private void mark(BrowserNodesEnumerator browserNodes)
{
foreach (BrowserNode node in browserNodes)
{
if (node.NativeObject is BrowserFolder)
{
mark(node.BrowserNodes);
}
if (node.NativeObject is ComponentOccurrence)
{
ComponentOccurrence occ = (ComponentOccurrence)node.NativeObject;
int TranslationDegreesCount;
ObjectsEnumerator TranslationDegreesVectors;
int RotationDegreesCount;
ObjectsEnumerator RotationDegreesVectors;
Point DOFCenter;
occ.GetDegreesOfFreedom(out TranslationDegreesCount, out TranslationDegreesVectors,
out RotationDegreesCount, out RotationDegreesVectors, out DOFCenter);
BrowserNodeDisplayStateEnum displaystate = node.BrowserNodeDefinition.DisplayState;
if (displaystate == BrowserNodeDisplayStateEnum.kDefaultDisplayState ||
displaystate == BrowserNodeDisplayStateEnum.kGreenCheckDisplayState ||
displaystate == BrowserNodeDisplayStateEnum.kCyclicDisplayState)
{
if ((TranslationDegreesCount == 0) && (RotationDegreesCount == 0))
{
node.BrowserNodeDefinition.DisplayState = BrowserNodeDisplayStateEnum.kGreenCheckDisplayState;
}
//else if ((TranslationDegreesCount == 0) && (RotationDegreesCount == 1))
//{
// node.BrowserNodeDefinition.DisplayState = BrowserNodeDisplayStateEnum.kCyclicDisplayState;
//}
else
{
node.BrowserNodeDefinition.DisplayState = BrowserNodeDisplayStateEnum.kDefaultDisplayState;
}
}
}
}
}
//Generate SDF file.
private void GenerateSDF()
{
UnitsOfMeasure oUOM = _invApp.ActiveDocument.UnitsOfMeasure;
AssemblyDocument oAsmDoc = (AssemblyDocument)_invApp.ActiveDocument;
AssemblyComponentDefinition oAsmCompDef = oAsmDoc.ComponentDefinition;
List <ComponentOccurrence> compOccurs = new List <ComponentOccurrence>();
List <AssemblyConstraint> constraints = new List <AssemblyConstraint>();
//Recursively make a list of all component parts.
List <AssemblyComponentDefinition> loopList = new List <AssemblyComponentDefinition>();
//TODO: Store OccuranceName vs Pose for assemblies.
loopList.Add((AssemblyComponentDefinition)oAsmCompDef);
//Recursively make a list of all component parts.
while (loopList.Count > 0)
{
AssemblyComponentDefinition loopAsmCompDef = loopList[0];
loopList.RemoveAt(0);
foreach (ComponentOccurrence occ in loopAsmCompDef.Occurrences)
{
if (occ.DefinitionDocumentType == DocumentTypeEnum.kPartDocumentObject || occ.Definition is WeldmentComponentDefinition)
{
//Store parts and weldments for link creation
compOccurs.Add(occ);
//occ.
WriteLine("Processing part '" + occ.Name + "' with " + occ.Constraints.Count + " constraints.");
}
else if (occ.DefinitionDocumentType == DocumentTypeEnum.kAssemblyDocumentObject)
{
//Get parts from assemblies.
loopList.Add((AssemblyComponentDefinition)occ.Definition);
WriteLine("Processing assembly '" + occ.Name + "' with " + occ.Constraints.Count + " constraints.");
}
}
//Get Assembly Constraints
foreach (AssemblyConstraint cons in loopAsmCompDef.Constraints)
{
constraints.Add(cons);
}
}
WriteLine(compOccurs.Count.ToString() + " parts to convert.");
WriteLine(constraints.Count.ToString() + " constraints to convert.");
//Get all the available links
foreach (ComponentOccurrence oCompOccur in compOccurs)
{
//Define a link
Link link = new Link(RemoveColon(oCompOccur.Name));
//Get global position and COM
double Mass = oCompOccur.MassProperties.Mass;
//Calculate rotation.
Inventor.Matrix R1 = oCompOccur.Transformation;
// Set position and rotation
//TODO: Check globalised scale
//TODO: Set pose relative to parent occurance.
link.Pose = new Pose(R1, precision, scale);
// Get Moments of Inertia.
double[] iXYZ = new double[6];
//Pos of C.O.M., Rot of Link.
// Ixx, Iyy, Izz, Ixy, Iyz, Ixz
// Ixx, Ixy, Ixz, Iyy, Iyz, Izz
oCompOccur.MassProperties.XYZMomentsOfInertia(out iXYZ[0], out iXYZ[3], out iXYZ[5], out iXYZ[1], out iXYZ[4], out iXYZ[2]);
Inventor.Point COMp = oCompOccur.MassProperties.CenterOfMass;
double[] COM = new double[3] {
COMp.X, COMp.Y, COMp.Z
};
// Set Moments of Inertia
//Takes precision from link.Pose.
link.Inertial = new Inertial(Mass, iXYZ, COM, link.Pose, scale);
// Set the URI for the link's model.
String URI = "model://<MODELNAME>/meshes/" + link.Name + ".stl";
link.Visual = new Visual(new Mesh(URI, scale));
link.Collision = new Collision(new Mesh(URI, scale));
// Print out link information.
WriteLine("New Link: --------------------------------------");
WriteLine(" Name: " + link.Name);
WriteLine(" Pose: " + link.Pose.ToString());
//link.Pose = new Pose(link.Pose);
WriteLine(" Pose: " + link.Pose.ToString());
WriteLine(" InertiaPose: " + link.Inertial.Pose.ToString());
Matrix <double> M2 = DenseMatrix.OfArray(link.Inertial.InertiaMatrix);
WriteLine(M2.ToString());
WriteLine(" Mass: " + Mass);
WriteLine(" Rotation Matrix: " + System.Environment.NewLine + link.Pose.PrintMatrix());
// Add link to robot
robo.Links.Add(link);
}
WriteLine(constraints.Count.ToString() + " constraints to convert.");
//Get all the available joints
foreach (AssemblyConstraint constraint in constraints)
{
//Some checks
if (constraint.Suppressed)
{
//Skip suppressed constraints.
WriteLine("Skipped a suppressed constraint.");
continue;
}
//Set some starting variables.
String name = constraint.Name;
Inventor.Point center;
JointType type = JointType.Revolute;
//Calculate which should be child.
ComponentOccurrence childP = constraint.OccurrenceOne;
ComponentOccurrence parentP = constraint.OccurrenceTwo;
if (childP == null || parentP == null)
{
//Skip incomplete constraints
WriteLine("Skipped a constraint without an Occurance.");
continue;
}
//Get degrees of freedom information.
int transDOFCount, rotDOFCount;
Inventor.ObjectsEnumerator transDOF, rotDOF;
Inventor.Point DOFCenter;
childP.GetDegreesOfFreedom(out transDOFCount, out transDOF, out rotDOFCount, out rotDOF, out DOFCenter);
if (rotDOFCount + transDOFCount == 0)
{
parentP.GetDegreesOfFreedom(out transDOFCount, out transDOF, out rotDOFCount, out rotDOF, out DOFCenter);
if (rotDOFCount + transDOFCount == 0)
{
WriteLine("Skipped a constraint with 0 DOF.");
continue;
}
//Parent has DOF but child doesn't. Switch Parent and Child.
ComponentOccurrence temp = childP;
childP = parentP;
parentP = temp;
}
//Get Model Links
Link child = GetLinkByName(RemoveColon(childP.Name));
Link parent = GetLinkByName(RemoveColon(parentP.Name));
if (child == null || parent == null)
{
//Skip incomplete constraints
WriteLine("Skipped a constraint without a Link.");
continue;
}
//Get constraint information
Pose Pose;
Axis Axis;
Inventor.Point Geomcenter;
if (constraint is InsertConstraint && constraint.GeometryOne is Circle)
{
//Handle Insert Constraints (Revolute)
Circle circ = (Circle)constraint.GeometryOne;
Geomcenter = circ.Center;
Axis = new Axis(circ.Normal.X, circ.Normal.Y, circ.Normal.Z);
type = JointType.Revolute;
}
else if (constraint is MateConstraint && constraint.GeometryOne is Line)
{
//Handle Mate Constraints (Prismatic)
Inventor.Line line = (Line)constraint.GeometryOne;
Geomcenter = line.RootPoint;
//TODO: Find out if axis is global, or local to assembly.
Axis = new Axis(line.Direction.X, line.Direction.Y, line.Direction.Z);
type = JointType.Prismatic;
}
else
{
//Skip other constraints
WriteLine("Skipped an uknown constraint");
continue;
}
Pose = new Pose(Geomcenter.X, Geomcenter.Y, Geomcenter.Z, precision, scale);
WriteLine("New joint: --------------------------------------");
WriteLine(" Name: " + name);
WriteLine(" Parent: " + parent.Name);
WriteLine(" Child: " + child.Name);
WriteLine(" Pose: " + Pose.ToString());
Pose.GetPosRelativeTo(child.Pose);
WriteLine(" Child Loc: " + child.Pose.ToString());
WriteLine(" Relative Pose: " + Pose.ToString());
WriteLine(" Axis: " + Axis.ToString());
WriteLine(" rotDOF: " + rotDOFCount + " transDOF: " + transDOFCount);
//Add the joint to the robot
Joint joint = new Joint(name, type);
joint.Axis = Axis;
joint.Parent = parent;
joint.Child = child;
joint.Pose = Pose;
robo.Joints.Add(joint);
}
//Saving turned on?
if (this.checkBox2.Checked)
{
// Save the SDF
FolderBrowserDialog folderDialog1 = new FolderBrowserDialog();
if (folderDialog1.ShowDialog() == DialogResult.OK)
{
robo.WriteSDFToFile(folderDialog1.SelectedPath, precision);
}
//Save STLs?
foreach (ComponentOccurrence oCompOccur in compOccurs)
{
if (oCompOccur.DefinitionDocumentType == DocumentTypeEnum.kPartDocumentObject && this.checkBox1.Checked)
{
PartDocument partDoc = (PartDocument)oCompOccur.Definition.Document;
partDoc.SaveAs(folderDialog1.SelectedPath + "\\meshes\\" + RemoveColon(oCompOccur.Name) + ".stl", true);
WriteLine("Finished saving: " + folderDialog1.SelectedPath + "\\meshes\\" + RemoveColon(oCompOccur.Name) + ".stl");
}
}
}
#region oldcode
//foreach (ComponentOccurrence oCompOccur in oAsmCompDef.Occurrences)
//{
// // Generate links from available subassemblies in main assembly.
// //Debugger.Break();
// //New Link
// robo.Links.Add(new Link(oCompOccur.Name));
// int c = robo.Links.Count - 1;
// WriteLine("Added Link: "+ robo.Links[c].Name +", link count: " + robo.Links.Count.ToString());
// //Find and set parent link
// for (int i = 0; i < robo.Links.Count; i++)
// {
// if (String.Equals(robo.Links[i].Name, ReturnParentName(oCompOccur)))
// {
// robo.Links[c].Parent = robo.Links[i];
// WriteLine("Link's parent: " + robo.Links[i].Name);
// }
// }
// //If link has a parent
// if (robo.Links[c].Parent != null)
// {
// //Define a joint
// robo.Joints.Add(new Joint(FormatJointName(robo.Links[c].Name), JointType.Revolute, robo.Links[c].Parent, robo.Links[c]));
// int j = robo.Joints.Count - 1;
// //Parse joint axis
// switch (robo.Joints[j].Name[robo.Joints[j].Name.Length - 1])
// {
// case 'R':
// robo.Joints[j].Axis = new double[] { 1, 0, 0 };
// break;
// case 'P':
// robo.Joints[j].Axis = new double[] { 0, 1, 0 };
// break;
// case 'Y':
// robo.Joints[j].Axis = new double[] { 0, 0, 1 };
// break;
// default:
// break;
// }
// }
// // Get mass properties for each link.
// double[] iXYZ = new double[6];
// oCompOccur.MassProperties.XYZMomentsOfInertia(out iXYZ[0], out iXYZ[3], out iXYZ[5], out iXYZ[1], out iXYZ[4], out iXYZ[2]); // Ixx, Iyy, Izz, Ixy, Iyz, Ixz -> Ixx, Ixy, Ixz, Iyy, Iyz, Izz
// robo.Links[c].Inertial = new Inertial(oCompOccur.MassProperties.Mass, iXYZ);
// robo.Links[c].Inertial.XYZ = FindCenterOfMassOffset(oCompOccur);
// // Set shape properties for each link.
// robo.Links[c].Visual = new Visual(new Mesh("package://" + robo.Name + "/" + robo.Links[c].Name + ".stl"));
//}
#endregion
}
