Solidworks API利用C# 实现物体的运动与碰撞检测

详情见github连接

SolidWorks-API-Collision-Detection

Use SolidWorks API to MovePart and Collision Detection 利用solidworks的API来移动控件物体以及进行碰撞检测

visual studio 2022 利用Nuget 安装这些库

打开solidworks

可以看到有两个控件

部件运动

使用封装的函数void MovePart(string partName,double thetax,double thetay,double thetaz, double xDistance, double yDistance, double zDistance,double scale)改变部件partname 是部件名称 比如 床

他的部件名应该为string partName = “bed2-1”; 您可以参考样例来学习更多的使用；
thetax、thetay、thetaz分别是让物块按照不同的轴转动，您也可以三个都写进行复杂转动，该函数中已经将多角度转动融合了。注意，这里的转动是转动到指定位置，而不是转动多少度。比如你想要30°，60°，您应该直接写对应的角度，而不是运行两次30°。
xDistance、yDistance、zDistance分别是指定轴方向的平移，这个平移经不确定的测量，可能1代表1m的运动距离 这个就是实打实的运动1m，比如你要0，1，2，3m的位置距离，那就多次写入运行1
scale是放缩该部件，这里不做赘述。

连接solidworks

打开solidworks后 连接solidworks 这里我写了一个简单的界面的连接按钮。

连接成功

即可对物块进行操作了，例如 旋转30°

进行碰撞检测

bool CheckForInterference() 调用后如果当前所有界面中有碰撞 那么会返回true 否则返回false

组合运用部件运动和碰撞检测

组合运动上述两个功能，即可用solidworks模拟机械设备运动，并知晓当前位置是否会发生碰撞，最终知道在各个位置是否会出现碰撞冲突，存入数据库，以指导机械运动的安全联锁。

粗略代码，详见github

using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Windows.Forms;
using SolidWorks.Interop.swdocumentmgr;
using SolidWorks.Interop.sldworks;
using System.Diagnostics;
using System.Runtime.InteropServices;
using SolidWorks.Interop.swconst;
using System.Threading;
using System.Threading.Tasks;
using System.Collections;
using System.Data;
using System.Data.SqlClient;


namespace TEST2
{
    public partial class Form1 : Form
    {
        public Form1()
        {
            InitializeComponent();
        }

        private static SldWorks SwApp;
        private static AssemblyDoc swAssembly;
        private static ModelDoc2 swModel;


        public static ISldWorks ConnectToSolidWorks()
        {
            if (SwApp != null)
            {
                return SwApp;
            }
            else
            {
                Debug.Print("connect to solidworks on " + DateTime.Now);
                try
                {
                    SwApp = (SldWorks)Marshal.GetActiveObject("SldWorks.Application");
                }
                catch (COMException)
                {
                    try
                    {
                        SwApp = (SldWorks)Marshal.GetActiveObject("SldWorks.Application.23"); // 2015
                    }
                    catch (COMException)
                    {
                        try
                        {
                            SwApp = (SldWorks)Marshal.GetActiveObject("SldWorks.Application.26"); // 2018
                        }
                        catch (COMException)
                        {
                            MessageBox.Show("Could not connect to SolidWorks.", "SolidWorks", MessageBoxButtons.OK, MessageBoxIcon.Hand);
                            SwApp = null;
                        }
                    }
                }

                return SwApp;
            }
        }

       



        //运动单位为m 因此1mm挪动应该为0.01
        // thetax 是角度 绕某个轴旋转  Distance是位移 绕某个轴平移 scale是放缩
        private void MovePart(string partName,double thetax,double thetay,double thetaz, double xDistance, double yDistance, double zDistance,double scale)
        {
            if (swAssembly == null)
            {
                MessageBox.Show("swAssembly is null");
                return;
            }

            // 获取部件
            Component2 swComponent = swAssembly.GetComponentByName(partName);
            if (swComponent != null)
            {
                // 获取IMathUtility对象
                IMathUtility mathUtil = (IMathUtility)SwApp.GetMathUtility();

                // 获取当前变换矩阵
                IMathTransform componentTransform = swComponent.Transform2;

                if (componentTransform == null)
                {
                    MessageBox.Show("Component Transform is null");
                    return;
                }

                // 获取当前变换矩阵的数据
                double[] transformData = (double[])componentTransform.ArrayData;
                // 修改平移部分的值
                // X轴旋转
                double cosThetax = Math.Cos(thetax/ 57.295779513);
                double sinThetax = Math.Sin(thetax/ 57.295779513);
                double cosThetay = Math.Cos(thetay / 57.295779513);
                double sinThetay = Math.Sin(thetay / 57.295779513);
                double cosThetaz = Math.Cos(thetaz / 57.295779513);
                double sinThetaz = Math.Sin(thetaz / 57.295779513);

                double[,] matrixx = new double[,]
                {
                    {1, 0, 0},
                    {0, cosThetax, -sinThetax},
                    {0, sinThetax, cosThetax}
                };

                double[,] matrixy = new double[,]
                {
                    {cosThetay, 0, sinThetay},
                    {0, 1, 0},
                    {-sinThetay, 0, cosThetay}
                };

                double[,] matrixz = new double[,]
                {
                    {cosThetaz, -sinThetaz, 0},
                    {sinThetaz, cosThetaz, 0},
                    {0, 0, 1}
                };


                double[,] intermediateResult = MultiplyMatrices(matrixx, matrixy);
                double[,] finalResult = MultiplyMatrices(intermediateResult, matrixz);
                int index = 0;
                for (int i = 0; i < 3; i++)
                {
                    for (int j = 0; j < 3; j++)
                    {
                        transformData[index] = finalResult[i, j];
                        index++;
                    }
                }
                transformData[9] += xDistance; // X轴平移
                transformData[10] += yDistance; // Y轴平移
                transformData[11] += zDistance; // Z轴平移
                transformData[12] = scale;
                // 创建新的变换矩阵并设置修改后的数据
                IMathTransform newTransform = (IMathTransform)mathUtil.CreateTransform(transformData);

                // 将新的变换矩阵应用到部件上
                swComponent.Transform2 = (MathTransform)newTransform;

                swModel.GraphicsRedraw2();
            }
            else
            {
                MessageBox.Show("未找到部件: " + partName);
            }
        }





        private void ListComponents()
        {
            if (swAssembly == null)
            {
                MessageBox.Show("swAssembly is null");
                return;
            }

            int componentCount = swAssembly.GetComponentCount(false);
            object[] components = (object[])swAssembly.GetComponents(false);

            StringBuilder componentNames = new StringBuilder();
            foreach (Component2 component in components)
            {
                componentNames.AppendLine(component.Name2);
            }

            MessageBox.Show(componentNames.ToString(), "Component Names");
        }


        private async void RotatePartContinuously(string partName, double thetax, double thetay, double thetaz, double xDistance, double yDistance, double zDistance, double scale, int intervalMs)
        {

            for(int j =0; j < 360;j = j+ 5)
            {
                MovePart(partName, j, 0, 0, xDistance, yDistance, zDistance, scale);
                await Task.Delay(100);
                if (CheckForInterference())
                {
                    Console.WriteLine("yes");

                }
                else
                    Console.WriteLine("no");
            }
        }
        static double[,] MultiplyMatrices(double[,] matrix1, double[,] matrix2)
        {
            double[,] result = new double[3, 3];

            for (int i = 0; i < 3; i++)
            {
                for (int j = 0; j < 3; j++)
                {
                    for (int k = 0; k < 3; k++)
                    {
                        result[i, j] += matrix1[i, k] * matrix2[k, j];
                    }
                }
            }

            return result;
        }
        //test
        private void MoveBed_button_Click(object sender, EventArgs e)
        {
            // 尝试移动部件
            string partName = "bed2-1"; // 确保这是装配体中实际存在的部件名称
            string partName1 = "gantry-1";
            double theta = 5; // 每次旋转的角度
            int axis = 1; // 旋转轴
            double xDistance = 0; // X 轴平移
            double yDistance = 0; // Y 轴平移
            double zDistance = 0; // Z 轴平移
            double scale = 1; // 缩放因子
            int intervalMs = 1000; // 每次旋转的时间间隔（毫秒）
            MovePart(partName1, 0, 0, 30, xDistance, yDistance, zDistance, scale);

            // RotatePartContinuously(partName, 0,0,0, xDistance, yDistance, zDistance, scale, intervalMs);
        }
        //碰撞检测
        public bool CheckForInterference()
        {
            ModelDoc2 swModelDoc = (ModelDoc2)SwApp.ActiveDoc;
            if (swModelDoc == null)
            {
                Console.WriteLine("请打开一个装配体文档.");
                return false;
            }

            AssemblyDoc swAssemblyDoc = (AssemblyDoc)swModelDoc;
            InterferenceDetectionMgr pIntMgr = swAssemblyDoc.InterferenceDetectionManager;

            // 设置干扰检测选项
            pIntMgr.TreatCoincidenceAsInterference = false;
            pIntMgr.TreatSubAssembliesAsComponents = true;
            pIntMgr.IncludeMultibodyPartInterferences = true;
            pIntMgr.MakeInterferingPartsTransparent = false;
            pIntMgr.CreateFastenersFolder = true;
            pIntMgr.IgnoreHiddenBodies = true;
            pIntMgr.ShowIgnoredInterferences = false;
            pIntMgr.UseTransform = true;

            // 设置非干扰部件的显示方式
            pIntMgr.NonInterferingComponentDisplay = (int)swNonInterferingComponentDisplay_e.swNonInterferingComponentDisplay_Wireframe;

            // 运行干扰检测
            object[] vInts = (object[])pIntMgr.GetInterferences();
            int interferenceCount = pIntMgr.GetInterferenceCount();

            // 停止干扰检测
            pIntMgr.Done();

            // 如果干扰数量大于0，则返回true，否则返回false
            return interferenceCount > 0;
        }


        private void Connect_button_Click(object sender, EventArgs e)
        {
            ISldWorks swApp = Form1.ConnectToSolidWorks();

            if (swApp != null)
            {
                string msg = "This message from C#. SolidWorks version is " + swApp.RevisionNumber();

                swApp.SendMsgToUser(msg);
                // 获取当前活动的模型文档
                swModel = (ModelDoc2)swApp.ActiveDoc;

                if (swModel == null)
                {
                    MessageBox.Show("No active document found.");
                    return;
                }

                // 检查当前文档是否为装配体
                if (swModel.GetType() == (int)swDocumentTypes_e.swDocASSEMBLY)
                {
                    swAssembly = (AssemblyDoc)swModel;
                }
                else
                {
                    MessageBox.Show("The active document is not an assembly.");
                    return;
                }
            }
            else
            {
                Console.WriteLine("Failed to connect to SolidWorks.");
            }
        }
    }

    class DatabaseHelper : IDisposable
    {
        private string connectionString;
        private SqlConnection connection;

        // 构造函数，初始化连接字符串并打开连接
        public DatabaseHelper(string serverName, string databaseName, string username, string password)
        {
            connectionString = $"Server={serverName};Database={databaseName};User Id={username};Password={password};";
            connection = new SqlConnection(connectionString);
            connection.Open();
            Console.WriteLine("数据库连接成功。");
        }

        // 插入数据的函数，传入八个参数
        public void InsertData(float gantry, float rx, float ry, float rz, float x, float y, float z, bool crash)
        {
            string insertQuery = "INSERT INTO TSS_1 (Gantry, Rx, Ry, Rz, X, Y, Z, Crash) VALUES (@Gantry, @Rx, @Ry, @Rz, @X, @Y, @Z, @Crash)";

            using (SqlCommand command = new SqlCommand(insertQuery, connection))
            {
                command.Parameters.AddWithValue("@Gantry", gantry);
                command.Parameters.AddWithValue("@Rx", rx);
                command.Parameters.AddWithValue("@Ry", ry);
                command.Parameters.AddWithValue("@Rz", rz);
                command.Parameters.AddWithValue("@X", x);
                command.Parameters.AddWithValue("@Y", y);
                command.Parameters.AddWithValue("@Z", z);
                command.Parameters.AddWithValue("@Crash", crash);

                int rowsAffected = command.ExecuteNonQuery();
                Console.WriteLine($"{rowsAffected} 行插入成功。");
            }
        }

        // 释放资源
        public void Dispose()
        {
            if (connection != null)
            {
                connection.Close();
                connection.Dispose();
                Console.WriteLine("数据库连接已关闭。");
            }
        }
    }

}