这篇文章主要介绍UFUN和NXOPEN中的变换矩阵区别有哪些，文中介绍的非常详细，具有一定的参考价值，感兴趣的小伙伴们一定要看完！
UFUN中用于实体变换矩阵的函数为：
UF_MODL_transform_entities
NXOPEN中用于装配组件变换矩阵的类为：
ComponentNetwork
它们的变换矩阵方式是不同的，前者为动态变换，后者为静态变换。
动态变换求法：
var invert = Current.Inverse(); var trans = invert.Multiply(position);
静态变换求法（先旋转后平移）：
var cur = Current; cur.Transpose();//转置 var pos = position; pos.Transpose();//转置 var trans = cur.Inverse().Multiply(pos); var rotation = trans.UpperLeft.ToMatrix3x3(); trans.Transpose(); var translation = trans.Translation.ToVector3d();
分享下我的两个移动相关的类（部分相关类没有提供）：
public class MoveComponentBuilder
{
#region Constructors
protected MoveComponentBuilder()
{
var workPart = theSession.Parts.Work;
_positioner = workPart.ComponentAssembly.Positioner;
_netWork = (ComponentNetwork)_positioner.EstablishNetwork();
}
public static MoveComponentBuilder Create(List components, Matrix44 matrix)
{
var mCompBuilder = new MoveComponentBuilder();
mCompBuilder.Current = matrix;
mCompBuilder.HomePosition = matrix;
mCompBuilder.Components.AddRange(components);
mCompBuilder._netWork.SetMovingGroup(components.ToArray());
mCompBuilder._netWork.MoveObjectsState = true;
return mCompBuilder;
}
public static MoveComponentBuilder Create(List components,SpecifyOrientation manip)
{
var mCompBuilder = Create(components, manip.GetPosition());
mCompBuilder.Manip = manip;
return mCompBuilder;
}
#endregion
#region Fields
private Positioner _positioner;
private ComponentNetwork _netWork;
private Session theSession = Session.GetSession();
#endregion
#region Properties
public Matrix44 Current { get; protected set; }
public Matrix44 HomePosition { get; protected set; }
public List Components { get; protected set; } = new List();
public SpecifyOrientation Manip { get; protected set; }
#endregion
#region Methods
public void Move(Matrix44 position)
{
var cur = Current;
cur.Transpose();//转置
var pos = position;
pos.Transpose();//转置
var trans = cur.Inverse().Multiply(pos);
var rotation = trans.UpperLeft.ToMatrix3x3();
trans.Transpose();
var translation = trans.Translation.ToVector3d();
_netWork.BeginDrag();
_netWork.DragByTransform(translation,rotation);
_netWork.EndDrag();
Current = position;
}
public void BackHome()
{
Move(HomePosition);
}
public bool Update()
{
if (Manip==null)
{
return false;
}
Move(Manip.GetPosition());
return true;
}
public bool UpdateManipOnly()
{
if (Manip==null)
{
return false;
}
Current = Manip.GetPosition();
return true;
}
public void Apply()
{
_netWork.Solve();
}
#endregion
} public class MoveObjectBuilder
{
#region Conductor
protected MoveObjectBuilder() { }
public static MoveObjectBuilder Create(List objs, Matrix44 matrix)
{
var mObj = new MoveObjectBuilder();
mObj.Current = matrix;
mObj.HomePosition = matrix;
mObj.Objects.AddRange(objs);
return mObj;
}
public static MoveObjectBuilder Create(List objs, SpecifyOrientation manip)
{
var mObj = Create(objs, manip.GetPosition());
mObj.Manip = manip;
return mObj;
}
#endregion
#region Fields
private static UFSession theUfSession = UFSession.GetUFSession();
private static Session theSession = Session.GetSession();
#endregion
#region Properties
public List Objects { get; protected set; } = new List();
public Matrix44 Current { get; protected set; }
public Matrix44 HomePosition { get; protected set; }
public SpecifyOrientation Manip { get; protected set; }
#endregion
#region Methods
public void Move(Matrix44 position)
{
var invert = Current.Inverse();
var trans = invert.Multiply(position);
theUfSession.Modl.TransformEntities(
Objects.Count, Objects.ToArray(), trans.ToArray());
Current = position;
theUfSession.Modl.Update();
}
public void BackHome()
{
Move(HomePosition);
}
public bool Update()
{
if (Manip == null)
{
return false;
}
Move(Manip.GetPosition());
return true;
}
public bool UpdateManipOnly()
{
if (Manip==null)
{
return false;
}
Current = Manip.GetPosition();
return true;
}
#endregion
} 演示：
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