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2020 2021 2022 2023 2024 2025 2026 2027 2028 2029 2030 2031 2032 2033 2034 2035 2036 2037 2038 2039 2040 2041 2042 2043 2044 2045 2046 2047 2048 2049 2050 2051 2052 2053 2054 2055 2056 2057 2058 2059 2060 2061 2062 2063 2064 2065 2066 2067 2068 2069 2070 2071 2072 2073 2074 2075 2076 2077 2078 2079 2080 2081 2082 2083 2084 2085 2086 2087 2088 2089 2090 2091 2092 2093 2094 2095 2096 2097 2098 2099 2100 2101 2102 2103 2104 2105 2106 2107 2108 2109 2110 2111 | # SPDX-License-Identifier: LGPL-2.1-or-later
# /**************************************************************************
# *
# Copyright (c) 2023 Ondsel <development@ondsel.com> *
# *
# This file is part of FreeCAD. *
# *
# FreeCAD is free software: you can redistribute it and/or modify it *
# under the terms of the GNU Lesser General Public License as *
# published by the Free Software Foundation, either version 2.1 of the *
# License, or (at your option) any later version. *
# *
# FreeCAD is distributed in the hope that it will be useful, but *
# WITHOUT ANY WARRANTY; without even the implied warranty of *
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU *
# Lesser General Public License for more details. *
# *
# You should have received a copy of the GNU Lesser General Public *
# License along with FreeCAD. If not, see *
# <https://www.gnu.org/licenses/>. *
# *
# **************************************************************************/
import math
import FreeCAD as App
import Part
from PySide import QtCore
from PySide.QtCore import QT_TRANSLATE_NOOP
from collections.abc import Sequence
if App.GuiUp:
import FreeCADGui as Gui
from PySide import QtGui, QtWidgets
__title__ = "Assembly Joint object"
__author__ = "Ondsel"
__url__ = "https://www.freecad.org"
from pivy import coin
import UtilsAssembly
import Preferences
from SoSwitchMarker import SoSwitchMarker
translate = App.Qt.translate
TranslatedJointTypes = [
translate("Assembly", "Fixed"),
translate("Assembly", "Revolute"),
translate("Assembly", "Cylindrical"),
translate("Assembly", "Slider"),
translate("Assembly", "Ball"),
translate("Assembly", "Distance"),
translate("Assembly", "Parallel"),
translate("Assembly", "Perpendicular"),
translate("Assembly", "Angle"),
translate("Assembly", "RackPinion"),
translate("Assembly", "Screw"),
translate("Assembly", "Gears"),
translate("Assembly", "Belt"),
]
JointTypes = [
"Fixed",
"Revolute",
"Cylindrical",
"Slider",
"Ball",
"Distance",
"Parallel",
"Perpendicular",
"Angle",
"RackPinion",
"Screw",
"Gears",
"Belt",
]
JointUsingAngle = [
"Angle",
]
JointUsingDistance = [
"Distance",
"RackPinion",
"Screw",
"Gears",
"Belt",
]
JointUsingDistance2 = [
"Gears",
"Belt",
]
JointNoNegativeDistance = [
"Gears",
"Belt",
]
JointUsingOffset = [
"Fixed",
"Revolute",
]
JointUsingRotation = [
"Fixed",
"Slider",
]
JointUsingReverse = [
"Fixed",
"Revolute",
"Cylindrical",
"Slider",
"Distance",
"Parallel",
]
JointUsingLimitLength = [
"Cylindrical",
"Slider",
]
JointUsingLimitAngle = [
"Revolute",
"Cylindrical",
]
JointUsingPreSolve = [
"Fixed",
"Revolute",
"Cylindrical",
"Slider",
"Ball",
]
JointParallelForbidden = [
"Angle",
"Perpendicular",
]
def solveIfAllowed(assembly, storePrev=False):
if assembly.Type == "Assembly" and Preferences.preferences().GetBool(
"SolveInJointCreation", True
):
assembly.solve(storePrev)
def getContext(obj):
"""Fetch the context of an object."""
context = []
current = obj
while current:
# Add the object's Label at the beginning or the Name if label is empty
context.insert(0, current.Label if current.Label else current.Name)
# Get the immediate parent object
parents = getattr(current, "InList", [])
current = parents[0] if parents else None
return ".".join(context)
# The joint object consists of 2 JCS (joint coordinate systems) and a Joint Type.
# A JCS is a placement that is computed (unless it is detached) from references (PropertyXLinkSubHidden) that links to :
# - An object: this can be any Part::Feature solid. Or a PartDesign Body. Or a App::Link to those.
# - An element name: This can be either a face, an edge, a vertex or empty. Empty means that the Object placement will be used
# - A vertex name: For faces and edges, we need to specify which vertex of said face/edge to use
# Both element names hold the full path to the object.
# From these a placement is computed. It is relative to the Object.
class Joint:
def __init__(self, joint, type_index):
joint.Proxy = self
joint.addExtension("App::SuppressibleExtensionPython")
joint.addProperty(
"App::PropertyEnumeration",
"JointType",
"Joint",
QT_TRANSLATE_NOOP("App::Property", "The type of the joint"),
locked=True,
)
joint.JointType = JointTypes # sets the list
joint.JointType = JointTypes[type_index] # set the initial value
self.createProperties(joint)
self.setJointConnectors(joint, [])
def onDocumentRestored(self, joint):
self.createProperties(joint)
def createProperties(self, joint):
self.migrationScript(joint)
self.migrationScript2(joint)
self.migrationScript3(joint)
self.migrationScript4(joint)
self.migrationScript5(joint)
self.migrationScript6(joint)
# First Joint Connector
if not hasattr(joint, "Reference1"):
joint.addProperty(
"App::PropertyXLinkSubHidden",
"Reference1",
"Joint Connector 1",
QT_TRANSLATE_NOOP("App::Property", "The first reference of the joint"),
locked=True,
)
if not hasattr(joint, "Placement1"):
joint.addProperty(
"App::PropertyPlacement",
"Placement1",
"Joint Connector 1",
QT_TRANSLATE_NOOP(
"App::Property",
"This is the local coordinate system within Reference1's object that will be used for the joint",
),
locked=True,
)
if not hasattr(joint, "Detach1"):
joint.addProperty(
"App::PropertyBool",
"Detach1",
"Joint Connector 1",
QT_TRANSLATE_NOOP(
"App::Property",
"This prevents Placement1 from recomputing, enabling custom positioning of the placement",
),
locked=True,
)
if not hasattr(joint, "Offset1"):
joint.addProperty(
"App::PropertyPlacement",
"Offset1",
"Joint Connector 1",
QT_TRANSLATE_NOOP(
"App::Property",
"This is the attachment offset of the first connector of the joint",
),
locked=True,
)
# Second Joint Connector
if not hasattr(joint, "Reference2"):
joint.addProperty(
"App::PropertyXLinkSubHidden",
"Reference2",
"Joint Connector 2",
QT_TRANSLATE_NOOP("App::Property", "The second reference of the joint"),
locked=True,
)
if not hasattr(joint, "Placement2"):
joint.addProperty(
"App::PropertyPlacement",
"Placement2",
"Joint Connector 2",
QT_TRANSLATE_NOOP(
"App::Property",
"This is the local coordinate system within Reference2's object that will be used for the joint",
),
locked=True,
)
if not hasattr(joint, "Detach2"):
joint.addProperty(
"App::PropertyBool",
"Detach2",
"Joint Connector 2",
QT_TRANSLATE_NOOP(
"App::Property",
"This prevents Placement2 from recomputing, enabling custom positioning of the placement",
),
locked=True,
)
if not hasattr(joint, "Offset2"):
joint.addProperty(
"App::PropertyPlacement",
"Offset2",
"Joint Connector 2",
QT_TRANSLATE_NOOP(
"App::Property",
"This is the attachment offset of the second connector of the joint",
),
locked=True,
)
# Other properties
if not hasattr(joint, "Angle"):
self.addAngleProperty(joint)
if not hasattr(joint, "Distance"):
self.addDistanceProperty(joint)
if not hasattr(joint, "Distance2"):
self.addDistance2Property(joint)
if not hasattr(joint, "EnableLengthMin"):
joint.addProperty(
"App::PropertyBool",
"EnableLengthMin",
"Limits",
QT_TRANSLATE_NOOP(
"App::Property",
"Enable the minimum length limit of the joint",
),
locked=True,
)
joint.EnableLengthMin = False
if not hasattr(joint, "EnableLengthMax"):
joint.addProperty(
"App::PropertyBool",
"EnableLengthMax",
"Limits",
QT_TRANSLATE_NOOP(
"App::Property",
"Enable the maximum length limit of the joint",
),
locked=True,
)
joint.EnableLengthMax = False
if not hasattr(joint, "EnableAngleMin"):
joint.addProperty(
"App::PropertyBool",
"EnableAngleMin",
"Limits",
QT_TRANSLATE_NOOP(
"App::Property",
"Enable the minimum angle limit of the joint",
),
locked=True,
)
joint.EnableAngleMin = False
if not hasattr(joint, "EnableAngleMax"):
joint.addProperty(
"App::PropertyBool",
"EnableAngleMax",
"Limits",
QT_TRANSLATE_NOOP(
"App::Property",
"Enable the maximum angle limit of the joint",
),
locked=True,
)
joint.EnableAngleMax = False
if not hasattr(joint, "LengthMin"):
self.addLengthMinProperty(joint)
if not hasattr(joint, "LengthMax"):
self.addLengthMaxProperty(joint)
if not hasattr(joint, "AngleMin"):
self.addAngleMinProperty(joint)
if not hasattr(joint, "AngleMax"):
self.addAngleMaxProperty(joint)
joint.setPropertyStatus("Distance", "AllowNegativeValues")
joint.setPropertyStatus("Distance2", "AllowNegativeValues")
joint.setPropertyStatus("LengthMin", "AllowNegativeValues")
joint.setPropertyStatus("LengthMax", "AllowNegativeValues")
def addAngleProperty(self, joint):
joint.addProperty(
"App::PropertyAngle",
"Angle",
"Joint",
QT_TRANSLATE_NOOP(
"App::Property",
"This is the angle of the joint. It is used only by the Angle joint.",
),
locked=True,
)
def addDistanceProperty(self, joint):
joint.addProperty(
"App::PropertyLength",
"Distance",
"Joint",
QT_TRANSLATE_NOOP(
"App::Property",
"This is the distance of the joint. It is used only by the Distance joint and Rack and Pinion (pitch radius), Screw and Gears and Belt (radius1)",
),
locked=True,
)
def addDistance2Property(self, joint):
joint.addProperty(
"App::PropertyLength",
"Distance2",
"Joint",
QT_TRANSLATE_NOOP(
"App::Property",
"This is the second distance of the joint. It is used only by the gear joint to store the second radius.",
),
locked=True,
)
def addLengthMinProperty(self, joint):
joint.addProperty(
"App::PropertyLength",
"LengthMin",
"Limits",
QT_TRANSLATE_NOOP(
"App::Property",
"This is the minimum limit for the length between both coordinate systems (along their z-axis)",
),
locked=True,
)
def addLengthMaxProperty(self, joint):
joint.addProperty(
"App::PropertyLength",
"LengthMax",
"Limits",
QT_TRANSLATE_NOOP(
"App::Property",
"This is the maximum limit for the length between both coordinate systems (along their z-axis)",
),
locked=True,
)
def addAngleMinProperty(self, joint):
joint.addProperty(
"App::PropertyAngle",
"AngleMin",
"Limits",
QT_TRANSLATE_NOOP(
"App::Property",
"This is the minimum limit for the angle between both coordinate systems (between their x-axis)",
),
locked=True,
)
def addAngleMaxProperty(self, joint):
joint.addProperty(
"App::PropertyAngle",
"AngleMax",
"Limits",
QT_TRANSLATE_NOOP(
"App::Property",
"This is the maximum limit for the angle between both coordinate systems (between their x-axis)",
),
locked=True,
)
def migrationScript(self, joint):
if hasattr(joint, "Object1") and isinstance(joint.Object1, str):
objName = joint.Object1
obj1 = UtilsAssembly.getObjectInPart(objName, joint.Part1)
el1 = joint.Element1
vtx1 = joint.Vertex1
joint.removeProperty("Object1")
joint.removeProperty("Element1")
joint.removeProperty("Vertex1")
joint.addProperty(
"App::PropertyXLinkSub",
"Object1",
"Joint Connector 1",
QT_TRANSLATE_NOOP("App::Property", "The first object of the joint"),
locked=True,
)
joint.Object1 = [obj1, [el1, vtx1]]
if hasattr(joint, "Object2") and isinstance(joint.Object2, str):
objName = joint.Object2
obj2 = UtilsAssembly.getObjectInPart(objName, joint.Part2)
el2 = joint.Element2
vtx2 = joint.Vertex2
joint.removeProperty("Object2")
joint.removeProperty("Element2")
joint.removeProperty("Vertex2")
joint.addProperty(
"App::PropertyXLinkSub",
"Object2",
"Joint Connector 2",
QT_TRANSLATE_NOOP("App::Property", "The second object of the joint"),
locked=True,
)
joint.Object2 = [obj2, [el2, vtx2]]
def migrationScript2(self, joint):
def processObject(object_attr, reference_attr, part_attr, connector_label, order):
try:
if hasattr(joint, object_attr):
joint.addProperty(
"App::PropertyXLinkSubHidden",
reference_attr,
connector_label,
QT_TRANSLATE_NOOP("App::Property", f"The {order} reference of the joint"),
locked=True,
)
obj = getattr(joint, object_attr)
base_obj = obj[0]
part = getattr(joint, part_attr)
elt = obj[1][0]
vtx = obj[1][1]
# Get the 'selection-root-obj' and the global path
root_obj, path = UtilsAssembly.getRootPath(base_obj, part)
base_obj = root_obj
elt = path + elt
vtx = path + vtx
setattr(joint, reference_attr, [base_obj, [elt, vtx]])
joint.removeProperty(object_attr)
joint.removeProperty(part_attr)
except (AttributeError, IndexError, TypeError) as e:
App.Console.PrintWarning(
f"{translate('Assembly', 'Assembly joint')} '{getContext(joint)}' "
f"{translate('Assembly', 'has an invalid')} '{object_attr}' "
f"{translate('Assembly', 'or related attributes')}. {str(e)}\n"
)
processObject("Object1", "Reference1", "Part1", "Joint Connector 1", "first")
processObject("Object2", "Reference2", "Part2", "Joint Connector 2", "second")
def migrationScript3(self, joint):
if hasattr(joint, "Offset"):
current_offset = joint.Offset # App.Vector
current_rotation = joint.Rotation # float
joint.removeProperty("Offset")
joint.removeProperty("Rotation")
joint.addProperty(
"App::PropertyPlacement",
"Offset1",
"Joint Connector 1",
QT_TRANSLATE_NOOP(
"App::Property",
"This is the attachment offset of the first connector of the joint",
),
locked=True,
)
joint.addProperty(
"App::PropertyPlacement",
"Offset2",
"Joint Connector 2",
QT_TRANSLATE_NOOP(
"App::Property",
"This is the attachment offset of the second connector of the joint",
),
locked=True,
)
joint.Offset2 = App.Placement(current_offset, App.Rotation(current_rotation, 0, 0))
def migrationScript4(self, joint):
def processReference(reference_attr):
try:
if hasattr(joint, reference_attr):
ref = getattr(joint, reference_attr)
doc_name = ref[0].Document.Name
sub1 = UtilsAssembly.fixBodyExtraFeatureInSub(doc_name, ref[1][0])
sub2 = UtilsAssembly.fixBodyExtraFeatureInSub(doc_name, ref[1][1])
if sub1 != ref[1][0] or sub2 != ref[1][1]:
setattr(joint, reference_attr, (ref[0], [sub1, sub2]))
except (AttributeError, IndexError, TypeError) as e:
App.Console.PrintWarning(
f"{translate('Assembly', 'Assembly joint')} '{getContext(joint)}' "
f"{translate('Assembly', 'has an invalid')} '{reference_attr}' "
f"{translate('Assembly', 'or related attributes')}. {str(e)}\n"
)
processReference("Reference1")
processReference("Reference2")
def migrationScript5(self, joint):
if not joint.hasExtension("App::SuppressibleExtensionPython"):
joint.addExtension("App::SuppressibleExtensionPython")
if App.GuiUp:
if not joint.ViewObject.hasExtension("Gui::ViewProviderSuppressibleExtensionPython"):
joint.ViewObject.addExtension("Gui::ViewProviderSuppressibleExtensionPython")
if hasattr(joint, "Activated"):
activated = joint.Activated
if not activated:
print(
"The 'Activated' property has been replaced by the 'Suppressed' property. The file has a deactivated joint that is being migrated. If you open this file in an older version, it will not be deactivated anymore."
)
joint.removeProperty("Activated")
joint.Suppressed = not activated
def migrationScript6(self, joint):
"""
This script migrates properties with fixed types from PropertyFloat to the
correct PropertyLength or PropertyAngle type.
"""
if (
hasattr(joint, "Distance")
and joint.getTypeIdOfProperty("Distance") == "App::PropertyFloat"
):
old_value = joint.Distance
joint.setPropertyStatus("Distance", "-LockDynamic")
joint.removeProperty("Distance")
self.addDistanceProperty(joint)
# Additionally "Angle" joint is now using Angle property instead of Distance as it did
if joint.JointType == "Angle":
self.addAngleProperty(joint)
joint.Angle = old_value
else:
joint.Distance = old_value
if (
hasattr(joint, "Distance2")
and joint.getTypeIdOfProperty("Distance2") == "App::PropertyFloat"
):
old_value = joint.Distance2
joint.setPropertyStatus("Distance2", "-LockDynamic")
joint.removeProperty("Distance2")
self.addDistance2Property(joint)
joint.Distance2 = old_value
if (
hasattr(joint, "LengthMin")
and joint.getTypeIdOfProperty("LengthMin") == "App::PropertyFloat"
):
old_value = joint.LengthMin
joint.setPropertyStatus("LengthMin", "-LockDynamic")
joint.removeProperty("LengthMin")
self.addLengthMinProperty(joint)
joint.LengthMin = old_value
if (
hasattr(joint, "LengthMax")
and joint.getTypeIdOfProperty("LengthMax") == "App::PropertyFloat"
):
old_value = joint.LengthMax
joint.setPropertyStatus("LengthMax", "-LockDynamic")
joint.removeProperty("LengthMax")
self.addLengthMaxProperty(joint)
joint.LengthMax = old_value
if (
hasattr(joint, "AngleMin")
and joint.getTypeIdOfProperty("AngleMin") == "App::PropertyFloat"
):
old_value = joint.AngleMin
joint.setPropertyStatus("AngleMin", "-LockDynamic")
joint.removeProperty("AngleMin")
self.addAngleMinProperty(joint)
joint.AngleMin = old_value
if (
hasattr(joint, "AngleMax")
and joint.getTypeIdOfProperty("AngleMax") == "App::PropertyFloat"
):
old_value = joint.AngleMax
joint.setPropertyStatus("AngleMax", "-LockDynamic")
joint.removeProperty("AngleMax")
self.addAngleMaxProperty(joint)
joint.AngleMax = old_value
def dumps(self):
return None
def loads(self, state):
return None
def getAssembly(self, joint):
for obj in joint.InList:
if obj.isDerivedFrom("Assembly::AssemblyObject"):
return obj
elif obj.isDerivedFrom("Assembly::AssemblyLink"):
return self.getAssembly(obj)
return None
def setJointType(self, joint, newType):
oldType = joint.JointType
if newType != oldType:
joint.JointType = newType
def onChanged(self, joint, prop):
"""Do something when a property has changed"""
# App.Console.PrintMessage("Change property: " + str(prop) + "\n")
# during loading the onchanged may be triggered before full init.
if App.isRestoring():
return
if prop == "JointType":
newType = joint.JointType
tr_new_type = TranslatedJointTypes[JointTypes.index(newType)]
# Find the old joint type in the label and replace it
for i, old_type_name in enumerate(JointTypes):
if old_type_name == newType:
continue
tr_old_type = TranslatedJointTypes[i]
if tr_old_type in joint.Label:
joint.Label = joint.Label.replace(tr_old_type, tr_new_type)
break
if prop == "Reference1" or prop == "Reference2":
joint.recompute()
if (
not hasattr(joint, "Reference1")
or not hasattr(joint, "Reference2")
or joint.Reference1 is None
or joint.Reference2 is None
):
return
if prop == "Offset1" or prop == "Offset2":
self.updateJCSPlacements(joint)
presolved = joint.JointType in JointUsingPreSolve and self.preSolve(joint, False)
isAssembly = self.getAssembly(joint).Type == "Assembly"
if isAssembly and not presolved:
solveIfAllowed(self.getAssembly(joint))
else:
self.updateJCSPlacements(joint)
if prop == "Distance" and joint.JointType == "Distance":
solveIfAllowed(self.getAssembly(joint))
if prop == "Angle" and joint.JointType == "Angle":
if joint.Angle != 0.0:
self.preventParallel(joint)
solveIfAllowed(self.getAssembly(joint))
def execute(self, joint):
errStr = joint.Label + ": " + QT_TRANSLATE_NOOP("Assembly", "Broken link in: ")
if (
hasattr(joint, "Reference1")
and joint.Reference1 is not None
and len(joint.Reference1) == 2
and len(joint.Reference1[1]) != 0
and (joint.Reference1[1][0].find("?") != -1)
):
raise Exception(errStr + "Reference1")
if (
hasattr(joint, "Reference2")
and joint.Reference2 is not None
and len(joint.Reference2) == 2
and len(joint.Reference2[1]) != 0
and (joint.Reference2[1][0].find("?") != -1)
):
raise Exception(errStr + "Reference2")
def setJointConnectors(self, joint, refs):
# current selection is a vector of strings like "Assembly.Assembly1.Assembly2.Body.Pad.Edge16" including both what selection return as obj_name and obj_sub
assembly = self.getAssembly(joint)
isAssembly = assembly.Type == "Assembly"
if len(refs) >= 1:
joint.Reference1 = refs[0]
joint.Placement1 = self.findPlacement(joint, joint.Reference1, 0)
else:
joint.Reference1 = None
joint.Placement1 = App.Placement()
self.partMovedByPresolved = None
if len(refs) >= 2:
joint.Reference2 = refs[1]
joint.Placement2 = self.findPlacement(joint, joint.Reference2, 1)
if joint.JointType in JointUsingPreSolve:
self.preSolve(joint)
elif joint.JointType in JointParallelForbidden:
self.preventParallel(joint)
if isAssembly:
solveIfAllowed(assembly, True)
else:
self.updateJCSPlacements(joint)
else:
joint.Reference2 = None
joint.Placement2 = App.Placement()
if isAssembly:
assembly.undoSolve()
self.undoPreSolve(joint)
def updateJCSPlacements(self, joint):
if not joint.Detach1:
joint.Placement1 = self.findPlacement(joint, joint.Reference1, 0)
if not joint.Detach2:
joint.Placement2 = self.findPlacement(joint, joint.Reference2, 1)
"""
So here we want to find a placement that corresponds to a local coordinate system that would be placed at the selected vertex.
- obj is usually a App::Link to a PartDesign::Body, or primitive, fasteners. But can also be directly the object.1
- elt can be a face, an edge or a vertex.
- If elt is a vertex, then vtx = elt And placement is vtx coordinates without rotation.
- if elt is an edge, then vtx = edge start/end vertex depending on which is closer. If elt is an arc or circle, vtx can also be the center. The rotation is the plane normal to the line positioned at vtx. Or for arcs/circle, the plane of the arc.
- if elt is a plane face, vtx is the face vertex (to the list of vertex we need to add arc/circle centers) the closer to the mouse. The placement is the plane rotation positioned at vtx
- if elt is a cylindrical face, vtx can also be the center of the arcs of the cylindrical face.
"""
def findPlacement(self, joint, ref, index=0):
ignoreVertex = joint.JointType == "Distance"
plc = UtilsAssembly.findPlacement(ref, ignoreVertex)
# We apply the attachment offsets.
if index == 0:
plc = plc * joint.Offset1
else:
plc = plc * joint.Offset2
return plc
def flipOnePart(self, joint):
self.matchJCS(joint, False, True)
def preSolve(self, joint, savePlc=True):
# The goal of this is to put the part in the correct position to avoid wrong placement by the solve.
# we actually don't want to match perfectly the JCS, it is best to match them
# in the current closest direction, ie either matched or flipped.
self.matchJCS(joint, savePlc)
def matchJCS(self, joint, savePlc=True, reverse=False):
assembly = self.getAssembly(joint)
sameDir = self.areJcsSameDir(joint)
if reverse:
sameDir = not sameDir
part1 = UtilsAssembly.getMovingPart(assembly, joint.Reference1)
part2 = UtilsAssembly.getMovingPart(assembly, joint.Reference2)
if not part1 or not part2:
return False
isAssembly = assembly.Type == "Assembly"
if isAssembly:
joint.Suppressed = True
part1Connected = assembly.isPartConnected(part1)
part2Connected = assembly.isPartConnected(part2)
joint.Suppressed = False
else:
part1Connected = True
part2Connected = False
moving_part = None
moving_part_ref = None
fixed_part_ref = None
moving_placement = None
fixed_placement = None
if not part1Connected and part1:
moving_part = part1
moving_part_ref = joint.Reference1
fixed_part_ref = joint.Reference2
moving_placement = joint.Placement1
fixed_placement = joint.Placement2
elif not part2Connected and part2:
moving_part = part2
moving_part_ref = joint.Reference2
fixed_part_ref = joint.Reference1
moving_placement = joint.Placement2
fixed_placement = joint.Placement1
else:
# Both parts are constrained, or something is invalid. Nothing to pre-solve.
return False
parts_to_move = [moving_part]
if isAssembly:
parts_to_move = parts_to_move + assembly.getDownstreamParts(moving_part, joint)
if savePlc:
self.partsMovedByPresolved = {p: p.Placement for p in parts_to_move}
moving_part_global_jcs = UtilsAssembly.getJcsGlobalPlc(moving_placement, moving_part_ref)
fixed_part_global_jcs = UtilsAssembly.getJcsGlobalPlc(fixed_placement, fixed_part_ref)
if not sameDir:
moving_part_global_jcs = UtilsAssembly.flipPlacement(moving_part_global_jcs)
transform_plc = fixed_part_global_jcs * moving_part_global_jcs.inverse()
for part in parts_to_move:
part.Placement = transform_plc * part.Placement
return True
def undoPreSolve(self, joint):
if hasattr(self, "partsMovedByPresolved") and self.partsMovedByPresolved:
for part, plc in self.partsMovedByPresolved.items():
if part and hasattr(part, "Placement"):
part.Placement = plc
self.partsMovedByPresolved = {}
joint.Placement1 = joint.Placement1 # Make sure plc1 is redrawn
def preventParallel(self, joint):
# Angle and perpendicular joints in the solver cannot handle the situation where both JCS are Parallel
parallel = self.areJcsZParallel(joint)
if not parallel:
return
assembly = self.getAssembly(joint)
part1 = UtilsAssembly.getMovingPart(assembly, joint.Reference1)
part2 = UtilsAssembly.getMovingPart(assembly, joint.Reference2)
isAssembly = assembly.Type == "Assembly"
if isAssembly:
part1ConnectedByJoint = assembly.isJointConnectingPartToGround(joint, "Reference1")
part2ConnectedByJoint = assembly.isJointConnectingPartToGround(joint, "Reference2")
else:
part1ConnectedByJoint = False
part2ConnectedByJoint = True
if part2ConnectedByJoint:
self.partMovedByPresolved = part2
self.presolveBackupPlc = part2.Placement
# Get the global JCS placement to find a suitable rotation axis (its own X-axis)
globalJcsPlc = UtilsAssembly.getJcsGlobalPlc(joint.Placement2, joint.Reference2)
# Transform the local X-axis vector (1,0,0) into the global coordinate system
rotation_axis = globalJcsPlc.Rotation.multVec(App.Vector(1, 0, 0))
part2.Placement = UtilsAssembly.applyRotationToPlacementAlongAxis(
part2.Placement, 10, rotation_axis
)
elif part1ConnectedByJoint:
self.partMovedByPresolved = part1
self.presolveBackupPlc = part1.Placement
# Get the global JCS placement to find a suitable rotation axis (its own X-axis)
globalJcsPlc = UtilsAssembly.getJcsGlobalPlc(joint.Placement1, joint.Reference1)
# Transform the local X-axis vector (1,0,0) into the global coordinate system
rotation_axis = globalJcsPlc.Rotation.multVec(App.Vector(1, 0, 0))
part1.Placement = UtilsAssembly.applyRotationToPlacementAlongAxis(
part1.Placement, 10, rotation_axis
)
def areJcsSameDir(self, joint):
globalJcsPlc1 = UtilsAssembly.getJcsGlobalPlc(joint.Placement1, joint.Reference1)
globalJcsPlc2 = UtilsAssembly.getJcsGlobalPlc(joint.Placement2, joint.Reference2)
return UtilsAssembly.arePlacementSameDir(globalJcsPlc1, globalJcsPlc2)
def areJcsZParallel(self, joint):
globalJcsPlc1 = UtilsAssembly.getJcsGlobalPlc(joint.Placement1, joint.Reference1)
globalJcsPlc2 = UtilsAssembly.getJcsGlobalPlc(joint.Placement2, joint.Reference2)
return UtilsAssembly.arePlacementZParallel(globalJcsPlc1, globalJcsPlc2)
class ViewProviderJoint:
def __init__(self, vobj):
"""Set this object to the proxy object of the actual view provider"""
vobj.Proxy = self
vobj.addExtension("Gui::ViewProviderSuppressibleExtensionPython")
def attach(self, vobj):
"""Setup the scene sub-graph of the view provider, this method is mandatory"""
self.app_obj = vobj.Object
self.switch_JCS1 = SoSwitchMarker(vobj)
self.switch_JCS2 = SoSwitchMarker(vobj)
self.switch_JCS_preview = SoSwitchMarker(vobj)
self.display_mode = coin.SoType.fromName("SoFCSelection").createInstance()
self.display_mode.addChild(self.switch_JCS1)
self.display_mode.addChild(self.switch_JCS2)
self.display_mode.addChild(self.switch_JCS_preview)
vobj.addDisplayMode(self.display_mode, "Wireframe")
def updateData(self, joint, prop):
"""If a property of the handled feature has changed we have the chance to handle this here"""
# joint is the handled feature, prop is the name of the property that has changed
if prop == "Placement1":
if hasattr(joint, "Reference1") and joint.Reference1:
plc = joint.Placement1
self.switch_JCS1.whichChild = coin.SO_SWITCH_ALL
self.switch_JCS1.set_marker_placement(plc, joint.Reference1)
else:
self.switch_JCS1.whichChild = coin.SO_SWITCH_NONE
if prop == "Placement2":
if hasattr(joint, "Reference2") and joint.Reference2:
plc = joint.Placement2
self.switch_JCS2.whichChild = coin.SO_SWITCH_ALL
self.switch_JCS2.set_marker_placement(plc, joint.Reference2)
else:
self.switch_JCS2.whichChild = coin.SO_SWITCH_NONE
def showPreviewJCS(self, visible, placement=None, ref=None):
if visible:
self.switch_JCS_preview.whichChild = coin.SO_SWITCH_ALL
self.switch_JCS_preview.set_marker_placement(placement, ref)
else:
self.switch_JCS_preview.whichChild = coin.SO_SWITCH_NONE
def setPickableState(self, state: bool):
"""Set JCS selectable or unselectable in 3D view"""
self.switch_JCS1.setPickableState(state)
self.switch_JCS2.setPickableState(state)
self.switch_JCS_preview.setPickableState(state)
def getDisplayModes(self, obj):
"""Return a list of display modes."""
modes = []
modes.append("Wireframe")
return modes
def getDefaultDisplayMode(self):
"""Return the name of the default display mode. It must be defined in getDisplayModes."""
return "Wireframe"
def onChanged(self, vp, prop):
"""Here we can do something when a single property got changed"""
# App.Console.PrintMessage("Change property: " + str(prop) + "\n")
if prop == "color_X_axis" or prop == "color_Y_axis" or prop == "color_Z_axis":
self.switch_JCS1.onChanged(vp, prop)
self.switch_JCS2.onChanged(vp, prop)
self.switch_JCS_preview.onChanged(vp, prop)
def getIcon(self):
if self.app_obj.JointType == "Fixed":
return ":/icons/Assembly_CreateJointFixed.svg"
elif self.app_obj.JointType == "Revolute":
return ":/icons/Assembly_CreateJointRevolute.svg"
elif self.app_obj.JointType == "Cylindrical":
return ":/icons/Assembly_CreateJointCylindrical.svg"
elif self.app_obj.JointType == "Slider":
return ":/icons/Assembly_CreateJointSlider.svg"
elif self.app_obj.JointType == "Ball":
return ":/icons/Assembly_CreateJointBall.svg"
elif self.app_obj.JointType == "Distance":
return ":/icons/Assembly_CreateJointDistance.svg"
elif self.app_obj.JointType == "Parallel":
return ":/icons/Assembly_CreateJointParallel.svg"
elif self.app_obj.JointType == "Perpendicular":
return ":/icons/Assembly_CreateJointPerpendicular.svg"
elif self.app_obj.JointType == "Angle":
return ":/icons/Assembly_CreateJointAngle.svg"
elif self.app_obj.JointType == "RackPinion":
return ":/icons/Assembly_CreateJointRackPinion.svg"
elif self.app_obj.JointType == "Screw":
return ":/icons/Assembly_CreateJointScrew.svg"
elif self.app_obj.JointType == "Gears":
return ":/icons/Assembly_CreateJointGears.svg"
elif self.app_obj.JointType == "Belt":
return ":/icons/Assembly_CreateJointPulleys.svg"
return ":/icons/Assembly_CreateJoint.svg"
def getOverlayIcons(self):
"""
Return a dictionary of overlay icons.
Keys are positions from Gui.IconPosition.
Values are the icon resource names.
"""
overlays = {}
assembly = self.app_obj.Proxy.getAssembly(self.app_obj)
# Assuming Reference1 corresponds to the first part link
if hasattr(self.app_obj, "Reference1"):
part = UtilsAssembly.getMovingPart(assembly, self.app_obj.Reference1)
if part is not None and not assembly.isPartConnected(part):
overlays[Gui.IconPosition.BottomLeft] = "Part_Detached"
return overlays
def dumps(self):
"""When saving the document this object gets stored using Python's json module.\
Since we have some un-serializable parts here -- the Coin stuff -- we must define this method\
to return a tuple of all serializable objects or None."""
return None
def loads(self, state):
"""When restoring the serialized object from document we have the chance to set some internals here.\
Since no data were serialized nothing needs to be done here."""
return None
def doubleClicked(self, vobj):
App.closeActiveTransaction(True) # Close the auto-transaction
task = Gui.Control.activeTaskDialog()
if task:
task.reject()
assembly = vobj.Object.Proxy.getAssembly(vobj.Object)
if assembly is None:
return False
if UtilsAssembly.activeAssembly() != assembly:
vobj.Document.setEdit(assembly)
panel = TaskAssemblyCreateJoint(0, vobj.Object)
dialog = Gui.Control.showDialog(panel)
if dialog is not None:
dialog.setAutoCloseOnTransactionChange(True)
dialog.setAutoCloseOnDeletedDocument(True)
dialog.setDocumentName(App.ActiveDocument.Name)
return True
def canDelete(self, _obj):
return True
################ Grounded Joint object #################
class GroundedJoint:
def __init__(self, joint, obj_to_ground):
joint.Proxy = self
self.joint = joint
joint.addProperty(
"App::PropertyLink",
"ObjectToGround",
"Ground",
QT_TRANSLATE_NOOP("App::Property", "The object to ground"),
locked=True,
)
joint.ObjectToGround = obj_to_ground
def dumps(self):
return None
def loads(self, state):
return None
def onChanged(self, fp, prop):
"""Do something when a property has changed"""
# App.Console.PrintMessage("Change property: " + str(prop) + "\n")
pass
def execute(self, fp):
"""Do something when doing a recomputation, this method is mandatory"""
# App.Console.PrintMessage("Recompute Python Box feature\n")
pass
class ViewProviderGroundedJoint:
def __init__(self, obj):
"""Set this object to the proxy object of the actual view provider"""
obj.Proxy = self
def attach(self, vobj):
"""Setup the scene sub-graph of the view provider, this method is mandatory"""
app_obj = vobj.Object
if app_obj is None:
return
groundedObj = app_obj.ObjectToGround
if groundedObj is None:
return
self.scaleFactor = 3.0
lockpadColorInt = Preferences.preferences().GetUnsigned("AssemblyConstraints", 0xCC333300)
self.lockpadColor = coin.SoBaseColor()
self.lockpadColor.rgb.setValue(UtilsAssembly.color_from_unsigned(lockpadColorInt))
self.app_obj = vobj.Object
app_doc = self.app_obj.Document
self.gui_doc = Gui.getDocument(app_doc)
# Create transformation (position and orientation)
self.transform = coin.SoTransform()
self.set_lock_position(groundedObj)
# Create the 2D components of the lockpad: a square and two arcs
self.square = self.create_square()
# Creating the arcs (approximated with line segments)
self.arc = self.create_arc(0, 4, 4, 0, 180)
self.pick = coin.SoPickStyle()
self.pick.style.setValue(coin.SoPickStyle.SHAPE_ON_TOP)
# Assemble the parts into a scenegraph
self.lockpadSeparator = coin.SoSeparator()
self.lockpadSeparator.addChild(self.lockpadColor)
self.lockpadSeparator.addChild(self.square)
self.lockpadSeparator.addChild(self.arc)
# Use SoVRMLBillboard to make sure the lockpad always faces the camera
self.billboard = coin.SoVRMLBillboard()
self.billboard.addChild(self.lockpadSeparator)
self.scale = coin.SoType.fromName("SoShapeScale").createInstance()
self.scale.setPart("shape", self.billboard)
self.scale.scaleFactor = self.scaleFactor
self.transformSeparator = coin.SoSeparator()
self.transformSeparator.addChild(self.transform)
self.transformSeparator.addChild(self.pick)
self.transformSeparator.addChild(self.scale)
# Attach the scenegraph to the view provider
vobj.addDisplayMode(self.transformSeparator, "Wireframe")
def create_square(self):
coords = [
(-5, -4, 0),
(5, -4, 0),
(5, 4, 0),
(-5, 4, 0),
]
vertices = coin.SoCoordinate3()
vertices.point.setValues(0, 4, coords)
squareFace = coin.SoFaceSet()
squareFace.numVertices.setValue(4)
square = coin.SoAnnotation()
square.addChild(vertices)
square.addChild(squareFace)
return square
def create_arc(self, centerX, centerY, radius, startAngle, endAngle):
coords = []
for angle in range(
startAngle, endAngle + 1, 5
): # Increment can be adjusted for smoother arcs
rad = math.radians(angle)
x = centerX + math.cos(rad) * radius
y = centerY + math.sin(rad) * radius
coords.append((x, y, 0))
radius = radius * 0.7
for angle in range(endAngle + 1, startAngle - 1, -5): # Step backward
rad = math.radians(angle)
x = centerX + math.cos(rad) * radius
y = centerY + math.sin(rad) * radius
coords.append((x, y, 0))
vertices = coin.SoCoordinate3()
vertices.point.setValues(0, len(coords), coords)
shapeHints = coin.SoShapeHints()
shapeHints.faceType = coin.SoShapeHints.UNKNOWN_FACE_TYPE
line = coin.SoFaceSet()
line.numVertices.setValue(len(coords))
arc = coin.SoAnnotation()
arc.addChild(shapeHints)
arc.addChild(vertices)
arc.addChild(line)
return arc
def set_lock_position(self, groundedObj):
bBox = groundedObj.ViewObject.getBoundingBox()
if bBox.isValid():
pos = bBox.Center
else:
pos = groundedObj.Placement.Base
self.transform.translation.setValue(pos.x, pos.y, pos.z)
def updateData(self, fp, prop):
"""If a property of the handled feature has changed we have the chance to handle this here"""
# fp is the handled feature, prop is the name of the property that has changed
if prop == "Placement" and fp.ObjectToGround:
self.set_lock_position(fp.ObjectToGround)
def getDisplayModes(self, obj):
"""Return a list of display modes."""
modes = ["Wireframe"]
return modes
def getDefaultDisplayMode(self):
"""Return the name of the default display mode. It must be defined in getDisplayModes."""
return "Wireframe"
def onChanged(self, vp, prop):
"""Here we can do something when a single property got changed"""
# App.Console.PrintMessage("Change property: " + str(prop) + "\n")
pass
def getIcon(self):
return ":/icons/Assembly_ToggleGrounded.svg"
def dumps(self):
"""When saving the document this object gets stored using Python's json module.\
Since we have some un-serializable parts here -- the Coin stuff -- we must define this method\
to return a tuple of all serializable objects or None."""
return None
def loads(self, state):
"""When restoring the serialized object from document we have the chance to set some internals here.\
Since no data were serialized nothing needs to be done here."""
return None
def canDelete(self, _obj):
return True
class MakeJointSelGate:
def __init__(self, taskbox, assembly):
self.taskbox = taskbox
self.assembly = assembly
def allow(self, doc, obj, sub):
if not sub:
return False
objs_names, element_name = UtilsAssembly.getObjsNamesAndElement(obj.Name, sub)
if self.assembly.Name not in objs_names:
# Only objects within the assembly.
return False
ref = [obj, [sub]]
sel_obj = UtilsAssembly.getObject(ref)
if UtilsAssembly.isLink(sel_obj):
linked = sel_obj.getLinkedObject()
if linked == sel_obj:
return True # We accept empty links
sel_obj = linked
if sel_obj.isDerivedFrom("Part::Feature") or sel_obj.isDerivedFrom("App::Part"):
return True
if sel_obj.isDerivedFrom("App::LocalCoordinateSystem") or sel_obj.isDerivedFrom(
"App::DatumElement"
):
datum = sel_obj
if datum.isDerivedFrom("App::DatumElement"):
parent = datum.getParent()
if parent.isDerivedFrom("App::LocalCoordinateSystem"):
datum = parent
if self.assembly.hasObject(datum) and hasattr(datum, "MapMode"):
# accept only datum that are not attached
return datum.MapMode == "Deactivated"
return True
return False
activeTask = None
class TaskAssemblyCreateJoint(QtCore.QObject):
def __init__(self, jointTypeIndex, jointObj=None, subclass=False):
super().__init__()
global activeTask
activeTask = self
self.blockOffsetRotation = False
self.assembly = UtilsAssembly.activeAssembly()
if not self.assembly:
self.assembly = UtilsAssembly.activePart()
self.activeType = "Part"
else:
self.activeType = "Assembly"
self.assembly.ensureIdentityPlacements()
self.doc = self.assembly.Document
self.gui_doc = Gui.getDocument(self.doc)
self.view = self.gui_doc.activeView()
if not self.assembly or not self.view or not self.doc:
return
if self.activeType == "Assembly":
self.assembly.ViewObject.MoveOnlyPreselected = True
self.assembly.ViewObject.MoveInCommand = False
# Create a top-level container widget for subclasses of TaskAssemblyCreateJoint
self.form = QtWidgets.QWidget()
# Load the joint creation UI and parent it to `self.form`
self.jForm = Gui.PySideUic.loadUi(":/panels/TaskAssemblyCreateJoint.ui", self.form)
# Create a layout for `self.form` and add `self.jForm` to it
layout = QtWidgets.QVBoxLayout(self.form)
if not subclass:
layout.setContentsMargins(0, 0, 0, 0)
layout.setSpacing(0)
layout.addWidget(self.jForm)
self.isolate_modes = ["Transparent", "Wireframe", "Hidden", "Disabled"]
self.jForm.isolateType.addItems(
[translate("Assembly", mode) for mode in self.isolate_modes]
)
self.jForm.isolateType.currentIndexChanged.connect(self.updateIsolation)
if self.activeType == "Part":
self.jForm.setWindowTitle("Match parts")
self.jForm.jointType.hide()
self.jForm.isolateType.hide()
self.jForm.jointType.addItems(TranslatedJointTypes)
self.jForm.jointType.setCurrentIndex(jointTypeIndex)
self.jType = JointTypes[self.jForm.jointType.currentIndex()]
self.jForm.jointType.currentIndexChanged.connect(self.onJointTypeChanged)
if jointObj:
Gui.Selection.clearSelection()
self.creating = False
self.joint = jointObj
self.jointName = jointObj.Label
App.setActiveTransaction("Edit " + self.jointName + " Joint")
self.updateTaskboxFromJoint()
self.visibilityBackup = self.joint.Visibility
self.joint.Visibility = True
else:
self.creating = True
self.jointName = self.jForm.jointType.currentText().replace(" ", "")
if self.activeType == "Part":
App.setActiveTransaction("Transform")
else:
App.setActiveTransaction("Create " + self.jointName + " Joint")
self.refs = []
self.presel_ref = None
self.createJointObject()
self.visibilityBackup = False
self.jForm.angleSpinbox.valueChanged.connect(self.onAngleChanged)
self.jForm.distanceSpinbox.valueChanged.connect(self.onDistanceChanged)
self.jForm.distanceSpinbox2.valueChanged.connect(self.onDistance2Changed)
self.jForm.offsetSpinbox.valueChanged.connect(self.onOffsetChanged)
self.jForm.rotationSpinbox.valueChanged.connect(self.onRotationChanged)
bind = Gui.ExpressionBinding(self.jForm.angleSpinbox).bind(self.joint, "Angle")
bind = Gui.ExpressionBinding(self.jForm.distanceSpinbox).bind(self.joint, "Distance")
bind = Gui.ExpressionBinding(self.jForm.distanceSpinbox2).bind(self.joint, "Distance2")
bind = Gui.ExpressionBinding(self.jForm.offsetSpinbox).bind(self.joint, "Offset2.Base.z")
bind = Gui.ExpressionBinding(self.jForm.rotationSpinbox).bind(
self.joint, "Offset2.Rotation.Yaw"
)
self.jForm.reverseRotCheckbox.setChecked(self.jType == "Gears")
self.jForm.reverseRotCheckbox.stateChanged.connect(self.reverseRotToggled)
self.jForm.advancedOffsetCheckbox.stateChanged.connect(self.advancedOffsetToggled)
self.jForm.offset1Button.clicked.connect(self.onOffset1Clicked)
self.jForm.offset2Button.clicked.connect(self.onOffset2Clicked)
self.jForm.PushButtonReverse.clicked.connect(self.onReverseClicked)
self.jForm.limitCheckbox1.stateChanged.connect(self.adaptUi)
self.jForm.limitCheckbox2.stateChanged.connect(self.adaptUi)
self.jForm.limitCheckbox3.stateChanged.connect(self.adaptUi)
self.jForm.limitCheckbox4.stateChanged.connect(self.adaptUi)
self.jForm.limitLenMinSpinbox.valueChanged.connect(self.onLimitLenMinChanged)
self.jForm.limitLenMaxSpinbox.valueChanged.connect(self.onLimitLenMaxChanged)
self.jForm.limitRotMinSpinbox.valueChanged.connect(self.onLimitRotMinChanged)
self.jForm.limitRotMaxSpinbox.valueChanged.connect(self.onLimitRotMaxChanged)
bind = Gui.ExpressionBinding(self.jForm.limitLenMinSpinbox).bind(self.joint, "LengthMin")
bind = Gui.ExpressionBinding(self.jForm.limitLenMaxSpinbox).bind(self.joint, "LengthMax")
bind = Gui.ExpressionBinding(self.jForm.limitRotMinSpinbox).bind(self.joint, "AngleMin")
bind = Gui.ExpressionBinding(self.jForm.limitRotMaxSpinbox).bind(self.joint, "AngleMax")
self.adaptUi()
if self.creating:
# This has to be after adaptUi so that properties default values are adapted
# if needed. For instance for gears adaptUi will prevent radii from being 0
# before handleInitialSelection tries to solve.
self.handleInitialSelection()
UtilsAssembly.setJointsPickableState(self.doc, False)
Gui.Selection.addSelectionGate(
MakeJointSelGate(self, self.assembly), Gui.Selection.ResolveMode.NoResolve
)
Gui.Selection.addObserver(self, Gui.Selection.ResolveMode.NoResolve)
Gui.Selection.setSelectionStyle(Gui.Selection.SelectionStyle.GreedySelection)
self.callbackMove = self.view.addEventCallback("SoLocation2Event", self.moveMouse)
self.callbackKey = self.view.addEventCallback("SoKeyboardEvent", self.KeyboardEvent)
self.jForm.featureList.installEventFilter(self)
self.createDeleteAction()
self.addition_rejected = False
def accept(self):
if len(self.refs) != 2:
App.Console.PrintWarning(
translate("Assembly", "Select 2 elements from 2 separate parts")
)
return False
self.deactivate()
solveIfAllowed(self.assembly)
if self.activeType == "Assembly":
self.joint.Visibility = self.visibilityBackup
else:
self.joint.Document.removeObject(self.joint.Name)
cmds = UtilsAssembly.generatePropertySettings(self.joint)
Gui.doCommand(cmds)
App.closeActiveTransaction()
return True
def reject(self):
self.deactivate()
App.closeActiveTransaction(True)
if not self.creating: # update visibility only if we are editing the joint
self.joint.Visibility = self.visibilityBackup
return True
def autoClosedOnTransactionChange(self):
self.reject()
def autoClosedOnDeletedDocument(self):
global activeTask
activeTask = None
Gui.Selection.removeSelectionGate()
Gui.Selection.removeObserver(self)
Gui.Selection.setSelectionStyle(Gui.Selection.SelectionStyle.NormalSelection)
App.closeActiveTransaction(True)
def deactivate(self):
global activeTask
activeTask = None
if self.activeType == "Assembly":
self.assembly.clearUndo()
self.assembly.ViewObject.MoveOnlyPreselected = False
self.assembly.ViewObject.MoveInCommand = True
Gui.Selection.removeSelectionGate()
Gui.Selection.removeObserver(self)
Gui.Selection.setSelectionStyle(Gui.Selection.SelectionStyle.NormalSelection)
Gui.Selection.clearSelection()
self.view.removeEventCallback("SoLocation2Event", self.callbackMove)
self.view.removeEventCallback("SoKeyboardEvent", self.callbackKey)
UtilsAssembly.setJointsPickableState(self.doc, True)
if Gui.Control.activeDialog():
Gui.Control.closeDialog()
def handleInitialSelection(self):
selection = Gui.Selection.getSelectionEx("*", 0)
if not selection:
return
for sel in selection:
# If you select 2 solids (bodies for example) within an assembly.
# There'll be a single sel but 2 SubElementNames.
if not sel.SubElementNames:
# no subnames, so its a root assembly itself that is selected.
Gui.Selection.removeSelection(sel.Object)
continue
for sub_name in sel.SubElementNames:
# We add sub_name twice because the joints references have element name + vertex name
# and in the case of initial selection, both are the same.
ref = [sel.Object, [sub_name, sub_name]]
moving_part = self.getMovingPart(ref)
# Only objects within the assembly.
if moving_part is None:
Gui.Selection.removeSelection(sel.Object, sub_name)
continue
if len(self.refs) == 1 and moving_part == self.getMovingPart(self.refs[0]):
# do not select several feature of the same object.
self.refs.clear()
Gui.Selection.clearSelection()
return
self.refs.append(ref)
# do not accept initial selection if we don't have 2 selected features
if len(self.refs) != 2:
self.refs.clear()
Gui.Selection.clearSelection()
else:
self.updateJoint()
def createJointObject(self):
type_index = self.jForm.jointType.currentIndex()
if self.activeType == "Part":
self.joint = self.assembly.newObject("App::FeaturePython", "Temporary joint")
else:
joint_group = UtilsAssembly.getJointGroup(self.assembly)
self.joint = joint_group.newObject("App::FeaturePython", "Joint")
self.joint.Label = self.jointName
Joint(self.joint, type_index)
ViewProviderJoint(self.joint.ViewObject)
def onJointTypeChanged(self, index):
self.jType = JointTypes[self.jForm.jointType.currentIndex()]
self.joint.Proxy.setJointType(self.joint, self.jType)
self.adaptUi()
def onAngleChanged(self, quantity):
self.joint.Angle = self.jForm.angleSpinbox.property("rawValue")
def onDistanceChanged(self, quantity):
self.joint.Distance = self.jForm.distanceSpinbox.property("rawValue")
def onDistance2Changed(self, quantity):
self.joint.Distance2 = self.jForm.distanceSpinbox2.property("rawValue")
def onOffsetChanged(self, quantity):
if self.blockOffsetRotation:
return
self.joint.Offset2.Base = App.Vector(0, 0, self.jForm.offsetSpinbox.property("rawValue"))
def onRotationChanged(self, quantity):
if self.blockOffsetRotation:
return
yaw = self.jForm.rotationSpinbox.property("rawValue")
ypr = self.joint.Offset2.Rotation.getYawPitchRoll()
self.joint.Offset2.Rotation.setYawPitchRoll(yaw, ypr[1], ypr[2])
def onLimitLenMinChanged(self, quantity):
if self.jForm.limitCheckbox1.isChecked():
self.joint.LengthMin = self.jForm.limitLenMinSpinbox.property("rawValue")
def onLimitLenMaxChanged(self, quantity):
if self.jForm.limitCheckbox2.isChecked():
self.joint.LengthMax = self.jForm.limitLenMaxSpinbox.property("rawValue")
def onLimitRotMinChanged(self, quantity):
if self.jForm.limitCheckbox3.isChecked():
self.joint.AngleMin = self.jForm.limitRotMinSpinbox.property("rawValue")
def onLimitRotMaxChanged(self, quantity):
if self.jForm.limitCheckbox4.isChecked():
self.joint.AngleMax = self.jForm.limitRotMaxSpinbox.property("rawValue")
def onReverseClicked(self):
self.joint.Proxy.flipOnePart(self.joint)
def reverseRotToggled(self, val):
if val:
self.jForm.jointType.setCurrentIndex(JointTypes.index("Gears"))
else:
self.jForm.jointType.setCurrentIndex(JointTypes.index("Belt"))
def adaptUi(self):
jType = self.jType
needAngle = jType in JointUsingAngle
self.jForm.angleLabel.setVisible(needAngle)
self.jForm.angleSpinbox.setVisible(needAngle)
needDistance = jType in JointUsingDistance
self.jForm.distanceLabel.setVisible(needDistance)
self.jForm.distanceSpinbox.setVisible(needDistance)
if needDistance:
if jType == "Distance":
self.jForm.distanceLabel.setText(translate("Assembly", "Distance"))
elif jType == "Gears" or jType == "Belt":
self.jForm.distanceLabel.setText(translate("Assembly", "Radius 1"))
elif jType == "Screw":
self.jForm.distanceLabel.setText(translate("Assembly", "Thread pitch"))
else:
self.jForm.distanceLabel.setText(translate("Assembly", "Pitch radius"))
needDistance2 = jType in JointUsingDistance2
self.jForm.distanceLabel2.setVisible(needDistance2)
self.jForm.distanceSpinbox2.setVisible(needDistance2)
self.jForm.reverseRotCheckbox.setVisible(needDistance2)
if jType in JointNoNegativeDistance:
# Setting minimum to 0.01 to prevent 0 and negative values
self.jForm.distanceSpinbox.setProperty("minimum", 1e-7)
if self.jForm.distanceSpinbox.property("rawValue") == 0.0:
self.jForm.distanceSpinbox.setProperty("rawValue", 1.0)
if jType == "Gears" or jType == "Belt":
self.jForm.distanceSpinbox2.setProperty("minimum", 1e-7)
if self.jForm.distanceSpinbox2.property("rawValue") == 0.0:
self.jForm.distanceSpinbox2.setProperty("rawValue", 1.0)
else:
self.jForm.distanceSpinbox.setProperty("minimum", float("-inf"))
self.jForm.distanceSpinbox2.setProperty("minimum", float("-inf"))
advancedOffset = self.jForm.advancedOffsetCheckbox.isChecked()
needOffset = jType in JointUsingOffset
needRotation = jType in JointUsingRotation
self.jForm.offset1Label.setVisible(advancedOffset)
self.jForm.offset2Label.setVisible(advancedOffset)
self.jForm.offset1Button.setVisible(advancedOffset)
self.jForm.offset2Button.setVisible(advancedOffset)
self.jForm.offsetLabel.setVisible(not advancedOffset and needOffset)
self.jForm.offsetSpinbox.setVisible(not advancedOffset and needOffset)
self.jForm.rotationLabel.setVisible(not advancedOffset and needRotation)
self.jForm.rotationSpinbox.setVisible(not advancedOffset and needRotation)
self.jForm.PushButtonReverse.setVisible(jType in JointUsingReverse)
needLengthLimits = jType in JointUsingLimitLength
needAngleLimits = jType in JointUsingLimitAngle
needLimits = needLengthLimits or needAngleLimits
self.jForm.groupBox_limits.setVisible(needLimits)
if needLimits:
self.joint.EnableLengthMin = self.jForm.limitCheckbox1.isChecked()
self.joint.EnableLengthMax = self.jForm.limitCheckbox2.isChecked()
self.joint.EnableAngleMin = self.jForm.limitCheckbox3.isChecked()
self.joint.EnableAngleMax = self.jForm.limitCheckbox4.isChecked()
self.jForm.limitCheckbox1.setVisible(needLengthLimits)
self.jForm.limitCheckbox2.setVisible(needLengthLimits)
self.jForm.limitLenMinSpinbox.setVisible(needLengthLimits)
self.jForm.limitLenMaxSpinbox.setVisible(needLengthLimits)
self.jForm.limitCheckbox3.setVisible(needAngleLimits)
self.jForm.limitCheckbox4.setVisible(needAngleLimits)
self.jForm.limitRotMinSpinbox.setVisible(needAngleLimits)
self.jForm.limitRotMaxSpinbox.setVisible(needAngleLimits)
if needLengthLimits:
self.jForm.limitLenMinSpinbox.setEnabled(self.joint.EnableLengthMin)
self.jForm.limitLenMaxSpinbox.setEnabled(self.joint.EnableLengthMax)
self.onLimitLenMinChanged(0) # dummy value
self.onLimitLenMaxChanged(0)
if needAngleLimits:
self.jForm.limitRotMinSpinbox.setEnabled(self.joint.EnableAngleMin)
self.jForm.limitRotMaxSpinbox.setEnabled(self.joint.EnableAngleMax)
self.onLimitRotMinChanged(0)
self.onLimitRotMaxChanged(0)
self.updateOffsetWidgets()
def updateOffsetWidgets(self):
# Makes sure the values in both the simplified and advanced tabs are sync.
pos = self.joint.Offset1.Base
self.jForm.offset1Button.setText(f"({pos.x}, {pos.y}, {pos.z})")
pos = self.joint.Offset2.Base
self.jForm.offset2Button.setText(f"({pos.x}, {pos.y}, {pos.z})")
self.blockOffsetRotation = True
self.jForm.offsetSpinbox.setProperty("rawValue", pos.z)
self.jForm.rotationSpinbox.setProperty(
"rawValue", self.joint.Offset2.Rotation.getYawPitchRoll()[0]
)
self.blockOffsetRotation = False
def advancedOffsetToggled(self, on):
self.adaptUi()
self.updateOffsetWidgets()
def onOffset1Clicked(self):
UtilsAssembly.openEditingPlacementDialog(self.joint, "Offset1")
self.updateOffsetWidgets()
def onOffset2Clicked(self):
UtilsAssembly.openEditingPlacementDialog(self.joint, "Offset2")
self.updateOffsetWidgets()
def updateIsolation(self):
"""Isolates the two selected components or clears isolation."""
if self.activeType != "Assembly":
return
isolate_mode = self.jForm.isolateType.currentIndex()
assembly_vobj = self.assembly.ViewObject
# If "Disabled" is selected, clear any active isolation and stop.
if isolate_mode == 3:
assembly_vobj.clearIsolate()
return
if len(self.refs) == 2:
try:
# Use a set to handle cases where both refs point to the same object
parts_to_isolate = {
self.getMovingPart(self.refs[0]),
self.getMovingPart(self.refs[1]),
}
assembly_vobj.isolateComponents(list(parts_to_isolate), isolate_mode)
except Exception as e:
App.Console.PrintWarning(f"Could not update isolation: {e}\n")
assembly_vobj.clearIsolate()
else:
assembly_vobj.clearIsolate()
def updateTaskboxFromJoint(self):
self.refs = []
self.presel_ref = None
ref1 = self.joint.Reference1
ref2 = self.joint.Reference2
self.refs.append(ref1)
self.refs.append(ref2)
sub1 = UtilsAssembly.addTipNameToSub(ref1)
sub2 = UtilsAssembly.addTipNameToSub(ref2)
Gui.Selection.addSelection(ref1[0].Document.Name, ref1[0].Name, sub1)
Gui.Selection.addSelection(ref2[0].Document.Name, ref2[0].Name, sub2)
self.jForm.angleSpinbox.setProperty("rawValue", self.joint.Angle.Value)
self.jForm.distanceSpinbox.setProperty("rawValue", self.joint.Distance.Value)
self.jForm.distanceSpinbox2.setProperty("rawValue", self.joint.Distance2.Value)
self.jForm.offsetSpinbox.setProperty("rawValue", self.joint.Offset2.Base.z)
self.jForm.rotationSpinbox.setProperty(
"rawValue", self.joint.Offset2.Rotation.getYawPitchRoll()[0]
)
self.jForm.limitCheckbox1.setChecked(self.joint.EnableLengthMin)
self.jForm.limitCheckbox2.setChecked(self.joint.EnableLengthMax)
self.jForm.limitCheckbox3.setChecked(self.joint.EnableAngleMin)
self.jForm.limitCheckbox4.setChecked(self.joint.EnableAngleMax)
self.jForm.limitLenMinSpinbox.setProperty("rawValue", self.joint.LengthMin.Value)
self.jForm.limitLenMaxSpinbox.setProperty("rawValue", self.joint.LengthMax.Value)
self.jForm.limitRotMinSpinbox.setProperty("rawValue", self.joint.AngleMin.Value)
self.jForm.limitRotMaxSpinbox.setProperty("rawValue", self.joint.AngleMax.Value)
self.jForm.jointType.setCurrentIndex(JointTypes.index(self.joint.JointType))
self.updateJointList()
self.updateIsolation()
def updateJoint(self):
# First we build the listwidget
self.updateJointList()
# Then we pass the new list to the joint object
self.joint.Proxy.setJointConnectors(self.joint, self.refs)
self.updateIsolation()
def updateJointList(self):
self.jForm.featureList.clear()
simplified_names = []
for ref in self.refs:
sname = UtilsAssembly.getObject(ref).Label
element_name = UtilsAssembly.getElementName(ref[1][0])
if element_name != "":
sname = sname + "." + element_name
simplified_names.append(sname)
self.jForm.featureList.addItems(simplified_names)
def updateLimits(self):
needLengthLimits = self.jType in JointUsingLimitLength
needAngleLimits = self.jType in JointUsingLimitAngle
if needLengthLimits:
distance = UtilsAssembly.getJointDistance(self.joint)
if (
not self.jForm.limitCheckbox1.isChecked()
and self.jForm.limitLenMinSpinbox.property("expression") == ""
):
self.jForm.limitLenMinSpinbox.setProperty("rawValue", distance)
if (
not self.jForm.limitCheckbox2.isChecked()
and self.jForm.limitLenMaxSpinbox.property("expression") == ""
):
self.jForm.limitLenMaxSpinbox.setProperty("rawValue", distance)
if needAngleLimits:
angle = UtilsAssembly.getJointXYAngle(self.joint) / math.pi * 180
if (
not self.jForm.limitCheckbox3.isChecked()
and self.jForm.limitRotMinSpinbox.property("expression") == ""
):
self.jForm.limitRotMinSpinbox.setProperty("rawValue", angle)
if (
not self.jForm.limitCheckbox4.isChecked()
and self.jForm.limitRotMaxSpinbox.property("expression") == ""
):
self.jForm.limitRotMaxSpinbox.setProperty("rawValue", angle)
def moveMouse(self, info):
if len(self.refs) >= 2 or (
len(self.refs) == 1
and (
not self.presel_ref
or self.getMovingPart(self.refs[0]) == self.getMovingPart(self.presel_ref)
)
):
self.joint.ViewObject.Proxy.showPreviewJCS(False)
if len(self.refs) >= 2:
self.updateLimits()
return
cursor_pos = self.view.getCursorPos()
cursor_info = self.view.getObjectInfo(cursor_pos)
# cursor_info example {'x': 41.515, 'y': 7.449, 'z': 16.861, 'ParentObject': <Part object>, 'SubName': 'Body002.Pad.Face5', 'Document': 'part3', 'Object': 'Pad', 'Component': 'Face5'}
if (
not cursor_info
or not self.presel_ref
# or cursor_info["SubName"] != self.presel_ref["sub_name"]
# Removed because they are not equal when hovering a line endpoints.
# But we don't actually need to test because if there's no preselection then not cursor is None
):
self.joint.ViewObject.Proxy.showPreviewJCS(False)
return
ref = self.presel_ref
# newPos = self.view.getPoint(*info["Position"]) is not OK: it's not pos on the object but on the focal plane
newPos = App.Vector(cursor_info["x"], cursor_info["y"], cursor_info["z"])
vertex_name = UtilsAssembly.findElementClosestVertex(ref, newPos)
ref = UtilsAssembly.addVertexToReference(ref, vertex_name)
placement = self.joint.Proxy.findPlacement(self.joint, ref, 0)
self.joint.ViewObject.Proxy.showPreviewJCS(True, placement, ref)
self.previewJCSVisible = True
# 3D view keyboard handler
def KeyboardEvent(self, info):
if info["State"] == "UP" and info["Key"] == "ESCAPE":
self.reject()
if info["State"] == "UP" and info["Key"] == "RETURN":
self.accept()
def _removeSelectedItems(self, selected_indexes):
for index in selected_indexes:
row = index.row()
if row < len(self.refs):
ref = self.refs[row]
sub = UtilsAssembly.addTipNameToSub(ref)
Gui.Selection.removeSelection(ref[0], sub)
else:
print(f"Row {row} is out of bounds for refs (length: {len(self.refs)})")
def eventFilter(self, watched, event):
if self.jForm is not None and watched == self.jForm.featureList:
if event.type() == QtCore.QEvent.ShortcutOverride:
if (
hasattr(self, "deleteAction")
and self.deleteAction.shortcut().matches(event.key())
!= QtGui.QKeySequence.NoMatch
):
event.accept()
return True
return False
elif event.type() == QtCore.QEvent.KeyPress:
if (
hasattr(self, "deleteAction")
and self.deleteAction.shortcut().matches(event.key())
!= QtGui.QKeySequence.NoMatch
):
self.deleteAction.trigger()
return True # Consume the event
return super().eventFilter(watched, event)
def createDeleteAction(self):
"""Create delete action with shortcut"""
try:
delete_sequence = Gui.QtTools.deleteKeySequence()
except AttributeError:
# fallback to standard key if there is no sequence defined
delete_sequence = QtGui.QKeySequence(QtCore.Qt.Key_Delete)
self.deleteAction = QtGui.QAction("Remove", self.jForm)
self.deleteAction.setShortcut(delete_sequence)
self.deleteAction.setIcon(
QtWidgets.QApplication.style().standardIcon(QtWidgets.QStyle.SP_DialogCancelButton)
)
self.deleteAction.setShortcutVisibleInContextMenu(True)
self.jForm.featureList.addAction(self.deleteAction)
self.jForm.featureList.setContextMenuPolicy(QtCore.Qt.ActionsContextMenu)
self.deleteAction.triggered.connect(self.deleteSelectedItems)
def deleteSelectedItems(self):
"""Delete selected items from the feature list - same logic as Delete key in ev filter"""
selected_indexes = self.jForm.featureList.selectedIndexes()
self._removeSelectedItems(selected_indexes)
def getMovingPart(self, ref):
return UtilsAssembly.getMovingPart(self.assembly, ref)
# selectionObserver stuff
def addSelection(self, doc_name, obj_name, sub_name, mousePos):
rootObj = App.getDocument(doc_name).getObject(obj_name)
# We do not need the full TNP string like :"Part.Body.Pad.;#a:1;:G0;XTR;:Hc94:8,F.Face6"
# instead we need : "Part.Body.Pad.Face6"
resolved = rootObj.resolveSubElement(sub_name, True)
sub_name = resolved[2]
sub_name = UtilsAssembly.fixBodyExtraFeatureInSub(doc_name, sub_name)
ref = [rootObj, [sub_name]]
moving_part = self.getMovingPart(ref)
# Check if the addition is acceptable (we are not doing this in selection gate to let user move objects)
acceptable = True
if len(self.refs) >= 2:
# No more than 2 elements can be selected for basic joints.
acceptable = False
for reference in self.refs:
sel_moving_part = self.getMovingPart(reference)
if sel_moving_part == moving_part:
# Can't join a solid to itself. So the user need to select 2 different parts.
acceptable = False
if not acceptable:
self.addition_rejected = True
Gui.Selection.removeSelection(doc_name, obj_name, sub_name)
return
# Selection is acceptable so add it
mousePos = App.Vector(mousePos[0], mousePos[1], mousePos[2])
vertex_name = UtilsAssembly.findElementClosestVertex(ref, mousePos)
# add the vertex name to the reference
ref = UtilsAssembly.addVertexToReference(ref, vertex_name)
self.refs.append(ref)
self.updateJoint()
# We hide the preview JCS if we just added to the selection
self.joint.ViewObject.Proxy.showPreviewJCS(False)
def removeSelection(self, doc_name, obj_name, sub_name, mousePos=None):
if self.addition_rejected:
self.addition_rejected = False
return
rootObj = App.getDocument(doc_name).getObject(obj_name)
# Apply the same processing as in addSelection to ensure consistent comparison
resolved = rootObj.resolveSubElement(sub_name, True)
sub_name = resolved[2]
sub_name = UtilsAssembly.fixBodyExtraFeatureInSub(doc_name, sub_name)
for reference in self.refs[:]:
ref_obj = reference[0]
ref_element_name = reference[1][0] if len(reference[1]) > 0 else ""
# match both object and processed element name for precise identification
if ref_obj == rootObj and ref_element_name == sub_name:
self.refs.remove(reference)
break
else:
print("No matching ref found for removal!")
self.updateJoint()
def setPreselection(self, doc_name, obj_name, sub_name):
if not sub_name:
self.presel_ref = None
return
self.presel_ref = [App.getDocument(doc_name).getObject(obj_name), [sub_name]]
def clearSelection(self, doc_name):
self.refs.clear()
self.updateJoint()
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