(invroottrasf);
}
bool entity_2_as_VERTEX = (swMate.MateEntity(2).Reference.GetType() == (int)swSelectType_e.swSelVERTICES) ||
(swMate.MateEntity(2).Reference.GetType() == (int)swSelectType_e.swSelSKETCHPOINTS) ||
(swMate.MateEntity(2).Reference.GetType() == (int)swSelectType_e.swSelDATUMPOINTS);
bool entity_3_as_VERTEX = (swMate.MateEntity(3).Reference.GetType() == (int)swSelectType_e.swSelVERTICES) ||
(swMate.MateEntity(3).Reference.GetType() == (int)swSelectType_e.swSelSKETCHPOINTS) ||
(swMate.MateEntity(3).Reference.GetType() == (int)swSelectType_e.swSelDATUMPOINTS);
Point3D cC = new Point3D(0, 0, 0);
Point3D cD = new Point3D(0, 0, 0);
Vector3D dC = new Vector3D(1, 0, 0);
Vector3D dD = new Vector3D(1, 0, 0);
Point3D cCloc = new Point3D(paramsC[0], paramsC[1], paramsC[2]);
cC = SWTaskpaneHost.PointTransform(cCloc, ref trC);
Point3D cDloc = new Point3D(paramsD[0], paramsD[1], paramsD[2]);
cD = SWTaskpaneHost.PointTransform(cDloc, ref trD);
if (!entity_2_as_VERTEX)
{
Vector3D dCloc = new Vector3D(paramsC[3], paramsC[4], paramsC[5]);
dC = SWTaskpaneHost.DirTransform(dCloc, ref trC);
}
if (!entity_3_as_VERTEX)
{
Vector3D dDloc = new Vector3D(paramsD[3], paramsD[4], paramsD[5]);
dD = SWTaskpaneHost.DirTransform(dDloc, ref trD);
}
num_link++;
linkname = "link_" + num_link;
asciitext += String.Format(bz, "{0} = chrono.ChLinkMateXdistance()\n", linkname);
asciitext += String.Format(bz, "cA = chrono.ChVectorD({0:g},{1:g},{2:g})\n",
cC.X * ChScale.L,
cC.Y * ChScale.L,
cC.Z * ChScale.L);
asciitext += String.Format(bz, "dA = chrono.ChVectorD({0:g},{1:g},{2:g})\n",
dC.X, dC.Y, dC.Z);
asciitext += String.Format(bz, "cB = chrono.ChVectorD({0:g},{1:g},{2:g})\n",
cD.X * ChScale.L,
cD.Y * ChScale.L,
cD.Z * ChScale.L);
asciitext += String.Format(bz, "dB = chrono.ChVectorD({0:g},{1:g},{2:g})\n",
dD.X, dD.Y, dD.Z);
asciitext += String.Format(bz, "{0}.SetName(\"{1}\")\n", linkname, swMateFeature.Name);
// Initialize link, by setting the two csys, in absolute space,
if (entity_2_as_VERTEX)
asciitext += String.Format(bz, "{0}.Initialize({1},{2},False,cA,cB,dA)\n", linkname, name3, name4);
else
asciitext += String.Format(bz, "{0}.Initialize({1},{2},False,cA,cB,dB)\n", linkname, name3, name4);
// Insert to a list of exported items
asciitext += String.Format(bz, "exported_items.append({0})\n", linkname);
return true;
}
}
}
return false;
}
public void PythonTraverseFeatures_for_collshapes(Component2 swComp, long nLevel, ref string asciitext, int nbody, ref MathTransform chbodytransform, ref bool found_collisionshapes, Component2 swCompBase)
{
CultureInfo bz = new CultureInfo("en-BZ");
Feature swFeat;
swFeat = (Feature)swComp.FirstFeature();
String bodyname = "body_" + nbody;
MathTransform subcomp_transform = swComp.GetTotalTransform(true);
MathTransform invchbody_trasform = (MathTransform)chbodytransform.Inverse();
MathTransform collshape_subcomp_transform = subcomp_transform.IMultiply(invchbody_trasform); // row-ordered transf. -> reverse mult.order!
// Export collision shapes
if (this.checkBox_collshapes.Checked)
{
object[] bodies;
object bodyInfo;
bodies = (object[])swComp.GetBodies3((int)swBodyType_e.swAllBodies, out bodyInfo);
if (bodies != null)
{
// see if it contains some collision shape
bool build_collision_model = false;
for (int ib = 0; ib < bodies.Length; ib++)
{
Body2 swBody = (Body2)bodies[ib];
if (swBody.Name.StartsWith("COLL."))
build_collision_model = true;
}
if (build_collision_model)
{
if (!found_collisionshapes)
{
found_collisionshapes = true;
// fetch SW attribute with Chrono parameters
SolidWorks.Interop.sldworks.Attribute myattr = (SolidWorks.Interop.sldworks.Attribute)swCompBase.FindAttribute(this.mSWintegration.defattr_chbody, 0);
if (myattr != null)
{
asciitext += "\n# Collision parameters \n";
double param_friction = ((Parameter)myattr.GetParameter("friction")).GetDoubleValue();
double param_restitution = ((Parameter)myattr.GetParameter("restitution")).GetDoubleValue();
double param_rolling_friction = ((Parameter)myattr.GetParameter("rolling_friction")).GetDoubleValue();
double param_spinning_friction = ((Parameter)myattr.GetParameter("spinning_friction")).GetDoubleValue();
double param_collision_envelope = ((Parameter)myattr.GetParameter("collision_envelope")).GetDoubleValue();
double param_collision_margin = ((Parameter)myattr.GetParameter("collision_margin")).GetDoubleValue();
int param_collision_family = (int)((Parameter)myattr.GetParameter("collision_family")).GetDoubleValue();
asciitext += String.Format(bz, "{0}.SetFriction({1:g});\n", bodyname, param_friction);
if (param_restitution != 0)
asciitext += String.Format(bz, "{0}.SetImpactC({1:g});\n", bodyname, param_restitution);
if (param_rolling_friction != 0)
asciitext += String.Format(bz, "{0}.SetRollingFriction({1:g});\n", bodyname, param_rolling_friction);
if (param_spinning_friction != 0)
asciitext += String.Format(bz, "{0}.SetSpinningFriction({1:g});\n", bodyname, param_spinning_friction);
//if (param_collision_envelope != 0.03)
asciitext += String.Format(bz, "{0}.GetCollisionModel().SetEnvelope({1:g});\n", bodyname, param_collision_envelope * ChScale.L);
//if (param_collision_margin != 0.01)
asciitext += String.Format(bz, "{0}.GetCollisionModel().SetSafeMargin({1:g});\n", bodyname, param_collision_margin * ChScale.L);
if (param_collision_family != 0)
asciitext += String.Format(bz, "{0}.GetCollisionModel().SetFamily({1});\n", bodyname, param_collision_family);
}
// clear model only at 1st subcomponent where coll shapes are found in features:
asciitext += "\n# Collision shapes \n";
asciitext += String.Format(bz, "{0}.GetCollisionModel().ClearModel()\n", bodyname);
}
for (int ib = 0; ib < bodies.Length; ib++)
{
Body2 swBody = (Body2)bodies[ib];
if (swBody.Name.StartsWith("COLL."))
{
bool rbody_converted = false;
if (ConvertToCollisionShapes.SWbodyToSphere(swBody))
{
Point3D center_l = new Point3D(); // in local subcomponent
double rad = 0;
ConvertToCollisionShapes.SWbodyToSphere(swBody, ref rad, ref center_l);
Point3D center = SWTaskpaneHost.PointTransform(center_l, ref collshape_subcomp_transform);
asciitext += String.Format(bz, "{0}.GetCollisionModel().AddSphere({1}, chrono.ChVectorD({2},{3},{4}))\n", bodyname,
rad * ChScale.L,
center.X * ChScale.L,
center.Y * ChScale.L,
center.Z * ChScale.L);
rbody_converted = true;
}
if (ConvertToCollisionShapes.SWbodyToBox(swBody))
{
Point3D vC_l = new Point3D();
Vector3D eX_l = new Vector3D(); Vector3D eY_l = new Vector3D(); Vector3D eZ_l = new Vector3D();
ConvertToCollisionShapes.SWbodyToBox(swBody, ref vC_l, ref eX_l, ref eY_l, ref eZ_l);
Point3D vC = SWTaskpaneHost.PointTransform(vC_l, ref collshape_subcomp_transform);
Vector3D eX = SWTaskpaneHost.DirTransform(eX_l, ref collshape_subcomp_transform);
Vector3D eY = SWTaskpaneHost.DirTransform(eY_l, ref collshape_subcomp_transform);
Vector3D eZ = SWTaskpaneHost.DirTransform(eZ_l, ref collshape_subcomp_transform);
double hsX = eX.Length * 0.5;
double hsY = eY.Length * 0.5;
double hsZ = eZ.Length * 0.5;
Point3D vO = vC + 0.5 * eX + 0.5 * eY + 0.5 * eZ;
Vector3D Dx = eX; Dx.Normalize();
Vector3D Dy = eY; Dy.Normalize();
Vector3D Dz = Vector3D.CrossProduct(Dx, Dy);
asciitext += String.Format(bz, "mr = chrono.ChMatrix33D()\n");
asciitext += String.Format(bz, "mr[0,0]={0}; mr[1,0]={1}; mr[2,0]={2} \n", Dx.X, Dx.Y, Dx.Z);
asciitext += String.Format(bz, "mr[0,1]={0}; mr[1,1]={1}; mr[2,1]={2} \n", Dy.X, Dy.Y, Dy.Z);
asciitext += String.Format(bz, "mr[0,2]={0}; mr[1,2]={1}; mr[2,2]={2} \n", Dz.X, Dz.Y, Dz.Z);
asciitext += String.Format(bz, "{0}.GetCollisionModel().AddBox({1},{2},{3},chrono.ChVectorD({4},{5},{6}),mr)\n", bodyname,
hsX * ChScale.L,
hsY * ChScale.L,
hsZ * ChScale.L,
vO.X * ChScale.L,
vO.Y * ChScale.L,
vO.Z * ChScale.L);
rbody_converted = true;
}
if (ConvertToCollisionShapes.SWbodyToCylinder(swBody))
{
Point3D p1_l = new Point3D();
Point3D p2_l = new Point3D();
double rad = 0;
ConvertToCollisionShapes.SWbodyToCylinder(swBody, ref p1_l, ref p2_l, ref rad);
Point3D p1 = SWTaskpaneHost.PointTransform(p1_l, ref collshape_subcomp_transform);
Point3D p2 = SWTaskpaneHost.PointTransform(p2_l, ref collshape_subcomp_transform);
Vector3D Dy = p1 - p2; Dy.Normalize();
double hsY = (p1 - p2).Length * 0.5;
double hsZ = rad;
double hsX = rad;
Point3D vO = p1 + 0.5 * (p2 - p1);
Vector3D Dx = new Vector3D();
if (Dy.X < 0.9)
{
Vector3D Dtst = new Vector3D(1, 0, 0);
Dx = Vector3D.CrossProduct(Dtst, Dy);
}
else
{
Vector3D Dtst = new Vector3D(0, 1, 0);
Dx = Vector3D.CrossProduct(Dtst, Dy);
}
Vector3D Dz = Vector3D.CrossProduct(Dx, Dy);
asciitext += String.Format(bz, "mr = chrono.ChMatrix33D()\n");
asciitext += String.Format(bz, "mr[0,0]={0}; mr[1,0]={1}; mr[2,0]={2} \n", Dx.X, Dx.Y, Dx.Z);
asciitext += String.Format(bz, "mr[0,1]={0}; mr[1,1]={1}; mr[2,1]={2} \n", Dy.X, Dy.Y, Dy.Z);
asciitext += String.Format(bz, "mr[0,2]={0}; mr[1,2]={1}; mr[2,2]={2} \n", Dz.X, Dz.Y, Dz.Z);
asciitext += String.Format(bz, "{0}.GetCollisionModel().AddCylinder({1},{2},{3},chrono.ChVectorD({4},{5},{6}),mr)\n", bodyname,
hsX * ChScale.L,
hsZ * ChScale.L,
hsY * ChScale.L,
vO.X * ChScale.L,
vO.Y * ChScale.L,
vO.Z * ChScale.L); // note order hsX-Z-Y
rbody_converted = true;
}
if (ConvertToCollisionShapes.SWbodyToConvexHull(swBody, 30) && !rbody_converted)
{
Point3D[] vertexes = new Point3D[1]; // will be resized by SWbodyToConvexHull
ConvertToCollisionShapes.SWbodyToConvexHull(swBody, ref vertexes, 30);
if (vertexes.Length > 0)
{
asciitext += String.Format(bz, "pt_vect = chrono.vector_ChVectorD()\n");
for (int iv = 0; iv < vertexes.Length; iv++)
{
Point3D vert_l = vertexes[iv];
Point3D vert = SWTaskpaneHost.PointTransform(vert_l, ref collshape_subcomp_transform);
asciitext += String.Format(bz, "pt_vect.push_back(chrono.ChVectorD({0},{1},{2}))\n",
vert.X * ChScale.L,
vert.Y * ChScale.L,
vert.Z * ChScale.L);
}
asciitext += String.Format(bz, "{0}.GetCollisionModel().AddConvexHull(pt_vect)\n", bodyname);
}
}
} // end dealing with a collision shape
} // end solid bodies traversal for converting to coll.shapes
} // end if build_collision_model
}
} // end collision shapes export
}
public void PythonTraverseComponent_for_visualizationshapes(Component2 swComp, long nLevel, ref string asciitext, int nbody, ref int nvisshape, Component2 chbody_comp)
{
CultureInfo bz = new CultureInfo("en-BZ");
object[] bodies;
object bodyInfo;
bodies = (object[])swComp.GetBodies3((int)swBodyType_e.swAllBodies, out bodyInfo);
if (bodies != null)
if (bodies.Length > 0)
{
// Export the component shape to a .OBJ file representing its SW body(s)
nvisshape += 1;
string bodyname = "body_" + nbody;
string shapename = "body_" + nbody + "_" + nvisshape;
string obj_filename = this.save_dir_shapes + "\\" + shapename + ".obj";
ModelDoc2 swCompModel = (ModelDoc2)swComp.GetModelDoc();
if (!this.saved_shapes.ContainsKey(swCompModel.GetPathName()))
{
try
{
FileStream ostream = new FileStream(obj_filename, FileMode.Create, FileAccess.ReadWrite);
StreamWriter writer = new StreamWriter(ostream); //, new UnicodeEncoding());
string asciiobj = "";
if (this.swProgress != null)
this.swProgress.UpdateTitle("Exporting " + swComp.Name2 + " (tesselate) ...");
// Write the OBJ converted visualization shapes:
TesselateToObj.Convert(swComp, ref asciiobj, this.checkBox_saveUV.Checked, ref this.swProgress);
writer.Write(asciiobj);
writer.Flush();
ostream.Close();
this.saved_shapes.Add(swCompModel.GetPathName(), shapename);
}
catch (Exception)
{
System.Windows.Forms.MessageBox.Show("Cannot write to file: " + obj_filename);
}
}
else
{
// reuse the already-saved shape name
shapename = (String)saved_shapes[swCompModel.GetPathName()];
}
asciitext += String.Format(bz, "\n# Visualization shape \n", bodyname);
asciitext += String.Format(bz, "{0}_shape = chrono.ChObjShapeFile() \n", shapename);
asciitext += String.Format(bz, "{0}_shape.SetFilename(shapes_dir +'{0}.obj') \n", shapename);
object foo = null;
double[] vMatProperties = (double[])swComp.GetMaterialPropertyValues2((int)swInConfigurationOpts_e.swThisConfiguration, foo);
if (vMatProperties != null)
if (vMatProperties[0] != -1)
{
asciitext += String.Format(bz, "{0}_shape.SetColor(chrono.ChColor({1},{2},{3})) \n", shapename,
vMatProperties[0], vMatProperties[1], vMatProperties[2]);
asciitext += String.Format(bz, "{0}_shape.SetFading({1}) \n", shapename, vMatProperties[7]);
}
MathTransform absframe_chbody = chbody_comp.GetTotalTransform(true);
MathTransform absframe_shape = swComp.GetTotalTransform(true);
MathTransform absframe_chbody_inv = absframe_chbody.IInverse();
MathTransform relframe_shape = absframe_shape.IMultiply(absframe_chbody_inv); // row-ordered transf. -> reverse mult.order!
double[] amatr = (double[])relframe_shape.ArrayData;
double[] quat = GetQuaternionFromMatrix(ref relframe_shape);
asciitext += String.Format(bz, "{0}_level = chrono.ChAssetLevel() \n", shapename);
asciitext += String.Format(bz, "{0}_level.GetFrame().SetPos(chrono.ChVectorD({1},{2},{3})) \n", shapename,
amatr[9] *ChScale.L,
amatr[10]*ChScale.L,
amatr[11]*ChScale.L);
asciitext += String.Format(bz, "{0}_level.GetFrame().SetRot(chrono.ChQuaternionD({1},{2},{3},{4})) \n", shapename, quat[0], quat[1], quat[2], quat[3]);
asciitext += String.Format(bz, "{0}_level.GetAssets().push_back({0}_shape) \n", shapename);
asciitext += String.Format(bz, "{0}.GetAssets().push_back({1}_level) \n", bodyname, shapename);
}
// Recursive scan of subcomponents
Component2 swChildComp;
object[] vChildComp = (object[])swComp.GetChildren();
for (long i = 0; i < vChildComp.Length; i++)
{
swChildComp = (Component2)vChildComp[i];
if (swChildComp.Visible == (int)swComponentVisibilityState_e.swComponentVisible)
PythonTraverseComponent_for_visualizationshapes(swChildComp, nLevel + 1, ref asciitext, nbody, ref nvisshape, chbody_comp);
}
}
//
// BODY EXPORTING FUNCTIONS
//
public void PythonTraverseComponent_for_markers(Component2 swComp, long nLevel, ref string asciitext, int nbody)
{
// Look if component contains markers
Feature swFeat = (Feature)swComp.FirstFeature();
MathTransform swCompTotalTrasf = swComp.GetTotalTransform(true);
PythonTraverseFeatures_for_markers(swFeat, nLevel, ref asciitext, nbody, swCompTotalTrasf);
// Recursive scan of subcomponents
Component2 swChildComp;
object[] vChildComp = (object[])swComp.GetChildren();
for (long i = 0; i < vChildComp.Length; i++)
{
swChildComp = (Component2)vChildComp[i];
PythonTraverseComponent_for_markers(swChildComp, nLevel + 1, ref asciitext, nbody);
}
}
public void PythonTraverseComponent_for_ChBody(Component2 swComp, long nLevel, ref string asciitext, int nbody)
{
CultureInfo bz = new CultureInfo("en-BZ");
object[] vmyChildComp = (object[])swComp.GetChildren();
bool found_chbody_equivalent = false;
if (nLevel > 1)
if (nbody == -1)
if ((swComp.Solving == (int)swComponentSolvingOption_e.swComponentRigidSolving) ||
(vmyChildComp.Length == 0))
{
// OK! this is a 'leaf' of the tree of ChBody equivalents (a SDW subassebly or part)
found_chbody_equivalent = true;
this.num_comp++;
nbody = this.num_comp; // mark the rest of recursion as 'n-th body found'
if (this.swProgress != null)
{
this.swProgress.UpdateTitle("Exporting " + swComp.Name2 + " ...");
this.swProgress.UpdateProgress(this.num_comp % 5);
}
// fetch SW attribute with Chrono parameters
SolidWorks.Interop.sldworks.Attribute myattr = (SolidWorks.Interop.sldworks.Attribute)swComp.FindAttribute(this.mSWintegration.defattr_chbody, 0);
MathTransform chbodytransform = swComp.GetTotalTransform(true);
double[] amatr;
amatr = (double[])chbodytransform.ArrayData;
string bodyname = "body_" + this.num_comp;
// Write create body
asciitext += "# Rigid body part\n";
asciitext += bodyname + "= chrono.ChBodyAuxRef()" + "\n";
// Write name
asciitext += bodyname + ".SetName('" + swComp.Name2 + "')" + "\n";
// Write position
asciitext += bodyname + ".SetPos(chrono.ChVectorD("
+ (amatr[9] * ChScale.L).ToString("g", bz) + ","
+ (amatr[10]* ChScale.L).ToString("g", bz) + ","
+ (amatr[11]* ChScale.L).ToString("g", bz) + "))" + "\n";
// Write rotation
double[] quat = GetQuaternionFromMatrix(ref chbodytransform);
asciitext += String.Format(bz, "{0}.SetRot(chrono.ChQuaternionD({1:g},{2:g},{3:g},{4:g}))\n",
bodyname, quat[0], quat[1], quat[2], quat[3]);
// Compute mass
int nvalid_bodies = 0;
PythonTraverseComponent_for_countingmassbodies(swComp, ref nvalid_bodies);
int addedb = 0;
object[] bodies_nocollshapes = new object[nvalid_bodies];
PythonTraverseComponent_for_massbodies(swComp, ref bodies_nocollshapes, ref addedb);
MassProperty swMass;
swMass = (MassProperty)swComp.IGetModelDoc().Extension.CreateMassProperty();
bool boolstatus = false;
boolstatus = swMass.AddBodies((object[])bodies_nocollshapes);
swMass.SetCoordinateSystem(chbodytransform);
swMass.UseSystemUnits = true;
//note: do not set here the COG-to-REF position because here SW express it in absolute coords
// double cogX = ((double[])swMass.CenterOfMass)[0];
// double cogY = ((double[])swMass.CenterOfMass)[1];
// double cogZ = ((double[])swMass.CenterOfMass)[2];
double mass = swMass.Mass;
double[] Itensor = (double[])swMass.GetMomentOfInertia((int)swMassPropertyMoment_e.swMassPropertyMomentAboutCenterOfMass);
double Ixx = Itensor[0];
double Iyy = Itensor[4];
double Izz = Itensor[8];
double Ixy = Itensor[1];
double Izx = Itensor[2];
double Iyz = Itensor[5];
MassProperty swMassb;
swMassb = (MassProperty)swComp.IGetModelDoc().Extension.CreateMassProperty();
bool boolstatusb = false;
boolstatusb = swMassb.AddBodies(bodies_nocollshapes);
swMassb.UseSystemUnits = true;
double cogXb = ((double[])swMassb.CenterOfMass)[0];
double cogYb = ((double[])swMassb.CenterOfMass)[1];
double cogZb = ((double[])swMassb.CenterOfMass)[2];
asciitext += String.Format(bz, "{0}.SetMass({1:g})\n",
bodyname,
mass * ChScale.M);
// Write inertia tensor
asciitext += String.Format(bz, "{0}.SetInertiaXX(chrono.ChVectorD({1:g},{2:g},{3:g}))\n",
bodyname,
Ixx * ChScale.M * ChScale.L * ChScale.L,
Iyy * ChScale.M * ChScale.L * ChScale.L,
Izz * ChScale.M * ChScale.L * ChScale.L);
// Note: C::E assumes that's up to you to put a 'minus' sign in values of Ixy, Iyz, Izx
asciitext += String.Format(bz, "{0}.SetInertiaXY(chrono.ChVectorD({1:g},{2:g},{3:g}))\n",
bodyname,
-Ixy * ChScale.M * ChScale.L * ChScale.L,
-Izx * ChScale.M * ChScale.L * ChScale.L,
-Iyz * ChScale.M * ChScale.L * ChScale.L);
// Write the position of the COG respect to the REF
asciitext += String.Format(bz, "{0}.SetFrame_COG_to_REF(chrono.ChFrameD(chrono.ChVectorD({1:g},{2:g},{3:g}),chrono.ChQuaternionD(1,0,0,0)))\n",
bodyname,
cogXb * ChScale.L,
cogYb * ChScale.L,
cogZb * ChScale.L);
// Write 'fixed' state
if (swComp.IsFixed())
asciitext += String.Format(bz, "{0}.SetBodyFixed(True)\n", bodyname);
// Write shapes (saving also Wavefront files .obj)
if (this.checkBox_surfaces.Checked)
{
int nvisshape = 0;
if (swComp.Visible == (int)swComponentVisibilityState_e.swComponentVisible)
PythonTraverseComponent_for_visualizationshapes(swComp, nLevel, ref asciitext, nbody, ref nvisshape, swComp);
}
// Write markers (SW coordsystems) contained in this component or subcomponents
// if any.
PythonTraverseComponent_for_markers(swComp, nLevel, ref asciitext, nbody);
// Write collision shapes (customized SW solid bodies) contained in this component or subcomponents
// if any.
bool param_collide = true;
if (myattr != null)
param_collide = Convert.ToBoolean(((Parameter)myattr.GetParameter("collision_on")).GetDoubleValue());
if (param_collide)
{
bool found_collisionshapes = false;
PythonTraverseComponent_for_collshapes(swComp, nLevel, ref asciitext, nbody, ref chbodytransform, ref found_collisionshapes, swComp);
if (found_collisionshapes)
{
asciitext += String.Format(bz, "{0}.GetCollisionModel().BuildModel()\n", bodyname);
asciitext += String.Format(bz, "{0}.SetCollide(True)\n", bodyname);
}
}
// Insert to a list of exported items
asciitext += String.Format(bz, "\n" +"exported_items.append({0})\n", bodyname);
// End writing body in Python-
asciitext += "\n\n\n";
} // end if ChBody equivalent (tree leaf or non-flexible assembly)
// Things to do also for sub-components of 'non flexible' assemblies:
//
// store in hashtable, will be useful later when adding constraints
if ((nLevel > 1) && (nbody != -1))
try
{
string bodyname = "body_" + this.num_comp;
ModelDocExtension swModelDocExt = default(ModelDocExtension);
ModelDoc2 swModel = (ModelDoc2)this.mSWApplication.ActiveDoc;
//if (swModel != null)
swModelDocExt = swModel.Extension;
this.saved_parts.Add(swModelDocExt.GetPersistReference3(swComp), bodyname);
}
catch
{
System.Windows.Forms.MessageBox.Show("Cannot add part to hashtable?");
}
// Traverse all children, proceeding to subassemblies and parts, if any
//
object[] vChildComp;
Component2 swChildComp;
vChildComp = (object[])swComp.GetChildren();
for (long i = 0; i < vChildComp.Length; i++)
{
swChildComp = (Component2)vChildComp[i];
PythonTraverseComponent_for_ChBody(swChildComp, nLevel + 1, ref asciitext, nbody);
}
}
