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);
}
}
