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@adeas31
adeas31 committed Mar 26, 2016
1 parent 373069e commit d0a3c75
Showing 1 changed file with 166 additions and 161 deletions.
327 changes: 166 additions & 161 deletions OMEdit/OMEditGUI/Editors/MetaModelEditor.cpp
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Expand Up @@ -479,185 +479,190 @@ bool MetaModelEditor::deleteConnection(QString startSubModelName, QString endSub
return false;
}



/*!
* \brief MetaModelEditor::getRotationMatrix
* \param rotation
* \return
*/
QGenericMatrix<3,3, double> MetaModelEditor::getRotationMatrix(QGenericMatrix<3,1,double> rotation)
{
double alpha = rotation(0,0);
double beta = rotation(0,1);
double gamma = rotation(0,2);
double alpha = rotation(0,0);
double beta = rotation(0,1);
double gamma = rotation(0,2);

//Compute rotational matrix around x-axis
double Rx_data[9];
Rx_data[0] = 1; Rx_data[1] = 0; Rx_data[2] = 0;
Rx_data[3] = 0; Rx_data[4] = cos(alpha); Rx_data[5] = -sin(alpha);
Rx_data[6] = 0; Rx_data[7] = sin(alpha); Rx_data[8] = cos(alpha);
QGenericMatrix<3,3,double> Rx(Rx_data);
//Compute rotational matrix around x-axis
double Rx_data[9];
Rx_data[0] = 1; Rx_data[1] = 0; Rx_data[2] = 0;
Rx_data[3] = 0; Rx_data[4] = cos(alpha); Rx_data[5] = -sin(alpha);
Rx_data[6] = 0; Rx_data[7] = sin(alpha); Rx_data[8] = cos(alpha);
QGenericMatrix<3,3,double> Rx(Rx_data);

//Compute rotational matrix around y-axis
double Ry_data[9];
Ry_data[0] = cos(beta); Ry_data[1] = 0; Ry_data[2] = sin(beta);
Ry_data[3] = 0; Ry_data[4] = 1; Ry_data[5] = 0;
Ry_data[6] = -sin(beta); Ry_data[7] = 0; Ry_data[8] = cos(beta);
//Compute rotational matrix around y-axis
double Ry_data[9];
Ry_data[0] = cos(beta); Ry_data[1] = 0; Ry_data[2] = sin(beta);
Ry_data[3] = 0; Ry_data[4] = 1; Ry_data[5] = 0;
Ry_data[6] = -sin(beta); Ry_data[7] = 0; Ry_data[8] = cos(beta);

QGenericMatrix<3,3,double> Ry(Ry_data);
QGenericMatrix<3,3,double> Ry(Ry_data);

//Compute rotational matrix around z-axis
double Rz_data[9];
Rz_data[0] = cos(gamma); Rz_data[1] = -sin(gamma); Rz_data[2] = 0;
Rz_data[3] = sin(gamma); Rz_data[4] = cos(gamma); Rz_data[5] = 0;
Rz_data[6] = 0; Rz_data[7] = 0; Rz_data[8] = 1;
QGenericMatrix<3,3,double> Rz(Rz_data);
//Compute rotational matrix around z-axis
double Rz_data[9];
Rz_data[0] = cos(gamma); Rz_data[1] = -sin(gamma); Rz_data[2] = 0;
Rz_data[3] = sin(gamma); Rz_data[4] = cos(gamma); Rz_data[5] = 0;
Rz_data[6] = 0; Rz_data[7] = 0; Rz_data[8] = 1;
QGenericMatrix<3,3,double> Rz(Rz_data);


//Compute complete rotational matrix
QGenericMatrix<3,3,double> R = Rx*Ry*Rz;
//Compute complete rotational matrix
QGenericMatrix<3,3,double> R = Rx*Ry*Rz;

return R;
return R;
}



/*!
* \brief MetaModelEditor::alignInterfaces
* \param fromSubModel
* \param toSubModel
*/
void MetaModelEditor::alignInterfaces(QString fromSubModel, QString toSubModel)
{
//Extract submodel and interface names
QString model1 = fromSubModel.split(".").at(0);
QString interface1 = fromSubModel.split(".").at(1);
QString model2 = toSubModel.split(".").at(0);
QString interface2 = toSubModel.split(".").at(1);

//Read positions and rotations from XML
QDomElement subModelElement1;
QString x1_c1_r_x1_str, x1_c1_phi_x1_str, x2_c2_r_x2_str, x2_c2_phi_x2_str;
QString cg_x1_phi_cg_str, cg_x2_phi_cg_str, cg_x1_r_cg_str, cg_x2_r_cg_str;
QDomElement modelElement = mXmlDocument.firstChildElement("Model");
if(!modelElement.isNull()) {
QDomElement subModelsElement = modelElement.firstChildElement("SubModels");
if(!subModelsElement.isNull()) {
QDomElement subModelElement = subModelsElement.firstChildElement("SubModel");
while(!subModelElement.isNull()) {
if(subModelElement.attribute("Name").compare(model1) == 0) {
cg_x1_r_cg_str = subModelElement.attribute("Position");
cg_x1_phi_cg_str = subModelElement.attribute("Angle321");
subModelElement1 = subModelElement; //Store this element for writing back data after transformation
}
else if(subModelElement.attribute("Name").compare(model2) == 0) {
cg_x2_r_cg_str = subModelElement.attribute("Position");
cg_x2_phi_cg_str = subModelElement.attribute("Angle321");
}
QDomElement interfaceElement = subModelElement.firstChildElement("InterfacePoint");
while(!interfaceElement.isNull()) {
if(subModelElement.attribute("Name").compare(model1) == 0 &&
interfaceElement.attribute("Name").compare(interface1) == 0) {
x1_c1_r_x1_str = interfaceElement.attribute("Position");
x1_c1_phi_x1_str = interfaceElement.attribute("Angle321");
}
else if(subModelElement.attribute("Name").compare(model2) == 0 &&
interfaceElement.attribute("Name").compare(interface2) == 0) {
x2_c2_r_x2_str = interfaceElement.attribute("Position");
x2_c2_phi_x2_str = interfaceElement.attribute("Angle321");
}
interfaceElement = interfaceElement.nextSiblingElement("InterfacePoint");
}
subModelElement = subModelElement.nextSiblingElement("SubModel");
}
//Extract submodel and interface names
QString model1 = fromSubModel.split(".").at(0);
QString interface1 = fromSubModel.split(".").at(1);
QString model2 = toSubModel.split(".").at(0);
QString interface2 = toSubModel.split(".").at(1);

//Read positions and rotations from XML
QDomElement subModelElement1;
QString x1_c1_r_x1_str, x1_c1_phi_x1_str, x2_c2_r_x2_str, x2_c2_phi_x2_str;
QString cg_x1_phi_cg_str, cg_x2_phi_cg_str, cg_x1_r_cg_str, cg_x2_r_cg_str;
QDomElement modelElement = mXmlDocument.firstChildElement("Model");
if(!modelElement.isNull()) {
QDomElement subModelsElement = modelElement.firstChildElement("SubModels");
if(!subModelsElement.isNull()) {
QDomElement subModelElement = subModelsElement.firstChildElement("SubModel");
while(!subModelElement.isNull()) {
if(subModelElement.attribute("Name").compare(model1) == 0) {
cg_x1_r_cg_str = subModelElement.attribute("Position");
cg_x1_phi_cg_str = subModelElement.attribute("Angle321");
subModelElement1 = subModelElement; //Store this element for writing back data after transformation
}
else if(subModelElement.attribute("Name").compare(model2) == 0) {
cg_x2_r_cg_str = subModelElement.attribute("Position");
cg_x2_phi_cg_str = subModelElement.attribute("Angle321");
}
QDomElement interfaceElement = subModelElement.firstChildElement("InterfacePoint");
while(!interfaceElement.isNull()) {
if(subModelElement.attribute("Name").compare(model1) == 0 &&
interfaceElement.attribute("Name").compare(interface1) == 0) {
x1_c1_r_x1_str = interfaceElement.attribute("Position");
x1_c1_phi_x1_str = interfaceElement.attribute("Angle321");
}
else if(subModelElement.attribute("Name").compare(model2) == 0 &&
interfaceElement.attribute("Name").compare(interface2) == 0) {
x2_c2_r_x2_str = interfaceElement.attribute("Position");
x2_c2_phi_x2_str = interfaceElement.attribute("Angle321");
}
interfaceElement = interfaceElement.nextSiblingElement("InterfacePoint");
}
subModelElement = subModelElement.nextSiblingElement("SubModel");
}
}
}

//Assert that all rotations and positions were found (do something smarter?)
Q_ASSERT(!cg_x1_phi_cg_str.isEmpty());
Q_ASSERT(!cg_x2_phi_cg_str.isEmpty());
Q_ASSERT(!cg_x1_r_cg_str.isEmpty());
Q_ASSERT(!cg_x2_r_cg_str.isEmpty());
Q_ASSERT(!x1_c1_r_x1_str.isEmpty());
Q_ASSERT(!x1_c1_phi_x1_str.isEmpty());
Q_ASSERT(!x2_c2_r_x2_str.isEmpty());
Q_ASSERT(!x2_c2_phi_x2_str.isEmpty());

//Convert from strings to arrays
double cg_x1_phi_cg[3],cg_x2_phi_cg[3],x1_c1_phi_x1[3],x2_c2_phi_x2[3];
double cg_x1_r_cg[3],cg_x2_r_cg[3],x1_c1_r_x1[3],x2_c2_r_x2[3];

cg_x1_phi_cg[0] = cg_x1_phi_cg_str.split(",")[0].toDouble();
cg_x1_phi_cg[1] = cg_x1_phi_cg_str.split(",")[1].toDouble();
cg_x1_phi_cg[2] = cg_x1_phi_cg_str.split(",")[2].toDouble();

cg_x2_phi_cg[0] = cg_x2_phi_cg_str.split(",")[0].toDouble();
cg_x2_phi_cg[1] = cg_x2_phi_cg_str.split(",")[1].toDouble();
cg_x2_phi_cg[2] = cg_x2_phi_cg_str.split(",")[2].toDouble();

x1_c1_phi_x1[0] = x1_c1_phi_x1_str.split(",")[0].toDouble();
x1_c1_phi_x1[1] = x1_c1_phi_x1_str.split(",")[1].toDouble();
x1_c1_phi_x1[2] = x1_c1_phi_x1_str.split(",")[2].toDouble();

x2_c2_phi_x2[0] = x2_c2_phi_x2_str.split(",")[0].toDouble();
x2_c2_phi_x2[1] = x2_c2_phi_x2_str.split(",")[1].toDouble();
x2_c2_phi_x2[2] = x2_c2_phi_x2_str.split(",")[2].toDouble();

cg_x1_r_cg[0] = cg_x1_r_cg_str.split(",")[0].toDouble();
cg_x1_r_cg[1] = cg_x1_r_cg_str.split(",")[1].toDouble();
cg_x1_r_cg[2] = cg_x1_r_cg_str.split(",")[2].toDouble();

cg_x2_r_cg[0] = cg_x2_r_cg_str.split(",")[0].toDouble();
cg_x2_r_cg[1] = cg_x2_r_cg_str.split(",")[1].toDouble();
cg_x2_r_cg[2] = cg_x2_r_cg_str.split(",")[2].toDouble();

x1_c1_r_x1[0] = x1_c1_r_x1_str.split(",")[0].toDouble();
x1_c1_r_x1[1] = x1_c1_r_x1_str.split(",")[1].toDouble();
x1_c1_r_x1[2] = x1_c1_r_x1_str.split(",")[2].toDouble();

x2_c2_r_x2[0] = x2_c2_r_x2_str.split(",")[0].toDouble();
x2_c2_r_x2[1] = x2_c2_r_x2_str.split(",")[1].toDouble();
x2_c2_r_x2[2] = x2_c2_r_x2_str.split(",")[2].toDouble();


//Convert from arrays to Qt matrices
QGenericMatrix<3,1,double> CG_X1_PHI_CG(cg_x1_phi_cg); //Rotation of X1 relative to CG expressed in CG
QGenericMatrix<3,1,double> CG_X2_PHI_CG(cg_x2_phi_cg); //Rotation of X2 relative to CG expressed in CG
QGenericMatrix<3,1,double> X1_C1_PHI_X1(x1_c1_phi_x1); //Rotation of C1 relative to X1 expressed in X1
QGenericMatrix<3,1,double> X2_C2_PHI_X2(x2_c2_phi_x2); //Rotation of C2 relative to X2 expressed in X2
QGenericMatrix<3,1,double> CG_X1_R_CG(cg_x1_r_cg); //Position of X1 relative to CG expressed in CG
QGenericMatrix<3,1,double> CG_X2_R_CG(cg_x2_r_cg); //Position of X2 relative to CG expressed in CG
QGenericMatrix<3,1,double> X1_C1_R_X1(x1_c1_r_x1); //Position of C1 relative to X1 expressed in X1
QGenericMatrix<3,1,double> X2_C2_R_X2(x2_c2_r_x2); //Position of C2 relative to X2 expressed in X2

QGenericMatrix<3,3,double> R_X2_C2, R_CG_X1, R_CG_X2, R_CG_C2, R_X1_C1, R_CG_C1;
QGenericMatrix<3,1,double> X1_C1_PHI_CG, CG_C1_PHI_CG, X1_C1_R_CG, CG_C1_R_CG, X2_C2_PHI_CG, CG_C2_PHI_CG, X2_C2_R_CG, CG_C2_R_CG, ones;

//Equations from BEAST
R_X2_C2 = getRotationMatrix(X2_C2_PHI_X2); //Rotation matrix between X2 and C2
R_CG_X2 = getRotationMatrix(CG_X2_PHI_CG); //Rotation matrix between CG and X2
R_CG_C2 = R_X2_C2*R_CG_X2; //Rotation matrix between CG and C2

R_X1_C1 = getRotationMatrix(X1_C1_PHI_X1); //Rotation matrix between X1 and C1
R_CG_X1 = R_X1_C1.transposed()*R_CG_C2; //New rotation matrix between CG and X1

//Extract angles from rotation matrix
CG_X1_PHI_CG(0,0) = atan2(R_CG_X1(2,1),R_CG_X1(2,2));
CG_X1_PHI_CG(0,1) = atan2(-R_CG_X1(2,0),sqrt(R_CG_X1(2,1)*R_CG_X1(2,1) + R_CG_X1(2,2)*R_CG_X1(2,2)));
CG_X1_PHI_CG(0,2) = atan2(R_CG_X1(1,0),R_CG_X1(0,0));

//New position of X1 relative to CG
CG_X1_R_CG = CG_X2_R_CG + X2_C2_R_X2*R_CG_X2 - X1_C1_R_X1*R_CG_X1;

// //Verify positions
// qDebug() << CG_X1_R_CG +X1_C1_R_X1*R_CG_X1;
// qDebug() << CG_X2_R_CG +X2_C2_R_X2*R_CG_X2;

// //Verify rotations
// R_CG_C1 = R_X1_C1*R_CG_X1;
// qDebug() << R_CG_C1;
// qDebug() << R_CG_C2;

//Write back new rotation and position to XML
cg_x1_r_cg_str = QString("%1,%2,%3").arg(CG_X1_R_CG(0,0)).arg(CG_X1_R_CG(0,1)).arg(CG_X1_R_CG(0,2));
subModelElement1.setAttribute("Position", cg_x1_r_cg_str);
cg_x1_phi_cg_str = QString("%1,%2,%3").arg(CG_X1_PHI_CG(0,0)).arg(CG_X1_PHI_CG(0,1)).arg(CG_X1_PHI_CG(0,2));
subModelElement1.setAttribute("Angle321", cg_x1_phi_cg_str);
setPlainText(mXmlDocument.toString());
//Assert that all rotations and positions were found (do something smarter?)
Q_ASSERT(!cg_x1_phi_cg_str.isEmpty());
Q_ASSERT(!cg_x2_phi_cg_str.isEmpty());
Q_ASSERT(!cg_x1_r_cg_str.isEmpty());
Q_ASSERT(!cg_x2_r_cg_str.isEmpty());
Q_ASSERT(!x1_c1_r_x1_str.isEmpty());
Q_ASSERT(!x1_c1_phi_x1_str.isEmpty());
Q_ASSERT(!x2_c2_r_x2_str.isEmpty());
Q_ASSERT(!x2_c2_phi_x2_str.isEmpty());

//Convert from strings to arrays
double cg_x1_phi_cg[3],cg_x2_phi_cg[3],x1_c1_phi_x1[3],x2_c2_phi_x2[3];
double cg_x1_r_cg[3],cg_x2_r_cg[3],x1_c1_r_x1[3],x2_c2_r_x2[3];

cg_x1_phi_cg[0] = cg_x1_phi_cg_str.split(",")[0].toDouble();
cg_x1_phi_cg[1] = cg_x1_phi_cg_str.split(",")[1].toDouble();
cg_x1_phi_cg[2] = cg_x1_phi_cg_str.split(",")[2].toDouble();

cg_x2_phi_cg[0] = cg_x2_phi_cg_str.split(",")[0].toDouble();
cg_x2_phi_cg[1] = cg_x2_phi_cg_str.split(",")[1].toDouble();
cg_x2_phi_cg[2] = cg_x2_phi_cg_str.split(",")[2].toDouble();

x1_c1_phi_x1[0] = x1_c1_phi_x1_str.split(",")[0].toDouble();
x1_c1_phi_x1[1] = x1_c1_phi_x1_str.split(",")[1].toDouble();
x1_c1_phi_x1[2] = x1_c1_phi_x1_str.split(",")[2].toDouble();

x2_c2_phi_x2[0] = x2_c2_phi_x2_str.split(",")[0].toDouble();
x2_c2_phi_x2[1] = x2_c2_phi_x2_str.split(",")[1].toDouble();
x2_c2_phi_x2[2] = x2_c2_phi_x2_str.split(",")[2].toDouble();

cg_x1_r_cg[0] = cg_x1_r_cg_str.split(",")[0].toDouble();
cg_x1_r_cg[1] = cg_x1_r_cg_str.split(",")[1].toDouble();
cg_x1_r_cg[2] = cg_x1_r_cg_str.split(",")[2].toDouble();

cg_x2_r_cg[0] = cg_x2_r_cg_str.split(",")[0].toDouble();
cg_x2_r_cg[1] = cg_x2_r_cg_str.split(",")[1].toDouble();
cg_x2_r_cg[2] = cg_x2_r_cg_str.split(",")[2].toDouble();

x1_c1_r_x1[0] = x1_c1_r_x1_str.split(",")[0].toDouble();
x1_c1_r_x1[1] = x1_c1_r_x1_str.split(",")[1].toDouble();
x1_c1_r_x1[2] = x1_c1_r_x1_str.split(",")[2].toDouble();

x2_c2_r_x2[0] = x2_c2_r_x2_str.split(",")[0].toDouble();
x2_c2_r_x2[1] = x2_c2_r_x2_str.split(",")[1].toDouble();
x2_c2_r_x2[2] = x2_c2_r_x2_str.split(",")[2].toDouble();


//Convert from arrays to Qt matrices
QGenericMatrix<3,1,double> CG_X1_PHI_CG(cg_x1_phi_cg); //Rotation of X1 relative to CG expressed in CG
QGenericMatrix<3,1,double> CG_X2_PHI_CG(cg_x2_phi_cg); //Rotation of X2 relative to CG expressed in CG
QGenericMatrix<3,1,double> X1_C1_PHI_X1(x1_c1_phi_x1); //Rotation of C1 relative to X1 expressed in X1
QGenericMatrix<3,1,double> X2_C2_PHI_X2(x2_c2_phi_x2); //Rotation of C2 relative to X2 expressed in X2
QGenericMatrix<3,1,double> CG_X1_R_CG(cg_x1_r_cg); //Position of X1 relative to CG expressed in CG
QGenericMatrix<3,1,double> CG_X2_R_CG(cg_x2_r_cg); //Position of X2 relative to CG expressed in CG
QGenericMatrix<3,1,double> X1_C1_R_X1(x1_c1_r_x1); //Position of C1 relative to X1 expressed in X1
QGenericMatrix<3,1,double> X2_C2_R_X2(x2_c2_r_x2); //Position of C2 relative to X2 expressed in X2

QGenericMatrix<3,3,double> R_X2_C2, R_CG_X1, R_CG_X2, R_CG_C2, R_X1_C1, R_CG_C1;
QGenericMatrix<3,1,double> X1_C1_PHI_CG, CG_C1_PHI_CG, X1_C1_R_CG, CG_C1_R_CG, X2_C2_PHI_CG, CG_C2_PHI_CG, X2_C2_R_CG, CG_C2_R_CG, ones;

//Equations from BEAST
R_X2_C2 = getRotationMatrix(X2_C2_PHI_X2); //Rotation matrix between X2 and C2
R_CG_X2 = getRotationMatrix(CG_X2_PHI_CG); //Rotation matrix between CG and X2
R_CG_C2 = R_X2_C2*R_CG_X2; //Rotation matrix between CG and C2

R_X1_C1 = getRotationMatrix(X1_C1_PHI_X1); //Rotation matrix between X1 and C1
R_CG_X1 = R_X1_C1.transposed()*R_CG_C2; //New rotation matrix between CG and X1

//Extract angles from rotation matrix
CG_X1_PHI_CG(0,0) = atan2(R_CG_X1(2,1),R_CG_X1(2,2));
CG_X1_PHI_CG(0,1) = atan2(-R_CG_X1(2,0),sqrt(R_CG_X1(2,1)*R_CG_X1(2,1) + R_CG_X1(2,2)*R_CG_X1(2,2)));
CG_X1_PHI_CG(0,2) = atan2(R_CG_X1(1,0),R_CG_X1(0,0));

//New position of X1 relative to CG
CG_X1_R_CG = CG_X2_R_CG + X2_C2_R_X2*R_CG_X2 - X1_C1_R_X1*R_CG_X1;

// //Verify positions
// qDebug() << CG_X1_R_CG +X1_C1_R_X1*R_CG_X1;
// qDebug() << CG_X2_R_CG +X2_C2_R_X2*R_CG_X2;

// //Verify rotations
// R_CG_C1 = R_X1_C1*R_CG_X1;
// qDebug() << R_CG_C1;
// qDebug() << R_CG_C2;

//Write back new rotation and position to XML
cg_x1_r_cg_str = QString("%1,%2,%3").arg(CG_X1_R_CG(0,0)).arg(CG_X1_R_CG(0,1)).arg(CG_X1_R_CG(0,2));
subModelElement1.setAttribute("Position", cg_x1_r_cg_str);
cg_x1_phi_cg_str = QString("%1,%2,%3").arg(CG_X1_PHI_CG(0,0)).arg(CG_X1_PHI_CG(0,1)).arg(CG_X1_PHI_CG(0,2));
subModelElement1.setAttribute("Angle321", cg_x1_phi_cg_str);
setPlainText(mXmlDocument.toString());
}


/*!
* \brief MetaModelEditor::showContextMenu
* Create a context menu.
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