bool PCBMODEL::getModelLocation( bool aBottom, DOUBLET aPosition, double aRotation,
TRIPLET aOffset, TRIPLET aOrientation, TopLoc_Location& aLocation )
{
// Order of operations:
// a. aOrientation is applied -Z*-Y*-X
// b. aOffset is applied
// Top ? add thickness to the Z offset
// c. Bottom ? Rotate on X axis (in contrast to most ECAD which mirror on Y),
// then rotate on +Z
// Top ? rotate on -Z
// d. aPosition is applied
//
// Note: Y axis is inverted in KiCad
gp_Trsf lPos;
lPos.SetTranslation( gp_Vec( aPosition.x, -aPosition.y, 0.0 ) );
// offset (inches)
aOffset.x *= 25.4;
aOffset.y *= 25.4;
aOffset.z *= 25.4 + BOARD_OFFSET;
gp_Trsf lRot;
if( aBottom )
{
lRot.SetRotation( gp_Ax1( gp_Pnt( 0.0, 0.0, 0.0 ), gp_Dir( 0.0, 0.0, 1.0 ) ), aRotation );
lPos.Multiply( lRot );
lRot.SetRotation( gp_Ax1( gp_Pnt( 0.0, 0.0, 0.0 ), gp_Dir( 1.0, 0.0, 0.0 ) ), M_PI );
lPos.Multiply( lRot );
}
else
{
aOffset.z += m_thickness;
lRot.SetRotation( gp_Ax1( gp_Pnt( 0.0, 0.0, 0.0 ), gp_Dir( 0.0, 0.0, 1.0 ) ), aRotation );
lPos.Multiply( lRot );
}
gp_Trsf lOff;
lOff.SetTranslation( gp_Vec( aOffset.x, aOffset.y, aOffset.z ) );
lPos.Multiply( lOff );
gp_Trsf lOrient;
lOrient.SetRotation( gp_Ax1( gp_Pnt( 0.0, 0.0, 0.0 ),
gp_Dir( 0.0, 0.0, 1.0 ) ), -aOrientation.z );
lPos.Multiply( lOrient );
lOrient.SetRotation( gp_Ax1( gp_Pnt( 0.0, 0.0, 0.0 ),
gp_Dir( 0.0, 1.0, 0.0 ) ), -aOrientation.y );
lPos.Multiply( lOrient );
lOrient.SetRotation( gp_Ax1( gp_Pnt( 0.0, 0.0, 0.0 ),
gp_Dir( 1.0, 0.0, 0.0 ) ), -aOrientation.x );
lPos.Multiply( lOrient );
aLocation = TopLoc_Location( lPos );
return true;
}
void OccContactShape::move(const SiconosVector& q)
{
const gp_Vec translat = gp_Vec(q(0), q(1), q(2));
const gp_Quaternion rota = gp_Quaternion(q(4), q(5), q(6), q(3));
gp_Trsf transfo;
transfo.SetRotation(rota);
transfo.SetTranslationPart(translat);
// this->data().Move(transfo);
this->data().Location(TopLoc_Location(transfo));
// cf code from Olivier
// reset Location to avoid accumulation of TopLoc_Datum3D
// const TopLoc_Location& aLoc = this->data().Location();
// const gp_Trsf& T = aLoc.Transformation();
// TopLoc_Location aLocWithoutList(T);
// this->data().Location(aLocWithoutList);
}
//================================================================
// Function : TexturesExt_Presentation::sampleKitchen
// Purpose : kitchen with texturized items in it.
//================================================================
void TexturesExt_Presentation::sampleKitchen()
{
TopoDS_Shape aShape;
if (!loadShape(aShape, "Kitchen\\Room.brep"))
return;
gp_Trsf aTrsf;
gp_Ax3 NewCoordSystem (gp_Pnt(-1,-1, -1),gp_Dir(0,0,1));
gp_Ax3 CurrentCoordSystem(gp_Pnt(0,0,0),gp_Dir(0,0,1));
aTrsf.SetDisplacement(CurrentCoordSystem, NewCoordSystem);
aShape.Location(TopLoc_Location(aTrsf));
moveScale(aShape);
// draw kitchen room whithout one wall (to better see the insides)
TopTools_IndexedMapOfShape aFaces;
TopExp::MapShapes(aShape, TopAbs_FACE, aFaces);
Standard_Integer nbFaces = aFaces.Extent();
// create a wooden kitchen floor
// the floor's face will be textured with texture from chataignier.gif
DISP(Texturize(aFaces(5),"plancher.gif",1,1,2,1));
// texturize other faces of the room with texture from wallpaper.gif (walls)
DISP(Texturize(aFaces(1),"wallpaper.gif",1,1,8,6));
DISP(Texturize(aFaces(3),"wallpaper.gif",1,1,8,6));
DISP(Texturize(aFaces(4),"wallpaper.gif",1,1,8,6));
// DISP(drawShape(aFaces(1), Quantity_NOC_LIGHTPINK, Standard_False));
// DISP(drawShape(aFaces(3), Quantity_NOC_LIGHTPINK, Standard_False));
// DISP(drawShape(aFaces(4), Quantity_NOC_LIGHTPINK, Standard_False));
// texturize furniture items with "wooden" texture
if (loadShape(aShape, "Kitchen\\MODERN_Table_1.brep"))
{
moveScale(aShape);
DISP(Texturize(aShape, "chataignier.gif"));
}
if (loadShape(aShape, "Kitchen\\MODERN_Chair_1.brep"))
{
moveScale(aShape);
DISP(Texturize(aShape, "chataignier.gif"));
}
if (loadShape(aShape, "Kitchen\\MODERN_Cooker_1.brep"))
{
moveScale(aShape);
aFaces.Clear();
TopExp::MapShapes(aShape, TopAbs_FACE, aFaces);
nbFaces = aFaces.Extent();
for (Standard_Integer i = 1; i <= nbFaces; i++)
{
if (i >= 59)
DISP(drawShape(aFaces(i), Graphic3d_NOM_STEEL, Standard_False));
else if (i >= 29)
DISP(drawShape(aFaces(i), Graphic3d_NOM_ALUMINIUM, Standard_False));
else if (i == 28)
DISP(Texturize(aFaces(i), "cookerplate.gif"));
else
DISP(Texturize(aFaces(i), "chataignier.gif"));
}
}
if (loadShape(aShape, "Kitchen\\MODERN_Cooker_1_opened.brep"))
{
moveScale(aShape);
DISP(Texturize(aShape, "chataignier.gif"));
}
if (loadShape(aShape, "Kitchen\\MODERN_Exhaust_1.brep"))
{
moveScale(aShape);
DISP(drawShape(aShape, Graphic3d_NOM_STONE, Standard_False));
}
if (loadShape(aShape, "Kitchen\\MODERN_MVCooker_1.brep"))
{
moveScale(aShape);
DISP(drawShape(aShape, Graphic3d_NOM_SILVER, Standard_False));
}
if (loadShape(aShape, "Kitchen\\MODERN_MVCooker_1_opened.brep"))
{
moveScale(aShape);
DISP(drawShape(aShape, Graphic3d_NOM_SILVER, Standard_False));
}
if (loadShape(aShape, "Kitchen\\MODERN_Sink_1.brep"))
{
moveScale(aShape);
aFaces.Clear();
TopExp::MapShapes(aShape, TopAbs_FACE, aFaces);
nbFaces = aFaces.Extent();
for (Standard_Integer i = 1; i <= nbFaces; i++)
{
if (i < 145)
DISP(drawShape(aFaces(i), Graphic3d_NOM_ALUMINIUM, Standard_False));
else if (i == 145)
DISP(Texturize(aFaces(i), "cookerplate.gif"));
else
DISP(Texturize(aFaces(i), "chataignier.gif"));
}
}
if (loadShape(aShape, "Kitchen\\MODERN_Sink_1_opened.brep"))
{
moveScale(aShape);
DISP(Texturize(aShape, "chataignier.gif"));
}
if (loadShape(aShape, "Kitchen\\MODERN_Refrigerator_1.brep"))
{
moveScale(aShape);
DISP(drawShape(aShape, Graphic3d_NOM_CHROME, Standard_False));
}
if (loadShape(aShape, "Kitchen\\MODERN_Refrigerator_1_opened.brep"))
{
moveScale(aShape);
DISP(drawShape(aShape, Graphic3d_NOM_CHROME, Standard_False));
}
getViewer()->Update();
}
