Tecnomatix PDPS 开发：动作定义

以下代码可以自动定义动作，Demo仅供参考：

private void openModel()
        {
            string dbg = string.Empty;

            TxComponent objComp = TxApplication.ActiveSelection.GetAllItems()[0] as TxComponent;
            objComp.SetModelingScope();
            TxApplication.RefreshDisplay();

            TxKinematicLink objFixLink = objComp.CreateLink(new TxKinematicLinkCreationData("fix"));
            TxKinematicLink objMoveLink = objComp.CreateLink(new TxKinematicLinkCreationData("move"));

            TxJoint objJoint = objComp.CreateJoint(new TxJointCreationData("TEST_J1", TxJoint.TxJointType.Revolute, objFixLink, objMoveLink));
            objJoint.Axis = new TxJointAxis(new TxVector(0, 0, 0), new TxVector(0, 0, 100));

            //txFrame,TxKinematicLink,ITxGeometry,TxGroup
            TxTypeFilter filter = new TxTypeFilter(typeof(ITxObject));
            filter.AddExcludedType(typeof(TxFrame));
            filter.AddExcludedType(typeof(TxKinematicLink));
            TxObjectList objs = objComp.GetDirectDescendants(filter);

            //TxObjectList objs = objComp.GetDirectDescendants(new TxTypeFilter(typeof(ITxObject)));

            foreach (ITxObject obj in objs)
            {
                dbg = dbg + obj.Name + "|";
            }
            MessageBox.Show(dbg);

            TxObjectList insList = new TxObjectList();


            for (int i = 0; i < 10; i++)
            {
                insList.Add(objs[i]);
                //objs[i].Delete();
            }

            objFixLink.Paste(insList);

            foreach (ITxObject obj in insList)
            {
                obj.Delete();
            }
            //TxObjectList objs = TxApplication.ActiveSelection.GetItems();
            ////ITxDevice dev = TxApplication.ActiveSelection.GetAllItems()[0] as ITxDevice;
            //if (objs.Count == 1)
            //{
            //    ITxGun gun = objs[0] as ITxGun;
            //    if (gun != null)
            //    {
            //        dev.SetModelingScope();
            //        TxApplication.RefreshDisplay();
            //    }
            //}
            TxDevice newDevice = objJoint.Device as TxDevice;
            ArrayList valuesV = new ArrayList();
            ArrayList valuesR = new ArrayList();
            valuesV.Add(System.Convert.ToDouble(0));
            valuesR.Add(System.Convert.ToDouble(1));
            TxObjectList modelables = objComp.GetAllDescendants(new TxTypeFilter(typeof(ITxKinematicsModellable)));
            foreach (ITxKinematicsModellable modelable in modelables)
            {
                foreach (TxJoint poseJoint in modelable.Joints)
                {
                    valuesV.Add(System.Convert.ToDouble(0));
                    ITxJointHardLimits limits = poseJoint.HardLimits;
                    if (!(limits is TxJointConstantHardLimits))
                        valuesR.Add(System.Convert.ToDouble(0));
                    else
                    {
                        TxJointConstantHardLimits hardLimits = limits as TxJointConstantHardLimits;
                        if (hardLimits.UpperLimit == 0.0D)
                            valuesR.Add(hardLimits.LowerLimit);
                        else
                            valuesR.Add(hardLimits.UpperLimit);
                    }
                }
            }
            newDevice.CreatePose(new TxPoseCreationData("V", new TxPoseData() { JointValues = valuesV }) { CreateAtInstance = false });
            newDevice.CreatePose(new TxPoseCreationData("R", new TxPoseData() { JointValues = valuesR }) { CreateAtInstance = false });

            updateJointValue(newDevice);
        }

        private void updateJointValue(TxDevice newDevice)
        {
            TxPoseCreationData poseCreationData = new TxPoseCreationData("Pose", newDevice.CurrentPose);
            //poseCreationData.PoseData.JointValues;
        }