Open CASCADE学习|刚体（ TopoDS_Shape）按某种轨迹运动，停在指定位置上

最新推荐文章于 2024-08-08 08:00:00 发布
最新推荐文章于 2024-08-08 08:00:00 发布
阅读量610 收藏 5
点赞数 7
分类专栏： Open CASCADE 文章标签： 学习 c++ Open CASCADE 算法
版权声明：本文为博主原创文章，遵循 CC 4.0 BY-SA 版权协议，转载请附上原文出处链接和本声明。
本文链接：https://blog.csdn.net/T20151470/article/details/137360786
版权

今天实现如下功能：刚体做做螺旋运动，轨迹已知，求刚体在每个位置上的所占据的空间，就是把刚体从初始位置变换到该位置。

这里的刚体是一个砂轮截面，螺旋运动轨迹由B样条曲线拟合，通过Frenet标架确定运动轨迹上的局部坐标系，据此计算变换矩阵，将砂轮截面变换到指定位置。

目前可以实现平面刚体的运动，还无法实现三维刚体的运动。

1、起始位置空间的确定

#include <Geom_CylindricalSurface.hxx>
#include <gp_Ax3.hxx>
#include <GeomAPI_Interpolate.hxx>
#include <BRepAdaptor_Curve.hxx>
#include <BRepBuilderAPI_MakeEdge.hxx>
#include <Geom2d_TrimmedCurve.hxx>
#include <GCE2d_MakeSegment.hxx>

#include <GeomAPI_PointsToBSpline.hxx>
#include <BRepBuilderAPI_MakeFace.hxx>
#include <GC_MakeCircle.hxx>
#include <BRepBuilderAPI_MakeWire.hxx>
#include <BRepOffsetAPI_MakePipe.hxx>
#include <GC_MakeArcOfCircle.hxx>
#include <BRepAlgoAPI_Fuse.hxx>

#include <gp_GTrsf.hxx>
#include <BRepBuilderAPI_Transform.hxx>

#include"Viewer.h"

#include <BRepPrimAPI_MakeCylinder.hxx>
#include <BRepBuilderAPI_MakePolygon.hxx>
#include <BRep_Tool.hxx>
#include <TopoDS.hxx>
#include <BRepAlgoAPI_Cut.hxx>
#include <BRepAlgoAPI_Common.hxx>
#include <BRepAlgoAPI_Section.hxx>
#include <BRepPrimAPI_MakePrism.hxx>
#include <GC_MakeSegment.hxx>
#include <IntAna2d_AnaIntersection.hxx>
#include <ShapeUpgrade_UnifySameDomain.hxx>
#include <BRepTools_WireExplorer.hxx>
#include <GeomFill_TrihedronLaw.hxx>
#include <GeomFill_Frenet.hxx>
#include <GeomFill_CurveAndTrihedron.hxx>
#include <BRepFill_Edge3DLaw.hxx>
#include <BRepFill_SectionPlacement.hxx>
#include <ShapeUpgrade_RemoveLocations.hxx>

TopoDS_Edge createHelix(const Standard_Real HelixRadius, const Standard_Real HelixAngle, const Standard_Real HelixLength)
{
    Standard_Real u0 = 0.0;
    Standard_Real u1 = 2 * M_PI;
    Standard_Real v0 = 0.0;
    Standard_Real v1 = HelixLength;
    double uInter = (u1 - u0) / 1000;
    double vInter = (v1 - v0) / 1000;
    TColgp_HArray1OfPnt Points(1, 1001);
    Handle(Geom_CylindricalSurface) aCylinder = new Geom_CylindricalSurface(gp::XOY(), HelixRadius);
    double u;
    double v;
    //生成点
    for (int i = 0; i < 1001; i++) {
        u = i * vInter * tan(HelixAngle) / HelixRadius;
        v = i * vInter;
        Points[i + 1] = aCylinder->Value(u, v);
    }
    GeomAPI_PointsToBSpline Approx(Points);
    Handle_Geom_BSplineCurve K = Approx.Curve();
    TopoDS_Edge aHelixEdge = BRepBuilderAPI_MakeEdge(K);
    return aHelixEdge;

}
TopoDS_Shape createGrindingwheel()
{
    Standard_Real Line1_angle = 280 * M_PI / 180;
    Standard_Real Line1_length = 0.5031;
    Standard_Real Line2_angle = 236 * M_PI / 180;
    Standard_Real Line2_length = 0.5925;
    Standard_Real Arc1_r = 0.112;
    Standard_Real Arc1_angle = (180 + 10 + 50) * M_PI / 180;
    gp_Pnt Line1_p1(-0.6822 / 2, 0, 0);
    gp_Pnt Line2_p1(0.6822 / 2, 0, 0);
    gp_Lin Line1(Line1_p1, gp_Dir(cos(Line1_angle), sin(Line1_angle), 0.));
    gp_Lin Line2(Line2_p1, gp_Dir(cos(Line2_angle), sin(Line2_angle), 0.));
    Handle(Geom_TrimmedCurve) L1 = GC_MakeSegment(Line1, 0., Line1_length);
    TopoDS_Edge L1e = BRepBuilderAPI_MakeEdge(L1);
    Handle(Geom_TrimmedCurve) L2 = GC_MakeSegment(Line2, 0., Line2_length);
    TopoDS_Edge L2e = BRepBuilderAPI_MakeEdge(L2);
    gp_Pnt l1end = L1->EndPoint();
    gp_Pnt l2end = L2->EndPoint();
    gp_Lin Line1v(l1end, gp_Dir(cos(Line1_angle + M_PI_2), sin(Line1_angle + M_PI_2), 0.));
    gp_Lin2d Line2v(gp_Pnt2d(l2end.X(), l2end.Y()), gp_Dir2d(cos(Line2_angle - M_PI_2), sin(Line2_angle - M_PI_2)));
    gp_Lin Line2v3d(l2end, gp_Dir(cos(Line2_angle - M_PI_2), sin(Line2_angle - M_PI_2), 0.));
    Handle(Geom_TrimmedCurve) L1v = GC_MakeSegment(Line1v, 0., Arc1_r);
    gp_Pnt l1vend = L1v->EndPoint();
    gp_Circ c1(gp_Ax2(l1vend, gp_Dir(0, 0, 1)), Arc1_r);
    Handle(Geom_TrimmedCurve) c1c = GC_MakeArcOfCircle(c1, l1end, Arc1_angle, 1);
    gp_Pnt c1end = c1c->EndPoint();
    gp_Lin2d Line3(gp_Pnt2d(c1end.X(), c1end.Y()), gp_Dir2d(l2end.X() - c1end.X(), l2end.Y() - c1end.Y()));
    gp_Lin2d Line3v = Line3.Normal(gp_Pnt2d((l2end.X() + c1end.X()) / 2, (l2end.Y() + c1end.Y()) / 2));
    IntAna2d_AnaIntersection aIntAna;
    aIntAna.Perform(Line2v, Line3v);
    IntAna2d_IntPoint aIntPoint = aIntAna.Point(1);
    gp_Pnt o2(aIntPoint.Value().X(), aIntPoint.Value().Y(), 0.);
    Handle(Geom_TrimmedCurve) L2v = GC_MakeSegment(Line2v3d, l2end, o2);
    Standard_Real r2 = L2v->LastParameter();
    gp_Circ c2(gp_Ax2(o2, gp_Dir(0, 0, 1)), r2);
    Handle(Geom_TrimmedCurve) c2c = GC_MakeArcOfCircle(c2, c1end, l2end, 0);
    gp_Pnt c2low = c2c->Value(M_PI_2);

    TopoDS_Edge c1ce = BRepBuilderAPI_MakeEdge(c1c);
    TopoDS_Edge L1ev = BRepBuilderAPI_MakeEdge(L1v);
    TopoDS_Edge c2ce = BRepBuilderAPI_MakeEdge(c2c);


    TopoDS_Edge anEdge = BRepBuilderAPI_MakeEdge(Line1_p1, Line2_p1);

    TopTools_ListOfShape listEdge;
    listEdge.Append(anEdge);
    listEdge.Append(L1e);
    listEdge.Append(c1ce);
    listEdge.Append(c2ce);
    listEdge.Append(L2e);
    BRepBuilderAPI_MakeWire mw;
    mw.Add(listEdge);
    mw.Build();


    TopoDS_Face out = BRepBuilderAPI_MakeFace(mw);
    gp_Circ  cutcircle(gp_Ax2(gp_Pnt(0, 0, 0), gp_Dir(0, 0, 1)), 0.406 / 2);
    TopoDS_Edge cute = BRepBuilderAPI_MakeEdge(cutcircle);
    TopoDS_Wire cutw = BRepBuilderAPI_MakeWire(cute);
    TopoDS_Face cutf = BRepBuilderAPI_MakeFace(cutw);
    //平移：
    gp_Trsf theTransformation1;
    gp_Vec theVectorOfTranslation1(-c2low.X(), -c2low.Y(), 0.);
    theTransformation1.SetTranslation(theVectorOfTranslation1);

    BRepBuilderAPI_Transform myBRepTransformation1(out, theTransformation1);
    TopoDS_Shape outzero = myBRepTransformation1.Shape();
    TopoDS_Shape theCommonSurface = BRepAlgoAPI_Common(outzero, cutf);

    gp_Trsf theTransformation2;
    gp_Vec theVectorOfTranslation2(0., 0.125 / 2, 0.);
    theTransformation2.SetTranslation(theVectorOfTranslation2);
    //绕一个轴旋转：
    gp_Trsf theTransformation3;
    gp_Ax1 axez = gp_Ax1(gp_Pnt(0, 0, 0), gp_Dir(0., 0., 1.));
    theTransformation3.SetRotation(axez, -90 * M_PI / 180);

    gp_Trsf theTransformation4;
    gp_Ax1 axex = gp_Ax1(gp_Pnt(0, 0, 0), gp_Dir(1., 0., 0.));
    theTransformation4.SetRotation(axex, -50 * M_PI / 180);

    BRepBuilderAPI_Transform myBRepTransformation(theCommonSurface, theTransformation4 * theTransformation3 * theTransformation2);
    TopoDS_Shape TransformedShape = myBRepTransformation.Shape();

    return TransformedShape;
}
int main(int argc, char* argv[])
{
    gp_Dir  Z(0.0, 0.0, 1.0);
    gp_Pnt center(0, 0, 0.0);
    gp_Pnt xr(0.5, 0, 0.0);
    gp_Pnt yr(0.0, 1.0, 0.0);
    gp_Pnt zr(0.0, 0.0, 7.0);
    gp_Ax2  wb(center, Z);
    gp_Circ  wbcircle(wb, 0.125 / 2);
    TopoDS_Edge wbe = BRepBuilderAPI_MakeEdge(wbcircle);
    TopoDS_Edge xline = BRepBuilderAPI_MakeEdge(center, xr);
    TopoDS_Edge yline = BRepBuilderAPI_MakeEdge(center, yr);
    TopoDS_Edge zline = BRepBuilderAPI_MakeEdge(center, zr);
    //creat a profile of gringing wheel
    TopoDS_Shape gw = createGrindingwheel();
    //creat a cylinder surface
    Handle(Geom_CylindricalSurface) aCylinder = new Geom_CylindricalSurface(gp::XOY(), 0.306 / 2);
    TopoDS_Shape cF = BRepBuilderAPI_MakeFace(aCylinder->Cylinder(), 0, 2 * M_PI, 0, 3.);

    TopoDS_Solid cys = BRepPrimAPI_MakeCylinder(gp::XOY(), 0.306 / 2, 7);
  
    TopoDS_Edge aE = createHelix(0.306 / 2, M_PI / 4, 6.);
    TopoDS_Wire spine = BRepBuilderAPI_MakeWire(aE);
    
    //crate a sweep surface
    TopoDS_Shape pipe = BRepOffsetAPI_MakePipe(spine, gw, GeomFill_IsFrenet, 1);


    TopoDS_Wire mySpine;
    TopoDS_Shape myProfile;
    TopoDS_Shape myShape;
    gp_Trsf myTrsf;
    Handle(BRepFill_LocationLaw) myLoc;
    Handle(TopTools_HArray2OfShape) mySections;
    Handle(TopTools_HArray2OfShape) myFaces;
    Handle(TopTools_HArray2OfShape) myEdges;
    TopTools_MapOfShape myReversedEdges;
    BRepFill_DataMapOfShapeHArray2OfShape myTapes;
    BRepFill_DataMapOfShapeHArray2OfShape myRails;
    Standard_Integer myCurIndexOfSectionEdge;
    TopoDS_Shape myFirst;
    TopoDS_Shape myLast;
    TopTools_DataMapOfShapeListOfShape myGenMap;
    Standard_Integer myDegmax;
    Standard_Integer mySegmax;
    GeomAbs_Shape myContinuity;
    GeomFill_Trihedron myMode;
    Standard_Boolean myForceApproxC1;
    Standard_Real myErrorOnSurf;

    mySections.Nullify();
    myFaces.Nullify();
    myEdges.Nullify();

    mySpine = spine;
    myProfile = gw;

    TopoDS_Shape TheProf;

    Handle(GeomFill_TrihedronLaw) TLaw;
    TLaw = new GeomFill_Frenet();
    Handle(GeomFill_CurveAndTrihedron) Loc = new (GeomFill_CurveAndTrihedron) (TLaw);
    myLoc = new (BRepFill_Edge3DLaw) (mySpine, Loc);
    if (myLoc->NbLaw() == 0) {
        return 0; // Degenerated case
    }
    myLoc->TransformInG0Law(); // Set into continuity

    BRepFill_SectionPlacement Place(myLoc, gw);
    myTrsf = Place.Transformation();

    TopLoc_Location Loc2(myTrsf), Loc1;
    Loc1 = gw.Location();
    TopoDS_Shape aux;
    TheProf = myProfile;
    TheProf.Location(Loc2.Multiplied(Loc1));

    // Construct First && Last Shape
    Handle(GeomFill_LocationLaw) law;

    gp_Mat M;
    gp_Vec V;
    gp_Trsf fila;
    Standard_Real first,last;
    myLoc->Law(1)->GetDomain(first, last);
    std::cout << "first=" <<first<< std::endl;
    std::cout << "last=" << last << std::endl;
    myLoc->Law(1)->D0(first, M, V);
    fila.SetValues(M(1, 1), M(1, 2), M(1, 3), V.X(),
        M(2, 1), M(2, 2), M(2, 3), V.Y(),
        M(3, 1), M(3, 2), M(3, 3), V.Z());

    fila.Multiply(myTrsf);
    TopLoc_Location LocFirst(fila);
    myFirst = myProfile;
    if (!LocFirst.IsIdentity()) {
        //myFirst.Location( LocFirst.Multiplied(myProfile.Location()) );
        myFirst = BRepBuilderAPI_Transform(myProfile, fila, Standard_True); //copy
    }

    ShapeUpgrade_RemoveLocations RemLoc;
    RemLoc.SetRemoveLevel(TopAbs_COMPOUND);
    RemLoc.Remove(myFirst);
    myFirst = RemLoc.GetResult();

    myLoc->Law(myLoc->NbLaw())->GetDomain(first, last);
    myLoc->Law(myLoc->NbLaw())->D0(last, M, V);
    //    try { // Not good, but there are no other means to test SetValues
    fila.SetValues(M(1, 1), M(1, 2), M(1, 3), V.X(),
        M(2, 1), M(2, 2), M(2, 3), V.Y(),
        M(3, 1), M(3, 2), M(3, 3), V.Z());
    fila.Multiply(myTrsf);
    TopLoc_Location LocLast(fila);
    if (!myLoc->IsClosed() || LocFirst != LocLast) {
        myLast = myProfile;
        if (!LocLast.IsIdentity()) {
            //myLast.Location(LocLast.Multiplied(myProfile.Location()) );
            myLast = BRepBuilderAPI_Transform(myProfile, fila, Standard_True); //copy
        }
    }
    else {
        myLast = myFirst;
    }
    RemLoc.Remove(myLast);
    myLast = RemLoc.GetResult();
   
    Viewer vout(50, 50, 500, 500);
    vout << wbe;
    vout << xline;
    vout << yline;
    vout << zline;
    vout << myProfile;
    vout << myLast;
    vout << spine;
    vout.StartMessageLoop();
    return 0;
}

2、中间任一位置空间的确定

#include <Geom_CylindricalSurface.hxx>
#include <gp_Ax3.hxx>
#include <GeomAPI_Interpolate.hxx>
#include <BRepAdaptor_Curve.hxx>
#include <BRepBuilderAPI_MakeEdge.hxx>
#include <Geom2d_TrimmedCurve.hxx>
#include <GCE2d_MakeSegment.hxx>

#include <GeomAPI_PointsToBSpline.hxx>
#include <BRepBuilderAPI_MakeFace.hxx>
#include <GC_MakeCircle.hxx>
#include <BRepBuilderAPI_MakeWire.hxx>
#include <BRepOffsetAPI_MakePipe.hxx>
#include <GC_MakeArcOfCircle.hxx>
#include <BRepAlgoAPI_Fuse.hxx>

#include <gp_GTrsf.hxx>
#include <BRepBuilderAPI_Transform.hxx>

#include"Viewer.h"

#include <BRepPrimAPI_MakeCylinder.hxx>
#include <BRepBuilderAPI_MakePolygon.hxx>
#include <BRep_Tool.hxx>
#include <TopoDS.hxx>
#include <BRepAlgoAPI_Cut.hxx>
#include <BRepAlgoAPI_Common.hxx>
#include <BRepAlgoAPI_Section.hxx>
#include <BRepPrimAPI_MakePrism.hxx>
#include <GC_MakeSegment.hxx>
#include <IntAna2d_AnaIntersection.hxx>
#include <ShapeUpgrade_UnifySameDomain.hxx>
#include <BRepTools_WireExplorer.hxx>
#include <GeomFill_TrihedronLaw.hxx>
#include <GeomFill_Frenet.hxx>
#include <GeomFill_CurveAndTrihedron.hxx>
#include <BRepFill_Edge3DLaw.hxx>
#include <BRepFill_SectionPlacement.hxx>
#include <ShapeUpgrade_RemoveLocations.hxx>

TopoDS_Edge createHelix(const Standard_Real HelixRadius, const Standard_Real HelixAngle, const Standard_Real HelixLength)
{
    Standard_Real u0 = 0.0;
    Standard_Real u1 = 2 * M_PI;
    Standard_Real v0 = 0.0;
    Standard_Real v1 = HelixLength;
    double uInter = (u1 - u0) / 1000;
    double vInter = (v1 - v0) / 1000;
    TColgp_HArray1OfPnt Points(1, 1001);
    Handle(Geom_CylindricalSurface) aCylinder = new Geom_CylindricalSurface(gp::XOY(), HelixRadius);
    double u;
    double v;
    //生成点
    for (int i = 0; i < 1001; i++) {
        u = i * vInter * tan(HelixAngle) / HelixRadius;
        v = i * vInter;
        Points[i + 1] = aCylinder->Value(u, v);
    }
    GeomAPI_PointsToBSpline Approx(Points);
    Handle_Geom_BSplineCurve K = Approx.Curve();
    TopoDS_Edge aHelixEdge = BRepBuilderAPI_MakeEdge(K);
    return aHelixEdge;

}
TopoDS_Shape createGrindingwheel()
{
    Standard_Real Line1_angle = 280 * M_PI / 180;
    Standard_Real Line1_length = 0.5031;
    Standard_Real Line2_angle = 236 * M_PI / 180;
    Standard_Real Line2_length = 0.5925;
    Standard_Real Arc1_r = 0.112;
    Standard_Real Arc1_angle = (180 + 10 + 50) * M_PI / 180;
    gp_Pnt Line1_p1(-0.6822 / 2, 0, 0);
    gp_Pnt Line2_p1(0.6822 / 2, 0, 0);
    gp_Lin Line1(Line1_p1, gp_Dir(cos(Line1_angle), sin(Line1_angle), 0.));
    gp_Lin Line2(Line2_p1, gp_Dir(cos(Line2_angle), sin(Line2_angle), 0.));
    Handle(Geom_TrimmedCurve) L1 = GC_MakeSegment(Line1, 0., Line1_length);
    TopoDS_Edge L1e = BRepBuilderAPI_MakeEdge(L1);
    Handle(Geom_TrimmedCurve) L2 = GC_MakeSegment(Line2, 0., Line2_length);
    TopoDS_Edge L2e = BRepBuilderAPI_MakeEdge(L2);
    gp_Pnt l1end = L1->EndPoint();
    gp_Pnt l2end = L2->EndPoint();
    gp_Lin Line1v(l1end, gp_Dir(cos(Line1_angle + M_PI_2), sin(Line1_angle + M_PI_2), 0.));
    gp_Lin2d Line2v(gp_Pnt2d(l2end.X(), l2end.Y()), gp_Dir2d(cos(Line2_angle - M_PI_2), sin(Line2_angle - M_PI_2)));
    gp_Lin Line2v3d(l2end, gp_Dir(cos(Line2_angle - M_PI_2), sin(Line2_angle - M_PI_2), 0.));
    Handle(Geom_TrimmedCurve) L1v = GC_MakeSegment(Line1v, 0., Arc1_r);
    gp_Pnt l1vend = L1v->EndPoint();
    gp_Circ c1(gp_Ax2(l1vend, gp_Dir(0, 0, 1)), Arc1_r);
    Handle(Geom_TrimmedCurve) c1c = GC_MakeArcOfCircle(c1, l1end, Arc1_angle, 1);
    gp_Pnt c1end = c1c->EndPoint();
    gp_Lin2d Line3(gp_Pnt2d(c1end.X(), c1end.Y()), gp_Dir2d(l2end.X() - c1end.X(), l2end.Y() - c1end.Y()));
    gp_Lin2d Line3v = Line3.Normal(gp_Pnt2d((l2end.X() + c1end.X()) / 2, (l2end.Y() + c1end.Y()) / 2));
    IntAna2d_AnaIntersection aIntAna;
    aIntAna.Perform(Line2v, Line3v);
    IntAna2d_IntPoint aIntPoint = aIntAna.Point(1);
    gp_Pnt o2(aIntPoint.Value().X(), aIntPoint.Value().Y(), 0.);
    Handle(Geom_TrimmedCurve) L2v = GC_MakeSegment(Line2v3d, l2end, o2);
    Standard_Real r2 = L2v->LastParameter();
    gp_Circ c2(gp_Ax2(o2, gp_Dir(0, 0, 1)), r2);
    Handle(Geom_TrimmedCurve) c2c = GC_MakeArcOfCircle(c2, c1end, l2end, 0);
    gp_Pnt c2low = c2c->Value(M_PI_2);

    TopoDS_Edge c1ce = BRepBuilderAPI_MakeEdge(c1c);
    TopoDS_Edge L1ev = BRepBuilderAPI_MakeEdge(L1v);
    TopoDS_Edge c2ce = BRepBuilderAPI_MakeEdge(c2c);


    TopoDS_Edge anEdge = BRepBuilderAPI_MakeEdge(Line1_p1, Line2_p1);

    TopTools_ListOfShape listEdge;
    listEdge.Append(anEdge);
    listEdge.Append(L1e);
    listEdge.Append(c1ce);
    listEdge.Append(c2ce);
    listEdge.Append(L2e);
    BRepBuilderAPI_MakeWire mw;
    mw.Add(listEdge);
    mw.Build();


    TopoDS_Face out = BRepBuilderAPI_MakeFace(mw);
    gp_Circ  cutcircle(gp_Ax2(gp_Pnt(0, 0, 0), gp_Dir(0, 0, 1)), 0.406 / 2);
    TopoDS_Edge cute = BRepBuilderAPI_MakeEdge(cutcircle);
    TopoDS_Wire cutw = BRepBuilderAPI_MakeWire(cute);
    TopoDS_Face cutf = BRepBuilderAPI_MakeFace(cutw);
    //平移：
    gp_Trsf theTransformation1;
    gp_Vec theVectorOfTranslation1(-c2low.X(), -c2low.Y(), 0.);
    theTransformation1.SetTranslation(theVectorOfTranslation1);

    BRepBuilderAPI_Transform myBRepTransformation1(out, theTransformation1);
    TopoDS_Shape outzero = myBRepTransformation1.Shape();
    TopoDS_Shape theCommonSurface = BRepAlgoAPI_Common(outzero, cutf);

    gp_Trsf theTransformation2;
    gp_Vec theVectorOfTranslation2(0., 0.125 / 2, 0.);
    theTransformation2.SetTranslation(theVectorOfTranslation2);
    //绕一个轴旋转：
    gp_Trsf theTransformation3;
    gp_Ax1 axez = gp_Ax1(gp_Pnt(0, 0, 0), gp_Dir(0., 0., 1.));
    theTransformation3.SetRotation(axez, -90 * M_PI / 180);

    gp_Trsf theTransformation4;
    gp_Ax1 axex = gp_Ax1(gp_Pnt(0, 0, 0), gp_Dir(1., 0., 0.));
    theTransformation4.SetRotation(axex, -50 * M_PI / 180);

    BRepBuilderAPI_Transform myBRepTransformation(theCommonSurface, theTransformation4 * theTransformation3 * theTransformation2);
    TopoDS_Shape TransformedShape = myBRepTransformation.Shape();

    return TransformedShape;
}
TopoDS_Shape getShapeOnPosition(TopoDS_Shape myProfile,Handle(BRepFill_LocationLaw) myLoc,Standard_Real pos, Standard_Real a, Standard_Real b, gp_Trsf myTrsf)
{
    TopoDS_Shape myPos;
    Handle(GeomFill_LocationLaw) law;
    gp_Mat M;
    gp_Vec V;
    gp_Trsf fila;
    Standard_Real first, last;
    myLoc->Law(1)->GetDomain(first, last);
    Standard_Real px = (pos - a) / (b - a);
    myLoc->Law(1)->D0(px, M, V);
    fila.SetValues(M(1, 1), M(1, 2), M(1, 3), V.X(),
        M(2, 1), M(2, 2), M(2, 3), V.Y(),
        M(3, 1), M(3, 2), M(3, 3), V.Z());

    fila.Multiply(myTrsf);
    myPos = myProfile;
    TopLoc_Location LocPos(fila);
    if (!LocPos.IsIdentity()) {
        //myFirst.Location( LocFirst.Multiplied(myProfile.Location()) );
        myPos = BRepBuilderAPI_Transform(myProfile, fila, Standard_True); //copy
    }

    ShapeUpgrade_RemoveLocations RemLoc;
    RemLoc.SetRemoveLevel(TopAbs_COMPOUND);
    RemLoc.Remove(myPos);
    myPos = RemLoc.GetResult();
    return myPos;
}
int main(int argc, char* argv[])
{
    gp_Dir  Z(0.0, 0.0, 1.0);
    gp_Pnt center(0, 0, 0.0);
    gp_Pnt xr(0.5, 0, 0.0);
    gp_Pnt yr(0.0, 1.0, 0.0);
    gp_Pnt zr(0.0, 0.0, 7.0);
    gp_Ax2  wb(center, Z);
    gp_Circ  wbcircle(wb, 0.125 / 2);
    TopoDS_Edge wbe = BRepBuilderAPI_MakeEdge(wbcircle);
    TopoDS_Edge xline = BRepBuilderAPI_MakeEdge(center, xr);
    TopoDS_Edge yline = BRepBuilderAPI_MakeEdge(center, yr);
    TopoDS_Edge zline = BRepBuilderAPI_MakeEdge(center, zr);
    //creat a profile of gringing wheel
    TopoDS_Shape gw = createGrindingwheel();
    //creat a cylinder surface
    Handle(Geom_CylindricalSurface) aCylinder = new Geom_CylindricalSurface(gp::XOY(), 0.306 / 2);
    TopoDS_Shape cF = BRepBuilderAPI_MakeFace(aCylinder->Cylinder(), 0, 2 * M_PI, 0, 3.);

    TopoDS_Solid cys = BRepPrimAPI_MakeCylinder(gp::XOY(), 0.306 / 2, 7);
  
    TopoDS_Edge aE = createHelix(0.306 / 2, M_PI / 4, 6.);
    TopoDS_Wire spine = BRepBuilderAPI_MakeWire(aE);
    
    //crate a sweep surface
    TopoDS_Shape pipe = BRepOffsetAPI_MakePipe(spine, gw, GeomFill_IsFrenet, 1);


    TopoDS_Wire mySpine;
    TopoDS_Shape myProfile;
    TopoDS_Shape myShape;
    gp_Trsf myTrsf;
    Handle(BRepFill_LocationLaw) myLoc;
    Handle(TopTools_HArray2OfShape) mySections;
    Handle(TopTools_HArray2OfShape) myFaces;
    Handle(TopTools_HArray2OfShape) myEdges;
    TopTools_MapOfShape myReversedEdges;
    BRepFill_DataMapOfShapeHArray2OfShape myTapes;
    BRepFill_DataMapOfShapeHArray2OfShape myRails;
    Standard_Integer myCurIndexOfSectionEdge;
    TopoDS_Shape myFirst;
    TopoDS_Shape myLast;
    TopTools_DataMapOfShapeListOfShape myGenMap;
    Standard_Integer myDegmax;
    Standard_Integer mySegmax;
    GeomAbs_Shape myContinuity;
    GeomFill_Trihedron myMode;
    Standard_Boolean myForceApproxC1;
    Standard_Real myErrorOnSurf;

    mySections.Nullify();
    myFaces.Nullify();
    myEdges.Nullify();

    mySpine = spine;
    myProfile = gw;

    TopoDS_Shape TheProf;

    Handle(GeomFill_TrihedronLaw) TLaw;
    TLaw = new GeomFill_Frenet();
    Handle(GeomFill_CurveAndTrihedron) Loc = new (GeomFill_CurveAndTrihedron) (TLaw);
    myLoc = new (BRepFill_Edge3DLaw) (mySpine, Loc);
    if (myLoc->NbLaw() == 0) {
        return 0; // Degenerated case
    }
    myLoc->TransformInG0Law(); // Set into continuity

    BRepFill_SectionPlacement Place(myLoc, gw);
    myTrsf = Place.Transformation();

    TopLoc_Location Loc2(myTrsf), Loc1;
    Loc1 = gw.Location();
    TopoDS_Shape aux;
    TheProf = myProfile;
    TheProf.Location(Loc2.Multiplied(Loc1));

    // Construct First && Last Shape
    Handle(GeomFill_LocationLaw) law;

    gp_Mat M;
    gp_Vec V;
    gp_Trsf fila;
    Standard_Real first,last;
    myLoc->Law(1)->GetDomain(first, last);
    std::cout << "first=" <<first<< std::endl;
    std::cout << "last=" << last << std::endl;
    std::cout << "myLoc->NbLaw()=" << myLoc->NbLaw() << std::endl;
    myLoc->Law(1)->D0(first, M, V);
    fila.SetValues(M(1, 1), M(1, 2), M(1, 3), V.X(),
        M(2, 1), M(2, 2), M(2, 3), V.Y(),
        M(3, 1), M(3, 2), M(3, 3), V.Z());

    fila.Multiply(myTrsf);
    TopLoc_Location LocFirst(fila);
    myFirst = myProfile;
    if (!LocFirst.IsIdentity()) {
        //myFirst.Location( LocFirst.Multiplied(myProfile.Location()) );
        myFirst = BRepBuilderAPI_Transform(myProfile, fila, Standard_True); //copy
    }

    ShapeUpgrade_RemoveLocations RemLoc;
    RemLoc.SetRemoveLevel(TopAbs_COMPOUND);
    RemLoc.Remove(myFirst);
    myFirst = RemLoc.GetResult();

    myLoc->Law(myLoc->NbLaw())->GetDomain(first, last);
    myLoc->Law(myLoc->NbLaw())->D0(last, M, V);
    //    try { // Not good, but there are no other means to test SetValues
    fila.SetValues(M(1, 1), M(1, 2), M(1, 3), V.X(),
        M(2, 1), M(2, 2), M(2, 3), V.Y(),
        M(3, 1), M(3, 2), M(3, 3), V.Z());
    fila.Multiply(myTrsf);
    TopLoc_Location LocLast(fila);
    if (!myLoc->IsClosed() || LocFirst != LocLast) {
        myLast = myProfile;
        if (!LocLast.IsIdentity()) {
            //myLast.Location(LocLast.Multiplied(myProfile.Location()) );
            myLast = BRepBuilderAPI_Transform(myProfile, fila, Standard_True); //copy
        }
    }
    else {
        myLast = myFirst;
    }
    RemLoc.Remove(myLast);
    myLast = RemLoc.GetResult();

    TopoDS_Shape md1 = getShapeOnPosition(myProfile, myLoc, 0.2, 0., 6., myTrsf);
    TopoDS_Shape md2 = getShapeOnPosition(myProfile, myLoc, 0.4, 0., 6., myTrsf);
    TopoDS_Shape md3 = getShapeOnPosition(myProfile, myLoc, 0.6, 0., 6., myTrsf);
    TopoDS_Shape md4 = getShapeOnPosition(myProfile, myLoc, 0.8, 0., 6., myTrsf);
    TopoDS_Shape md5 = getShapeOnPosition(myProfile, myLoc, 1.0, 0., 6., myTrsf);
   
    Viewer vout(50, 50, 500, 500);
    vout << wbe;
    vout << xline;
    vout << yline;
    vout << zline;
    vout << myProfile;
    vout << myLast;
    vout << spine;
    vout << md1;
    vout << md2;
    vout << md3;
    vout << md4;
    vout << md5;
    vout.StartMessageLoop();
    return 0;
}

3、使用的dll

TKernel.lib

TKMath.lib

TKTopAlgo.lib

TKBRep.lib

TKPrim.lib

TKOpenGl.lib

TKService.lib

TKV3d.lib

kernel32.lib

user32.lib

gdi32.lib

TKBinXCAF.lib

TKSTEP.lib

TKSTEP209.lib

TKSTEPAttr.lib

TKSTEPBase.lib

TKXSBase.lib

TKGeomBase.lib

TKG3d.lib

TKG2d.lib

TKShHealing.lib

TKGeomAlgo.lib

TKOffset.lib

TKBO.lib

TKFeat.lib

TKFillet.lib

TKBool.lib

老歌老听老掉牙
关注
专栏目录
Opencascad开发(C++)-数据类型转换-Shape、Verterx和gp_pnt的转化
GimiGimmy
08-24 626
在Opencascader开发学习中，经常会遇到数据类型的转换，为了方便自己记忆，将这些类型转换逐个记录下来，本文记录TopoDS_Shape、TopoDS_Vertex和gp_Pnt的转换。
MEMS.tar.gz_OPEN CAD_open_open cascade_open cascade mems
09-22
标题中的"MEMS.tar.gz_OPEN CAD_open_open cascade_open cascade mems"揭示了这是一个与微电子机械系统（Micro-Electro-Mechanical Systems, 简称MEMS）相关的项目，其中使用了Open CASCADE Technology（简称Open ...
OpenCascade笔记：TopoDS_Shape数据结构的访问
憧憬，思考，奋斗，飞翔
02-28 4067
TopoDS_Shape数据结构的访问
opencascade TopoDS_Shape源码学习【重中之重】
最新发布
汤圆
08-08 1427
描述了一个形状，它 引用了一个基础形状，该基础形状有可能被赋予一个位置和方向 为基础形状提供了一个位置，定义了它在本地坐标系中的位置为基础形状提供了一个方向，这是从几何学的角度（而不是相对于其他形状的方向）来定义的。注意：如果一个形状引用的基础形状的形状列表为空，则该形状被视为空。
OpenCascade笔记：【OpenCascade拓扑对象之：TopoDS_Shape的三要素】
憧憬，思考，奋斗，飞翔
02-28 1057
OpenCascade使用TopoDS_Shape类表示一个拓扑对象，这个类记录了拓扑对象的三个主要数据：位置、方向和共享对象，具体由如下三个数据成员表示：可以说，这三个数据成员，充分考虑的共享数据的需求。
Open CASCADE学习|砂轮（ TopoDS_Shape）做螺旋运动
T20151470的博客
04-06 793
通过精确控制这两个装置的运动参数，可以实现砂轮的螺旋运动，并满足各种加工需求。砂轮的螺旋运动是砂轮在磨削过程中，结合旋转和平移两种运动方式的一种复合运动。通过平移运动，砂轮可以沿着工件表面进行往复运动，实现对工件不同位置或不同形状的磨削加工。通过旋转，砂轮上的磨粒与工件表面产生相对运动，从而实现对工件的磨削加工。砂轮的螺旋运动结合了旋转和平移两种运动方式的优势，可以实现高效、精确的磨削加工。这种运动方式可以提高磨削效率，减少磨削力，降低工件表面粗糙度，从而提高工件的加工质量和精度。
OpenCascade——BRepPrimAPI图元创建接口
门前大桥下，游过一群鸭，快来看一看，原来是C++
02-22 906
可以创建部分实体，例如一定经度范围内的球体。在实际模型中，图元可用于轻松创建特定的子部件。BRepPrimAPI也提供了扫掠方式（Sweep）建模的API，支持轮廓沿线性路径或旋转方式创建实体模型。扫掠将轮廓沿指定路径移动从而获得几何实体。轮廓可以是任何拓扑，路径通常是曲线。OpenCascad不支持实体和组合实体的扫掠操作。可以在包中找到沿复杂的轮廓（如 BSpline 曲线）进行扫描构造的API，BRepPrimAPI为常见的实体建模操作提供了简单、高层次的开发接口。
OpenCascade拓扑对象之：TopoDS_Shape对象及其子对象
积累点滴，保持自我
01-26 369
如此一来，要获取子对象所在的父对象，通常需要建表机制，通过遍历父对象的子对象，建立子对象和父对象对应关系的表，例如：遍历Face的Edge，建立Edge和face间的表，从而获得Edge邻接的Face对象列表。例如：Face记录了Edge的共享对象，而Edge又反向记录了Face对象，则会形成循环依赖，当对象自动释放时，可能两者都释放不了，这个是引用计数计数的一个问题。B）出于共享的考虑。首先，该列表放在BopoDS_TShape中，即放在共享对象中，是因为对一些共享对象的子对象，通常也是需要被共享的。
open-cv，haarcascade_frontalface_default.xml人脸检测模型包
09-23
在给定的标题和描述中提到的"haarcascade_frontalface_default.xml"是一个预训练的人脸检测模型，它是OpenCV库中用于面部识别的一个关键组件。 这个模型基于Haar特征级联分类器，这是一种机器学习方法，最初由Paul ...
Cascade_STATCOM_open_loop.zip_STATCOM MULTI LEVEL_cascade_multi
07-14
这个压缩包“Cascade STATCOM_open_loop.zip”包含了关于级联多电平开环STATCOM的仿真模型，这对于理解和研究其基本工作原理非常有帮助。 首先，我们要理解“级联多电平”这一概念。级联多电平是指将多个简单的电压...
Cascade_Synchro.rar_TIM_Cascade_Synchro_cascade_cascade_synchro
09-20
在"TIM_Cascade_Synchro"中，我们关注的是如何配置这些定时器以实现级联。首先，你需要在STM32的HAL库或LL库中启用相关定时器，并进行基本的初始化设置，包括预分频器、计数模式（向上、向下或中心对齐）、自动装载...
haarcascade_fullbody.rar_Fullbody detection_haarcascade_fullbody
07-14
标题中的"haarcascade_fullbody.rar"是一个包含全身体检模型的压缩文件，主要用于实现全身检测功能。这个模型是OpenCV库的一部分，OpenCV是一个强大的计算机视觉库，广泛应用于图像处理和计算机视觉任务。"Fullbody ...
pythonocc基础：TopoDS_Shape类简介
m0_65073612的博客
05-16 516
是PythonOCC库中的一个核心类，位于模块，它代表了边界表示法（Boundary Representation, BRep）中的几何形状。BRep是一种广泛应用于CAD/CAM/CAE领域的几何模型表示方法，它通过顶点（Vertices）、边（Edges）、面（Faces）和体（Solids）等基本元素及其拓扑关系来描述三维几何体。是所有BRep形状（如点、线、面、实体等）的基类，提供了对这些形状进行操作和管理的统一接口。
OpenCascade拓扑对象之：TopoDS_Shape的三要素
HU110110的博客
05-26 2509
OpenCascade使用TopoDS_Shape类表示一个拓扑对象，这个类记录了拓扑对象的三个主要数据：位置、方向和共享对象，具体由如下三个数据成员表示： Handle(TopoDS_TShape) myTShape; TopLoc_Location myLocation; TopAbs_Orientation myOrient; 可以说，这三个数据成员，充分考虑的共享数据的需求。 1、myTShape字段 首先说，myTShape这个数据成员，是一个句柄指针（共享指针），记录了一..
TopoDS_Shape和 TopoDS_TShape
qq_40164094的博客
07-14 1837
TopoDS_Shape及其子类 包含orientation和location信息 × TopoDS_TShape及其子类 在local coordinate system描述shape，没有orientation信息。 两者的联系： TopoDS_Shape引用了一份TopoDS_TShape，并为TopoDS_TShape增加了orientation和location信息。结合共享数据结构部分就可以看出：TopoDS_TShape包含了真正的几何数据，TopoDS_Shape实现了数据共享机制，并没有复
Open CASCADE学习|扫掠
T20151470的博客
02-10 1265
该类提供了一个框架，沿着脊柱的导线构建一个shell或者solid。-CF选项：切矢由Frenet标架指定，法向通过计算最小扭转来确定；buildsweep有指定不连续的处理方式及是否生成实体。-C：将路径Path中不连续的地方通过延长和相交进行处理；-R：将路径Path中不连续的地方通过相交和填充进行处理；-CN选项：副法向由指定的dx, dy, dz确定；-DT选项：切矢和法向由Darboux标架确定；-FR选项：切矢和法向由Frenet标架确定；-FT：切矢和法向是固定的；
OpenCasCade由一个基础形状拉伸形成其它形状的问题
积累点滴，保持自我
03-06 2023
使用OCC有一段时间了，一直没有记录这方面的内容，为了以后的学习，决定整理一下（技术有限，错误请指正）。 OCC版本：6.8.0 操作系统：windows（7） 开发工具：vs2010，vs2017 UI框架：MFC 如题，今天的问题是关于OCC如何由一个基础的形状，通过拉伸，形成另一种图形，即三维视角。 OCC源码里面提供了MFC有关的很多例子，这对我来说是一个很好的学习资源，...
Open Cascade：如何从AIS_Shape导出TopoDS_Shape？
06-06
要从AIS_Shape导出TopoDS_Shape，可以按照以下步骤进行： 1. 获取AIS_Shape对象：可以通过AIS_InteractiveContext::SelectedShape()或者AIS_InteractiveContext::Current()方法获取当前选中或者正在显示的AIS_Shape...
评论
添加红包

请填写红包祝福语或标题

个

红包个数最小为10个

元

红包金额最低5元

当前余额3.43元 前往充值 >
需支付：10.00元
成就一亿技术人!
领取后你会自动成为博主和红包主的粉丝 规则
hope_wisdom
发出的红包
实付元
使用余额支付
点击重新获取
扫码支付
钱包余额 0

抵扣说明：

1.余额是钱包充值的虚拟货币，按照1:1的比例进行支付金额的抵扣。
2.余额无法直接购买下载，可以购买VIP、付费专栏及课程。

余额充值