public partial class Form1 : Form
{
STLClass stltest = null;
public Form1()
{
InitializeComponent();
}
private void BT_1OK_Click(object sender, EventArgs e)
{
timer1.Enabled = false;
if (!Directory.Exists(TB_1SRS.Text))
{
MessageBox.Show("SRS目录不存在！");
return;
}
if (comboBox1.Text == "")
{
MessageBox.Show("版本号不能为空！");
return;
}
if (comboBox2.Text == "")
{
MessageBox.Show("机器人序号不能为空！");
return;
}
PublicData.Data.RobotFile = TB_1SRS.Text.Trim() + comboBox1.Text.Trim() + @"\Robots\highres\" + comboBox2.Text.Trim() + @".act";
if (!File.Exists(PublicData.Data.RobotFile))
{
MessageBox.Show("机器人文件不存在！");
return;
}
if (!CheckSTlFile())
{
MessageBox.Show("STL文件不放置顺序不正确！");
return;
}
if(!GetSTLFile())
{
MessageBox.Show("STL文件不存在！");
return;
}
stltest = new STLClass();
stltest.Srs = comboBox1.Text.Trim();
stltest.RobotType = comboBox2.Text.Trim(); ;
stltest.DirPath = TB_1SRS.Text.Trim();
if (!Directory.Exists(stltest.DirPath + stltest.Srs + @"\Robots\"))
{
MessageBox.Show("安装目录不存在！");
return;
}
if (CB_1MM.Checked)
{
stltest.kt = 1;
}
else
{
stltest.kt = 1000;
}
GP1_ALL.Enabled = false;
GB_File.Enabled = false;
PublicData.Data.ThreadStep = 0;
ThreadPool.QueueUserWorkItem(new WaitCallback(STL), null);
timer1.Enabled = true;
}
private void Config_Click(object sender, EventArgs e)
{
if (sender is PictureBox)
{
PictureBox pb = (PictureBox)sender;
int index = int.Parse(pb.Tag.ToString());
Form2 frm = new Form2(index);
frm.ShowDialog();
}
}
private bool CheckSTlFile()
{
PublicData.Data.STLCount = 0;
if (textBox1.Text.Trim() == "")
{
PublicData.Data.STLCount = 0;
return textBox2.Text.Trim() == "" && textBox3.Text.Trim() == ""
&& textBox4.Text.Trim() == "" && textBox5.Text.Trim() == ""
&& textBox6.Text.Trim() == "" && textBox7.Text.Trim() == ""
&& textBox8.Text.Trim() == "" && textBox9.Text.Trim() == ""
&& textBox10.Text.Trim() == "";
}
if (textBox2.Text.Trim() == "")
{
PublicData.Data.STLCount = 1;
return textBox3.Text.Trim() == ""
&& textBox4.Text.Trim() == "" && textBox5.Text.Trim() == ""
&& textBox6.Text.Trim() == "" && textBox7.Text.Trim() == ""
&& textBox8.Text.Trim() == "" && textBox9.Text.Trim() == ""
&& textBox10.Text.Trim() == "";
}
if (textBox3.Text.Trim() == "")
{
PublicData.Data.STLCount = 2;
return textBox4.Text.Trim() == "" && textBox5.Text.Trim() == ""
&& textBox6.Text.Trim() == "" && textBox7.Text.Trim() == ""
&& textBox8.Text.Trim() == "" && textBox9.Text.Trim() == ""
&& textBox10.Text.Trim() == "";
}
if (textBox4.Text.Trim() == "")
{
PublicData.Data.STLCount = 3;
return textBox5.Text.Trim() == ""
&& textBox6.Text.Trim() == "" && textBox7.Text.Trim() == ""
&& textBox8.Text.Trim() == "" && textBox9.Text.Trim() == ""
&& textBox10.Text.Trim() == "";
}
if (textBox5.Text.Trim() == "")
{
PublicData.Data.STLCount = 4;
return textBox6.Text.Trim() == "" && textBox7.Text.Trim() == ""
&& textBox8.Text.Trim() == "" && textBox9.Text.Trim() == ""
&& textBox10.Text.Trim() == "";
}
if (textBox6.Text.Trim() == "")
{
PublicData.Data.STLCount = 5;
return textBox7.Text.Trim() == ""
&& textBox8.Text.Trim() == "" && textBox9.Text.Trim() == ""
&& textBox10.Text.Trim() == "";
}
if (textBox7.Text.Trim() == "")
{
PublicData.Data.STLCount = 6;
return textBox8.Text.Trim() == "" && textBox9.Text.Trim() == ""
&& textBox10.Text.Trim() == "";
}
if (textBox8.Text.Trim() == "")
{
PublicData.Data.STLCount = 7;
return textBox9.Text.Trim() == ""
&& textBox10.Text.Trim() == "";
}
if (textBox9.Text.Trim() == "")
{
PublicData.Data.STLCount = 8;
return textBox10.Text.Trim() == "";
}
if (textBox10.Text.Trim() == "")
{
PublicData.Data.STLCount = 9;
return true;
}
PublicData.Data.STLCount = 10;
return true;
}
private bool GetSTLFile()
{
PublicData.Data.STLFile = new string[PublicData.Data.STLCount];
if (PublicData.Data.STLCount > 0)
{
PublicData.Data.STLFile[0] = textBox1.Text.Trim();
if (!File.Exists(PublicData.Data.STLFile[0]))
return false;
}
if (PublicData.Data.STLCount > 1)
{
PublicData.Data.STLFile[1] = textBox2.Text.Trim();
if (!File.Exists(PublicData.Data.STLFile[1]))
return false;
}
if (PublicData.Data.STLCount > 2)
{
PublicData.Data.STLFile[2] = textBox3.Text.Trim();
if (!File.Exists(PublicData.Data.STLFile[2]))
return false;
}
if (PublicData.Data.STLCount > 3)
{
PublicData.Data.STLFile[3] = textBox4.Text.Trim();
if (!File.Exists(PublicData.Data.STLFile[3]))
return false;
}
if (PublicData.Data.STLCount > 4)
{
PublicData.Data.STLFile[4] = textBox5.Text.Trim();
if (!File.Exists(PublicData.Data.STLFile[4]))
return false;
}
if (PublicData.Data.STLCount > 5)
{
PublicData.Data.STLFile[5] = textBox6.Text.Trim();
if (!File.Exists(PublicData.Data.STLFile[5]))
return false;
}
if (PublicData.Data.STLCount > 6)
{
PublicData.Data.STLFile[6] = textBox7.Text.Trim();
if (!File.Exists(PublicData.Data.STLFile[6]))
return false;
}
if (PublicData.Data.STLCount > 7)
{
PublicData.Data.STLFile[7] = textBox8.Text.Trim();
if (!File.Exists(PublicData.Data.STLFile[7]))
return false;
}
if (PublicData.Data.STLCount > 8)
{
PublicData.Data.STLFile[8] = textBox9.Text.Trim();
if (!File.Exists(PublicData.Data.STLFile[8]))
return false;
}
if (PublicData.Data.STLCount > 9)
{
PublicData.Data.STLFile[9] = textBox10.Text.Trim();
if (!File.Exists(PublicData.Data.STLFile[9]))
return false;
}
return true;
}
private void STL(object target)
{
bool Res;
if (!checkBox1.Checked)
{
if (PublicData.Data.STLCount == 0)
{
Res = stltest.ActGroundFile();
}
else
{
Res = stltest.ActGroundFile(PublicData.Data.STLFile, PublicData.Data.ColorType, PublicData.Data.OpaqueType, PublicData.Data.Transfer, PublicData.Data.MaterialType);
}
}
else
{
if (PublicData.Data.STLCount == 0)
{
Res = stltest.ActRobotFile(PublicData.Data.RobotFile);
}
else
{
Res = stltest.ActRobotFile(PublicData.Data.RobotFile, PublicData.Data.STLFile, PublicData.Data.ColorType, PublicData.Data.OpaqueType, PublicData.Data.Transfer, PublicData.Data.MaterialType);
}
}
if (Res)
PublicData.Data.ThreadStep = 1;
else
PublicData.Data.ThreadStep = -1;
}
private void timer1_Tick(object sender, EventArgs e)
{
if (PublicData.Data.ThreadStep == 0)
{
return;
}
if (PublicData.Data.ThreadStep == 1)
{
timer1.Enabled = false;
MessageBox.Show("成功！请重启3D studio");
}
if (PublicData.Data.ThreadStep == -1)
{
timer1.Enabled = false;
MessageBox.Show("失败！请检查输入参数");
}
GP1_ALL.Enabled = true;
GB_File.Enabled = true;
}
private void button3_Click(object sender, EventArgs e)
{
if (!Directory.Exists(TB_1SRS.Text))
{
MessageBox.Show("SRS目录不存在！");
return;
}
if (comboBox1.Text == "")
{
MessageBox.Show("版本号不能为空！");
return;
}
if (comboBox2.Text == "")
{
MessageBox.Show("机器人序号不能为空！");
return;
}
if (label11.BackColor.Name.ToString().ToUpper().IndexOf("FF") >= 0)
{
PublicData.Data.Color = "GREY";
}
else
{
PublicData.Data.Color = label11.BackColor.Name.ToString().ToUpper();
}
for (int i = 0; i < 9; i++)
{
PublicData.Data.Transfer[i] = new double[6];
PublicData.Data.Transfer[i][0] = (double)NU0.Value;
PublicData.Data.Transfer[i][1] = (double)NU1.Value;
PublicData.Data.Transfer[i][2] = (double)NU2.Value;
PublicData.Data.Transfer[i][3] = (double)NU3.Value;
PublicData.Data.Transfer[i][4] = (double)NU4.Value;
PublicData.Data.Transfer[i][5] = (double)NU5.Value;
PublicData.Data.MaterialType[i] = CB_1M.Checked;
PublicData.Data.OpaqueType[i] = CB_1O.Checked;
PublicData.Data.ColorType[i] = PublicData.Data.Color.Trim().ToUpper();
}
MessageBox.Show("全局参数设置成功！");
}
private void pictureBox5_Click(object sender, EventArgs e)
{
cdg1.AllowFullOpen = false;
cdg1.ShowHelp = true;
if (cdg1.ShowDialog() == DialogResult.OK)
{
label11.BackColor = cdg1.Color;
if (label11.BackColor.Name.ToString().ToUpper().IndexOf("FF") >= 0)
{
PublicData.Data.Color = "GREY";
}
else
{
PublicData.Data.Color = label11.BackColor.Name.ToString().ToUpper();
}
if (PublicData.Data.Color == "GRAY")
{
PublicData.Data.Color = "GREY";
}
}
}
private void pictureBox3_Click(object sender, EventArgs e)
{
if (sender is PictureBox)
{
PictureBox PB = (PictureBox)sender;
openFileDialog1.Filter = "STL文件|*.stl";
openFileDialog1.InitialDirectory=@"C:\";
if(openFileDialog1.ShowDialog()==DialogResult.OK)
{
//MessageBox.Show("1");
if (PB.Tag.ToString() == "1")
{
textBox1.Text = openFileDialog1.FileName;
return;
}
if (PB.Tag.ToString() == "2")
{
textBox2.Text = openFileDialog1.FileName;
return;
}
if (PB.Tag.ToString() == "3")
{
textBox3.Text = openFileDialog1.FileName;
return;
}
if (PB.Tag.ToString() == "4")
{
textBox4.Text = openFileDialog1.FileName;
return;
}
if (PB.Tag.ToString() == "5")
{
textBox5.Text = openFileDialog1.FileName;
return;
}
if (PB.Tag.ToString() == "6")
{
textBox6.Text = openFileDialog1.FileName;
return;
}
if (PB.Tag.ToString() == "7")
{
textBox7.Text = openFileDialog1.FileName;
return;
}
if (PB.Tag.ToString() == "8")
{
textBox8.Text = openFileDialog1.FileName;
return;
}
if (PB.Tag.ToString() == "9")
{
textBox9.Text = openFileDialog1.FileName;
return;
}
if (PB.Tag.ToString() == "10")
{
textBox10.Text = openFileDialog1.FileName;
return;
}
}
}
}
private void pictureBox4_Click(object sender, EventArgs e)
{
folderBrowserDialog1.SelectedPath = @"C:\Program Files\";
folderBrowserDialog1.ShowNewFolderButton = false;
if (folderBrowserDialog1.ShowDialog() == DialogResult.OK)
{
TB_1SRS.Text = folderBrowserDialog1.SelectedPath;
}
}
}
static public class PublicData
{
public struct Data
{
static public string Color="RED";
static public int ThreadStep = 0;
static public int STLCount = 0;
static public string[] STLFile = null;
static public string[] ColorType = new string[10] { "GREY", "GREY", "GREY", "GREY", "GREY", "GREY", "GREY", "GREY", "GREY", "GREY" };
static public bool[] OpaqueType = new bool[10];
static public double[][] Transfer = new double[10][] { new double[6], new double[6], new double[6], new double[6], new double[6], new double[6], new double[6], new double[6], new double[6], new double[6]};
static public bool[] MaterialType = new bool[10];
static public string RobotFile = "FileName";
}
}
public class STLClass
{
public int FaceCount = 0;
public string Srs = null;
public int PointCount = 1;
public double kt = 1;
public string DirPath = null;
public string RobotType =null;
//读取文本
private string[] RobotString;
private string[] RobotStringEnd;
private int PreLine;
private string PreFlag = null;
private int AftLine;
private string AfterFlag = null;
//
private double[, ,] stldata = null;
///
/// 小数点后面四位,3D studio默认是6位
///
///
///
private string ToStr(double data)
{
if (Math.Abs(data) < 0.0001)
{
return "0.0000";
}
data = Math.Round(data, 4);
if (data == (double)((int)data))
{
return data.ToString() + ".0000";
}
return data.ToString();
}
private string ToStr6(double data)
{
if (Math.Abs(data) < 0.000001)
{
return "0.000000";
}
data = Math.Round(data, 6);
if (data == (double)((int)data))
{
return data.ToString() + ".000000";
}
return data.ToString();
}
private string ToOpaque(bool Res)
{
if (Res)
return "OPAQUE";
else
return "OPAQUE";
}
private string ToMaterial(bool Res)
{
if (Res)
return "NORMAL";
else
return "METALLIC";
}
private void getSinCos(double x_angle, out double x_sin, out double x_cos)
{
double l_t, l_t2;
// Too big angle involve numerical noise
if (Math.Abs(x_angle) > Math.Pow(1, 10))
{
x_angle = x_angle % (2.0 * Math.PI);
}
l_t = Math.Tan(x_angle / 2.0);
l_t2 = l_t * l_t;
x_sin = 2.0 * l_t / (1.0 + l_t2);
x_cos = (1.0 - l_t2) / (1.0 + l_t2);
}
private string ToTransfer(double[] transf)
{
if (transf == null || transf.Length != 6)
return null;
double MM = 1000;
double x = transf[0] / MM;
double y = transf[1] / MM;
double z = transf[2] / MM;
double rx = transf[3] * Math.PI / 180;
double ry = transf[4] * Math.PI / 180;
double rz = transf[5] * Math.PI / 180;
double l_sinRx, l_sinRy, l_sinRz;
double l_cosRx, l_cosRy, l_cosRz;
getSinCos(rx, out l_sinRx, out l_cosRx);
getSinCos(ry, out l_sinRy, out l_cosRy);
getSinCos(rz, out l_sinRz, out l_cosRz);
// Frame x_fr = new Frame();
double[] x_fr=new double[12];
x_fr[0] = l_cosRz * l_cosRy;
x_fr[1] = l_cosRz * l_sinRy * l_sinRx + l_sinRz * l_cosRx;
x_fr[2] = -l_cosRz * l_sinRy * l_cosRx + l_sinRz * l_sinRx;
x_fr[3] = -l_sinRz * l_cosRy;
x_fr[4] = l_cosRz * l_cosRx - l_sinRz * l_sinRy * l_sinRx;
x_fr[5] = l_cosRz * l_sinRx + l_sinRz * l_sinRy * l_cosRx;
x_fr[6] = l_sinRy;
x_fr[7] = -l_cosRy * l_sinRx;
x_fr[8] = l_cosRy * l_cosRx;
x_fr[9] = x;
x_fr[10] = y;
x_fr[11] = z;
return " Create_Transf(" + ToStr6(x_fr[0]) + "," + ToStr6(x_fr[3]) + "," + ToStr6(x_fr[6]) + "," + ToStr6(x_fr[9]) + "," + "\r\n" +
" " + ToStr6(x_fr[1]) + "," + ToStr6(x_fr[4]) + "," + ToStr6(x_fr[7]) + "," + ToStr6(x_fr[10]) + "," + "\r\n" +
" " + ToStr6(x_fr[2]) + "," + ToStr6(x_fr[5]) + "," + ToStr6(x_fr[8]) + "," + ToStr6(x_fr[11]) + "));";
}
private bool CheckData(int t)
{
try
{
if (Math.Abs(stldata[t, 0, 0] - stldata[t, 1, 0]) <= 0.0001 && Math.Abs(stldata[t, 0, 1] - stldata[t, 1, 1]) <= 0.0001 && Math.Abs(stldata[t, 0, 2] - stldata[t, 1, 2]) <= 0.0001)
{
return false;
}
if (Math.Abs(stldata[t, 0, 0] - stldata[t, 2, 0]) <= 0.0001 && Math.Abs(stldata[t, 0, 1] - stldata[t, 2, 1]) <= 0.0001 && Math.Abs(stldata[t, 0, 2] - stldata[t, 2, 2]) <= 0.0001)
{
return false;
}
double a = Math.Sqrt(Math.Pow(stldata[t, 0, 0] - stldata[t, 1, 0], 2) + Math.Pow(stldata[t, 0, 1] - stldata[t, 1, 1], 2) + Math.Pow(stldata[t, 0, 2] - stldata[t, 1, 2], 2));
double b = Math.Sqrt(Math.Pow(stldata[t, 0, 0] - stldata[t, 2, 0], 2) + Math.Pow(stldata[t, 0, 1] - stldata[t, 2, 1], 2) + Math.Pow(stldata[t, 0, 2] - stldata[t, 2, 2], 2));
double c = Math.Sqrt(Math.Pow(stldata[t, 2, 0] - stldata[t, 1, 0], 2) + Math.Pow(stldata[t, 2, 1] - stldata[t, 1, 1], 2) + Math.Pow(stldata[t, 2, 2] - stldata[t, 1, 2], 2));
if (Math.Abs(a + b - c) <= 0.0001 || Math.Abs(a + c - b) <= 0.0001 || Math.Abs(c + b - a) <= 0.0001)
{
return false;
}
return true;
}
catch
{
return false;
}
}
private bool GetStrFlag(string Robot)
{
if (Robot == null)
{
return false;
}
//160L标志行
if (Robot.Trim().ToUpper() == "rx160l".ToUpper())
{
PreFlag = "PO_J6_ = O0;";
AfterFlag = @"O6,O0,REVOLUTE,";
return true;
}
return false;
}
private bool GetSTLData(string FileName)
{
FileStream fs = null;
StreamReader sr = null;
try
{
if (FileName == null || !File.Exists(FileName))
{
return false;
}
//一个面为三个点，
//前三个为 X,Y,Z, 法线的x,y,z U,V
//后面接着6个零
double[, ,] Buff = new double[300000, 3, 9];
FaceCount = 0;
PointCount = 0;
string StrLine = null;
string[] SplitChar;
fs = new FileStream(FileName, FileMode.Open, FileAccess.Read);
sr = new StreamReader(fs); //使用StreamReader类来读取文件
sr.BaseStream.Seek(0, SeekOrigin.Begin);
while ((StrLine = sr.ReadLine()) != null)
{
StrLine = StrLine.Trim();
if (StrLine.IndexOf("facet normal ") >= 0)
{
SplitChar = StrLine.Split(' ');
if (SplitChar.Length != 5)
{
return false;
}
for (int t = 0; t < 3; t++)
{
Buff[FaceCount, t, 3] = double.Parse(SplitChar[2]);
Buff[FaceCount, t, 4] = double.Parse(SplitChar[3]);
Buff[FaceCount, t, 5] = double.Parse(SplitChar[4]);
}
FaceCount++;
}
if (StrLine.IndexOf("vertex ") >= 0)
{
SplitChar = StrLine.Split(' ');
if (SplitChar.Length != 4)
{
return false;
}
if (PointCount >= 3)
{
PointCount = 0;
}
Buff[FaceCount - 1, PointCount, 0] = double.Parse(SplitChar[1]);
Buff[FaceCount - 1, PointCount, 1] = double.Parse(SplitChar[2]);
Buff[FaceCount - 1, PointCount, 2] = double.Parse(SplitChar[3]);
PointCount++;
}
}
//if (FaceCount == 0)
// return false;
stldata = new double[FaceCount, 3, 9];
for (int i = 0; i < FaceCount; i++)
{
for (int j = 0; j < 3; j++)
{
for (int k = 0; k < 9; k++)
{
stldata[i, j, k] = Buff[i, j, k];
}
}
}
return true;
}
catch
{
return false;
}
finally
{
if (fs != null)
{
fs.Close();
}
if (sr != null)
{
sr.Close();
}
}
}
private bool GetRobotActData(string FileName, string RobotType)
{
FileStream fs = null;
StreamReader sr = null;
try
{
if (FileName == null || !File.Exists(FileName) || !GetStrFlag(RobotType))
{
return false;
}
//一个面为三个点，
//前三个为 X,Y,Z, 法线的x,y,z U,V
RobotString = new string[100000];
RobotStringEnd = new string[100000];
PreLine = 0;
AftLine = 0;
bool Head = true;
bool End = false;
string StrLine = null;
int i = 0;
fs = new FileStream(FileName, FileMode.Open, FileAccess.Read);
sr = new StreamReader(fs); //使用StreamReader类来读取文件
sr.BaseStream.Seek(0, SeekOrigin.Begin);
while ((StrLine = sr.ReadLine()) != null)
{
if (StrLine.Trim().ToUpper().IndexOf(PreFlag.Trim().ToUpper()) >= 0)
{
PreLine = i;
RobotString[i] = StrLine;
Head = false;
}
if (StrLine.Trim().ToUpper().IndexOf(AfterFlag.Trim().ToUpper()) >= 0)
{
i = 0;
End = true;
}
if (Head)
{
RobotString[i] = StrLine;
}
if (End)
{
RobotStringEnd[i] = StrLine;
}
i++;
}
AftLine = i - 1;
if (PreLine < 10 || AftLine < 10)
{
return false;
}
else
{
return true;
}
}
catch
{
return false;
}
finally
{
if (fs != null)
{
fs.Close();
}
if (sr != null)
{
sr.Close();
}
}
}
private bool ActFileBody(string FileName, string ColorType, bool OpaqueType, double[] Transfer, bool MaterialType)
{
FileStream fs = null;
try
{
if (FileName == null||!File.Exists(FileName)|| Transfer == null||Transfer.Length != 6||ColorType == null||stldata==null)
{
return false;
}
// return false;
fs = new FileStream(FileName, FileMode.Append, FileAccess.Write);
using (StreamWriter sw = new StreamWriter(fs, Encoding.Default))
{
//命名
string FaceName = "F_0";
string ObjectName = "ObjectAdd";
int k = 0;
for (int t = 0; t < FaceCount; t++)
{
if (t % 3000 == 0)
{
if (((FaceCount - t) / 3000 > 0))
{
sw.WriteLine(ObjectName + "= Create_face_object(30);");
}
else
{
if ((FaceCount - t) % 100 > 0)
{
sw.WriteLine(ObjectName + "= Create_face_object(" + ((FaceCount - t) / 100 + 1).ToString() + ");");
}
else
{
sw.WriteLine(ObjectName + "= Create_face_object(" + ((FaceCount - t) / 100).ToString() + ");");
}
}
sw.WriteLine();
}
if (t % 100 == 0)
{
sw.WriteLine();
if ((FaceCount - t) > 100)
{
sw.WriteLine(FaceName + "= Create_Polyhedral_Face (300,100,0,/* points, triangles and contours */");
}
else
{
sw.WriteLine(FaceName + "= Create_Polyhedral_Face (" + ((FaceCount - t) * 3).ToString() + "," + ((FaceCount - t) * 1).ToString() + ",0,/* points, triangles and contours */");
}
sw.WriteLine(" -10000.000000,11000.000000,-1000.000000,1000.000000, /* limits in u and v */");
sw.WriteLine(" 1,FALSE,FALSE,0); /* direction, closed in u and v, wire_frame mode */");
sw.WriteLine();
}
if (CheckData(t))
{
k = t;
}
sw.WriteLine("Add_Point_in_Face(" + FaceName + "," + ToStr(stldata[k, 0, 0] / kt) + "," + ToStr(stldata[k, 0, 1] / kt) + "," + ToStr(stldata[k, 0, 2] / kt) + ", /* point */");
sw.WriteLine(" " + ToStr(stldata[k, 0, 6]) + "," + ToStr(stldata[k, 0, 7]) + "," + " /* u,v */");
sw.WriteLine(" " + ToStr(stldata[k, 0, 3]) + "," + ToStr(stldata[k, 0, 4]) + "," + ToStr(stldata[k, 0, 5]) + " /* normal */);");
sw.WriteLine("Add_Point_in_Face(" + FaceName + "," + ToStr(stldata[k, 1, 0] / kt) + "," + ToStr(stldata[k, 1, 1] / kt) + "," + ToStr(stldata[k, 1, 2] / kt) + ", /* point */");
sw.WriteLine(" " + ToStr(stldata[k, 1, 6]) + "," + ToStr(stldata[k, 1, 7]) + "," + " /* u,v */");
sw.WriteLine(" " + ToStr(stldata[k, 1, 3]) + "," + ToStr(stldata[k, 1, 4]) + "," + ToStr(stldata[k, 1, 5]) + " /* normal */);");
sw.WriteLine("Add_Point_in_Face(" + FaceName + "," + ToStr(stldata[k, 2, 0] / kt) + "," + ToStr(stldata[k, 2, 1] / kt) + "," + ToStr(stldata[k, 2, 2] / kt) + ", /* point */");
sw.WriteLine(" " + ToStr(stldata[k, 2, 6]) + "," + ToStr(stldata[k, 2, 7]) + "," + " /* u,v */");
sw.WriteLine(" " + ToStr(stldata[k, 2, 3]) + "," + ToStr(stldata[k, 2, 4]) + "," + ToStr(stldata[k, 2, 5]) + " /* normal */);");
if (((t + 1) % 100 == 0 && t != 0) || (t == FaceCount - 1))
{
int face = 0;
sw.WriteLine();
if (t != (FaceCount - 1))
{
face = 100;
}
else
{
face = FaceCount % 100;
}
for (int j = 0; j < face; j++)
{
sw.WriteLine("Add_Triangle_In_Face(" + FaceName + "," + (j * 3 + 0).ToString() + "," + (j * 3 + 1).ToString() + "," + (j * 3 + 2).ToString() + "/* point indices */);");
}
sw.WriteLine();
sw.WriteLine("Face_Dvisions_in_u(" + FaceName + ",0);");
sw.WriteLine("Face_Dvisions_in_v(" + FaceName + ",0);");
sw.WriteLine("Add_face_in_object(" + ObjectName + "," + (t % 3000 / 100).ToString() + "," + FaceName + ");");
sw.WriteLine();
}
if (((t + 1) % 3000 == 0 && t != 0) || (t == FaceCount - 1))
{
sw.WriteLine();
sw.WriteLine(@"End_face_object(" + ObjectName + @",""SR6_stand_6_"");");
sw.WriteLine("Graphic(" + ObjectName + ",A_TYPE_PO,MODE,SHADING,COLOR," + ColorType.Trim().ToUpper() + ",TRANSPARENCY," + ToOpaque(OpaqueType) + ",MATERIAL," + ToMaterial(MaterialType) + ",BACK_FACE);");
sw.WriteLine();
//进行转换
sw.WriteLine(@"Buff= Assemble(""obj0"",Buff," + ObjectName + @",");
if (ToTransfer(Transfer) == null)
{
return false;
}
sw.Write(ToTransfer(Transfer));
sw.WriteLine();
sw.WriteLine();
sw.WriteLine();
}
}
}
return true;
}
catch
{
return false;
}
finally
{
if (fs != null)
{
fs.Close();
}
}
}
private bool ActGroundHead(string FileName)
{
FileStream fs = null;
try
{
if (FileName == null)
{
return false;
}
fs = new FileStream(FileName, FileMode.Create, FileAccess.Write);
using (StreamWriter sw = new StreamWriter(fs, Encoding.Default))
{
sw.WriteLine();
sw.WriteLine(@"Buff = Create_Parallelepiped(""para"",0.200000,0.200000,0.005000);");
sw.WriteLine(@"Graphic(Buff,A_TYPE_PO,MODE,SHADING,COLOR,WHITE,TRANSPARENCY,SEMI_OPAQUE,MATERIAL,NORMAL);");
sw.WriteLine();
sw.WriteLine();
sw.WriteLine();
sw.Close();
return true;
}
}
catch
{
return false;
}
finally
{
if (fs != null)
{
fs.Close();
}
}
}
private bool ActGroundEnd(string FileName)
{
FileStream fs = null;
try
{
if (FileName == null || !File.Exists(FileName))
{
return false;
}
fs = new FileStream(FileName, FileMode.Append, FileAccess.Write);
using (StreamWriter sw = new StreamWriter(fs, Encoding.Default))
{
sw.WriteLine(@"Buff= Make_Obstacle(""ground"",Buff);");
sw.WriteLine("Base_Default_Dds(Buff,0.050000);");
sw.WriteLine("Place_In_Cell(Buff,");
sw.WriteLine(@" Create_Transf( 1.000000,0.000000,0.000000,0.000000,");
sw.WriteLine(@" 0.000000,1.000000,0.000000,0.000000,");
sw.WriteLine(@" 0.000000,0.000000,1.000000,0.000000));");
sw.WriteLine();
sw.Close();
return true;
}
}
catch
{
return false;
}
finally
{
if (fs != null)
{
fs.Close();
}
}
}
private bool ActRobotHead(string FileName)
{
FileStream fs = null;
try
{
if (FileName == null)
{
return false;
}
fs = new FileStream(FileName, FileMode.Create, FileAccess.Write);
using (StreamWriter sw = new StreamWriter(fs, Encoding.Default))
{
for (int i = 0; i <= PreLine; i++)
{
sw.WriteLine(RobotString[i]);
}
sw.WriteLine();
sw.WriteLine();
sw.WriteLine();
sw.WriteLine("Buff=O0;");
sw.WriteLine();
sw.WriteLine();
sw.WriteLine();
sw.Close();
return true;
}
}
catch
{
return false;
}
finally
{
if (fs != null)
{
fs.Close();
}
}
}
private bool ActRobotEnd(string FileName)
{
FileStream fs = null;
try
{
if (FileName == null || !File.Exists(FileName))
{
return false;
}
fs = new FileStream(FileName, FileMode.Append, FileAccess.Write);
using (StreamWriter sw = new StreamWriter(fs, Encoding.Default))
{
sw.WriteLine("O0=Buff;");
sw.WriteLine();
sw.WriteLine();
sw.WriteLine();
for (int i = 0; i <= AftLine; i++)
{
sw.WriteLine(RobotStringEnd[i]);
}
sw.WriteLine();
sw.WriteLine();
sw.WriteLine();
sw.Close();
return true;
}
}
catch
{
return false;
}
finally
{
if (fs != null)
{
fs.Close();
}
}
}
//******************************************************************************************************************************
//******************************************************************************************************************************
public bool ActGroundFile(string[] STLFile, string[] ColorType, bool[] OpaqueType, double[][] Transfer, bool[] MaterialType)
{
if (STLFile == null || ColorType == null || OpaqueType == null || Transfer == null || MaterialType == null)
{
return false;
}
if (STLFile.Length >ColorType.Length || STLFile.Length > OpaqueType.Length || STLFile.Length > MaterialType.Length || STLFile.Length < 1)
{
return false;
}
string FileName = DirPath + Srs + @"\Robots\ground.act";
if (!Directory.Exists(DirPath + Srs + @"\Robots\")||!File.Exists(FileName))
{
return false;
}
if (!ActGroundHead(FileName))
return false;
for (int i = 0; i < STLFile.Length; i++)
{
if (!GetSTLData(STLFile[i])|| !ActFileBody(FileName, ColorType[i], OpaqueType[i], Transfer[i], MaterialType[i]))
{
return false;
}
}
return ActGroundEnd(FileName);
}
public bool ActGroundFile()
{
if (!Directory.Exists(DirPath + Srs + @"\Robots"))
{
return false;
}
string FileName = DirPath + Srs + @"\Robots\ground.act";
return ActGroundHead(FileName) && ActGroundEnd(FileName);
}
public bool ActRobotFile(string FileName, string[] STLFile, string[] ColorType, bool[] OpaqueType, double[][] Transfer, bool[] MaterialType)
{
if (!File.Exists(FileName) || STLFile == null || ColorType == null || OpaqueType == null || Transfer == null || MaterialType == null)
{
return false;
}
if (STLFile.Length >ColorType.Length || STLFile.Length > OpaqueType.Length || STLFile.Length >MaterialType.Length || STLFile.Length < 1)
{
return false;
}
if (!GetRobotActData(FileName, RobotType)|| !ActRobotHead(FileName))
return false;
for (int i = 0; i < STLFile.Length; i++)
{
if (!GetSTLData(STLFile[i])|| !ActFileBody(FileName, ColorType[i], OpaqueType[i], Transfer[i], MaterialType[i]))
{
return false;
}
}
return ActRobotEnd(FileName);
}
public bool ActRobotFile(string FileName)
{
return File.Exists(FileName)&& GetRobotActData(FileName, RobotType)&&ActRobotHead(FileName)&&ActRobotEnd(FileName);
}
}
