def match_singleHole(solid_add, solid_base):
cyls_sel_base, cyls_sel_add, projPln = selectCylinderFromClosestPln(
solid_add, solid_base)
pntList_base = []
for i in cyls_sel_base:
loc = BRepAdaptor_Surface(i).Cylinder().Location()
pnt = gp_Pnt(loc.X(), loc.Y(), loc.Z())
pntList_base.append(pnt)
pntList_add = []
for i in cyls_sel_add:
loc = BRepAdaptor_Surface(i).Cylinder().Location()
pnt = gp_Pnt(loc.X(), loc.Y(), loc.Z())
pntList_add.append(pnt)
pntList_base_proj = [
ais_ProjectPointOnPlane(pnt, projPln) for pnt in pntList_base
]
pntList_add_proj = [
ais_ProjectPointOnPlane(pnt, projPln) for pnt in pntList_add
]
mvVec = get_shortest_vec(pntList_add_proj, pntList_base_proj)
trsf = gp_Trsf()
trsf.SetTranslation(mvVec)
solid_add.Move(TopLoc_Location(trsf))
def filter_cylinder_by_position(cylList_from_solidAdd, projPln, dist_tol=0.3):
"""Project all points of cylinders' axis into the projPln, and return the projected point on the projPln
Arguments:
cylList_from_solidAdd {[type]} -- [description]
projPln {[type]} -- [description]
Keyword Arguments:
dist_tol {float} -- [description] (default: {0.3})
Returns:
[type] -- [description]
"""
# project the first cylinder to get the point. Which is needed for the later distance calculation
initPnt = ais_ProjectPointOnPlane(
BRepAdaptor_Surface(cylList_from_solidAdd[0],
True).Cylinder().Location(), projPln)
projPntList = [initPnt]
for cyl in cylList_from_solidAdd:
newPnt = ais_ProjectPointOnPlane(
BRepAdaptor_Surface(cyl, True).Cylinder().Location(), projPln)
isNewPnt = True
# check whehter the projected point overlaps other points
for pnt in projPntList:
if newPnt.Distance(pnt) < dist_tol:
isNewPnt = False
if isNewPnt:
projPntList.append(newPnt)
return projPntList
def get_neighbor_vector(hole_cyl, cylList, projPln):
vecList = []
pnt_hole = BRepAdaptor_Surface(hole_cyl, True).Cylinder().Location()
pnt_start = ais_ProjectPointOnPlane(pnt_hole, projPln)
for cyl in cylList:
pnt_cyl = BRepAdaptor_Surface(cyl, True).Cylinder().Location()
pnt_end = ais_ProjectPointOnPlane(pnt_cyl, projPln)
vecList.append(gp_Vec(pnt_start, pnt_end))
return vecList
def get_closest_parallel_planePair(solid_add,
solid_base=None,
init_min_dist=1000.0,
xyplane_z_inMM=1215.0):
"""
Arguments:
solid_add {TopoDS_Solid} -- The solid going to be added
Keyword Arguments:
solid_base {TopoDS_Solid} -- By default, solid_base will be xy-plane (default: {None})
init_min_dist {float} -- [description] (default: {10.0})
Returns:
{dict} -- keyValues: miniDist, topoPair, geomPair, mvVec
"""
min_dist = init_min_dist
ang_list = find_closest_normal_pair(solid_add, solid_base)
if solid_base is None:
solid_base = gen_boxSolidAsTable(height=xyplane_z_inMM)
axisGrp1 = group_planes_by_axis(solid_base)
axisGrp2 = group_planes_by_axis(solid_add)
axisPair = ang_list['minAxisKeyPair']
for axKeyPair in axisPair:
for topoPln1 in axisGrp1[axKeyPair[0]]:
surf1 = BRepAdaptor_Surface(topoPln1, True)
pln1 = surf1.Plane()
# [ToDo] A better distance evaluation, how to select a correct point which is inside the wire or centerofmass of plane
plnpnt1 = pln1.Location()
for topoPln2 in axisGrp2[axKeyPair[1]]:
surf2 = BRepAdaptor_Surface(topoPln2, True)
pln2 = surf2.Plane()
# rospy.logdebug('Distance:', pln2.Distance(plnpnt1))
dist = pln2.Distance(plnpnt1)
if dist < min_dist:
min_dist = dist
minDistTopoPair = [topoPln1, topoPln2]
minDistGeomPair = [pln1, pln2]
p = gp_Pnt(0, 0, 0)
p1 = ais_ProjectPointOnPlane(p, minDistGeomPair[0])
p2 = ais_ProjectPointOnPlane(p, minDistGeomPair[1])
# in order to remove small digits
projPln = minDistGeomPair[0]
mvVec = gp_Vec(p2, p1)
projPlnNormal = gp_Vec(projPln.Axis().Direction())
mag = np.sign(mvVec.Dot(projPlnNormal)) * mvVec.Magnitude()
mvVec = projPlnNormal.Normalized().Multiplied(mag)
return {
'minDist': dist,
'topoPair': minDistTopoPair,
'geomPair': minDistGeomPair,
'mvVec': mvVec
}
def setProjPln(self, gp_pln):
self.projPln = gp_pln
self.projLocation = ais_ProjectPointOnPlane(self.location,
self.projPln)
def cylinder_pnt2pln(cyl, pln):
ais_ProjectPointOnPlane(cyl.Location(), pln)