Open CASCADE学习|砂轮（ TopoDS_Shape）做螺旋运动

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。具体来说，砂轮一方面围绕其轴线进行旋转运动，另一方面沿着其轴线或某一特定的方向进行平移运动。这种螺旋运动方式在砂轮磨削加工中具有重要的应用。

首先，砂轮的旋转运动是实现磨削加工的基本方式。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。旋转运动的速度和方向可以根据加工需求进行调整，以达到最佳的磨削效果。

其次，砂轮的平移运动可以增加磨削的灵活性和加工范围。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。平移运动的速度和方向也可以进行精确控制，以满足复杂工件的加工需求。

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。

在实际应用中，砂轮的螺旋运动通常是通过砂轮驱动装置和工件进给装置来实现的。砂轮驱动装置负责提供旋转动力，使砂轮进行旋转运动；而工件进给装置则负责控制工件与砂轮之间的相对位置和运动速度，实现平移运动。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。

#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>
#include <BRepPrimAPI_MakeSphere.hxx>
#include <BRepPrimAPI_MakeRevol.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 createGrindingwheel2()
{
    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);
    
    gp_Pnt Line1_up(-0.9832 / 2, 5, 0);
    gp_Pnt Line2_up(0.9832 / 2, 5, 0);
    TopoDS_Edge anEdge1 = BRepBuilderAPI_MakeEdge(Line1_p1, Line1_up);
    TopoDS_Edge anEdge2 = BRepBuilderAPI_MakeEdge(Line1_up, Line2_up);
    TopoDS_Edge anEdge3 = BRepBuilderAPI_MakeEdge(Line2_up, Line2_p1);
    TopTools_ListOfShape listEdge;
    listEdge.Append(anEdge1);
    listEdge.Append(anEdge2);
    listEdge.Append(anEdge3);
    listEdge.Append(L1e);
    listEdge.Append(c1ce);
    listEdge.Append(c2ce);
    listEdge.Append(L2e);
    BRepBuilderAPI_MakeWire mw;
    mw.Add(listEdge);
    mw.Build();
   
    TopoDS_Shape gwheel = BRepPrimAPI_MakeRevol(mw, gp_Ax1(gp_Pnt(0, 5, 0), gp_Dir(1, 0, 0)), 2 * M_PI);
    //平移：
    gp_Trsf theTransformation1;
    gp_Vec theVectorOfTranslation1(-c2low.X(), -c2low.Y(), 0.);
    theTransformation1.SetTranslation(theVectorOfTranslation1);

    BRepBuilderAPI_Transform myBRepTransformation1(gwheel, theTransformation1);
    TopoDS_Shape outzero = myBRepTransformation1.Shape();
   

    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(outzero, 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()) {
        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 = createGrindingwheel2();
    //creat a cylinder surface
    Standard_Real R = 0.306/2;
    Handle(Geom_CylindricalSurface) aCylinder = new Geom_CylindricalSurface(gp::XOY(), R);
    TopoDS_Shape cF = BRepBuilderAPI_MakeFace(aCylinder->Cylinder(), 0, 2 * M_PI, 0, 3.);

    TopoDS_Solid cys = BRepPrimAPI_MakeCylinder(gp::XOY(), R, 7);

    TopoDS_Edge aE = createHelix(R, M_PI / 4, 6.);
    TopoDS_Wire spine = BRepBuilderAPI_MakeWire(aE);


    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;
    //myProfile = BRepPrimAPI_MakeSphere(gp_Pnt(0.306/2, 0., 0.),0.306/2);

    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);
    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, 1., 0., 6., myTrsf);
    TopoDS_Shape md2 = getShapeOnPosition(myProfile, myLoc, 2., 0., 6., myTrsf);
    TopoDS_Shape md3 = getShapeOnPosition(myProfile, myLoc, 3., 0., 6., myTrsf);
    TopoDS_Shape md4 = getShapeOnPosition(myProfile, myLoc, 4., 0., 6., myTrsf);
    TopoDS_Shape md5 = getShapeOnPosition(myProfile, myLoc, 5., 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;
}