茂之钳
135 lines
3.8 KiB
C++
135 lines
3.8 KiB
C++
#pragma once
|
||
#include "vde/brep/brep.h"
|
||
#include "vde/core/transform.h"
|
||
#include <string>
|
||
#include <vector>
|
||
#include <memory>
|
||
|
||
namespace vde::brep {
|
||
|
||
using core::Point3D;
|
||
using core::Vector3D;
|
||
using core::Transform3D;
|
||
|
||
/**
|
||
* @brief 装配体节点
|
||
*
|
||
* 表示装配体树中的一个节点，可以是零件（含 B-Rep 模型）或子装配体。
|
||
* 每个节点有局部变换矩阵和名称。
|
||
*
|
||
* @ingroup brep
|
||
*/
|
||
struct AssemblyNode {
|
||
/// 节点名称
|
||
std::string name;
|
||
|
||
/// 局部（相对父节点）变换矩阵
|
||
Transform3D local_transform = Transform3D::Identity();
|
||
|
||
/// 此节点的 B-Rep 模型（零件），可选
|
||
std::optional<BrepModel> model;
|
||
|
||
/// 子节点列表
|
||
std::vector<std::unique_ptr<AssemblyNode>> children;
|
||
|
||
/// 是否是零件节点（有 model）还是子装配体（有 children）
|
||
[[nodiscard]] bool is_part() const { return model.has_value() && children.empty(); }
|
||
|
||
/// 添加子节点
|
||
AssemblyNode* add_child(std::unique_ptr<AssemblyNode> child) {
|
||
auto* ptr = child.get();
|
||
children.push_back(std::move(child));
|
||
return ptr;
|
||
}
|
||
|
||
/// 添加 B-Rep 零件
|
||
AssemblyNode* add_part(const std::string& part_name, BrepModel part_model,
|
||
const Transform3D& transform = Transform3D::Identity()) {
|
||
auto node = std::make_unique<AssemblyNode>();
|
||
node->name = part_name;
|
||
node->model = std::move(part_model);
|
||
node->local_transform = transform;
|
||
return add_child(std::move(node));
|
||
}
|
||
|
||
/// 添加子装配体
|
||
AssemblyNode* add_subassembly(const std::string& sub_name,
|
||
const Transform3D& transform = Transform3D::Identity()) {
|
||
auto node = std::make_unique<AssemblyNode>();
|
||
node->name = sub_name;
|
||
node->local_transform = transform;
|
||
return add_child(std::move(node));
|
||
}
|
||
};
|
||
|
||
/**
|
||
* @brief 装配体
|
||
*
|
||
* 装配体树的根节点。管理零件和子装配体的层级结构。
|
||
*
|
||
* @code{.cpp}
|
||
* Assembly assembly("robot_arm");
|
||
* auto* base = assembly.root().add_part("base", make_box(10,10,2));
|
||
* auto* arm = assembly.root().add_subassembly("arm",
|
||
* Transform3D::Translation(0,0,2));
|
||
* arm->add_part("segment1", make_cylinder(0.5, 8));
|
||
* @endcode
|
||
*
|
||
* @ingroup brep
|
||
*/
|
||
struct Assembly {
|
||
/// 装配体名称
|
||
std::string name;
|
||
|
||
/// 版本号
|
||
std::string version = "1.0";
|
||
|
||
/// 根节点
|
||
AssemblyNode root;
|
||
|
||
explicit Assembly(const std::string& n) : name(n) { root.name = n; }
|
||
|
||
/// 遍历所有零件节点
|
||
template <typename Visitor>
|
||
void visit_parts(Visitor&& visitor) const {
|
||
visit_parts_impl(&root, Transform3D::Identity(),
|
||
std::forward<Visitor>(visitor));
|
||
}
|
||
|
||
/// 统计零件总数
|
||
[[nodiscard]] size_t part_count() const {
|
||
size_t count = 0;
|
||
visit_parts([&count](const std::string&, const BrepModel&, const Transform3D&) {
|
||
++count;
|
||
});
|
||
return count;
|
||
}
|
||
|
||
/// 统计节点总数（含子装配体）
|
||
[[nodiscard]] size_t node_count() const {
|
||
return node_count_impl(&root);
|
||
}
|
||
|
||
private:
|
||
template <typename Visitor>
|
||
void visit_parts_impl(const AssemblyNode* node, const Transform3D& parent_xform,
|
||
Visitor&& visitor) const {
|
||
Transform3D world = parent_xform * node->local_transform;
|
||
if (node->model.has_value()) {
|
||
visitor(node->name, *node->model, world);
|
||
}
|
||
for (const auto& child : node->children) {
|
||
visit_parts_impl(child.get(), world, std::forward<Visitor>(visitor));
|
||
}
|
||
}
|
||
|
||
size_t node_count_impl(const AssemblyNode* node) const {
|
||
size_t n = 1; // count this node
|
||
for (const auto& child : node->children)
|
||
n += node_count_impl(child.get());
|
||
return n;
|
||
}
|
||
};
|
||
|
||
} // namespace vde::brep
|