def make_frame_from_name(partname, root_transformation):
shape_marker = TopoDS.TopoDS_Shape()
if (mydoc.GetNamedShape(shape_marker, partname)):
frame_marker = chrono.ChFrameD()
mydoc.FromCascadeToChrono(shape_marker.Location(), frame_marker)
frame_marker.ConcatenatePreTransformation(root_transformation)
return frame_marker
else:
raise ValueError("Warning. Marker part name cannot be found in STEP file.\n")
def make_body_from_name(partname, root_transformation):
shape1 = TopoDS.TopoDS_Shape()
if (mydoc.GetNamedShape(shape1, partname)):
# Make a ChBody representing the TopoDS_Shape part from the CAD:
mbody1 = cascade.ChBodyEasyCascade(shape1, # shape
1000, # density (center of mass & inertia automatically computed)
True, # mesh for visualization?
False) # mesh for collision?
mysystem.Add(mbody1)
# Move the body as for global displacement/rotation (also mbody1 %= root_frame; )
mbody1.ConcatenatePreTransformation(root_transformation)
return mbody1
else:
raise ValueError("Warning. Body part name cannot be found in STEP file.\n")
rotation2.Q_from_AngAxis(chrono.CH_C_PI, chrono.ChVectorD(0, 1, 0))
# 2: rotate 180° on vertical Y axis
tot_rotation = chrono.ChQuaternionD()
tot_rotation = rotation2 % rotation1 # rotate on 1 then on 2, using quaternion product
root_frame = chrono.ChFrameMovingD(chrono.ChVectorD(0, 0, 0), tot_rotation)
# Retrieve some sub shapes from the loaded model, using
# the GetNamedShape() function, that can use path/subpath/subsubpath/part
# syntax and * or ? wildcards, etc.
mrigidBody1 = 0
mrigidBody2 = 0
if load_ok:
shape1 = TopoDS.TopoDS_Shape()
if (mydoc.GetNamedShape(shape1, "Assem1/body1")):
mbody1 = mydoc.CreateBodyFromShape(shape1, 1000, False, True)
# or: mbody1 = cascade.ChBodyEasyCascade(shape1, 1000, False, True)
mysystem.Add(mbody1)
mbody1.SetBodyFixed(True)
# Move the body as for global displacement/rotation (also mbody1 %= root_frame; )
mbody1.ConcatenatePreTransformation(root_frame)
mrigidBody1 = mbody1
else:
print("Warning. Desired object not found in document \n")