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ninja
425
exchange/exchangesource/Collision/Collision.cpp
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425
exchange/exchangesource/Collision/Collision.cpp
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/***********************************************************************************************************************
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*
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* Copyright (c) 2010 - 2022 by Tech Soft 3D, Inc.
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* The information contained herein is confidential and proprietary to Tech Soft 3D, Inc., and considered a trade secret
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* as defined under civil and criminal statutes. Tech Soft 3D shall pursue its civil and criminal remedies in the event
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* of unauthorized use or misappropriation of its trade secrets. Use of this information by anyone other than authorized
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* employees of Tech Soft 3D, Inc. is granted only under a written non-disclosure agreement, expressly prescribing the
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* scope and manner of such use.
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*
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***********************************************************************************************************************/
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/**
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\file Collision.cpp
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This program demonstrates how to programmatically use the A3DCollisionCompute function.
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This program reads a model file and outputs a text file. Specify these files on the command line (see 'Usage').
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A sample file can be find in data directory : data\inventor\collision.iam
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Usage:
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Collision [INPUT] [OUTPUT] [UUIDs...]
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INPUT The input CAD file. Default is '00242AC8'
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OUTPUT The output result file. Default is 'CURRENT_DIR/Collision.txt'
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UUID1 UUID2... Any number of space separated UUIDs of representation items to be checked to each other. If not set, two relevant UUIDs from the CAD file will be picked
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***********************************************************************************************************************/
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#ifdef _MSC_VER
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# define SAMPLE_DEFAULT_CAD_FILE _T(SAMPLES_DATA_DIRECTORY"\\inventor\\collision.iam")
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# define SAMPLE_DEFAULT_RESULT_FILE _T("Collision.txt")
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#else
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# define SAMPLE_DEFAULT_CAD_FILE SAMPLES_DATA_DIRECTORY"/inventor/collision.iam"
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# define SAMPLE_DEFAULT_RESULT_FILE "Collision.txt"
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#endif
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#define INITIALIZE_A3D_API
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#include <A3DSDKIncludes.h>
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#include "../common.hpp"
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#include "visitor/VisitorContainer.h"
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#include "visitor/VisitorCascadedAttribute.h"
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#include "visitor/VisitorTree.h"
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#include "visitor/VisitorTransfo.h"
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#include "visitor/CascadedAttributeConnector.h"
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#include "visitor/TransfoConnector.h"
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#include <cassert>
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#ifdef _MSC_VER
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# include <codecvt>
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#endif
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#include <iostream>
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#include <locale>
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#include <sstream>
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#include <fstream>
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using string_t = std::basic_string<MY_CHAR>;
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// function declared in createssellatedbox.cpp
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A3DStatus CreatePolyBrepModelFromABBox(A3DBoundingBoxData const & sABBox, A3DRiPolyBrepModel ** pRiPolyBrepModel);
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//######################################################################################################################
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struct A3DFlattenVisitor : public A3DTreeVisitor
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{
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std::vector<A3DRiRepresentationItem*> m_vA3DRiBrepModel;
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std::vector<A3DMatrix4x4> m_vA3DMatrix4x4;
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std::vector<A3DUTF8Char *> m_vProductIdentifier;
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A3DUTF8Char * m_pcProductIdentifier = nullptr;
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double m_dScaleToMm = 1.;
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A3DFlattenVisitor(A3DVisitorContainer* psContainer = NULL) : A3DTreeVisitor(psContainer) { psContainer->SetTraverseInstance(true); }
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~A3DFlattenVisitor()
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{
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for (A3DUTF8Char* p: m_vProductIdentifier)
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free(p);
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}
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A3DStatus visitEnter(const A3DPartConnector& sConnector) override
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{
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A3DStatus iRet = A3DTreeVisitor::visitEnter(sConnector);
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if (iRet == A3D_SUCCESS)
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{
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A3DAsmProductOccurrenceGetIdentifier(sConnector.GetProductOccurrenceFather(), &m_pcProductIdentifier);
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}
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return iRet;
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}
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A3DStatus visitLeave(const A3DPartConnector& sConnector) override
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{
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A3DStatus iRet = A3DTreeVisitor::visitLeave(sConnector);
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if (m_pcProductIdentifier)
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{
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A3DAsmProductOccurrenceGetIdentifier(nullptr, &m_pcProductIdentifier);
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}
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return iRet;
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}
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virtual A3DStatus visitEnter(const A3DRiConnector& sConnector) override
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{
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A3DStatus iRet = A3DTreeVisitor::visitEnter(sConnector);
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const A3DEntity* pRi = sConnector.GetA3DEntity();
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A3DEEntityType eType = kA3DTypeUnknown;
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iRet = A3DEntityGetType(pRi, &eType);
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if ((iRet == A3D_SUCCESS) && (eType == kA3DTypeRiBrepModel || eType == kA3DTypeRiPolyBrepModel))
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{
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A3DVisitorColorMaterials *pA3DCascadedVisitor = static_cast<A3DVisitorColorMaterials*>(m_psContainer->GetVisitorByName("CascadedAttribute"));
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if (pA3DCascadedVisitor)
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{
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ColorMaterialsConnector sColorConnector(nullptr);
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pA3DCascadedVisitor->GetColorMaterialConnector(sColorConnector);
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if (!sColorConnector.IsShow())
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return A3D_SUCCESS;
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}
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m_vA3DRiBrepModel.push_back((A3DRiRepresentationItem*)sConnector.GetA3DEntity());
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A3DVisitorTransfo* psVisitorTransfo = static_cast<A3DVisitorTransfo*>(m_psContainer->GetVisitorByName("Transformation"));
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A3DTransfoConnector* pConnector = psVisitorTransfo->GetTransfoConnector();
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A3DMatrix4x4 sTransfo;
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pConnector->GetGlobalTransfo(sTransfo);
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delete pConnector;
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// Get global transfo
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if (m_dScaleToMm != 1.)
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{
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A3DMatrix4x4 sScale;
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sScale.ResetToIdentity();
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sScale.m_adM[0] = m_dScaleToMm;
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sScale.m_adM[5] = m_dScaleToMm;
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sScale.m_adM[10] = m_dScaleToMm;
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sScale.m_adM[15] = m_dScaleToMm;
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A3DMatrix4x4 sScaledTransfo;
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sScaledTransfo = sTransfo * sScale;
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sScaledTransfo.m_adM[15] = 1.;
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m_vA3DMatrix4x4.push_back(sScaledTransfo);
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}
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else
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m_vA3DMatrix4x4.push_back(sTransfo);
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// Get product occurence identifier ... assuming that there only on rep item by part
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A3DUTF8Char * pcProductID = nullptr;
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if (m_pcProductIdentifier != nullptr)
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{
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size_t iLen = strlen(m_pcProductIdentifier);
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pcProductID = static_cast<A3DUTF8Char*>(malloc(sizeof(A3DUTF8Char)*(iLen + 1)));
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strcpy(pcProductID, m_pcProductIdentifier);
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}
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m_vProductIdentifier.push_back(pcProductID);
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}
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return iRet;
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}
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};
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//#####################################################################################################################
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A3DStatus stGetFlattenRepItemInMmFromModelFile( A3DAsmModelFile * pModelFile,
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std::vector<A3DTransfoRepresentationItemData> & apRepItem,
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std::vector<string_t> & asIdentifiers)
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{
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A3DAsmModelFileData sMFData;
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A3D_INITIALIZE_DATA(A3DAsmModelFileData, sMFData);
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A3DAsmModelFileGet(pModelFile, &sMFData);
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double dUnitInMm = sMFData.m_dUnit;
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A3DAsmModelFileGet(NULL, &sMFData);
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A3DVisitorContainer sA3DVisitorContainer(CONNECT_TRANSFO);
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sA3DVisitorContainer.SetTraverseInstance(true);
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A3DVisitorColorMaterials *pA3DCascadedVisitor = new A3DVisitorColorMaterials(&sA3DVisitorContainer);
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sA3DVisitorContainer.push(pA3DCascadedVisitor);
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A3DFlattenVisitor *pA3DFlattenVisitor = new A3DFlattenVisitor(&sA3DVisitorContainer);
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sA3DVisitorContainer.push(pA3DFlattenVisitor);
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pA3DFlattenVisitor->m_dScaleToMm = dUnitInMm;
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A3DModelFileConnector sModelFileConnector(pModelFile);
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A3DStatus sStatus = sModelFileConnector.Traverse(&sA3DVisitorContainer);
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if (sStatus != A3D_SUCCESS)
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return A3D_ERROR;
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size_t uiRI, uiNbRepItem = pA3DFlattenVisitor->m_vA3DRiBrepModel.size();
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if (uiNbRepItem == 0)
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return A3D_MODELFILE_INCONSISTENT_EMPTY;
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apRepItem.resize(uiNbRepItem);
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asIdentifiers.resize(uiNbRepItem);
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for (uiRI = 0; uiRI < uiNbRepItem; uiRI++)
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{
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A3DTransfoRepresentationItemData & sTransfRI = apRepItem[uiRI];
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A3D_INITIALIZE_DATA(A3DTransfoRepresentationItemData, sTransfRI);
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sTransfRI.m_pRepItem = pA3DFlattenVisitor->m_vA3DRiBrepModel[uiRI];
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sTransfRI.m_pOptPlacement = new double[16];
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memcpy( const_cast<double*>(sTransfRI.m_pOptPlacement), pA3DFlattenVisitor->m_vA3DMatrix4x4[uiRI].m_adM, 16 * sizeof(double));
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if (A3DUTF8Char* psId = pA3DFlattenVisitor->m_vProductIdentifier[uiRI])
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{
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std::basic_ostringstream<MY_CHAR> stream;
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stream << psId;
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asIdentifiers[uiRI] = stream.str();
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}
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}
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return A3D_SUCCESS;
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}
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void PrintUsage()
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{
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std::cout << "Usage:" << std::endl
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<< "Collision [INPUT] [OUTPUT] [UUIDs...]" << std::endl
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<< "\tINPUT The input CAD file. Default is '" << SAMPLE_DEFAULT_CAD_FILE << "'" << std::endl
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<< "\tOUTPUT The output result file. Default is 'CURRENT_DIR/Collision.txt'" << std::endl
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<< "\tUUID1 UUID2... Any number of space separated UUIDs of representation items to be checked to each other. If not set, two relevant UUIDs from the CAD file will be picked" << std::endl;
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}
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//######################################################################################################################
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#ifdef _MSC_VER
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int wmain(A3DInt32 iArgc, A3DUniChar** ppcArgv)
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#else
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int main(A3DInt32 iArgc, A3DUTF8Char** ppcArgv)
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#endif
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{
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PrintUsage();
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// INITIALIZE HOOPS EXCHANGE
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A3DSDKHOOPSExchangeLoader sHoopsExchangeLoader(_T(HOOPS_BINARY_DIRECTORY));
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CHECK_RET(sHoopsExchangeLoader.m_eSDKStatus);
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CHECK_RET(A3DDllSetCallbacksMemory(CheckMalloc, CheckFree));
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CHECK_RET(A3DDllSetCallbacksReport(PrintLogMessage, PrintLogWarning, PrintLogError));
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// Parsing arguments
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string_t acInputCADFile = SAMPLE_DEFAULT_CAD_FILE;
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string_t acResultFile = SAMPLE_DEFAULT_RESULT_FILE;
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std::vector<string_t> asInputUUID;
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// Default Input CAD overridden by first argument
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if (iArgc > 1)
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{
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acInputCADFile = ppcArgv[1];
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}
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// Default result file overridden by second argument
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if (iArgc > 2)
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{
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acResultFile = ppcArgv[2];
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}
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// Get all UUIDs
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for (A3DInt32 i = 3; i < iArgc; ++i)
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{
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asInputUUID.emplace_back(ppcArgv[i]);
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}
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//#####################################
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// ### Import input XML file
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//#####################################
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A3DImport sImport(acInputCADFile.c_str());
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A3DStatus iRet = A3D_ERROR;
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const size_t uiSize = acInputCADFile.size();
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if (uiSize >= 4)
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{
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const string_t sExtension = acInputCADFile.substr(uiSize - 4, 4);
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#ifdef _MSC_VER
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if (sExtension == _T(".xml") || sExtension == _T(".XML") || sExtension == _T(".Xml"))
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{
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std::wstring_convert<std::codecvt_utf8_utf16<wchar_t>> converter;
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const std::string aScrFileNameUTF8 = converter.to_bytes(acInputCADFile);
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iRet = A3DAsmModelFileLoadFromXMLFile(aScrFileNameUTF8.c_str(), &sImport.m_sLoadData, &sHoopsExchangeLoader.m_psModelFile);
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}
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#else
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if (sExtension == ".xml" || sExtension == ".XML" || sExtension == ".Xml")
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iRet = A3DAsmModelFileLoadFromXMLFile(acInputCADFile.c_str(), &sImport.m_sLoadData, &sHoopsExchangeLoader.m_psModelFile);
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#endif
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else
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iRet = sHoopsExchangeLoader.Import(sImport);
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}
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else
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iRet = sHoopsExchangeLoader.Import(sImport);
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if (iRet != A3D_SUCCESS && iRet != A3D_LOAD_MISSING_COMPONENTS)
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CHECK_RET(iRet);
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//#####################################
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// ### Flatten Representation Items
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//#####################################
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std::vector<A3DTransfoRepresentationItemData> apRepItem;
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std::vector<string_t> asIdentifier;
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iRet = stGetFlattenRepItemInMmFromModelFile(sHoopsExchangeLoader.m_psModelFile, apRepItem, asIdentifier);
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CHECK_RET(iRet);
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//#####################################
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// ### Some Checks
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//#####################################
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if (apRepItem.size() < 2)
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{
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std::cout << "Collision sample needs at least 2 representation items in the model file to process." << std::endl;
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return A3D_ERROR;
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}
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assert(apRepItem.size() == asIdentifier.size());
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// If no UUID given by the user, take the first available
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if (asInputUUID.empty())
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{
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asInputUUID.push_back(asIdentifier.front());
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}
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////#####################################
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//// ### Build collision group
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////#####################################
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std::vector<A3DTransfoRepresentationItemData> asGroup1, asGroup2;
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std::vector<size_t> auiGroupIndex1, auiGroupIndex2;
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for (size_t iIndex = 0; iIndex < apRepItem.size(); iIndex++)
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{
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bool bInSecondGroup = true;
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string_t const & sCurID = asIdentifier[iIndex];
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for (auto const & sInputID : asInputUUID)
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{
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if (sCurID.compare(sInputID) == 0)
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{
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asGroup1.push_back(apRepItem[iIndex]);
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auiGroupIndex1.push_back(iIndex);
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bInSecondGroup = false;
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break;
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}
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}
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if (bInSecondGroup)
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{
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asGroup2.push_back(apRepItem[iIndex]);
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auiGroupIndex2.push_back(iIndex);
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}
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}
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// fill first group structure
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A3DCollisionGroupData sGroup1;
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A3D_INITIALIZE_DATA(A3DCollisionGroupData, sGroup1);
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sGroup1.m_uRepItemSize = (A3DUns32)asGroup1.size();
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if (sGroup1.m_uRepItemSize)
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sGroup1.m_apRepItems = &asGroup1[0];
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else
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{
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printf("Invalid first group\n");
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return -1;
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}
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// fill second group structure
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A3DCollisionGroupData sGroup2;
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A3D_INITIALIZE_DATA(A3DCollisionGroupData, sGroup2);
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sGroup2.m_uRepItemSize = (A3DUns32)asGroup2.size();
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if (sGroup2.m_uRepItemSize)
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sGroup2.m_apRepItems = &asGroup2[0];
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//#####################################
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// ### Specify collision parameters
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//#####################################
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A3DCollisionParameterData sCollisionParameter;
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A3D_INITIALIZE_DATA(A3DCollisionParameterData, sCollisionParameter);
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sCollisionParameter.m_dContactLimit = 0.1;
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sCollisionParameter.m_dSafetyDistance = 1.;
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sCollisionParameter.m_dTessellationTolerance = 0.01;
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//#####################################
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// ### Compute
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//#####################################
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A3DUns32 uCollisionResultsSize = 0;
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A3DCollisionResultData * apCollisionResults = nullptr;
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iRet = A3DCollisionCompute(&sGroup1, sGroup2.m_uRepItemSize?&sGroup2:nullptr,
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&sCollisionParameter,
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&uCollisionResultsSize, &apCollisionResults);
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CHECK_RET(iRet);
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std::basic_ofstream<MY_CHAR> sOutput;
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sOutput.open(acResultFile);
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if (sOutput.is_open())
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{
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for (A3DUns32 uiRes = 0; uiRes < uCollisionResultsSize; uiRes++)
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{
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A3DCollisionResultData const & sCurResult = apCollisionResults[uiRes];
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size_t iGlobalIndex1 = auiGroupIndex1[sCurResult.m_iRepItemIndex1];
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size_t iGlobalIndex2 = (sGroup2.m_uRepItemSize != 0) ? auiGroupIndex2[sCurResult.m_iRepItemIndex2] : auiGroupIndex1[sCurResult.m_iRepItemIndex2];
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sOutput << "Check " << asIdentifier[iGlobalIndex1] << " with " << asIdentifier[iGlobalIndex2] << " : ";
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switch (sCurResult.m_eStatus)
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{
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case A3DCollision_Unknown: sOutput << "Unknown"; break;
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case A3DCollision_NoCollision: sOutput << "No Collision"; break;
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case A3DCollision_Clearance: sOutput << "Clearance"; break;
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case A3DCollision_Contact: sOutput << "Contact"; break;
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case A3DCollision_Collision: sOutput << "Collision"; break;
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case A3DCollision_FirstInside: sOutput << "First is Inside"; break;
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case A3DCollision_SecondInside: sOutput << "Second is Inside"; break;
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}
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sOutput << std::endl;
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}
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sOutput.close();
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}
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// Free memory
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iRet = A3DCollisionCompute(nullptr, nullptr, nullptr, &uCollisionResultsSize, &apCollisionResults);
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CHECK_RET(iRet);
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for (auto & sTransfoRep : apRepItem)
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{
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delete [] sTransfoRep.m_pOptPlacement;
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}
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// Check memory allocations
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return (int)ListLeaks();
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}
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