private void RunScript(List <System.Object> iWindingObjects, double iVecAmp, Curve iAxis, List <Curve> iSyntaxCurves, bool iBackSyntax, ref object oWindingObjects, ref object iTravelPlanes, ref object iAllPlanes)
{
// <Custom code>
DataTree <Plane> allPlanes = new DataTree <Plane>();
DataTree <Plane> travelPlanes = new DataTree <Plane>();
GH_Path pth = new GH_Path(0);
List <WindingClass> windingObjects = new List <WindingClass>();
for (var index = 0; index < iWindingObjects.Count - 1; index++)
{
pth = new GH_Path(index);
WindingClass wC = (WindingClass)iWindingObjects[index];
wC.travelPath = CreateTravelPath(wC, (WindingClass)iWindingObjects[index + 1], iSyntaxCurves[index], iAxis, iVecAmp, iBackSyntax);
travelPlanes.AddRange(wC.travelPath, pth);
allPlanes.AddRange(wC.windingPath, pth);
allPlanes.AddRange(wC.travelPath, pth);
//allPlanes.AddRange(wC.transitionPath);
windingObjects.Add(wC);
}
// Deal with last winding plane since it dosn't have two neighbors
WindingClass lastItem = (WindingClass)iWindingObjects[iWindingObjects.Count - 1];
allPlanes.AddRange(lastItem.windingPath, pth);
windingObjects.Add((WindingClass)windingObjects.Last());
oWindingObjects = windingObjects;
iTravelPlanes = travelPlanes;
iAllPlanes = allPlanes;
// </Custom code>
}
private void RunScript(Polyline iPolyline, Surface iSrf, DataTree <Point3d> iAnchors, bool isBackSyntax, ref object oIsoCurves, ref object oWindingObjects, ref object oPlanes)
{
// <Custom code>
List <WindingClass> windingPoints = new List <WindingClass>();
List <Plane> windingPlanes = new List <Plane>();
List <Curve> isoCurves = new List <Curve>();
for (int i = 0; i < iPolyline.Count; i++)
{
WindingClass tempWC = new WindingClass(iPolyline, i, iSrf, isBackSyntax, iAnchors);
windingPoints.Add(tempWC);
IdentifyPinIndexes(tempWC, iAnchors);
}
foreach (WindingClass wC in windingPoints)
{
windingPlanes.Add(wC.basePlane);
isoCurves.Add(wC.iso);
Print(wC.edgeIndex.ToString());
}
oWindingObjects = windingPoints;
oPlanes = windingPlanes;
oIsoCurves = isoCurves;
// </Custom code>
}
// <Custom additional code>
public void IdentifyPinIndexes(WindingClass wC, DataTree <Point3d> anchors)
{
// Find pin index
double minDistancePin = double.MaxValue;
for (var i = 0; i < anchors.Branch(wC.edgeIndex).Count; i++)
{
Point3d pt = wC.basePlane.Origin;
double distancePin = pt.DistanceTo(anchors.Branch(wC.edgeIndex)[i]);
if (distancePin < minDistancePin)
{
minDistancePin = distancePin;
wC.pinIndex = i;
}
}
}
private void RunScript(List <System.Object> iWindingObjects, ref object oWindingObjects, ref object oPlanes)
{
// <Custom code>
List <Plane> processedPlanes = new List <Plane>();
List <WindingClass> windingObjects = new List <WindingClass>();
for (var index = 0; index < iWindingObjects.Count; index++)
{
WindingClass wC = (WindingClass)iWindingObjects[index];
wC.attackAngle = AdjustAttackAngle(wC);
processedPlanes.Add(wC.attackAngle);
windingObjects.Add(wC);
}
oWindingObjects = windingObjects;
oPlanes = processedPlanes;
// </Custom code>
}
// <Custom additional code>
List <Plane> CreateTravelPath(WindingClass wC, WindingClass nextWC, Curve curve, Curve axis, double VecAmp, bool isBackSyntax)
{
List <Plane> path = new List <Plane>();
Point3d[] geoDiv;
int divisionCount = 30;
curve.DivideByCount(divisionCount, true, out geoDiv);
//curve.DivideByLength(50, true, out geoDiv);
curve.Domain = new Interval(0, 1);
Point3d midPoint = axis.PointAt(0.55);
for (int i = 0; i < geoDiv.Length - 1; i++)
{
double u;
double v;
wC.srf.ClosestPoint(geoDiv[i], out u, out v);
Plane rpln;
wC.srf.FrameAt(u, v, out rpln);
double param;
axis.ClosestPoint(geoDiv[i], out param);
// Offset plane from surface
Vector3d V = rpln.ZAxis;
V.Unitize();
Vector3d vec = V * VecAmp;
rpln.Origin -= vec;
// If is back syntax add vector that attracts the planes towards the middle
if (true)
{
Vector3d toMid = nextWC.basePlane.Origin - midPoint;
Vector3d toMidNoZ = new Vector3d(toMid.X, toMid.Y, 0);
Vector3d toMidCurrent = wC.basePlane.Origin - midPoint;
Vector3d toMidNoZCurrent = new Vector3d(toMidCurrent.X, toMidCurrent.Y, 0);
Vector3d localToMid = rpln.Origin - midPoint;
Vector3d localToMidNoZ = new Vector3d(localToMid.X, localToMid.Y, 0);
if (toMidNoZ.Length >= 1900)
{
if (toMidNoZCurrent.Length >= 1900 && wC.edgeIndex != nextWC.edgeIndex)
{
localToMidNoZ += Vector3d.ZAxis * -100;
rpln.Origin -= localToMidNoZ * 0.15;
}
else if (wC.edgeIndex != nextWC.edgeIndex)
{
rpln.Origin -= localToMidNoZ * 0.05;
}
}
else
{
//rpln.Origin -= toMidNoZ * 0.1;
}
}
Plane xyPlane = Plane.WorldXY;
xyPlane.Origin = rpln.Origin;
double distance = wC.basePlane.Origin.DistanceTo(nextWC.basePlane.Origin);
// Universal Adjustments
xyPlane.Rotate(RhinoMath.ToRadians(-90), xyPlane.ZAxis, xyPlane.Origin);
xyPlane.Rotate(RhinoMath.ToRadians(-180), xyPlane.YAxis, xyPlane.Origin);
int extremetiesThreshold = 1500;
if (nextWC.basePlane.Origin.Y > wC.basePlane.Origin.Y)
{
// Rotate plane so robot is pulling fiber, reduces friction
xyPlane.Rotate(RhinoMath.ToRadians(-45), xyPlane.YAxis, xyPlane.Origin);
// Reorient if winding at extreme ends of component
if (xyPlane.Origin.Y > extremetiesThreshold)
{
xyPlane.Rotate(RhinoMath.ToRadians(-35), xyPlane.ZAxis, xyPlane.Origin);
xyPlane.Rotate(RhinoMath.ToRadians(-25), xyPlane.XAxis, xyPlane.Origin);
}
else if (xyPlane.Origin.Y < -extremetiesThreshold)
{
xyPlane.Rotate(RhinoMath.ToRadians(35), xyPlane.ZAxis, xyPlane.Origin);
}
}
else
{
// Rotate plane so robot is pulling fiber, reduces friction
xyPlane.Rotate(RhinoMath.ToRadians(45), xyPlane.YAxis, xyPlane.Origin);
// Reorient if winding at extreme ends of component
if (xyPlane.Origin.Y < -extremetiesThreshold)
{
xyPlane.Rotate(RhinoMath.ToRadians(35), xyPlane.ZAxis, xyPlane.Origin);
xyPlane.Rotate(RhinoMath.ToRadians(-25), xyPlane.XAxis, xyPlane.Origin);
}
else if (xyPlane.Origin.Y > extremetiesThreshold)
{
xyPlane.Rotate(RhinoMath.ToRadians(-35), xyPlane.ZAxis, xyPlane.Origin);
}
}
// Remove first few and last few travel planes
if (i < 0 || i > divisionCount - 0)
{
}
else
{
path.Add(xyPlane);
}
}
return(path);
}
// <Custom additional code>
Plane AdjustAttackAngle(WindingClass wp)
{
Vector3d tangent = wp.edgeCurve.TangentAt(wp.edgeParam);
Plane tempPln;
wp.edgeCurve.FrameAt(wp.edgeParam, out tempPln);
Vector3d perpVector = Vector3d.CrossProduct(tangent, tempPln.YAxis);
Plane npln = new Plane(wp.basePlane.Origin, perpVector, tangent);
if (wp.edgeIndex == 1)
{
npln.Rotate(RhinoMath.ToRadians(180), npln.ZAxis);
if (wp.edgeParam > 0.5)
{
npln.Rotate(RhinoMath.ToRadians(-105), npln.YAxis);
npln.Rotate(RhinoMath.ToRadians(-90), npln.ZAxis);
npln.Rotate(RhinoMath.ToRadians(-70), npln.XAxis);
}
else
{
npln.Rotate(RhinoMath.ToRadians(-105), npln.YAxis);
npln.Rotate(RhinoMath.ToRadians(-90), npln.ZAxis);
npln.Rotate(RhinoMath.ToRadians(-70), npln.XAxis);
npln.Rotate(RhinoMath.ToRadians(60), npln.ZAxis);
}
}
else if (wp.edgeIndex == 3)
{
npln = new Plane(wp.basePlane);
npln.Rotate(RhinoMath.ToRadians(180), npln.XAxis);
npln.Rotate(wp.edgeParam > 0.5 ? RhinoMath.ToRadians(50) : RhinoMath.ToRadians(70), npln.ZAxis);
}
else if (wp.edgeIndex == 2)
{
npln.Rotate(RhinoMath.ToRadians(90), npln.ZAxis);
npln.Rotate(RhinoMath.ToRadians(180), npln.YAxis);
npln.Rotate(RhinoMath.ToRadians(-80), npln.XAxis);
if (wp.edgeParam < 0.25)
{
npln.Rotate(RhinoMath.ToRadians(-60), npln.ZAxis);
}
else if (wp.edgeParam < 0.5)
{
npln.Rotate(RhinoMath.ToRadians(-25), npln.ZAxis);
}
else if (wp.edgeParam > 0.5)
{
npln.Rotate(RhinoMath.ToRadians(35), npln.ZAxis);
//npln.Rotate(RhinoMath.ToRadians(15), npln.XAxis);
}
//npln.Rotate(wp.edgeParam > 0.5 ? RhinoMath.ToRadians(65) : RhinoMath.ToRadians(-15), npln.ZAxis);
}
else if (wp.edgeIndex == 0)
{
npln.Rotate(RhinoMath.ToRadians(90), npln.ZAxis);
npln.Rotate(RhinoMath.ToRadians(-90), npln.XAxis);
npln.Rotate(wp.edgeParam > 0.5 ? RhinoMath.ToRadians(-25) : RhinoMath.ToRadians(25), npln.ZAxis);
}
// Check for vertical pins and reorient
List <int> verticalPinsIds = new List <int>()
{
2, 6, 10, 14, 18, 22, 26, 30, 34, 38
};
if (wp.edgeIndex == 0)
{
bool isInList = verticalPinsIds.IndexOf(wp.pinIndex) != -1;
if (isInList)
{
//npln.Rotate(RhinoMath.ToRadians(-110), npln.XAxis);
//npln.Rotate(RhinoMath.ToRadians(180), npln.ZAxis);
//if (wp.edgeParam < 0.3)
//{
// npln.Rotate(RhinoMath.ToRadians(-45), npln.ZAxis);
// npln.Rotate(RhinoMath.ToRadians(-40), npln.YAxis);
//}
//else if (wp.edgeParam > 0.7)
//{
// npln.Rotate(RhinoMath.ToRadians(45), npln.ZAxis);
// npln.Rotate(RhinoMath.ToRadians(-25), npln.XAxis);
// npln.Rotate(RhinoMath.ToRadians(35), npln.YAxis);
// npln.Rotate(RhinoMath.ToRadians(45), npln.ZAxis);
//}
//else
//{
// npln.Rotate(RhinoMath.ToRadians(45), npln.ZAxis);
// npln.Rotate(RhinoMath.ToRadians(90), npln.YAxis);
// //npln.Rotate(RhinoMath.ToRadians(30), npln.XAxis);
// npln.Rotate(RhinoMath.ToRadians(45), npln.ZAxis);
//}
wp.isVertical = true;
}
}
else if (wp.edgeIndex == 2)
{
bool isInList = verticalPinsIds.IndexOf(wp.pinIndex) != -1;
if (isInList)
{
//npln.Rotate(RhinoMath.ToRadians(270), npln.YAxis);
//npln.Rotate(RhinoMath.ToRadians(-90), npln.ZAxis);
//if (wp.edgeParam < 0.3)
//{
// npln.Rotate(RhinoMath.ToRadians(90), npln.YAxis);
// npln.Rotate(RhinoMath.ToRadians(-20), npln.ZAxis);
// npln.Rotate(RhinoMath.ToRadians(-40), npln.XAxis);
//}
//else if (wp.edgeParam > 0.7)
//{
// npln.Rotate(RhinoMath.ToRadians(40), npln.ZAxis);
// npln.Rotate(RhinoMath.ToRadians(25), npln.YAxis);
// npln.Rotate(RhinoMath.ToRadians(-25), npln.XAxis);
//}
//else
//{
// npln.Rotate(RhinoMath.ToRadians(-70), npln.XAxis);
// npln.Rotate(RhinoMath.ToRadians(45), npln.ZAxis);
//}
wp.isVertical = true;
}
}
return(npln);
}
private void RunScript(List <System.Object> iWindingObjects, ref object oAngles)
{
// <Custom code>
DataTree <double> positionerAngles = new DataTree <double>();
for (var index = 0; index < iWindingObjects.Count - 1; index++)
{
GH_Path pth = new GH_Path(index);
WindingClass wp = (WindingClass)iWindingObjects[index];
if (wp.edgeIndex == 1)
{
if (wp.edgeParam > 0.5)
{
positionerAngles.Add(-210, pth);
}
else
{
positionerAngles.Add(-210, pth);
}
}
else if (wp.edgeIndex == 3)
{
if (wp.edgeParam > 0.5)
{
positionerAngles.Add(-245, pth);
}
else
{
positionerAngles.Add(-205, pth);
}
}
else if (wp.edgeIndex == 2)
{
if (wp.edgeParam > 0.65)
{
positionerAngles.Add(-195, pth);
}
else if (wp.edgeParam < 0.25)
{
positionerAngles.Add(-205, pth);
}
else
{
positionerAngles.Add(-195, pth);
}
}
else if (wp.edgeIndex == 0)
{
if (wp.edgeParam > 0.75)
{
positionerAngles.Add(-205, pth);
}
else if (wp.edgeParam < 0.15)
{
positionerAngles.Add(-220, pth);
}
else
{
positionerAngles.Add(-195, pth);
}
}
}
oAngles = positionerAngles;
// </Custom code>
}
