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/***************************************************************************
* Copyright (c) 2010 Jrgen Riegel (juergen.riegel@web.de) *
* *
* This file is part of the FreeCAD CAx development system. *
* *
* This library is free software; you can redistribute it and/or *
* modify it under the terms of the GNU Library General Public *
* License as published by the Free Software Foundation; either *
* version 2 of the License, or (at your option) any later version. *
* *
* This library is distributed in the hope that it will be useful, *
* but WITHOUT ANY WARRANTY; without even the implied warranty of *
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
* GNU Library General Public License for more details. *
* *
* You should have received a copy of the GNU Library General Public *
* License along with this library; see the file COPYING.LIB. If not, *
* write to the Free Software Foundation, Inc., 59 Temple Place, *
* Suite 330, Boston, MA 02111-1307, USA *
* *
***************************************************************************/
#include "PreCompiled.h"
#ifndef _PreComp_
#endif
#include "Edge2TracObject.h"
//#include <App/DocumentObjectPy.h>
//#include <Base/Placement.h>
#include <Base/Sequencer.h>
#include <Mod/Part/App/edgecluster.h>
#include <Mod/Part/App/PartFeature.h>
#include <TopoDS.hxx>
#include <TopoDS_Edge.hxx>
#include <TopoDS_Vertex.hxx>
#include <BRep_Tool.hxx>
#include <BRepAdaptor_Curve.hxx>
#include <CPnts_AbscissaPoint.hxx>
#include <TopExp.hxx>
#include "Waypoint.h"
#include "Trajectory.h"
using namespace Robot;
using namespace App;
PROPERTY_SOURCE(Robot::Edge2TracObject, Robot::TrajectoryObject)
Edge2TracObject::Edge2TracObject()
{
ADD_PROPERTY_TYPE( Source, (0) , "Edge2Trac",Prop_None,"Edges to generate the Trajectory");
ADD_PROPERTY_TYPE( SegValue, (0.5), "Edge2Trac",Prop_None,"Max deviation from original geometry");
ADD_PROPERTY_TYPE( UseRotation, (0) , "Edge2Trac",Prop_None,"use orientation of the edge");
NbrOfEdges = 0;
NbrOfCluster = 0;
}
Edge2TracObject::~Edge2TracObject()
{
}
App::DocumentObjectExecReturn *Edge2TracObject::execute(void)
{
App::DocumentObject* link = Source.getValue();
if (!link)
return new App::DocumentObjectExecReturn("No object linked");
if (!link->getTypeId().isDerivedFrom(Part::Feature::getClassTypeId()))
return new App::DocumentObjectExecReturn("Linked object is not a Part object");
Part::Feature *base = static_cast<Part::Feature*>(Source.getValue());
const Part::TopoShape& TopShape = base->Shape.getShape();
const std::vector<std::string>& SubVals = Source.getSubValuesStartsWith("Edge");
if (SubVals.size() == 0)
return new App::DocumentObjectExecReturn("No Edges specified");
// container for all the edges
std::vector<TopoDS_Edge> edges;
// run throug the edge name and get the real objects from the TopoShape
for (std::vector<std::string>::const_iterator it= SubVals.begin();it!=SubVals.end();++it) {
TopoDS_Edge edge = TopoDS::Edge(TopShape.getSubShape(it->c_str()));
edges.push_back(edge);
}
// instanciate a edge cluster sorter and get the result
Part::Edgecluster acluster(edges);
Part::tEdgeClusterVector aclusteroutput = acluster.GetClusters();
if(aclusteroutput.size() == 0)
return new App::DocumentObjectExecReturn("No Edges specified");
// set the number of cluster and edges
NbrOfCluster = aclusteroutput.size();
NbrOfEdges = 0;
for(std::vector<std::vector<TopoDS_Edge> >::const_iterator it=aclusteroutput.begin();it!=aclusteroutput.end();++it)
NbrOfEdges += it->size();
// trajectory to fill
Robot::Trajectory trac;
bool first = true;
// cycle trough the cluster
for(std::vector<std::vector<TopoDS_Edge> >::const_iterator it=aclusteroutput.begin();it!=aclusteroutput.end();++it)
{
// cycle through the edges of the cluster
for(std::vector<TopoDS_Edge>::const_iterator it2=it->begin();it2!=it->end();++it2)
{
BRepAdaptor_Curve adapt(*it2);
switch(adapt.GetType())
{
case GeomAbs_Line:
{
// get start and end point
gp_Pnt P1 = adapt.Value(adapt.FirstParameter());
gp_Pnt P2 = adapt.Value(adapt.LastParameter());
Base::Rotation R1;
Base::Rotation R2;
// if orientation is used
if(UseRotation.getValue()) {
// here get the orientation of the start and end point...
//R1 = ;
//R2 = ;
}
// if reverse orintation, switch the points
if ( it2->Orientation() == TopAbs_REVERSED )
{
//switch the points and orientation
gp_Pnt tmpP = P1;
Base::Rotation tmpR = R1;
P1 = P2;
R1 = R2;
R2 = tmpR;
P2 = tmpP;
}
if(first){
Waypoint wp("Pt",Base::Placement(Base::Vector3d(P1.X(),P1.Y(),P1.Z()),R1));
trac.addWaypoint(wp);
first = false;
}
Waypoint wp("Pt",Base::Placement(Base::Vector3d(P2.X(),P2.Y(),P2.Z()),R2));
trac.addWaypoint(wp);
break;
}
case GeomAbs_BSplineCurve:
{
Standard_Real Length = CPnts_AbscissaPoint::Length(adapt);
Standard_Real ParLength = adapt.LastParameter()-adapt.FirstParameter();
Standard_Real NbrSegments = Round(Length / SegValue.getValue());
Standard_Real beg = adapt.FirstParameter();
Standard_Real end = adapt.LastParameter();
Standard_Real stp = ParLength / NbrSegments;
bool reversed = false;
if (it2->Orientation() == TopAbs_REVERSED) {
std::swap(beg, end);
stp = - stp;
reversed = true;
}
if (first)
first = false;
else
beg += stp;
Base::SequencerLauncher seq("Create way points", static_cast<size_t>((end-beg)/stp));
if(reversed)
{
for (;beg > end; beg += stp) {
gp_Pnt P = adapt.Value(beg);
Base::Rotation R1;
// if orientation is used
if(UseRotation.getValue()) {
// here get the orientation of the start and end point...
//R1 = ;
}
Waypoint wp("Pt",Base::Placement(Base::Vector3d(P.X(),P.Y(),P.Z()),R1));
trac.addWaypoint(wp);
seq.next();
}
}
else
{
for (;beg < end; beg += stp) {
gp_Pnt P = adapt.Value(beg);
Base::Rotation R1;
// if orientation is used
if(UseRotation.getValue()) {
// here get the orientation of the start and end point...
//R1 = ;
}
Waypoint wp("Pt",Base::Placement(Base::Vector3d(P.X(),P.Y(),P.Z()),R1));
trac.addWaypoint(wp);
seq.next();
}
}
} break;
case GeomAbs_Circle:
{
Standard_Real Length = CPnts_AbscissaPoint::Length(adapt);
Standard_Real ParLength = adapt.LastParameter()-adapt.FirstParameter();
Standard_Real NbrSegments = Round(Length / SegValue.getValue());
Standard_Real SegLength = ParLength / NbrSegments;
if ( it2->Orientation() == TopAbs_REVERSED )
{
//Beginning and End switch
double i = adapt.LastParameter();
if(first)
first=false;
else
i -= SegLength;
for (;i>adapt.FirstParameter();i-= SegLength){
gp_Pnt P = adapt.Value(i);
Base::Rotation R1;
// if orientation is used
if(UseRotation.getValue()) {
// here get the orientation of the start and end point...
//R1 = ;
}
Waypoint wp("Pt",Base::Placement(Base::Vector3d(P.X(),P.Y(),P.Z()),R1));
trac.addWaypoint(wp);
}
}
else
{
double i = adapt.FirstParameter();
if(first)
first=false;
else
i += SegLength;
for (;i<adapt.LastParameter();i+= SegLength)
{
gp_Pnt P = adapt.Value(i);
Base::Rotation R1;
// if orientation is used
if(UseRotation.getValue()) {
// here get the orientation of the start and end point...
//R1 = ;
}
Waypoint wp("Pt",Base::Placement(Base::Vector3d(P.X(),P.Y(),P.Z()),R1));
trac.addWaypoint(wp);
}
}
break;
}
default:
throw Base::Exception("Unknown Edge type in Robot::Edge2TracObject::execute()");
}
}
}
Trajectory.setValue(trac);
return App::DocumentObject::StdReturn;
}
//short Edge2TracObject::mustExecute(void) const
//{
// return 0;
//}
void Edge2TracObject::onChanged(const Property* prop)
{
App::GeoFeature::onChanged(prop);
}
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