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 recognize_face(a_face):
""" Takes a TopoDS shape and tries to identify its nature
whether it is a plane a cylinder a torus etc.
if a plane, returns the normal
if a cylinder, returns the radius
"""
surf = BRepAdaptor_Surface(a_face, True)
surf_type = surf.GetType()
if surf_type == GeomAbs_Plane:
print("--> plane")
# look for the properties of the plane
# first get the related gp_Pln
gp_pln = surf.Plane()
location = gp_pln.Location() # a point of the plane
normal = gp_pln.Axis().Direction() # the plane normal
# then export location and normal to the console output
print("--> Location (global coordinates)", location.X(), location.Y(),
location.Z())
print("--> Normal (global coordinates)", normal.X(), normal.Y(),
normal.Z())
return surf.Plane()
elif surf_type == GeomAbs_Cylinder:
print("--> cylinder")
# look for the properties of the cylinder
# first get the related gp_Cyl
gp_cyl = surf.Cylinder()
location = gp_cyl.Location() # a point of the axis
axis = gp_cyl.Axis().Direction() # the cylinder axis
# then export location and normal to the console output
print("--> Location (global coordinates)", location.X(), location.Y(),
location.Z())
print("--> Axis (global coordinates)", axis.X(), axis.Y(), axis.Z())
elif surf_type == GeomAbs_Circle:
print("--> circle")
# look for the properties of the cylinder
# first get the related gp_Cyl
# gp_cyl = surf.()
# location = gp_cyl.Location() # a point of the axis
# axis = gp_cyl.Axis().Direction() # the cylinder axis
# then export location and normal to the console output
# print("--> Location (global coordinates)", location.X(), location.Y(), location.Z())
# print("--> Axis (global coordinates)", axis.X(), axis.Y(), axis.Z())
else:
# TODO there are plenty other type that can be checked
# see documentation for the BRepAdaptor class
# https://www.opencascade.com/doc/occt-6.9.1/refman/html/class_b_rep_adaptor___surface.html
print("not implemented")
def pipe_segment_to_edge(compound, uid=None):
""" if it is two circles with linear face segments,
the end sections will have N - 2 edges"""
the_topo = Topo(compound)
faces = [Face(f) for f in the_topo.faces()]
faces.sort(reverse=True, key=lambda x: len(x.edges()))
areas = []
verts = []
for f1 in faces[:2]:
surf = BRepAdaptor_Surface(f1, True)
surf_type = surf.GetType()
areas.append(f1.area)
uv, pnt = f1.mid_point()
if surf_type == GeomAbs_Plane:
gp_pln = surf.Plane()
normal = f1.normal
gppln2 = gp_Pln(pnt, normal)
v = MEPConnector(gppln2)
verts.append(v)
radius = math.sqrt(sum(areas)) / (2 * math.pi)
edge = MEPCurve(*verts)
return MEPSegment(edge, radius, uid=uid)