Boolean Operations

This example provides information on using boolean operations in RobotStudio. First, create a box and a cone. Then, use these bodies to create three new bodies: an intersection between the box and the cone, a cut of the box from the cone, and a join of the box with the cone.

Go to the Modeling browser and expand My_Part to see all the bodies. It might be easier to see the different bodies if you first make them invisible and then make them visible one at a time.

Shows the intersection operation on Box and Cone.
Shows the intersection operation on Box and Cone.

Shows the cut operation on Box and Cone.
Shows the cut operation on Box and Cone.

Shows the join operation on Box and Cone.
Shows the join operation on Box and Cone.

Solution

  1. Create a Part object to contain the bodies and add it to the Station

    Part p = new Part();
p.Name = "My_Part";
station.GraphicComponents.Add(p);

  2. Create a solid box

    Matrix4 matrix_origo = new Matrix4(new Vector3(Axis.X), 0.0);
Vector3 size = new Vector3(0.5, 0.5, 0.5);
Body box = Body.CreateSolidBox(matrix_origo, size);
box.Name = "Box";
p.Bodies.Add(box);

  3. Create a cone

    Body cone = Body.CreateSolidCone(matrix_origo, 1.0, 1.0);
cone.Name = "Cone";
p.Bodies.Add(cone);

  4. Boolean Operations

    • Create the intersection between the box and the cone

      Body[] intersection = box.Intersect(cone);
foreach (Body b in intersection)
{
    b.Name = "Intersection Body";
    p.Bodies.Add(b);
}

    • Cut the cone with the box

      Body[] cut = cone.Cut2(box);
foreach (Body b in cut)
{
    b.Name = "Cut Body";
    p.Bodies.Add(b);
}

    • Use the method Join(Body) to join the box and the cone

      Body[] union = box.Join(cone);
foreach (Body b in union)
{
    b.Name = "Join Body";
    p.Bodies.Add(b);
}

Example

This example provides information on using boolean operations in RobotStudio.

Project.UndoContext.BeginUndoStep("BodyBooleanOperations");
try
{
    Station station = Station.ActiveStation;

    // Create a part to contain the bodies.
    Part p = new Part();
    p.Name = "My_Part";
    station.GraphicComponents.Add(p);

    // Create a solid box.
    Matrix4 matrix_origo = new Matrix4(new Vector3(Axis.X), 0.0);
    Vector3 size = new Vector3(0.5, 0.5, 0.5);
    Body box = Body.CreateSolidBox(matrix_origo, size);
    box.Name = "Box";
    p.Bodies.Add(box);

    // Create a cone.
    Body cone = Body.CreateSolidCone(matrix_origo, 1.0, 1.0);
    cone.Name = "Cone";
    p.Bodies.Add(cone);

    // Create the intersection between the box and the cone.
    Body[] intersection = box.Intersect(cone);
    foreach (Body b in intersection)
    {
        b.Name = "Intersection Body";
        p.Bodies.Add(b);
    }

    //Cut the cone with the box
    Body[] cut = cone.Cut2(box);
    foreach (Body b in cut)
    {
        b.Name = "Cut Body";
        p.Bodies.Add(b);
    }

    // Join the box and the cone.
    Body[] union = box.Join(cone);
    foreach (Body b in union)
    {
        b.Name = "Join Body";
        p.Bodies.Add(b);
    }
}
catch
{
    Project.UndoContext.CancelUndoStep(CancelUndoStepType.Rollback);
    throw;
}
finally
{
    Project.UndoContext.EndUndoStep();
}

Required Namespaces

ABB.Robotics.RobotStudio

ABB.Robotics.RobotStudio.Stations

ABB.Robotics.Math

See Also