protected override void SolveInstance(IGH_DataAccess DA)
{
Mesh brick = new Mesh();
Point3d center_d = new Point3f();
GH_Structure <GH_String> raw_types = new GH_Structure <GH_String>();
if (!DA.GetData("Brick", ref brick))
{
return;
}
if (!DA.GetData("Center", ref center_d))
{
return;
}
if (!DA.GetDataTree("Types", out raw_types))
{
return;
}
if (raw_types.DataCount == 0)
{
return;
}
if (!raw_types.get_DataItem(0).IsValid)
{
return;
}
if (!center_d.IsValid)
{
return;
}
if (!DataTools.IsTreeDimension2(raw_types))
{
AddRuntimeMessage(GH_RuntimeMessageLevel.Error, "Wrong tree structure of types, please use {0}{1} type");
return;
}
Point3f center = GeometryTools.D2F(center_d);
List <List <string> > types = DataTools.TreeToList2(raw_types);
List <Point3f> vertices = new List <Point3f>();
List <Line> lines = new List <Line>();
List <float> distances = new List <float>();
List <Point3f> corners = new List <Point3f>();
Point3f corner = new Point3f();
Point3f average = new Point3f();
Point3f average2 = new Point3f();
//读取所有顶点，检测是否为8个
vertices = brick.Vertices.ToList();
GeometryTools.PurifyPoints(ref vertices, 0.1f);
if (vertices.Count != 8)
{
AddRuntimeMessage(GH_RuntimeMessageLevel.Error, "For a brick, there must be 8 vertices, now here is" + vertices.Count.ToString());
return;
}
//取出各边，按边长排序
for (int i = 0; i < vertices.Count - 1; i++)
{
for (int j = i + 1; j < vertices.Count; j++)
{
lines.Add(new Line(vertices[i], vertices[j]));
distances.Add(GeometryTools.Distance(vertices[i], vertices[j]));
}
}
DataTools.Sort(ref distances, ref lines);
//取出最短四条边的上顶点
for (int i = 0; i < 4; i++)
{
Point3f from = GeometryTools.D2F(lines[i].From);
Point3f to = GeometryTools.D2F(lines[i].To);
float z1 = from.Z;
float z2 = to.Z;
if (z1 > z2)
{
corners.Add(from);
}
else
{
corners.Add(to);
}
}
//按据角点距离排序顶点
distances.Clear();
for (int i = 0; i < corners.Count; i++)
{
distances.Add(GeometryTools.Distance(corners[i], center));
}
DataTools.Sort(ref distances, ref corners);
corner = corners[0];
distances.Clear();
for (int i = 0; i < corners.Count; i++)
{
distances.Add(GeometryTools.Distance(corners[i], corner));
}
DataTools.Sort(ref distances, ref corners);
average = GeometryTools.Average(corners);
average2 = GeometryTools.Average(new Point3f[] { corners[2], corners[3] });
average2 = GeometryTools.Average(new Point3f[] { average, average2 });
List <List <Plane> > planes_list = new List <List <Plane> >();
//生成抓取坐标系
for (int i = 0; i < types.Count; i++)
{
planes_list.Add(new List <Plane>());
for (int j = 0; j < types[i].Count; j++)
{
if (types[i][j] == "Horizontal" || types[i][j] == "Half")
{
planes_list[i].Add(new Plane(average, GeometryTools.P2P(corners[0], corners[2]), GeometryTools.P2P(corners[0], corners[1])));
}
else if (types[i][j] == "Vertical")
{
planes_list[i].Add(new Plane(average, GeometryTools.P2P(corners[0], corners[1]), GeometryTools.P2P(corners[0], corners[2])));
}
else
{
AddRuntimeMessage(GH_RuntimeMessageLevel.Error, "Wrong type name");
return;
}
}
}
DataTree <Plane> plane = DataTools.ListToTree2(planes_list);
Plane home = planes_list[0][0];
home = GeometryTools.Move(home, home.ZAxis * 200);
DA.SetDataTree(0, plane);
DA.SetData("Home", home);
}
protected override void SolveInstance(IGH_DataAccess DA)
{
GH_Structure <GH_Plane> raw_bricks = new GH_Structure <GH_Plane>();
GH_Structure <GH_String> raw_types = new GH_Structure <GH_String>();
GH_Structure <GH_Point> raw_corners = new GH_Structure <GH_Point>();
Plane suckerCenter = new Plane();
Plane sensorCenter = new Plane();
Plane homePlane = new Plane();
double retreat = 160;
if (!DA.GetDataTree("Bricks", out raw_bricks))
{
return;
}
if (!DA.GetDataTree("Types", out raw_types))
{
return;
}
if (!DA.GetDataTree("Corners", out raw_corners))
{
return;
}
if (!DA.GetData("SuckerCenter", ref suckerCenter))
{
return;
}
if (!DA.GetData("SensorCenter", ref sensorCenter))
{
return;
}
if (!DA.GetData("HomePlane", ref homePlane))
{
return;
}
if (!DA.GetData("Retreat", ref retreat))
{
return;
}
if (raw_bricks.DataCount == 0)
{
return;
}
if (raw_types.DataCount == 0)
{
return;
}
if (raw_corners.DataCount == 0)
{
return;
}
if (!raw_bricks.get_DataItem(0).IsValid)
{
return;
}
if (!raw_types.get_DataItem(0).IsValid)
{
return;
}
if (!raw_corners.get_DataItem(0).IsValid)
{
return;
}
if (!DataTools.IsTreeDimension2(raw_bricks))
{
AddRuntimeMessage(GH_RuntimeMessageLevel.Error, "Wrong tree structure of bricks, please use {0}{1} type");
return;
}
if (!DataTools.IsTreeDimension2(raw_types))
{
AddRuntimeMessage(GH_RuntimeMessageLevel.Error, "Wrong tree structure of types, please use {0}{1} type");
return;
}
if (!DataTools.IsTreeDimension3(raw_corners))
{
AddRuntimeMessage(GH_RuntimeMessageLevel.Error, "Wrong tree structure of corners, please use {0;0}{0;1} type");
return;
}
if (!DataTools.IsTreeMatch23(raw_bricks, raw_corners))
{
AddRuntimeMessage(GH_RuntimeMessageLevel.Error, "Bricks and corners does not match");
return;
}
if (!DataTools.IsTreeMatch23(raw_types, raw_corners))
{
AddRuntimeMessage(GH_RuntimeMessageLevel.Error, "Types and corners does not match");
return;
}
if (retreat < 0)
{
AddRuntimeMessage(GH_RuntimeMessageLevel.Error, "Retreat must not be negative");
return;
}
List <List <Plane> > bricks = DataTools.TreeToList2(raw_bricks);
List <List <string> > types = DataTools.TreeToList2(raw_types);
List <List <List <Point3d> > > corners = DataTools.TreeToList3(raw_corners);
List <List <Plane> > targets_list = new List <List <Plane> >();
List <List <string> > names_list = new List <List <string> >();
string[] title = { "Floor", "Middle", "Brick", "Sensor" };
for (int i = 0; i < bricks.Count - 1; i++)
{
targets_list.Add(new List <Plane>());
names_list.Add(new List <string>());
targets_list[i].Add(GeometryTools.Move(homePlane, new Vector3d(0, 0, (bricks[i][0].OriginZ - bricks[0][0].OriginZ) * 0.8)));
names_list[i].Add(title[0] + i.ToString() + title[1] + "0");
for (int j = 0; j < bricks[i].Count; j++)
{
Point3d[] now_points = new Point3d[4];
Point3d[] this_corners = corners[i][j].ToArray();
Point3d this_center = GeometryTools.Average(this_corners);
if (types[i][j] == "Horizontal" || types[i][j] == "Half")
{
now_points[0] = GeometryTools.Average(this_center, this_corners[0]);
now_points[1] = GeometryTools.Average(this_center, this_corners[1]);
now_points[2] = GeometryTools.Average(this_center, this_corners[3]);
now_points[3] = GeometryTools.Average(this_center, this_corners[2]);
}
else if (types[i][j] == "Vertical")
{
now_points[0] = GeometryTools.Average(this_center, this_corners[1]);
now_points[1] = GeometryTools.Average(this_center, this_corners[3]);
now_points[2] = GeometryTools.Average(this_center, this_corners[2]);
now_points[3] = GeometryTools.Average(this_center, this_corners[0]);
}
for (int k = 0; k < now_points.Count(); k++)
{
Plane now_plane = GeometryTools.Move(bricks[i][j], GeometryTools.P2P(bricks[i][j].Origin, now_points[k]));
now_plane = GeometryTools.Move(now_plane, 0, 0, retreat - 50);
now_plane = GeometryTools.Transform(sensorCenter, suckerCenter, now_plane);
targets_list[i].Add(now_plane);
names_list[i].Add(title[0] + i.ToString() + title[2] + j.ToString() + title[3] + k.ToString());
}
}
targets_list[i].Add(GeometryTools.Move(homePlane, new Vector3d(0, 0, (bricks[i][0].OriginZ - bricks[0][0].OriginZ) * 0.8)));
names_list[i].Add(title[0] + i.ToString() + title[1] + "1");
}
DataTree <Plane> targets = DataTools.ListToTree2(targets_list);
DataTree <string> names = DataTools.ListToTree2(names_list);
DA.SetDataTree(0, targets);
DA.SetDataTree(1, names);
}
protected override void SolveInstance(IGH_DataAccess DA)
{
GH_Structure <GH_Plane> raw_bricks = new GH_Structure <GH_Plane>();
GH_Structure <GH_String> raw_types = new GH_Structure <GH_String>();
GH_Structure <GH_Point> raw_corners = new GH_Structure <GH_Point>();
Plane suckerCenter = new Plane();
Plane nozzleCenter = new Plane();
Plane homePlane = new Plane();
double horizontalBorder = 25;
double verticalBorder = 25;
double gap = 25;
double retreat = 10;
if (!DA.GetDataTree("Bricks", out raw_bricks))
{
return;
}
if (!DA.GetDataTree("Types", out raw_types))
{
return;
}
if (!DA.GetDataTree("Corners", out raw_corners))
{
return;
}
if (!DA.GetData("SuckerCenter", ref suckerCenter))
{
return;
}
if (!DA.GetData("NozzleCenter", ref nozzleCenter))
{
return;
}
if (!DA.GetData("HomePlane", ref homePlane))
{
return;
}
if (!DA.GetData("HorizontalBorder", ref horizontalBorder))
{
return;
}
if (!DA.GetData("VerticalBorder", ref verticalBorder))
{
return;
}
if (!DA.GetData("Gap", ref gap))
{
return;
}
if (!DA.GetData("Retreat", ref retreat))
{
return;
}
if (raw_bricks.DataCount == 0)
{
return;
}
if (raw_types.DataCount == 0)
{
return;
}
if (raw_corners.DataCount == 0)
{
return;
}
if (!raw_bricks.get_DataItem(0).IsValid)
{
return;
}
if (!raw_types.get_DataItem(0).IsValid)
{
return;
}
if (!raw_corners.get_DataItem(0).IsValid)
{
return;
}
if (!DataTools.IsTreeDimension2(raw_bricks))
{
AddRuntimeMessage(GH_RuntimeMessageLevel.Error, "Wrong tree structure of bricks, please use {0}{1} type");
return;
}
if (!DataTools.IsTreeDimension2(raw_types))
{
AddRuntimeMessage(GH_RuntimeMessageLevel.Error, "Wrong tree structure of types, please use {0}{1} type");
return;
}
if (!DataTools.IsTreeDimension3(raw_corners))
{
AddRuntimeMessage(GH_RuntimeMessageLevel.Error, "Wrong tree structure of corners, please use {0;0}{0;1} type");
return;
}
if (!DataTools.IsTreeMatch23(raw_bricks, raw_corners))
{
AddRuntimeMessage(GH_RuntimeMessageLevel.Error, "Bricks and corners does not match");
return;
}
if (!DataTools.IsTreeMatch23(raw_types, raw_corners))
{
AddRuntimeMessage(GH_RuntimeMessageLevel.Error, "Types and corners does not match");
return;
}
if (horizontalBorder < 0)
{
AddRuntimeMessage(GH_RuntimeMessageLevel.Error, "Horizontal border must not be negative");
return;
}
if (verticalBorder < 0)
{
AddRuntimeMessage(GH_RuntimeMessageLevel.Error, "Vertical border must not be negative");
return;
}
if (gap <= 0)
{
AddRuntimeMessage(GH_RuntimeMessageLevel.Error, "Gap must be positive");
return;
}
if (retreat < 0)
{
AddRuntimeMessage(GH_RuntimeMessageLevel.Error, "Retreat must not be negative");
return;
}
List <List <Plane> > bricks = DataTools.TreeToList2(raw_bricks);
List <List <string> > types = DataTools.TreeToList2(raw_types);
List <List <List <Point3d> > > corners = DataTools.TreeToList3(raw_corners);
List <List <Plane> > targets_list = new List <List <Plane> >();
List <List <string> > names_list = new List <List <string> >();
string[] title = { "Floor", "Target" };
for (int i = 0; i < bricks.Count - 1; i++)
{
targets_list.Add(new List <Plane>());
names_list.Add(new List <string>());
int count = 0;
targets_list[i].Add(GeometryTools.Move(homePlane, new Vector3d(0, 0, (bricks[i][0].OriginZ - bricks[0][0].OriginZ) * 0.8)));
names_list[i].Add(title[0] + i.ToString() + title[1] + count.ToString());
for (int j = 0; j < bricks[i].Count; j++)
{
List <Plane> now_planes = new List <Plane>();
Point3d[] sorted_corners = new Point3d[4];
Point3d[] this_corners = corners[i][j].ToArray();
if (types[i][j] == "Horizontal" || types[i][j] == "Half")
{
sorted_corners = this_corners;
now_planes = GeometryTools.Hatch(bricks[i][j], sorted_corners, horizontalBorder, verticalBorder, gap);
}
else if (types[i][j] == "Vertical")
{
sorted_corners[0] = this_corners[1];
sorted_corners[1] = this_corners[3];
sorted_corners[2] = this_corners[0];
sorted_corners[3] = this_corners[2];
now_planes = GeometryTools.Hatch(bricks[i][j], sorted_corners, verticalBorder, horizontalBorder, gap);
}
else
{
AddRuntimeMessage(GH_RuntimeMessageLevel.Error, "Wrong type name");
return;
}
for (int k = 0; k < now_planes.Count; k++)
{
now_planes[k] = GeometryTools.Move(now_planes[k], 0, 0, retreat);
now_planes[k] = GeometryTools.Transform(nozzleCenter, suckerCenter, now_planes[k]);
if (j == 0 && k == 0)
{
count++;
targets_list[i].Add(GeometryTools.Move(now_planes[k], -bricks[i][j].XAxis * 150));
names_list[i].Add(title[0] + i.ToString() + title[1] + count.ToString());
}
count++;
targets_list[i].Add(now_planes[k]);
names_list[i].Add(title[0] + i.ToString() + title[1] + count.ToString());
if (j == bricks[i].Count - 1 && k == now_planes.Count - 1)
{
count++;
targets_list[i].Add(GeometryTools.Move(now_planes[k], bricks[i][j].XAxis * 150));
names_list[i].Add(title[0] + i.ToString() + title[1] + count.ToString());
}
}
}
count++;
targets_list[i].Add(GeometryTools.Move(homePlane, new Vector3d(0, 0, (bricks[i][0].OriginZ - bricks[0][0].OriginZ) * 0.8)));
names_list[i].Add(title[0] + i.ToString() + title[1] + count.ToString());
}
DataTree <Plane> targets = DataTools.ListToTree2(targets_list);
DataTree <string> names = DataTools.ListToTree2(names_list);
DA.SetDataTree(0, targets);
DA.SetDataTree(1, names);
}