public static List <ResultsR> GetResults()
{
List <ResultsR> Results = new List <ResultsR>();
IRobotCollection Bars = robotApp.Project.Structure.Bars.GetAll();
IRobotCaseCollection LoadingCases = robotApp.Project.Structure.Cases.GetAll();
for (int i = 1; i <= Bars.Count; i++)
{
IRobotBar Element = Bars.Get(i);
for (int j = 1; j <= LoadingCases.Count; j++)
{
IRobotCase Case = LoadingCases.Get(j);
int caseNum = Case.Number;
IRobotBarForceData Force = barForceServer.Value(i, caseNum, 0.5);
double FX = Force.FX;
double FY = Force.FY;
double FZ = Force.FZ;
double MX = Force.MX;
double MY = Force.MY;
double MZ = Force.MZ;
double KY = Force.KY;
double KZ = Force.KZ;
ResultsR barResult = new ResultsR(FX, FY, FZ, MX, MY, MZ, KY, KZ);
Results.Add(barResult);
}
}
return(Results);
}
public static double[,] Run_analysis()
{
robApp.Project.CalcEngine.Calculate();
results = robApp.Project.Structure.Results.Bars.Forces;
double[,] a = new double[6, Genome.towerBar_cnt];
// for (int k = 0; k < 4; k++) //para 5 casos de carga
// {
for (int i = 0; i < Genome.towerBar_cnt; i++)
{
IRobotBar current_bar = (IRobotBar)robApp.Project.Structure.Bars.Get(i + 1);
a[0, i] = i + 1;
a[1, i] = current_bar.Length;
a[2, i] = Max(results.Value(i + 1, 1, 0).FX * -1.0, results.Value(i + 1, 1, 0.5).FX * -1.0, results.Value(i + 1, 1, 1).FX * -1.0) / 1000; //converter N para Kn *-1 porque comp = + no robot
// a[3, i] = Max(results.Value(i + 1, 1, 0).MY, results.Value(i + 1, 1, 0.5).MY, results.Value(i + 1, 1, 1).MY) / 1000; //N/m -> kN/m
// a[4, i] = Max(results.Value(i + 1, 1, 0).MZ, results.Value(i + 1, 1, 0.5).MZ, results.Value(i + 1, 1, 1).MZ) / 1000;
//a[5, i] = 1; //remover(era para o V)
// para comparar multiplos load cases
for (int k = 2; k < 5; k++)
{
double temp = Max(results.Value(i + 1, k, 0).FX * -1.0, results.Value(i + 1, k, 0.5).FX * -1.0, results.Value(i + 1, k, 1).FX * -1.0) / 1000;
if (a[2, i] < 0 && temp < 0) // se a verificação e de buckling
{
a[2, i] = Math.Min(a[2, i], temp);
}
else if (a[2, i] < 0 && temp > 0)
{
if (temp * 0.4 > Math.Abs(a[2, i]))
{
a[2, i] = temp;
} // so se força de traçao for muito maior é que substitui força de comp
}
else if (a[2, i] > 0 && temp < 0)
{
if (Math.Abs(temp) > 0.4 * a[2, i])
{
a[2, i] = temp;
} // so se a F tração for muito grande é que nao é subst por comp
}
else if (a[2, i] > 0 && temp > 0)
{
a[2, i] = Math.Max(temp, a[2, i]);
}
}
}
return(a); //[rbt_bar_num,Lenght,Fx,My,Mz]
}
public void test()
{
RobotApplication appRSA = new RobotApplication();
getMaterialNameListRSA(appRSA);
getBarSectionNamesRSA(appRSA);
RobotStructure structureRSA = appRSA.Project.Structure;
RobotBarServer barsRSA = structureRSA.Bars;
RobotNodeServer nodesRSA = structureRSA.Nodes;
RobotObjObjectServer objRSA = structureRSA.Objects;
RobotLabelServer labelsRSA = appRSA.Project.Structure.Labels;
//Определение выборок выделенных в модели объектов
RobotSelection barSel = structureRSA.Selections.Get(IRobotObjectType.I_OT_BAR);
RobotSelection plateSel = structureRSA.Selections.Get(IRobotObjectType.I_OT_PANEL);
RobotSelection holesSel = structureRSA.Selections.Get(IRobotObjectType.I_OT_GEOMETRY);
RobotBarCollection barsMany = (RobotBarCollection)barsRSA.GetMany(barSel);
RobotObjObjectCollection platesMany = (RobotObjObjectCollection)objRSA.GetMany(plateSel);
IRobotBar barRSA = barsMany.Get(3);
IRobotObjObject plate = platesMany.Get(1);
IRobotLabel labelPlate = plate.GetLabel(IRobotLabelType.I_LT_PANEL_THICKNESS);
RobotGeoPoint3DCollection defPoints = (RobotGeoPoint3DCollection)plate.Main.DefPoints;
RobotGeoPoint3D pt1 = defPoints.Get(1);
RobotGeoPoint3D pt2 = defPoints.Get(2);
RobotGeoPoint3D pt3 = defPoints.Get(defPoints.Count);
//IRobotGeoContour geoContour=(IRobotGeoContour)plate.Main.Geometry;
//IRobotGeoObject geoObj=plate.Main.Geometry;
IRobotLabel labelBar = barRSA.GetLabel(IRobotLabelType.I_LT_BAR_SECTION);
RobotBarSectionData data = labelBar.Data;
RobotBarSectionConcreteData cData = data.Concrete;
double b = cData.GetValue(IRobotBarSectionConcreteDataValue.I_BSCDV_COL_B);
double h = cData.GetValue(IRobotBarSectionConcreteDataValue.I_BSCDV_COL_H);
double l1 = cData.GetValue(IRobotBarSectionConcreteDataValue.I_BSCDV_COL_L1);
double l2 = cData.GetValue(IRobotBarSectionConcreteDataValue.I_BSCDV_COL_L2);
double h1 = cData.GetValue(IRobotBarSectionConcreteDataValue.I_BSCDV_COL_H1);
double h2 = cData.GetValue(IRobotBarSectionConcreteDataValue.I_BSCDV_COL_H2);
double de = cData.GetValue(IRobotBarSectionConcreteDataValue.I_BSCDV_COL_DE);
double alfa = barRSA.Gamma;
}
public static void GetResults()
{
IRobotCollection Bars = robotApp.Project.Structure.Bars.GetAll();
IRobotCaseCollection LoadingCases = robotApp.Project.Structure.Cases.GetAll();
for (int i = 1; i <= Bars.Count; i++)
{
IRobotBar Element = Bars.Get(i);
for (int j = 1; j <= LoadingCases.Count; j++)
{
IRobotCase Case = LoadingCases.Get(j);
int caseNum = Case.Number;
IRobotBarForceData Force = barForceServer.Value(i, caseNum, 0.5);
double FX = Force.FX;
double FY = Force.FY;
double FZ = Force.FZ;
double MX = Force.MX;
double MY = Force.MY;
double MZ = Force.MZ;
}
}
}
public void CopyData()
{
button1.Text = "Loading...";
//this.WindowState = FormWindowState.Minimized;
//-------------------------------------
//Load Cases
IRobotCaseCollection robotCaseCollection = robapp.Project.Structure.Cases.GetAll();
int loadCase = 0;
int FindCase(string casename)
{
int number = 1;
IRobotCase robotCase = robapp.Project.Structure.Cases.Get(1);
for (int i = 0; i < robotCaseCollection.Count; i++)
{
robotCase = robapp.Project.Structure.Cases.Get(i);
if (robotCase != null)
{
if (robotCase.Name == casename)
{
number = i;
break;
}
}
}
loadCase = number;
return(number);
}
//-------------------------------------
//Get Number of Bars Selected
RobotSelection barSel = robapp.Project.Structure.Selections.Get(IRobotObjectType.I_OT_BAR);
//Get All Load Cases
RobotSelection casSel = robapp.Project.Structure.Selections.Get(IRobotObjectType.I_OT_CASE);
//Get Bar and Node Data
IRobotBarServer robotBarServer = robapp.Project.Structure.Bars;
IRobotNodeServer inds = robapp.Project.Structure.Nodes;
//Get a List of the bars and Setup bar information Struct
int[] barSelArray = new int[barSel.Count];
BeamDataStruct[] beamData = new BeamDataStruct[barSelArray.Length];
for (int i = 1; i < barSel.Count + 1; i++)
{
//Setup bar no. array
barSelArray[i - 1] = barSel.Get(i);
//Get node information from bar data
IRobotBar bar = (IRobotBar)robotBarServer.Get(barSelArray[i - 1]);
int startNodeNo = bar.StartNode;
int endNodeNo = bar.EndNode;
IRobotNode startNode = (IRobotNode)inds.Get(startNodeNo);
IRobotNode endNode = (IRobotNode)inds.Get(endNodeNo);
//If a Beam, Skip
if (startNode.Z == endNode.Z)
{
continue;
}
//Which is highest node
IRobotNode node = (startNode.Z > endNode.Z) ? startNode : endNode;
//Populate beam data from node and bar data.
beamData[i - 1].barNo = barSelArray[i - 1];
IRobotBarSectionData sectData = bar.GetLabel(IRobotLabelType.I_LT_BAR_SECTION).Data;
double depth = sectData.GetValue(IRobotBarSectionDataValue.I_BSDV_BF);
double breath = sectData.GetValue(IRobotBarSectionDataValue.I_BSDV_D);
if (depth < breath)
{
double holder = breath;
breath = depth;
depth = holder;
}
depth = depth * 1000;
breath = breath * 1000;
beamData[i - 1].section = $"C1 {depth} x {breath}";
beamData[i - 1].x = node.X;
beamData[i - 1].y = node.Y;
beamData[i - 1].z = node.Z;
beamData[i - 1].height = bar.Length;
IRobotMaterialData concrete = bar.GetLabel(IRobotLabelType.I_LT_MATERIAL).Data;
Double concreteS = concrete.RE / 1000000;
beamData[i - 1].concreteStrength = concreteS.ToString();
}
textBox2.AppendText("\r\nSorting\r\n");
beamData = beamData.OrderBy(x => x.z).ToArray();
beamData = beamData.OrderBy(x => x.y).ToArray();
beamData = beamData.OrderBy(x => x.x).ToArray();
int group = 1;
int posInGroup = 0;
for (int i = 0; i < beamData.Length; i++)
{
posInGroup = 0;
for (int j = 0; j < beamData.Length; j++)
{
if (beamData[i].x - beamData[j].x < 0.0001 && beamData[i].y - beamData[j].y < 0.0001 && beamData[i].barNo != beamData[j].barNo)
{
if (beamData[j].group != 0)
{
beamData[i].group = beamData[j].group;
for (int k = 0; k < beamData.Length; k++)
{
if (beamData[i].group == beamData[k].group && beamData[i].barNo != beamData[k].barNo)
{
posInGroup++;
}
}
beamData[i].posInGroup = posInGroup;
}
else
{
beamData[i].group = group;
group++;
}
break;
}
}
}
void CalculateResults()
{
textBox2.AppendText($"\r\nStarting calculation: {DateTime.Now.ToString("h:mm:ss tt")}");
RobotExtremeParams robotExtremeParams = robapp.CmpntFactory.Create(IRobotComponentType.I_CT_EXTREME_PARAMS);
robapp.Project.Structure.Selections.Get(IRobotObjectType.I_OT_CASE).FromText(FindCase(listBox1.SelectedItem.ToString()).ToString());
robotExtremeParams.Selection.Set(IRobotObjectType.I_OT_CASE, casSel);
IRobotBarForceServer robotBarResultServer = robapp.Project.Structure.Results.Bars.Forces;
int total = beamData.Length;
bool firstLoop = true;
string columnsSelected = "";
for (int i = 0; i < beamData.Length; i++)
{
DateTime startTime = DateTime.Now;
textBox2.AppendText($"\r\nStart Calculation {i + 1} / {total} before bar selection: {DateTime.Now.ToString("h:mm:ss tt")}");
robapp.Project.Structure.Selections.Get(IRobotObjectType.I_OT_BAR).FromText(beamData[i].barNo.ToString());
robotExtremeParams.Selection.Set(IRobotObjectType.I_OT_BAR, barSel);
//MZ
robotExtremeParams.ValueType = IRobotExtremeValueType.I_EVT_FORCE_BAR_MZ;
if (Math.Abs(robapp.Project.Structure.Results.Extremes.MaxValue(robotExtremeParams).Value) > Math.Abs(robapp.Project.Structure.Results.Extremes.MinValue(robotExtremeParams).Value))
{
beamData[i].mZForceServer = robotBarResultServer.ValueEx(beamData[i].barNo, loadCase, robapp.Project.Structure.Results.Extremes.MaxValue(robotExtremeParams).CaseCmpnt, 1);
beamData[i].mZForceServerbtm = robotBarResultServer.ValueEx(beamData[i].barNo, loadCase, robapp.Project.Structure.Results.Extremes.MaxValue(robotExtremeParams).CaseCmpnt, 0);
}
else
{
beamData[i].mZForceServer = robotBarResultServer.ValueEx(beamData[i].barNo, loadCase, robapp.Project.Structure.Results.Extremes.MinValue(robotExtremeParams).CaseCmpnt, 1);
beamData[i].mZForceServerbtm = robotBarResultServer.ValueEx(beamData[i].barNo, loadCase, robapp.Project.Structure.Results.Extremes.MinValue(robotExtremeParams).CaseCmpnt, 0);
}
beamData[i].mzValue = Math.Abs(beamData[i].mZForceServer.MZ) > Math.Abs(beamData[i].mZForceServerbtm.MZ) ? beamData[i].mZForceServer.FX : beamData[i].mZForceServerbtm.FX;
//MY
robotExtremeParams.ValueType = IRobotExtremeValueType.I_EVT_FORCE_BAR_MY;
if (Math.Abs(robapp.Project.Structure.Results.Extremes.MaxValue(robotExtremeParams).Value) > Math.Abs(robapp.Project.Structure.Results.Extremes.MinValue(robotExtremeParams).Value))
{
beamData[i].mYForceServer = robotBarResultServer.ValueEx(beamData[i].barNo, loadCase, robapp.Project.Structure.Results.Extremes.MaxValue(robotExtremeParams).CaseCmpnt, 1);
beamData[i].mYForceServerbtm = robotBarResultServer.ValueEx(beamData[i].barNo, loadCase, robapp.Project.Structure.Results.Extremes.MaxValue(robotExtremeParams).CaseCmpnt, 0);
}
else
{
beamData[i].mYForceServer = robotBarResultServer.ValueEx(beamData[i].barNo, loadCase, robapp.Project.Structure.Results.Extremes.MinValue(robotExtremeParams).CaseCmpnt, 1);
beamData[i].mYForceServerbtm = robotBarResultServer.ValueEx(beamData[i].barNo, loadCase, robapp.Project.Structure.Results.Extremes.MinValue(robotExtremeParams).CaseCmpnt, 0);
}
beamData[i].myValue = Math.Abs(beamData[i].mYForceServer.MY) > Math.Abs(beamData[i].mYForceServerbtm.MY) ? beamData[i].mYForceServer.FX : beamData[i].mYForceServerbtm.FX;
//FX
robotExtremeParams.ValueType = IRobotExtremeValueType.I_EVT_FORCE_BAR_FX;
if (Math.Abs(robapp.Project.Structure.Results.Extremes.MaxValue(robotExtremeParams).Value) > Math.Abs(robapp.Project.Structure.Results.Extremes.MinValue(robotExtremeParams).Value))
{
beamData[i].fXForceServer = robotBarResultServer.ValueEx(beamData[i].barNo, loadCase, robapp.Project.Structure.Results.Extremes.MaxValue(robotExtremeParams).CaseCmpnt, 1);
beamData[i].fXForceServerbtm = robotBarResultServer.ValueEx(beamData[i].barNo, loadCase, robapp.Project.Structure.Results.Extremes.MaxValue(robotExtremeParams).CaseCmpnt, 0);
}
else
{
beamData[i].fXForceServer = robotBarResultServer.ValueEx(beamData[i].barNo, loadCase, robapp.Project.Structure.Results.Extremes.MinValue(robotExtremeParams).CaseCmpnt, 1);
beamData[i].fXForceServerbtm = robotBarResultServer.ValueEx(beamData[i].barNo, loadCase, robapp.Project.Structure.Results.Extremes.MinValue(robotExtremeParams).CaseCmpnt, 0);
}
beamData[i].fxValue = Math.Abs(beamData[i].fXForceServer.FX) > Math.Abs(beamData[i].fXForceServerbtm.FX) ? beamData[i].fXForceServer.FX : beamData[i].fXForceServerbtm.FX;
double totalTime = (DateTime.Now - startTime).TotalSeconds;
textBox2.AppendText($"\r\nEnd Calculation {i + 1} / {total} {DateTime.Now.ToString("h:mm:ss tt")} \r\nTime taken: {totalTime}");
if (firstLoop)
{
textBox2.AppendText($"\r\nEstimated finish time: {DateTime.Now.AddSeconds(total * totalTime).ToString("h:mm:ss tt")}");
firstLoop = false;
}
columnsSelected += $"{beamData[i].barNo.ToString()} ";
}
textBox2.AppendText($"\r\ncolumns selected {columnsSelected}");
robapp.Project.Structure.Selections.Get(IRobotObjectType.I_OT_BAR).FromText(columnsSelected);
}
int maxCol = 1;
void WriteResults()
{
int column = 1;
int currentGroup = 0;
for (int i = 0; i < beamData.Length; i++)
{
if (beamData[i].group == currentGroup)
{
column = beamData[i].posInGroup;
if (column >= maxCol)
{
maxCol = column;
}
}
else
{
currentGroup++;
column = 0;
}
int row = currentGroup + 2;
int columnPos = beamData[i].posInGroup + 1;
WriteCell(row, 0, columnPos.ToString());
WriteCell(row, 1 + 22 * column, beamData[i].section.ToString());
WriteCell(row, 2 + 22 * column, beamData[i].barNo.ToString());
WriteCell(row, 3 + 22 * column, beamData[i].concreteStrength.ToString());
WriteCell(row, 4 + 22 * column, beamData[i].group.ToString());
WriteCell(row, 5 + 22 * column, beamData[i].posInGroup.ToString());
WriteCell(row, 6 + 22 * column, beamData[i].height.ToString());
WriteCell(row, 7 + 22 * column, (beamData[i].fxValue / 1000).ToString());
WriteCell(row, 8 + 22 * column, (beamData[i].fXForceServer.MY / 1000).ToString());
WriteCell(row, 9 + 22 * column, (beamData[i].fXForceServer.MZ / 1000).ToString());
WriteCell(row, 10 + 22 * column, (beamData[i].fXForceServerbtm.MY / 1000).ToString());
WriteCell(row, 11 + 22 * column, (beamData[i].fXForceServerbtm.MZ / 1000).ToString());
WriteCell(row, 12 + 22 * column, (beamData[i].mzValue / 1000).ToString());
WriteCell(row, 13 + 22 * column, (beamData[i].mZForceServer.MY / 1000).ToString());
WriteCell(row, 14 + 22 * column, (beamData[i].mZForceServer.MZ / 1000).ToString());
WriteCell(row, 15 + 22 * column, (beamData[i].mZForceServerbtm.MY / 1000).ToString());
WriteCell(row, 16 + 22 * column, (beamData[i].mZForceServerbtm.MZ / 1000).ToString());
WriteCell(row, 17 + 22 * column, (beamData[i].myValue / 1000).ToString());
WriteCell(row, 18 + 22 * column, (beamData[i].mYForceServer.MY / 1000).ToString());
WriteCell(row, 19 + 22 * column, (beamData[i].mYForceServer.MZ / 1000).ToString());
WriteCell(row, 20 + 22 * column, (beamData[i].mYForceServerbtm.MY / 1000).ToString());
WriteCell(row, 21 + 22 * column, (beamData[i].mYForceServerbtm.MZ / 1000).ToString());
}
WriteCell(0, 0, currentGroup.ToString());
}
void PopulateHeaders()
{
for (int i = 0; i <= maxCol; i++)
{
//Headers
WriteCell(1, 1 + 22 * i, "Cross Section");
WriteCell(1, 2 + 22 * i, "Bar No.");
WriteCell(1, 3 + 22 * i, "Concrete Strength");
WriteCell(1, 4 + 22 * i, "Group");
WriteCell(1, 5 + 22 * i, "Pos In Group");
WriteCell(1, 6 + 22 * i, "Length");
//FZ Max
WriteCell(1, 7 + 22 * i, "Fx (Max) [kN]");
WriteCell(1, 8 + 22 * i, "My (Top) [kNm]");
WriteCell(1, 9 + 22 * i, "Mz (Top) [kNm]");
WriteCell(1, 10 + 22 * i, "My (Btm) [kNm]");
WriteCell(1, 11 + 22 * i, "Mz (Btm) [kNm]");
//MX Max
WriteCell(1, 12 + 22 * i, "Fx (Max) [kN]");
WriteCell(1, 13 + 22 * i, "My (Top) [kNm]");
WriteCell(1, 14 + 22 * i, "Mz (Top) [kNm]");
WriteCell(1, 15 + 22 * i, "My (Btm) [kNm]");
WriteCell(1, 16 + 22 * i, "Mz (Btm) [kNm]");
//MY Max
WriteCell(1, 17 + 22 * i, "Fx (Max) [kN])");
WriteCell(1, 18 + 22 * i, "My (Top) [kNm]");
WriteCell(1, 19 + 22 * i, "Mz (Top) [kNm]");
WriteCell(1, 20 + 22 * i, "My (Btm) [kNm]");
WriteCell(1, 21 + 22 * i, "Mz (Btm) [kNm]");
//Headers
WriteCell(0, 9 + 22 * i, "Fx (Max)");
WriteCell(0, 14 + 22 * i, "Mz (Max)");
WriteCell(0, 19 + 22 * i, "My (Max)");
}
}
WriteData();
CalculateResults();
WriteResults();
PopulateHeaders();
SaveExcel();
CloseExcel();
button1.Text = "Start";
textBox2.AppendText("\r\nDone, view your documents for the file named 'Results for bars ~date~', you may close this window or select more columns and press 'Start'.");
robapp = null;
this.WindowState = FormWindowState.Normal;
}
/// <summary>
/// Extract the straight-line geometry of a Robot bar as a Nucleus line
/// </summary>
/// <param name="bar">The bar to extract geometry for</param>
/// <param name="structureNodes">The full collection of nodes within the structure that contains the bar</param>
/// <returns></returns>
public static Line GeometryOf(IRobotBar bar, RobotNodeServer structureNodes)
{
return(new Line(PositionOf(bar.Start, structureNodes), PositionOf(bar.End, structureNodes)));
}
}//loadProfileDatabase
//Divide columns into a number of bars
//Reference: https://forums.autodesk.com/t5/robot-structural-analysis-forum/api-divide-bars/m-p/4422193#M16921
public void divideColumns(int divisionNumber, string section)
{
int firstIsolatedNode = iRobotApp.Project.Structure.Nodes.FreeNumber; //First new created node
int freeNodeNumber = firstIsolatedNode;
//Add columns to the selection
foreach (Bar bar in bars)
{
if (bar.type == MemberType.Column)
{
IRobotBar robotBar = (RobotBar)iRobotApp.Project.Structure.Bars.Get(bar.id);
IRobotNode startNode = (RobotNode)iRobotApp.Project.Structure.Nodes.Get(bar.startNode.id);
IRobotNode endNode = (RobotNode)iRobotApp.Project.Structure.Nodes.Get(bar.endNode.id);
//Console.WriteLine("freeNodeNumber: " + freeNodeNumber);
//Bar vector
double vx, vy, vz, vl;
vx = endNode.X - startNode.X;
vy = endNode.Y - startNode.Y;
vz = endNode.Z - startNode.Z;
//Vector length
vl = Math.Sqrt(Math.Pow(vx, 2) + Math.Pow(vy, 2) + Math.Pow(vz, 2));
//Normalization
vx /= vl;
vy /= vl;
vz /= vl;
//distance between nodes
double distance = vl / divisionNumber;
//Adding new nodes
for (int j = 0; j < divisionNumber - 1; j++)
{
//Add to the list of nodes
//Add a new node
Node node = new Node(freeNodeNumber,
startNode.X + (j + 1) * vx * distance,
startNode.Y + (j + 1) * vy * distance,
startNode.Z + (j + 1) * vz * distance);
//Console.Write("startNode.X = " + startNode.X);
//Console.Write(" startNode.Y = " + startNode.Y);
//Console.WriteLine(" startNode.Z = " + startNode.Z);
//Console.WriteLine("vx: " + vx + " vy: " + vy + " vz: " + vz + " vl: " + vl);
//Console.WriteLine("Node id: " + node.id + " x: " + node.xCoord + " y: " + node.yCoord + " z: " + node.zCoord);
nodes.Add(node);
//Add a node to the structure
iRobotApp.Project.Structure.Nodes.Create(freeNodeNumber, node.xCoord, node.yCoord, node.zCoord);
freeNodeNumber++;
}
}
}
//Creating aditional bars
int numberOfBars = bars.Count + 1;
int barIndex = numberOfBars;
//Console.WriteLine("Number of bars: " + numberOfBars);
int index = firstIsolatedNode;
//Console.WriteLine("firstIsolatedNode: " + index);
for (int i = 0; i < (divisionNumber - 1); i++)
{
//Finding the nodes for a line of bars
IRobotNode iNode1 = (RobotNode)iRobotApp.Project.Structure.Nodes.Get(index);
//Console.WriteLine("Node 1 - " + iNode1.Number);
IRobotNode iNode2 = (RobotNode)iRobotApp.Project.Structure.Nodes.Get((index + 2));
//Console.WriteLine("Node 2 - " + iNode2.Number);
IRobotNode iNode3 = (RobotNode)iRobotApp.Project.Structure.Nodes.Get((index + 4));
//Console.WriteLine("Node 3 - " + iNode3.Number);
IRobotNode iNode4 = (RobotNode)iRobotApp.Project.Structure.Nodes.Get((index + 6));
//Console.WriteLine("Node 4 - " + iNode4.Number);
Node node1 = new Node(iNode1.Number, iNode1.X, iNode1.Y, iNode1.Z);
nodes.Add(node1);
Node node2 = new Node(iNode2.Number, iNode2.X, iNode2.Y, iNode2.Z);
nodes.Add(node2);
Node node3 = new Node(iNode3.Number, iNode3.X, iNode3.Y, iNode3.Z);
nodes.Add(node3);
Node node4 = new Node(iNode4.Number, iNode4.X, iNode4.Y, iNode4.Z);
nodes.Add(node4);
barIndex += i;
Bar bar1 = new Bar(barIndex, node1, node2, MemberType.Bar, section);
bars.Add(bar1);
//Console.WriteLine("Bar id: " + bar1.id + ", first node id: " + bar1.startNode.id + ", last node id: " + bar1.endNode.id);
barIndex += 1;
Bar bar2 = new Bar(barIndex, node1, node3, MemberType.Bar, section);
bars.Add(bar2);
//Console.WriteLine("Bar id: " + bar2.id + ", first node id: " + bar2.startNode.id + ", last node id: " + bar2.endNode.id);
barIndex += 2;
Bar bar3 = new Bar(barIndex, node2, node4, MemberType.Bar, section);
//Console.WriteLine("Bar id: " + bar3.id + ", first node id: " + bar3.startNode.id + ", last node id: " + bar3.endNode.id);
bars.Add(bar3);
barIndex += 3;
Bar bar4 = new Bar(barIndex, node3, node4, MemberType.Bar, section);
bars.Add(bar4);
//Console.WriteLine("Bar id: " + bar4.id + ", first node id: " + bar4.startNode.id + ", last node id: " + bar4.endNode.id);
index += 1;
}
index += 6;
barIndex += 1;
for (int i = 0; i < (divisionNumber - 1); i++)
{
//Finding the nodes for a line of bars
IRobotNode iNode1 = (RobotNode)iRobotApp.Project.Structure.Nodes.Get(index);
//Console.WriteLine("Node 1 - " + iNode1.Number);
IRobotNode iNode2 = (RobotNode)iRobotApp.Project.Structure.Nodes.Get((index + 2));
//Console.WriteLine("Node 2 - " + iNode2.Number);
IRobotNode iNode3 = (RobotNode)iRobotApp.Project.Structure.Nodes.Get((index + 4));
//Console.WriteLine("Node 3 - " + iNode3.Number);
IRobotNode iNode4 = (RobotNode)iRobotApp.Project.Structure.Nodes.Get((index + 6));
//Console.WriteLine("Node 4 - " + iNode4.Number);
Node node1 = new Node(iNode1.Number, iNode1.X, iNode1.Y, iNode1.Z);
nodes.Add(node1);
Node node2 = new Node(iNode2.Number, iNode2.X, iNode2.Y, iNode2.Z);
nodes.Add(node2);
Node node3 = new Node(iNode3.Number, iNode3.X, iNode3.Y, iNode3.Z);
nodes.Add(node3);
Node node4 = new Node(iNode4.Number, iNode4.X, iNode4.Y, iNode4.Z);
nodes.Add(node4);
barIndex += i;
Bar bar1 = new Bar(barIndex, node1, node2, MemberType.Bar, section);
bars.Add(bar1);
//Console.WriteLine("Bar id: " + bar1.id + ", first node id: " + bar1.startNode.id + ", last node id: " + bar1.endNode.id);
barIndex += 1;
Bar bar2 = new Bar(barIndex, node1, node3, MemberType.Bar, section);
bars.Add(bar2);
//Console.WriteLine("Bar id: " + bar2.id + ", first node id: " + bar2.startNode.id + ", last node id: " + bar2.endNode.id);
barIndex += 2;
Bar bar3 = new Bar(barIndex, node2, node4, MemberType.Bar, section);
//Console.WriteLine("Bar id: " + bar3.id + ", first node id: " + bar3.startNode.id + ", last node id: " + bar3.endNode.id);
bars.Add(bar3);
barIndex += 3;
Bar bar4 = new Bar(barIndex, node3, node4, MemberType.Bar, section);
bars.Add(bar4);
//Console.WriteLine("Bar id: " + bar4.id + ", first node id: " + bar4.startNode.id + ", last node id: " + bar4.endNode.id);
index += 1;
}
addRobotBars(numberOfBars - 1, null, null, null, section);
}//divideColumns
private void button1_Click(object sender, EventArgs e)
{
Excel.Application xlApp = new Excel.Application();
Excel.Workbook xlWorkbook = xlApp.Workbooks.Open(@"EXCELPATH...\excelFile.xlsx", 0, false);
Excel.Sheets xlSheets = xlWorkbook.Worksheets;
string currentSheet = "Sheet1";
Excel.Worksheet xlWorksheet = (Excel.Worksheet)xlSheets.get_Item(currentSheet);
IRobotApplication robotApp = new RobotApplication();
IRobotLabelServer lab_serv = robotApp.Project.Structure.Labels;
progressBar1.Value = 0;
progressBar1.Maximum = 151;
progressBar1.Minimum = 0;
progressBar1.Step = 1;
for (int i = 1; i < 152; i++)
{
string secName = xlWorksheet.Cells[i + 1, 1].Value.ToString();
double secAx = double.Parse(xlWorksheet.Cells[i + 1, 2].Value.ToString());
double secIx = double.Parse(xlWorksheet.Cells[i + 1, 3].Value.ToString());
double secIy = double.Parse(xlWorksheet.Cells[i + 1, 4].Value.ToString());
double secIz = double.Parse(xlWorksheet.Cells[i + 1, 5].Value.ToString());
double secVy = double.Parse(xlWorksheet.Cells[i + 1, 6].Value.ToString());
double secVpy = double.Parse(xlWorksheet.Cells[i + 1, 7].Value.ToString());
double secVz = double.Parse(xlWorksheet.Cells[i + 1, 8].Value.ToString());
double secVpz = double.Parse(xlWorksheet.Cells[i + 1, 9].Value.ToString());
IRobotLabel sec = lab_serv.Create(IRobotLabelType.I_LT_BAR_SECTION, secName);
IRobotBarSectionData data = sec.Data;
data.Type = IRobotBarSectionType.I_BST_STANDARD;
data.ShapeType = IRobotBarSectionShapeType.I_BSST_UNKNOWN;
data.SetValue(IRobotBarSectionDataValue.I_BSDV_AX, secAx);
data.SetValue(IRobotBarSectionDataValue.I_BSDV_IX, secIx);
data.SetValue(IRobotBarSectionDataValue.I_BSDV_IY, secIy);
data.SetValue(IRobotBarSectionDataValue.I_BSDV_IZ, secIz);
data.SetValue(IRobotBarSectionDataValue.I_BSDV_VY, secVy);
data.SetValue(IRobotBarSectionDataValue.I_BSDV_VPY, secVpy);
data.SetValue(IRobotBarSectionDataValue.I_BSDV_VZ, secVz);
data.SetValue(IRobotBarSectionDataValue.I_BSDV_VPZ, secVpz);
lab_serv.Store(sec);
IRobotBar bar = (IRobotBar)robotApp.Project.Structure.Bars.Get(i);
bar.SetLabel(IRobotLabelType.I_LT_BAR_SECTION, secName);
progressBar1.PerformStep();
}
Marshal.FinalReleaseComObject(xlWorksheet);
Marshal.FinalReleaseComObject(xlSheets);
xlWorkbook.Close(false);
Marshal.FinalReleaseComObject(xlWorkbook);
xlApp.Quit();
Marshal.FinalReleaseComObject(xlApp);
MessageBox.Show("All the profiles have been applied!", "Work done !", MessageBoxButtons.OK);
}
/// <summary>
/// Add a new Bar entry to this mapping table
/// </summary>
/// <param name="element"></param>
/// <param name="bar"></param>
public void Add(LinearElement element, IRobotBar bar)
{
Add(BarCategory, element.GUID, bar.Number.ToString());
}
/// <summary>
/// Get the Nucleus element, if any, mapped to the ID of the specified robot bar
/// </summary>
/// <param name="bar"></param>
/// <param name="model"></param>
/// <returns></returns>
public LinearElement GetMappedLinearElement(IRobotBar bar, Model.Model model)
{
return(GetMappedLinearElement(bar.Number, model));
}
public void DoCommand(int cmd_id)
{
IRobotStructure structure = robot_app.Project.Structure;
// Get bars and nodes
IRobotCollection bars = structure.Bars.GetAll();
IRobotCollection nodes = structure.Nodes.GetAll();
// Create 3D points at nodes
var points = new Dictionary <int, Point3D>();
for (int i = 1; i <= nodes.Count; i++)
{
var node = (IRobotNode)nodes.Get(i);
points[i] = new Point3D(node.X, node.Y, node.Z);
}
// Create 3D vectors for each bar and index of bars connected to a node
var vectors = new Dictionary <int, Vector3D>();
var vect_by_pt = new DefaultDict <int, List <Vector3D> >();
for (int i = 1; i <= bars.Count; i++)
{
var bar = (IRobotBar)bars.Get(i);
var start_pt = points[bar.StartNode];
var end_pt = points[bar.EndNode];
vectors[i] = end_pt - start_pt;
vect_by_pt[bar.StartNode].Add(vectors[i]);
vect_by_pt[bar.EndNode].Add(vectors[i]);
}
;
foreach (KeyValuePair <int, Vector3D> vector in vectors)
{
// `u` is the vector corresponding to the bar
Vector3D u = vector.Value;
UnitVector3D u_norm = u.Normalize();
int start = bars.Get(vector.Key).StartNode;
// TODO: How about the other end?
// Find the most orthogonal vector `v`
Vector3D most_orth_v = u;
double cur_min = 1;
foreach (Vector3D x in vect_by_pt[start])
{
UnitVector3D x_norm = x.Normalize();
double dot_prod = Math.Abs(u_norm.DotProduct(x_norm));
if (dot_prod < cur_min)
{
most_orth_v = x;
cur_min = dot_prod;
}
}
if (cur_min > 0.95)
{
continue;
}
var v = most_orth_v;
var v_norm = v.Normalize();
// Vector `a` is vector a orthogonal to `u` in (u,v) plane
Vector3D a = v - u_norm.DotProduct(v) * u;
UnitVector3D a_norm = a.Normalize();
// Vector `c` is orthogonal to `u` in the global (X,Y) plane
UnitVector3D c = u_norm.CrossProduct(UnitVector3D.ZAxis);
// Vector `d` is orthogonal to `c` and `u`
UnitVector3D d = c.CrossProduct(u_norm);
// Calculate the angles of `a` with `d` and `c`
Angle theta1 = a.AngleTo(d);
Angle theta2 = a.AngleTo(c);
// Calculate gamma from `theta1` and `theta2`
Angle gamma = (theta2.Degrees < 90) ? theta1 : -theta1;
double gamma_up = (gamma.Degrees < 0) ? gamma.Degrees + 90 : gamma.Degrees - 90;
// Set `Gamma` attribute of bar
IRobotBar bar = bars.Get(vector.Key);
bar.Gamma = gamma_up;
}
// Redraw all views
robot_app.Project.ViewMngr.Refresh();
}
