Assembly: Replace Tangent+Parallel+Planar by 'Distance'.

src/Gui/CommandDoc.cpp

@@ -1341,7 +1341,7 @@ void StdCmdDelete::activated(int iMsg)
         ViewProviderDocumentObject *vpedit = nullptr;
         if(editDoc)
             vpedit = dynamic_cast<ViewProviderDocumentObject*>(editDoc->getInEdit());
-        if(vpedit) {
+        if(vpedit && !vpedit->acceptDeletionsInEdit()) {
             for(auto &sel : Selection().getSelectionEx(editDoc->getDocument()->getName())) {
                 if(sel.getObject() == vpedit->getObject()) {
                     if (!sel.getSubNames().empty()) {

src/Gui/PreferencePages/DlgSettingsWorkbenchesImp.cpp

@@ -465,7 +465,7 @@ QStringList DlgSettingsWorkbenchesImp::getDisabledWorkbenches()
     ParameterGrp::handle hGrp;
 
     hGrp = App::GetApplication().GetParameterGroupByPath("User parameter:BaseApp/Preferences/Workbenches");
-    disabled_wbs = QString::fromStdString(hGrp->GetASCII("Disabled", "NoneWorkbench,TestWorkbench,AssemblyWorkbench"));
+    disabled_wbs = QString::fromStdString(hGrp->GetASCII("Disabled", "NoneWorkbench,TestWorkbench"));
 #if QT_VERSION >= QT_VERSION_CHECK(5,15,0)
     unfiltered_disabled_wbs_list = disabled_wbs.split(QLatin1String(","), Qt::SkipEmptyParts);
 #else

src/Gui/ViewProviderDocumentObject.h

@@ -94,6 +94,8 @@ public:
     App::DocumentObject *getObject() const {return pcObject;}
     /// Asks the view provider if the given object can be deleted.
     bool canDelete(App::DocumentObject* obj) const override;
+    /// Ask the view provider if it accepts object deletions while in edit
+    virtual bool acceptDeletionsInEdit() { return false; }
     /// Get the GUI document to this ViewProvider object
     Gui::Document* getDocument() const;
     /// Get the python wrapper for that ViewProvider

src/Mod/AddonManager/Addon.py

@@ -621,7 +621,7 @@ class Addon:
         wbName = self.get_workbench_name()
 
         # Add the wb to the list of disabled if it was not already
-        disabled_wbs = pref.GetString("Disabled", "NoneWorkbench,TestWorkbench,AssemblyWorkbench")
+        disabled_wbs = pref.GetString("Disabled", "NoneWorkbench,TestWorkbench")
         # print(f"start disabling {disabled_wbs}")
         disabled_wbs_list = disabled_wbs.split(",")
         if not (wbName in disabled_wbs_list):
@@ -652,7 +652,7 @@ class Addon:
     def remove_from_disabled_wbs(self, wbName: str):
         pref = fci.ParamGet("User parameter:BaseApp/Preferences/Workbenches")
 
-        disabled_wbs = pref.GetString("Disabled", "NoneWorkbench,TestWorkbench,AssemblyWorkbench")
+        disabled_wbs = pref.GetString("Disabled", "NoneWorkbench,TestWorkbench")
         # print(f"start enabling : {disabled_wbs}")
         disabled_wbs_list = disabled_wbs.split(",")
         disabled_wbs = ""

src/Mod/Assembly/App/AssemblyObject.h

@@ -25,6 +25,10 @@
 #ifndef ASSEMBLY_AssemblyObject_H
 #define ASSEMBLY_AssemblyObject_H
 
+
+#include <GeomAbs_CurveType.hxx>
+#include <GeomAbs_SurfaceType.hxx>
+
 #include <Mod/Assembly/AssemblyGlobal.h>
 
 #include <App/FeaturePython.h>
@@ -49,6 +53,8 @@ class Rotation;
 namespace Assembly
 {
 
+class JointGroup;
+
 // This enum has to be the same as the one in JointObject.py
 enum class JointType
 {
@@ -57,9 +63,7 @@ enum class JointType
     Cylindrical,
     Slider,
     Ball,
-    Planar,
-    Parallel,
-    Tangent
+    Distance
 };
 
 class AssemblyExport AssemblyObject: public App::Part
@@ -78,35 +82,78 @@ public:
         return "AssemblyGui::ViewProviderAssembly";
     }
 
-    int solve();
+    int solve(bool enableRedo = false);
+    void savePlacementsForUndo();
+    void undoSolve();
+    void clearUndo();
     void exportAsASMT(std::string fileName);
     std::shared_ptr<MbD::ASMTAssembly> makeMbdAssembly();
     std::shared_ptr<MbD::ASMTPart>
     makeMbdPart(std::string& name, Base::Placement plc = Base::Placement(), double mass = 1.0);
     std::shared_ptr<MbD::ASMTPart> getMbDPart(App::DocumentObject* obj);
     std::shared_ptr<MbD::ASMTMarker> makeMbdMarker(std::string& name, Base::Placement& plc);
-    std::shared_ptr<MbD::ASMTJoint> makeMbdJoint(App::DocumentObject* joint);
-    std::shared_ptr<MbD::ASMTJoint> makeMbdJointOfType(JointType jointType);
+    std::vector<std::shared_ptr<MbD::ASMTJoint>> makeMbdJoint(App::DocumentObject* joint);
+    std::shared_ptr<MbD::ASMTJoint> makeMbdJointOfType(App::DocumentObject* joint,
+                                                       JointType jointType);
+    std::shared_ptr<MbD::ASMTJoint> makeMbdJointDistance(App::DocumentObject* joint);
+    std::shared_ptr<MbD::ASMTJoint> makeMbdJointDistanceFaceVertex(App::DocumentObject* joint);
+    std::shared_ptr<MbD::ASMTJoint> makeMbdJointDistanceEdgeVertex(App::DocumentObject* joint);
+    std::shared_ptr<MbD::ASMTJoint> makeMbdJointDistanceFaceEdge(App::DocumentObject* joint);
+    std::shared_ptr<MbD::ASMTJoint> makeMbdJointDistanceEdgeEdge(App::DocumentObject* joint);
+    std::shared_ptr<MbD::ASMTJoint> makeMbdJointDistanceFaceFace(App::DocumentObject* joint);
+
     std::string handleOneSideOfJoint(App::DocumentObject* joint,
+                                     JointType jointType,
                                      const char* propObjLinkName,
                                      const char* propPlcName);
-    void fixGroundedPart(App::DocumentObject* obj, Base::Placement& plc, std::string& jointName);
-    bool fixGroundedParts();
     void jointParts(std::vector<App::DocumentObject*> joints);
     std::vector<App::DocumentObject*> getJoints();
-    Base::Placement getPlacementFromProp(App::DocumentObject* obj, const char* propName);
+    std::vector<App::DocumentObject*> getGroundedJoints();
+    void fixGroundedPart(App::DocumentObject* obj, Base::Placement& plc, std::string& jointName);
+    std::vector<App::DocumentObject*> fixGroundedParts();
+
+    void removeUnconnectedJoints(std::vector<App::DocumentObject*>& joints,
+                                 std::vector<App::DocumentObject*> groundedObjs);
+    void traverseAndMarkConnectedParts(App::DocumentObject* currentPart,
+                                       std::set<App::DocumentObject*>& connectedParts,
+                                       const std::vector<App::DocumentObject*>& joints);
+    std::vector<App::DocumentObject*>
+    getConnectedParts(App::DocumentObject* part, const std::vector<App::DocumentObject*>& joints);
+
+    JointGroup* getJointGroup();
+
+    void swapJCS(App::DocumentObject* joint);
+
     void setNewPlacements();
     void recomputeJointPlacements(std::vector<App::DocumentObject*> joints);
 
+    bool isPartConnected(App::DocumentObject* obj);
+
     double getObjMass(App::DocumentObject* obj);
     void setObjMasses(std::vector<std::pair<App::DocumentObject*, double>> objectMasses);
 
+    bool isEdgeType(App::DocumentObject* obj, const char* elName, GeomAbs_CurveType type);
+    bool isFaceType(App::DocumentObject* obj, const char* elName, GeomAbs_SurfaceType type);
+    double getFaceRadius(App::DocumentObject* obj, const char* elName);
+    double getEdgeRadius(App::DocumentObject* obj, const char* elName);
+
+    // getters to get from properties
+    double getJointDistance(App::DocumentObject* joint);
+    JointType getJointType(App::DocumentObject* joint);
+    const char* getElementFromProp(App::DocumentObject* obj, const char* propName);
+    std::string getElementTypeFromProp(App::DocumentObject* obj, const char* propName);
+    Base::Placement getPlacementFromProp(App::DocumentObject* obj, const char* propName);
+    App::DocumentObject* getLinkObjFromProp(App::DocumentObject* joint, const char* propName);
+    App::DocumentObject* getLinkedObjFromProp(App::DocumentObject* joint, const char* propName);
+
 private:
     std::shared_ptr<MbD::ASMTAssembly> mbdAssembly;
 
     std::unordered_map<App::DocumentObject*, std::shared_ptr<MbD::ASMTPart>> objectPartMap;
     std::vector<std::pair<App::DocumentObject*, double>> objMasses;
 
+    std::vector<std::pair<App::DocumentObject*, Base::Placement>> previousPositions;
+
     // void handleChangedPropertyType(Base::XMLReader &reader, const char *TypeName, App::Property
     // *prop) override;
 };

src/Mod/Assembly/App/AssemblyObjectPy.xml

@@ -18,7 +18,13 @@
         <UserDocu>
           Solve the assembly and update part placements.
 
-          solve()
+          solve(enableRedo=False) -> int
+
+          Args:
+          enableRedo: Whether the solve save the initial position of parts
+          to enable undoing it even without a transaction.
+          Defaults to `False` ie the solve cannot be undone if called
+          outside of a transaction.
 
           Returns:
           0 in case of success, otherwise the following codes in this order of
@@ -32,6 +38,41 @@
         </UserDocu>
       </Documentation>
     </Methode>
+    <Methode Name="undoSolve">
+      <Documentation>
+        <UserDocu>
+          Undo the last solve of the assembly and return part placements to their initial position.
+
+          undoSolve()
+
+          Returns: None
+        </UserDocu>
+      </Documentation>
+    </Methode>
+    <Methode Name="clearUndo">
+      <Documentation>
+        <UserDocu>
+          Clear the registered undo positions.
+
+          clearUndo()
+
+          Returns: None
+        </UserDocu>
+      </Documentation>
+    </Methode>
+    <Methode Name="isPartConnected">
+      <Documentation>
+        <UserDocu>
+          Check if a part is connected to the ground through joints.
+
+          isPartConnected(obj) -> bool
+
+          Args: document object to check.
+
+          Returns: True if part is connected to ground
+        </UserDocu>
+      </Documentation>
+    </Methode>
     <Methode Name="exportAsASMT">
       <Documentation>
         <UserDocu>

src/Mod/Assembly/App/AssemblyObjectPyImp.cpp

@@ -46,12 +46,55 @@ int AssemblyObjectPy::setCustomAttributes(const char* /*attr*/, PyObject* /*obj*
 }
 
 PyObject* AssemblyObjectPy::solve(PyObject* args)
+{
+    PyObject* enableUndoPy;
+    bool enableUndo;
+
+    if (!PyArg_ParseTuple(args, "O!", &PyBool_Type, &enableUndoPy)) {
+        PyErr_Clear();
+        if (!PyArg_ParseTuple(args, "")) {
+            return nullptr;
+        }
+        else {
+            enableUndo = false;
+        }
+    }
+    else {
+        enableUndo = Base::asBoolean(enableUndoPy);
+    }
+
+    int ret = this->getAssemblyObjectPtr()->solve(enableUndo);
+    return Py_BuildValue("i", ret);
+}
+
+PyObject* AssemblyObjectPy::undoSolve(PyObject* args)
 {
     if (!PyArg_ParseTuple(args, "")) {
         return nullptr;
     }
-    int ret = this->getAssemblyObjectPtr()->solve();
-    return Py_BuildValue("i", ret);
+    this->getAssemblyObjectPtr()->undoSolve();
+    Py_Return;
+}
+
+PyObject* AssemblyObjectPy::clearUndo(PyObject* args)
+{
+    if (!PyArg_ParseTuple(args, "")) {
+        return nullptr;
+    }
+    this->getAssemblyObjectPtr()->clearUndo();
+    Py_Return;
+}
+
+PyObject* AssemblyObjectPy::isPartConnected(PyObject* args)
+{
+    PyObject* pyobj;
+
+    if (!PyArg_ParseTuple(args, "O", &pyobj)) {
+        return nullptr;
+    }
+    auto* obj = static_cast<App::DocumentObjectPy*>(pyobj)->getDocumentObjectPtr();
+    bool ok = this->getAssemblyObjectPtr()->isPartConnected(obj);
+    return Py_BuildValue("O", (ok ? Py_True : Py_False));
 }
 
 PyObject* AssemblyObjectPy::exportAsASMT(PyObject* args)

src/Mod/Assembly/App/PreCompiled.h

@@ -42,5 +42,10 @@
 #include <vector>
 #include <unordered_map>
 
+#include <BRepAdaptor_Curve.hxx>
+#include <BRepAdaptor_Surface.hxx>
+#include <TopoDS.hxx>
+#include <TopoDS_Face.hxx>
+
 #endif  // _PreComp_
 #endif  // ASSEMBLY_PRECOMPILED_H

src/Mod/Assembly/CMakeLists.txt

@@ -67,3 +67,9 @@ INSTALL(
     DESTINATION
         Mod/Assembly/AssemblyTests
 )
+INSTALL(
+    FILES
+        ${AssemblyScripts_SRCS}
+    DESTINATION
+        Mod/Assembly/Assembly
+)

src/Mod/Assembly/CommandCreateAssembly.py

@@ -58,7 +58,7 @@ class CommandCreateAssembly:
         App.setActiveTransaction("Create assembly")
         assembly = App.ActiveDocument.addObject("Assembly::AssemblyObject", "Assembly")
         assembly.Type = "Assembly"
-        Gui.ActiveDocument.ActiveView.setActiveObject("part", assembly)
+        Gui.ActiveDocument.setEdit(assembly)
         assembly.newObject("Assembly::JointGroup", "Joints")
         App.closeActiveTransaction()
 

src/Mod/Assembly/CommandCreateJoint.py

@@ -42,6 +42,18 @@ __author__ = "Ondsel"
 __url__ = "https://www.freecad.org"
 
 
+def isCreateJointActive():
+    return UtilsAssembly.isAssemblyGrounded() and UtilsAssembly.assembly_has_at_least_n_parts(2)
+
+
+def activateJoint(index):
+    if JointObject.activeTask:
+        JointObject.activeTask.reject()
+
+    panel = TaskAssemblyCreateJoint(index)
+    Gui.Control.showDialog(panel)
+
+
 class CommandCreateJointFixed:
     def __init__(self):
         pass
@@ -51,7 +63,7 @@ class CommandCreateJointFixed:
         return {
             "Pixmap": "Assembly_CreateJointFixed",
             "MenuText": QT_TRANSLATE_NOOP("Assembly_CreateJointFixed", "Create Fixed Joint"),
-            "Accel": "F",
+            "Accel": "J",
             "ToolTip": "<p>"
             + QT_TRANSLATE_NOOP(
                 "Assembly_CreateJointFixed",
@@ -62,11 +74,10 @@ class CommandCreateJointFixed:
         }
 
     def IsActive(self):
-        return UtilsAssembly.activeAssembly() is not None
+        return isCreateJointActive()
 
     def Activated(self):
-        panel = TaskAssemblyCreateJoint(0)
-        Gui.Control.showDialog(panel)
+        activateJoint(0)
 
 
 class CommandCreateJointRevolute:
@@ -89,11 +100,10 @@ class CommandCreateJointRevolute:
         }
 
     def IsActive(self):
-        return UtilsAssembly.activeAssembly() is not None
+        return isCreateJointActive()
 
     def Activated(self):
-        panel = TaskAssemblyCreateJoint(1)
-        Gui.Control.showDialog(panel)
+        activateJoint(1)
 
 
 class CommandCreateJointCylindrical:
@@ -118,11 +128,10 @@ class CommandCreateJointCylindrical:
         }
 
     def IsActive(self):
-        return UtilsAssembly.activeAssembly() is not None
+        return isCreateJointActive()
 
     def Activated(self):
-        panel = TaskAssemblyCreateJoint(2)
-        Gui.Control.showDialog(panel)
+        activateJoint(2)
 
 
 class CommandCreateJointSlider:
@@ -145,11 +154,10 @@ class CommandCreateJointSlider:
         }
 
     def IsActive(self):
-        return UtilsAssembly.activeAssembly() is not None
+        return isCreateJointActive()
 
     def Activated(self):
-        panel = TaskAssemblyCreateJoint(3)
-        Gui.Control.showDialog(panel)
+        activateJoint(3)
 
 
 class CommandCreateJointBall:
@@ -172,92 +180,37 @@ class CommandCreateJointBall:
         }
 
     def IsActive(self):
-        return UtilsAssembly.activeAssembly() is not None
+        return isCreateJointActive()
 
     def Activated(self):
-        panel = TaskAssemblyCreateJoint(4)
-        Gui.Control.showDialog(panel)
+        activateJoint(4)
 
 
-class CommandCreateJointPlanar:
+class CommandCreateJointDistance:
     def __init__(self):
         pass
 
     def GetResources(self):
 
         return {
-            "Pixmap": "Assembly_CreateJointPlanar",
-            "MenuText": QT_TRANSLATE_NOOP("Assembly_CreateJointPlanar", "Create Planar Joint"),
-            "Accel": "P",
+            "Pixmap": "Assembly_CreateJointDistance",
+            "MenuText": QT_TRANSLATE_NOOP("Assembly_CreateJointDistance", "Create Distance Joint"),
+            "Accel": "D",
             "ToolTip": "<p>"
             + QT_TRANSLATE_NOOP(
-                "Assembly_CreateJointPlanar",
-                "Create a Planar Joint: Ensures two selected features are in the same plane, restricting movement to that plane.",
+                "Assembly_CreateJointDistance",
+                "Create a Distance Joint: Depending on your selection this tool will apply different constraints.",
             )
             + "</p>",
             "CmdType": "ForEdit",
         }
 
     def IsActive(self):
-        return UtilsAssembly.activeAssembly() is not None
+        # return False
+        return isCreateJointActive()
 
     def Activated(self):
-        panel = TaskAssemblyCreateJoint(5)
-        Gui.Control.showDialog(panel)
-
-
-class CommandCreateJointParallel:
-    def __init__(self):
-        pass
-
-    def GetResources(self):
-
-        return {
-            "Pixmap": "Assembly_CreateJointParallel",
-            "MenuText": QT_TRANSLATE_NOOP("Assembly_CreateJointParallel", "Create Parallel Joint"),
-            "Accel": "L",
-            "ToolTip": "<p>"
-            + QT_TRANSLATE_NOOP(
-                "Assembly_CreateJointParallel",
-                "Create a Parallel Joint: Aligns two features to be parallel, constraining relative movement to parallel translations.",
-            )
-            + "</p>",
-            "CmdType": "ForEdit",
-        }
-
-    def IsActive(self):
-        return UtilsAssembly.activeAssembly() is not None
-
-    def Activated(self):
-        panel = TaskAssemblyCreateJoint(6)
-        Gui.Control.showDialog(panel)
-
-
-class CommandCreateJointTangent:
-    def __init__(self):
-        pass
-
-    def GetResources(self):
-
-        return {
-            "Pixmap": "Assembly_CreateJointTangent",
-            "MenuText": QT_TRANSLATE_NOOP("Assembly_CreateJointTangent", "Create Tangent Joint"),
-            "Accel": "T",
-            "ToolTip": "<p>"
-            + QT_TRANSLATE_NOOP(
-                "Assembly_CreateJointTangent",
-                "Create a Tangent Joint: Forces two features to be tangent, restricting movement to smooth transitions along their contact surface.",
-            )
-            + "</p>",
-            "CmdType": "ForEdit",
-        }
-
-    def IsActive(self):
-        return UtilsAssembly.activeAssembly() is not None
-
-    def Activated(self):
-        panel = TaskAssemblyCreateJoint(7)
-        Gui.Control.showDialog(panel)
+        activateJoint(5)
 
 
 class CommandToggleGrounded:
@@ -269,18 +222,21 @@ class CommandToggleGrounded:
         return {
             "Pixmap": "Assembly_ToggleGrounded",
             "MenuText": QT_TRANSLATE_NOOP("Assembly_ToggleGrounded", "Toggle grounded"),
-            "Accel": "F",
+            "Accel": "G",
             "ToolTip": "<p>"
             + QT_TRANSLATE_NOOP(
                 "Assembly_ToggleGrounded",
-                "Toggle the grounded state of a part. Grounding a part permanently locks its position in the assembly, preventing any movement or rotation. You need at least one grounded part per assembly.",
+                "Grounding a part permanently locks its position in the assembly, preventing any movement or rotation. You need at least one grounded part before starting to assemble.",
             )
             + "</p>",
             "CmdType": "ForEdit",
         }
 
     def IsActive(self):
-        return UtilsAssembly.activeAssembly() is not None
+        return (
+            UtilsAssembly.isAssemblyCommandActive()
+            and UtilsAssembly.assembly_has_at_least_n_parts(1)
+        )
 
     def Activated(self):
         assembly = UtilsAssembly.activeAssembly()
@@ -301,20 +257,33 @@ class CommandToggleGrounded:
 
                 full_element_name = UtilsAssembly.getFullElementName(sel.ObjectName, sub)
                 obj = UtilsAssembly.getObject(full_element_name)
+                part_containing_obj = UtilsAssembly.getContainingPart(full_element_name, obj)
+
+                # Only objects within the assembly.
+                objs_names, element_name = UtilsAssembly.getObjsNamesAndElement(sel.ObjectName, sub)
+                if assembly.Name not in objs_names:
+                    continue
 
                 # Check if part is grounded and if so delete the joint.
                 for joint in joint_group.Group:
-                    if hasattr(joint, "ObjectToGround") and joint.ObjectToGround == obj:
+                    if (
+                        hasattr(joint, "ObjectToGround")
+                        and joint.ObjectToGround == part_containing_obj
+                    ):
+                        # Remove grounded tag.
+                        if part_containing_obj.Label.endswith(" 🔒"):
+                            part_containing_obj.Label = part_containing_obj.Label[:-2]
                         doc = App.ActiveDocument
                         doc.removeObject(joint.Name)
                         doc.recompute()
                         return
 
                 # Create groundedJoint.
+
+                part_containing_obj.Label = part_containing_obj.Label + " 🔒"
                 ground = joint_group.newObject("App::FeaturePython", "GroundedJoint")
-                JointObject.GroundedJoint(ground, obj)
+                JointObject.GroundedJoint(ground, part_containing_obj)
                 JointObject.ViewProviderGroundedJoint(ground.ViewObject)
-        Gui.Selection.clearSelection()
         App.closeActiveTransaction()
 
 
@@ -325,6 +294,4 @@ if App.GuiUp:
     Gui.addCommand("Assembly_CreateJointCylindrical", CommandCreateJointCylindrical())
     Gui.addCommand("Assembly_CreateJointSlider", CommandCreateJointSlider())
     Gui.addCommand("Assembly_CreateJointBall", CommandCreateJointBall())
-    Gui.addCommand("Assembly_CreateJointPlanar", CommandCreateJointPlanar())
-    Gui.addCommand("Assembly_CreateJointParallel", CommandCreateJointParallel())
-    Gui.addCommand("Assembly_CreateJointTangent", CommandCreateJointTangent())
+    Gui.addCommand("Assembly_CreateJointDistance", CommandCreateJointDistance())

src/Mod/Assembly/CommandExportASMT.py

@@ -54,7 +54,7 @@ class CommandExportASMT:
         }
 
     def IsActive(self):
-        return UtilsAssembly.activeAssembly() is not None
+        return UtilsAssembly.isAssemblyCommandActive() and UtilsAssembly.isAssemblyGrounded()
 
     def Activated(self):
         document = App.ActiveDocument

src/Mod/Assembly/CommandInsertLink.py

@@ -21,6 +21,7 @@
 #                                                                           *
 # ***************************************************************************/
 
+import re
 import os
 import FreeCAD as App
 
@@ -31,6 +32,7 @@ if App.GuiUp:
     from PySide import QtCore, QtGui, QtWidgets
 
 import UtilsAssembly
+import Preferences
 
 # translate = App.Qt.translate
 
@@ -44,22 +46,30 @@ class CommandInsertLink:
         pass
 
     def GetResources(self):
-        tooltip = "<p>Insert a Link into the assembly. "
-        tooltip += "This will create dynamic links to parts/bodies/primitives/assemblies."
-        tooltip += "To insert external objects, make sure that the file "
-        tooltip += "is <b>open in the current session</b></p>"
-        tooltip += "<p>Press shift to add several links while clicking on the view."
-
         return {
             "Pixmap": "Assembly_InsertLink",
             "MenuText": QT_TRANSLATE_NOOP("Assembly_InsertLink", "Insert Link"),
             "Accel": "I",
-            "ToolTip": QT_TRANSLATE_NOOP("Assembly_InsertLink", tooltip),
+            "ToolTip": "<p>"
+            + QT_TRANSLATE_NOOP(
+                "Assembly_InsertLink",
+                "Insert a Link into the currently active assembly. This will create dynamic links to parts/bodies/primitives/assemblies. To insert external objects, make sure that the file is <b>open in the current session</b>",
+            )
+            + "</p><p><ul><li>"
+            + QT_TRANSLATE_NOOP("Assembly_InsertLink", "Insert by left clicking items in the list.")
+            + "</li><li>"
+            + QT_TRANSLATE_NOOP("Assembly_InsertLink", "Undo by right clicking items in the list.")
+            + "</li><li>"
+            + QT_TRANSLATE_NOOP(
+                "Assembly_InsertLink",
+                "Press shift to add several links while clicking on the view.",
+            )
+            + "</li></ul></p>",
             "CmdType": "ForEdit",
         }
 
     def IsActive(self):
-        return UtilsAssembly.activeAssembly() is not None
+        return UtilsAssembly.isAssemblyCommandActive()
 
     def Activated(self):
         assembly = UtilsAssembly.activeAssembly()
@@ -81,6 +91,10 @@ class TaskAssemblyInsertLink(QtCore.QObject):
 
         self.form = Gui.PySideUic.loadUi(":/panels/TaskAssemblyInsertLink.ui")
         self.form.installEventFilter(self)
+        self.form.partList.installEventFilter(self)
+
+        pref = Preferences.preferences()
+        self.form.CheckBox_InsertInParts.setChecked(pref.GetBool("InsertInParts", True))
 
         # Actions
         self.form.openFileButton.clicked.connect(self.openFiles)
@@ -89,28 +103,37 @@ class TaskAssemblyInsertLink(QtCore.QObject):
 
         self.allParts = []
         self.partsDoc = []
-        self.numberOfAddedParts = 0
         self.translation = 0
         self.partMoving = False
+        self.totalTranslation = App.Vector()
+
+        self.insertionStack = []  # used to handle cancellation of insertions.
 
         self.buildPartList()
 
         App.setActiveTransaction("Insert Link")
 
     def accept(self):
-        App.closeActiveTransaction()
         self.deactivated()
+
+        if self.partMoving:
+            self.endMove()
+
+        App.closeActiveTransaction()
         return True
 
     def reject(self):
-        App.closeActiveTransaction(True)
         self.deactivated()
+
+        if self.partMoving:
+            self.dismissPart()
+
+        App.closeActiveTransaction(True)
         return True
 
     def deactivated(self):
-        if self.partMoving:
-            self.endMove()
-            self.doc.removeObject(self.createdLink.Name)
+        pref = Preferences.preferences()
+        pref.SetBool("InsertInParts", self.form.CheckBox_InsertInParts.isChecked())
 
     def buildPartList(self):
         self.allParts.clear()
@@ -136,7 +159,7 @@ class TaskAssemblyInsertLink(QtCore.QObject):
                     self.allParts.append(obj)
                     self.partsDoc.append(doc)
 
-            for obj in doc.findObjects("PartDesign::Body"):
+            for obj in doc.findObjects("Part::Feature"):
                 # but only those at top level (not nested inside other containers)
                 if obj.getParentGeoFeatureGroup() is None:
                     self.allParts.append(obj)
@@ -145,7 +168,7 @@ class TaskAssemblyInsertLink(QtCore.QObject):
         self.form.partList.clear()
         for part in self.allParts:
             newItem = QtGui.QListWidgetItem()
-            newItem.setText(part.Document.Name + " - " + part.Name)
+            newItem.setText(part.Label + " (" + part.Document.Name + ".FCStd)")
             newItem.setIcon(part.ViewObject.Icon)
             self.form.partList.addItem(newItem)
 
@@ -193,23 +216,82 @@ class TaskAssemblyInsertLink(QtCore.QObject):
 
         # check that the current document had been saved or that it's the same document as that of the selected part
         if not self.doc.FileName != "" and not self.doc == selectedPart.Document:
-            print("The current document must be saved before inserting an external part")
-            return
+            msgBox = QtWidgets.QMessageBox()
+            msgBox.setIcon(QtWidgets.QMessageBox.Warning)
+            msgBox.setText("The current document must be saved before inserting external parts.")
+            msgBox.setWindowTitle("Save Document")
+            saveButton = msgBox.addButton("Save", QtWidgets.QMessageBox.AcceptRole)
+            cancelButton = msgBox.addButton("Cancel", QtWidgets.QMessageBox.RejectRole)
 
-        self.createdLink = self.assembly.newObject("App::Link", selectedPart.Name)
-        self.createdLink.LinkedObject = selectedPart
-        self.createdLink.Placement.Base = self.getTranslationVec(selectedPart)
-        self.createdLink.recompute()
+            msgBox.exec_()
 
-        self.numberOfAddedParts += 1
+            if not (msgBox.clickedButton() == saveButton and Gui.ActiveDocument.saveAs()):
+                return
+
+        objectWhereToInsert = self.assembly
+
+        if self.form.CheckBox_InsertInParts.isChecked() and selectedPart.TypeId != "App::Part":
+            objectWhereToInsert = self.assembly.newObject("App::Part", "Part_" + selectedPart.Label)
+
+        createdLink = objectWhereToInsert.newObject("App::Link", selectedPart.Label)
+        createdLink.LinkedObject = selectedPart
+        createdLink.recompute()
+
+        addedObject = createdLink
+        if self.form.CheckBox_InsertInParts.isChecked() and selectedPart.TypeId != "App::Part":
+            addedObject = objectWhereToInsert
+
+        insertionDict = {}
+        insertionDict["item"] = item
+        insertionDict["addedObject"] = addedObject
+        self.insertionStack.append(insertionDict)
+        self.increment_counter(item)
+
+        translation = self.getTranslationVec(addedObject)
+        insertionDict["translation"] = translation
+        self.totalTranslation += translation
+        addedObject.Placement.Base = self.totalTranslation
 
         # highlight the link
         Gui.Selection.clearSelection()
-        Gui.Selection.addSelection(self.doc.Name, self.assembly.Name, self.createdLink.Name + ".")
+        Gui.Selection.addSelection(self.doc.Name, addedObject.Name, "")
 
         # Start moving the part if user brings mouse on view
         self.initMove()
 
+        self.form.partList.setItemSelected(item, False)
+
+    def increment_counter(self, item):
+        text = item.text()
+        match = re.search(r"(\d+) inserted$", text)
+
+        if match:
+            # Counter exists, increment it
+            counter = int(match.group(1)) + 1
+            new_text = re.sub(r"\d+ inserted$", f"{counter} inserted", text)
+        else:
+            # Counter does not exist, add it
+            new_text = f"{text} : 1 inserted"
+
+        item.setText(new_text)
+
+    def decrement_counter(self, item):
+        text = item.text()
+        match = re.search(r"(\d+) inserted$", text)
+
+        if match:
+            counter = int(match.group(1)) - 1
+            if counter > 0:
+                # Update the counter
+                new_text = re.sub(r"\d+ inserted$", f"{counter} inserted", text)
+            elif counter == 0:
+                # Remove the counter part from the text
+                new_text = re.sub(r" : \d+ inserted$", "", text)
+            else:
+                return
+
+            item.setText(new_text)
+
     def initMove(self):
         self.callbackMove = self.view.addEventCallback("SoLocation2Event", self.moveMouse)
         self.callbackClick = self.view.addEventCallback("SoMouseButtonEvent", self.clickMouse)
@@ -230,42 +312,83 @@ class TaskAssemblyInsertLink(QtCore.QObject):
 
     def moveMouse(self, info):
         newPos = self.view.getPoint(*info["Position"])
-        self.createdLink.Placement.Base = newPos
+        self.insertionStack[-1]["addedObject"].Placement.Base = newPos
 
     def clickMouse(self, info):
         if info["Button"] == "BUTTON1" and info["State"] == "DOWN":
+            Gui.Selection.clearSelection()
             if info["ShiftDown"]:
                 # Create a new link and moves this one now
-                currentPos = self.createdLink.Placement.Base
-                selectedPart = self.createdLink.LinkedObject
-                self.createdLink = self.assembly.newObject("App::Link", selectedPart.Name)
-                self.createdLink.LinkedObject = selectedPart
-                self.createdLink.Placement.Base = currentPos
+                addedObject = self.insertionStack[-1]["addedObject"]
+                currentPos = addedObject.Placement.Base
+                selectedPart = addedObject
+                if addedObject.TypeId == "App::Link":
+                    selectedPart = addedObject.LinkedObject
+
+                addedObject = self.assembly.newObject("App::Link", selectedPart.Label)
+                addedObject.LinkedObject = selectedPart
+                addedObject.Placement.Base = currentPos
+
+                insertionDict = {}
+                insertionDict["translation"] = App.Vector()
+                insertionDict["item"] = self.insertionStack[-1]["item"]
+                insertionDict["addedObject"] = addedObject
+                self.insertionStack.append(insertionDict)
+
             else:
                 self.endMove()
 
+        elif info["Button"] == "BUTTON2" and info["State"] == "DOWN":
+            self.dismissPart()
+
     # 3D view keyboard handler
     def KeyboardEvent(self, info):
         if info["State"] == "UP" and info["Key"] == "ESCAPE":
-            self.endMove()
-            self.doc.removeObject(self.createdLink.Name)
+            self.dismissPart()
+
+    def dismissPart(self):
+        self.endMove()
+        stack_item = self.insertionStack.pop()
+        self.totalTranslation -= stack_item["translation"]
+        UtilsAssembly.removeObjAndChilds(stack_item["addedObject"])
+        self.decrement_counter(stack_item["item"])
 
     # Taskbox keyboard event handler
     def eventFilter(self, watched, event):
         if watched == self.form and event.type() == QtCore.QEvent.KeyPress:
             if event.key() == QtCore.Qt.Key_Escape and self.partMoving:
-                self.endMove()
-                self.doc.removeObject(self.createdLink.Name)
+                self.dismissPart()
                 return True  # Consume the event
+
+        if event.type() == QtCore.QEvent.ContextMenu and watched is self.form.partList:
+            item = watched.itemAt(event.pos())
+
+            if item:
+                # Iterate through the insertionStack in reverse
+                for i in reversed(range(len(self.insertionStack))):
+                    stack_item = self.insertionStack[i]
+
+                    if stack_item["item"] == item:
+                        if self.partMoving:
+                            self.endMove()
+
+                        self.totalTranslation -= stack_item["translation"]
+                        UtilsAssembly.removeObjAndChilds(stack_item["addedObject"])
+                        self.decrement_counter(item)
+                        del self.insertionStack[i]
+                        self.form.partList.setItemSelected(item, False)
+
+                        return True
+
         return super().eventFilter(watched, event)
 
     def getTranslationVec(self, part):
         bb = part.Shape.BoundBox
         if bb:
-            self.translation += (bb.XMax + bb.YMax + bb.ZMax) * 0.15
+            translation = (bb.XMax + bb.YMax + bb.ZMax) * 0.15
         else:
-            self.translation += 10
-        return App.Vector(self.translation, self.translation, self.translation)
+            translation = 10
+        return App.Vector(translation, translation, translation)
 
 
 if App.GuiUp:

src/Mod/Assembly/CommandSolveAssembly.py

@@ -49,7 +49,7 @@ class CommandSolveAssembly:
         return {
             "Pixmap": "Assembly_SolveAssembly",
             "MenuText": QT_TRANSLATE_NOOP("Assembly_SolveAssembly", "Solve Assembly"),
-            "Accel": "F",
+            "Accel": "Z",
             "ToolTip": "<p>"
             + QT_TRANSLATE_NOOP(
                 "Assembly_SolveAssembly",
@@ -60,7 +60,7 @@ class CommandSolveAssembly:
         }
 
     def IsActive(self):
-        return UtilsAssembly.activeAssembly() is not None
+        return UtilsAssembly.isAssemblyCommandActive() and UtilsAssembly.isAssemblyGrounded()
 
     def Activated(self):
         assembly = UtilsAssembly.activeAssembly()

src/Mod/Assembly/Gui/PreCompiled.h

@@ -37,6 +37,10 @@
 #include <sstream>
 #include <iostream>
 
+// Qt
+#ifndef __QtAll__
+#include <Gui/QtAll.h>
+#endif
 
 #endif  //_PreComp_
 

src/Mod/Assembly/Gui/Resources/Assembly.qrc

@@ -1,19 +1,20 @@
 <RCC>
-    <qresource>
+    <qresource prefix="/">
         <file>icons/Assembly_InsertLink.svg</file>
         <file>icons/preferences-assembly.svg</file>
         <file>icons/Assembly_ToggleGrounded.svg</file>
         <file>icons/Assembly_CreateJointBall.svg</file>
         <file>icons/Assembly_CreateJointCylindrical.svg</file>
         <file>icons/Assembly_CreateJointFixed.svg</file>
-        <file>icons/Assembly_CreateJointParallel.svg</file>
         <file>icons/Assembly_CreateJointPlanar.svg</file>
         <file>icons/Assembly_CreateJointRevolute.svg</file>
         <file>icons/Assembly_CreateJointSlider.svg</file>
         <file>icons/Assembly_CreateJointTangent.svg</file>
         <file>icons/Assembly_ExportASMT.svg</file>
+        <file>icons/Assembly_SolveAssembly.svg</file>
         <file>panels/TaskAssemblyCreateJoint.ui</file>
         <file>panels/TaskAssemblyInsertLink.ui</file>
         <file>preferences/Assembly.ui</file>
+        <file>icons/Assembly_CreateJointDistance.svg</file>
     </qresource>
 </RCC>

src/Mod/Assembly/Gui/Resources/icons/Assembly_SolveAssembly.svg

@@ -0,0 +1,615 @@
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+   xmlns="http://www.w3.org/2000/svg"
+   xmlns:svg="http://www.w3.org/2000/svg"
+   xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#"
+   xmlns:cc="http://creativecommons.org/ns#"
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+          <cc:Agent>
+            <dc:title>FreeCAD LGPL2+</dc:title>
+          </cc:Agent>
+        </dc:rights>
+        <cc:license>https://www.gnu.org/copyleft/lesser.html</cc:license>
+        <dc:contributor>
+          <cc:Agent>
+            <dc:title>[agryson] Alexander Gryson</dc:title>
+          </cc:Agent>
+        </dc:contributor>
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src/Mod/Assembly/Gui/Resources/panels/TaskAssemblyCreateJoint.ui

@@ -20,8 +20,107 @@
    <item row="1" column="0">
     <widget class="QListWidget" name="featureList"/>
    </item>
+   <item row="2" column="0">
+    <layout class="QHBoxLayout" name="hLayoutDistance">
+     <item>
+      <widget class="QLabel" name="distanceLabel">
+       <property name="text">
+        <string>Distance</string>
+       </property>
+      </widget>
+     </item>
+     <item>
+      <widget class="Gui::QuantitySpinBox" name="distanceSpinbox">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="Expanding" vsizetype="Fixed">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="unit" stdset="0">
+        <string notr="true">mm</string>
+       </property>
+      </widget>
+     </item>
+    </layout>
+   </item>
+   <item row="3" column="0">
+    <layout class="QHBoxLayout" name="hLayout">
+     <item>
+      <widget class="QLabel" name="offsetLabel">
+       <property name="text">
+        <string>Offset</string>
+       </property>
+      </widget>
+     </item>
+     <item>
+      <widget class="Gui::QuantitySpinBox" name="offsetSpinbox">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="Expanding" vsizetype="Fixed">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="unit" stdset="0">
+        <string notr="true">mm</string>
+       </property>
+      </widget>
+     </item>
+    </layout>
+   </item>
+   <item row="4" column="0">
+    <layout class="QHBoxLayout" name="hLayoutRotation">
+     <item>
+      <widget class="QLabel" name="rotationLabel">
+       <property name="text">
+        <string>Rotation</string>
+       </property>
+      </widget>
+     </item>
+     <item>
+      <widget class="Gui::QuantitySpinBox" name="rotationSpinbox">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="Expanding" vsizetype="Fixed">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="unit" stdset="0">
+        <string notr="true">deg</string>
+       </property>
+      </widget>
+     </item>
+    </layout>
+   </item>
+   <item row="5" column="0">
+    <widget class="QToolButton" name="PushButtonReverse">
+     <property name="sizePolicy">
+      <sizepolicy hsizetype="Maximum" vsizetype="Preferred">
+       <horstretch>0</horstretch>
+       <verstretch>0</verstretch>
+      </sizepolicy>
+     </property>
+     <property name="toolTip">
+      <string>Reverse the direction of the joint.</string>
+     </property>
+     <property name="text">
+      <string>Reverse</string>
+     </property>
+     <property name="icon">
+      <iconset resource="Resources/resource.qrc">
+      <normaloff>:/icons/button_sort.svg</normaloff>:/icons/button_sort.svg</iconset>
+     </property>
+    </widget>
+   </item>
    </layout>
  </widget>
+ <customwidgets>
+  <customwidget>
+   <class>Gui::QuantitySpinBox</class>
+   <extends>QWidget</extends>
+   <header>Gui/QuantitySpinBox.h</header>
+  </customwidget>
+ </customwidgets>
  <resources/>
  <connections/>
 </ui>

src/Mod/Assembly/Gui/Resources/panels/TaskAssemblyInsertLink.ui

@@ -42,8 +42,34 @@
      </item>
     </layout>
    </item>
+   <item row="3" column="0">
+    <widget class="Gui::PrefCheckBox" name="CheckBox_InsertInParts">
+     <property name="toolTip">
+      <string>If checked, the selected object will be inserted inside a Part container, unless it is already a Part.</string>
+     </property>
+     <property name="text">
+      <string>Insert as part</string>
+     </property>
+     <property name="checked">
+      <bool>true</bool>
+     </property>
+     <property name="prefEntry" stdset="0">
+      <cstring>InsertInParts</cstring>
+     </property>
+     <property name="prefPath" stdset="0">
+      <cstring>Mod/Assembly</cstring>
+     </property>
+    </widget>
+   </item>
    </layout>
  </widget>
+ <customwidgets>
+  <customwidget>
+   <class>Gui::PrefCheckBox</class>
+   <extends>QCheckBox</extends>
+   <header>Gui/PrefWidgets.h</header>
+  </customwidget>
+ </customwidgets>
  <resources/>
  <connections/>
 </ui>

src/Mod/Assembly/Gui/ViewProviderAssembly.cpp

@@ -1,4 +1,4 @@
-// SPDX-License-Identifier: LGPL-2.1-or-later
+// SPDX-License-Identifier: LGPL-2.1-or-later
 /****************************************************************************
  *                                                                          *
  *   Copyright (c) 2023 Ondsel <development@ondsel.com>                     *
@@ -24,6 +24,7 @@
 #include "PreCompiled.h"
 
 #ifndef _PreComp_
+#include <QMessageBox>
 #include <vector>
 #include <sstream>
 #include <iostream>
@@ -35,11 +36,12 @@
 #include <App/Part.h>
 #include <Gui/Application.h>
 #include <Gui/BitmapFactory.h>
-#include <Gui/Command.h>
+#include <Gui/CommandT.h>
 #include <Gui/MDIView.h>
 #include <Gui/View3DInventor.h>
 #include <Gui/View3DInventorViewer.h>
 #include <Mod/Assembly/App/AssemblyObject.h>
+#include <Mod/Assembly/App/JointGroup.h>
 #include <Mod/PartDesign/App/Body.h>
 
 #include "ViewProviderAssembly.h"
@@ -80,6 +82,62 @@ bool ViewProviderAssembly::doubleClicked()
     return true;
 }
 
+bool ViewProviderAssembly::canDragObject(App::DocumentObject* obj) const
+{
+    Base::Console().Warning("ViewProviderAssembly::canDragObject\n");
+    if (!obj || obj->getTypeId() == Assembly::JointGroup::getClassTypeId()) {
+        Base::Console().Warning("so should be false...\n");
+        return false;
+    }
+
+    // else if a solid is removed, remove associated joints if any.
+    bool prompted = false;
+    auto* assemblyPart = static_cast<AssemblyObject*>(getObject());
+    std::vector<App::DocumentObject*> joints = assemblyPart->getJoints();
+
+    // Combine the joints and groundedJoints vectors into one for simplicity.
+    std::vector<App::DocumentObject*> allJoints = assemblyPart->getJoints();
+    std::vector<App::DocumentObject*> groundedJoints = assemblyPart->getGroundedJoints();
+    allJoints.insert(allJoints.end(), groundedJoints.begin(), groundedJoints.end());
+
+    Gui::Command::openCommand(tr("Delete associated joints").toStdString().c_str());
+    for (auto joint : allJoints) {
+        // Assume getLinkObjFromProp can return nullptr if the property doesn't exist.
+        App::DocumentObject* obj1 = assemblyPart->getLinkObjFromProp(joint, "Part1");
+        App::DocumentObject* obj2 = assemblyPart->getLinkObjFromProp(joint, "Part2");
+        App::DocumentObject* obj3 = assemblyPart->getLinkObjFromProp(joint, "ObjectToGround");
+        if (obj == obj1 || obj == obj2 || obj == obj3) {
+            if (!prompted) {
+                prompted = true;
+                QMessageBox msgBox;
+                msgBox.setText(tr("The object is associated to one or more joints."));
+                msgBox.setInformativeText(
+                    tr("Do you want to move the object and delete associated joints?"));
+                msgBox.setStandardButtons(QMessageBox::Yes | QMessageBox::No);
+                msgBox.setDefaultButton(QMessageBox::No);
+                int ret = msgBox.exec();
+
+                if (ret == QMessageBox::No) {
+                    return false;
+                }
+            }
+            Gui::Command::doCommand(Gui::Command::Gui,
+                                    "App.activeDocument().removeObject('%s')",
+                                    joint->getNameInDocument());
+        }
+    }
+    Gui::Command::commitCommand();
+
+    // Remove grounded tag if any. (as it is not done in jointObject.py onDelete)
+    std::string label = obj->Label.getValue();
+
+    if (label.size() >= 4 && label.substr(label.size() - 2) == " 🔒") {
+        label = label.substr(0, label.size() - 2);
+        obj->Label.setValue(label.c_str());
+    }
+
+    return true;
+}
 
 bool ViewProviderAssembly::setEdit(int ModNum)
 {
@@ -308,35 +366,53 @@ App::DocumentObject* ViewProviderAssembly::getObjectFromSubNames(std::vector<std
         // For example we want box in "box.face1"
         return appDoc->getObject(subNames[0].c_str());
     }
-    else {
-        objName = subNames[subNames.size() - 3];
 
+    // From here subnames is at least 3 and can be more. There are several cases to consider :
+    //  bodyOrLink.pad.face1                                    -> bodyOrLink should be the moving
+    //  entity partOrLink.bodyOrLink.pad.face1                         -> partOrLink should be the
+    //  moving entity partOrLink.box.face1                                    -> partOrLink should
+    //  be the moving entity partOrLink1...ParOrLinkn.bodyOrLink.pad.face1           -> partOrLink1
+    //  should be the moving entity assembly1.partOrLink1...ParOrLinkn.bodyOrLink.pad.face1 ->
+    //  partOrLink1 should be the moving entity assembly1.boxOrLink1.face1 -> boxOrLink1 should be
+    //  the moving entity
+
+    for (auto objName : subNames) {
         App::DocumentObject* obj = appDoc->getObject(objName.c_str());
         if (!obj) {
-            return nullptr;
+            continue;
         }
-        if (obj->getTypeId().isDerivedFrom(PartDesign::Body::getClassTypeId())) {
+
+        if (obj->getTypeId().isDerivedFrom(AssemblyObject::getClassTypeId())) {
+            continue;
+        }
+        else if (obj->getTypeId().isDerivedFrom(App::Part::getClassTypeId())
+                 || obj->getTypeId().isDerivedFrom(PartDesign::Body::getClassTypeId())) {
             return obj;
         }
         else if (obj->getTypeId().isDerivedFrom(App::Link::getClassTypeId())) {
-
             App::Link* link = dynamic_cast<App::Link*>(obj);
 
             App::DocumentObject* linkedObj = link->getLinkedObject(true);
+            if (!linkedObj) {
+                continue;
+            }
 
-            if (linkedObj->getTypeId().isDerivedFrom(PartDesign::Body::getClassTypeId())) {
+            if (linkedObj->getTypeId().isDerivedFrom(App::Part::getClassTypeId())
+                || linkedObj->getTypeId().isDerivedFrom(PartDesign::Body::getClassTypeId())) {
                 return obj;
             }
         }
-
-        // then its neither a body or a link to a body.
-        objName = subNames[subNames.size() - 2];
-        return appDoc->getObject(objName.c_str());
     }
+
+    // then its neither a part or body or a link to a part or body. So it is something like
+    // assembly.box.face1
+    objName = subNames[subNames.size() - 2];
+    return appDoc->getObject(objName.c_str());
 }
 
 void ViewProviderAssembly::initMove(Base::Vector3d& mousePosition)
 {
+    Gui::Command::openCommand(tr("Move part").toStdString().c_str());
     partMoving = true;
 
     // prevent selection while moving
@@ -376,6 +452,8 @@ void ViewProviderAssembly::endMove()
 
     auto* assemblyPart = static_cast<AssemblyObject*>(getObject());
     assemblyPart->setObjMasses({});
+
+    Gui::Command::commitCommand();
 }
 
 

src/Mod/Assembly/Gui/ViewProviderAssembly.h

@@ -24,6 +24,8 @@
 #ifndef ASSEMBLYGUI_VIEWPROVIDER_ViewProviderAssembly_H
 #define ASSEMBLYGUI_VIEWPROVIDER_ViewProviderAssembly_H
 
+#include <QCoreApplication>
+
 #include <Mod/Assembly/AssemblyGlobal.h>
 
 #include <Gui/Selection.h>
@@ -40,6 +42,7 @@ namespace AssemblyGui
 class AssemblyGuiExport ViewProviderAssembly: public Gui::ViewProviderPart,
                                               public Gui::SelectionObserver
 {
+    Q_DECLARE_TR_FUNCTIONS(AssemblyGui::ViewProviderAssembly)
     PROPERTY_HEADER_WITH_OVERRIDE(AssemblyGui::ViewProviderAssembly);
 
 public:
@@ -57,6 +60,14 @@ public:
     void unsetEdit(int ModNum) override;
     bool isInEditMode();
 
+    /// Ask the view provider if it accepts object deletions while in edit
+    bool acceptDeletionsInEdit() override
+    {
+        return true;
+    }
+
+    bool canDragObject(App::DocumentObject*) const override;
+
     App::DocumentObject* getActivePart();
 
     /// is called when the provider is in edit and the mouse is moved

src/Mod/Assembly/Gui/ViewProviderJointGroup.cpp

@@ -47,3 +47,9 @@ QIcon ViewProviderJointGroup::getIcon() const
 {
     return Gui::BitmapFactory().pixmap("Assembly_CreateJointFixed.svg");
 }
+
+// Make the joint group impossible to delete.
+bool ViewProviderJointGroup::onDelete(const std::vector<std::string>& subNames)
+{
+    return false;
+}

src/Mod/Assembly/Gui/ViewProviderJointGroup.h

@@ -43,6 +43,22 @@ public:
     /// deliver the icon shown in the tree view. Override from ViewProvider.h
     QIcon getIcon() const override;
 
+    // Prevent dragging of the joints and dropping things inside the joint group.
+    bool canDragObjects() const override
+    {
+        return false;
+    };
+    bool canDropObjects() const override
+    {
+        return false;
+    };
+    bool canDragAndDropObject(App::DocumentObject*) const override
+    {
+        return false;
+    };
+
+    bool onDelete(const std::vector<std::string>& subNames) override;
+
     // protected:
     /// get called by the container whenever a property has been changed
     // void onChanged(const App::Property* prop) override;

src/Mod/Assembly/InitGui.py

@@ -90,9 +90,7 @@ class AssemblyWorkbench(Workbench):
             "Assembly_CreateJointCylindrical",
             "Assembly_CreateJointSlider",
             "Assembly_CreateJointBall",
-            "Assembly_CreateJointPlanar",
-            "Assembly_CreateJointParallel",
-            "Assembly_CreateJointTangent",
+            "Assembly_CreateJointDistance",
         ]
 
         self.appendToolbar(QT_TRANSLATE_NOOP("Workbench", "Assembly"), cmdlist)

src/Mod/Assembly/JointObject.py

@@ -47,14 +47,40 @@ JointTypes = [
     QT_TRANSLATE_NOOP("AssemblyJoint", "Cylindrical"),
     QT_TRANSLATE_NOOP("AssemblyJoint", "Slider"),
     QT_TRANSLATE_NOOP("AssemblyJoint", "Ball"),
-    QT_TRANSLATE_NOOP("AssemblyJoint", "Planar"),
-    QT_TRANSLATE_NOOP("AssemblyJoint", "Parallel"),
-    QT_TRANSLATE_NOOP("AssemblyJoint", "Tangent"),
+    QT_TRANSLATE_NOOP("AssemblyJoint", "Distance"),
+]
+
+JointUsingDistance = [
+    QT_TRANSLATE_NOOP("AssemblyJoint", "Distance"),
+]
+
+JointUsingOffset = [
+    QT_TRANSLATE_NOOP("AssemblyJoint", "Fixed"),
+    QT_TRANSLATE_NOOP("AssemblyJoint", "Revolute"),
+]
+
+JointUsingRotation = [
+    QT_TRANSLATE_NOOP("AssemblyJoint", "Fixed"),
+    QT_TRANSLATE_NOOP("AssemblyJoint", "Slider"),
+]
+
+JointUsingReverse = [
+    QT_TRANSLATE_NOOP("AssemblyJoint", "Fixed"),
+    QT_TRANSLATE_NOOP("AssemblyJoint", "Revolute"),
+    QT_TRANSLATE_NOOP("AssemblyJoint", "Cylindrical"),
+    QT_TRANSLATE_NOOP("AssemblyJoint", "Slider"),
+    QT_TRANSLATE_NOOP("AssemblyJoint", "Distance"),
 ]
 
 
+def flipPlacement(plc, localXAxis):
+    flipRot = App.Rotation(localXAxis, 180)
+    plc.Rotation = plc.Rotation.multiply(flipRot)
+    return plc
+
+
 class Joint:
-    def __init__(self, joint, type_index):
+    def __init__(self, joint, type_index, assembly):
         self.Type = "Joint"
 
         joint.Proxy = self
@@ -76,6 +102,13 @@ class Joint:
             QT_TRANSLATE_NOOP("App::Property", "The first object of the joint"),
         )
 
+        joint.addProperty(
+            "App::PropertyLink",
+            "Part1",
+            "Joint Connector 1",
+            QT_TRANSLATE_NOOP("App::Property", "The first part of the joint"),
+        )
+
         joint.addProperty(
             "App::PropertyString",
             "Element1",
@@ -108,6 +141,13 @@ class Joint:
             QT_TRANSLATE_NOOP("App::Property", "The second object of the joint"),
         )
 
+        joint.addProperty(
+            "App::PropertyLink",
+            "Part2",
+            "Joint Connector 2",
+            QT_TRANSLATE_NOOP("App::Property", "The second part of the joint"),
+        )
+
         joint.addProperty(
             "App::PropertyString",
             "Element2",
@@ -132,6 +172,46 @@ class Joint:
             ),
         )
 
+        joint.addProperty(
+            "App::PropertyFloat",
+            "Distance",
+            "Joint",
+            QT_TRANSLATE_NOOP(
+                "App::Property",
+                "This is the distance of the joint. It is used only by the distance joint.",
+            ),
+        )
+
+        joint.addProperty(
+            "App::PropertyFloat",
+            "Rotation",
+            "Joint",
+            QT_TRANSLATE_NOOP(
+                "App::Property",
+                "This is the rotation of the joint.",
+            ),
+        )
+
+        joint.addProperty(
+            "App::PropertyVector",
+            "Offset",
+            "Joint",
+            QT_TRANSLATE_NOOP(
+                "App::Property",
+                "This is the offset vector of the joint.",
+            ),
+        )
+
+        joint.addProperty(
+            "App::PropertyBool",
+            "FirstPartConnected",
+            "Joint",
+            QT_TRANSLATE_NOOP(
+                "App::Property",
+                "This indicate if the first part was connected to ground at the time of joint creation.",
+            ),
+        )
+
         self.setJointConnectors(joint, [])
 
     def __getstate__(self):
@@ -141,14 +221,22 @@ class Joint:
         if state:
             self.Type = state
 
+    def getAssembly(self, joint):
+        return joint.InList[0]
+
     def setJointType(self, joint, jointType):
         joint.JointType = jointType
         joint.Label = jointType.replace(" ", "")
 
-    def onChanged(self, fp, prop):
+    def onChanged(self, joint, prop):
         """Do something when a property has changed"""
         # App.Console.PrintMessage("Change property: " + str(prop) + "\n")
-        pass
+
+        if prop == "Rotation" or prop == "Offset" or prop == "Distance":
+            if hasattr(
+                joint, "Vertex1"
+            ):  # during loading the onchanged may be triggered before full init.
+                self.getAssembly(joint).solve()
 
     def execute(self, fp):
         """Do something when doing a recomputation, this method is mandatory"""
@@ -157,32 +245,51 @@ class Joint:
 
     def setJointConnectors(self, joint, current_selection):
         # 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)
 
         if len(current_selection) >= 1:
+            joint.Part1 = None
+            joint.FirstPartConnected = assembly.isPartConnected(current_selection[0]["part"])
+
             joint.Object1 = current_selection[0]["object"]
+            joint.Part1 = current_selection[0]["part"]
             joint.Element1 = current_selection[0]["element_name"]
             joint.Vertex1 = current_selection[0]["vertex_name"]
-            joint.Placement1 = self.findPlacement(joint.Object1, joint.Element1, joint.Vertex1)
+            joint.Placement1 = self.findPlacement(
+                joint, joint.Object1, joint.Part1, joint.Element1, joint.Vertex1
+            )
         else:
             joint.Object1 = None
+            joint.Part1 = None
             joint.Element1 = ""
             joint.Vertex1 = ""
-            joint.Placement1 = UtilsAssembly.activeAssembly().Placement
+            joint.Placement1 = App.Placement()
 
         if len(current_selection) >= 2:
             joint.Object2 = current_selection[1]["object"]
+            joint.Part2 = current_selection[1]["part"]
             joint.Element2 = current_selection[1]["element_name"]
             joint.Vertex2 = current_selection[1]["vertex_name"]
-            joint.Placement2 = self.findPlacement(joint.Object2, joint.Element2, joint.Vertex2)
+            joint.Placement2 = self.findPlacement(
+                joint, joint.Object2, joint.Part2, joint.Element2, joint.Vertex2, True
+            )
+            assembly.solve(True)
+
         else:
             joint.Object2 = None
+            joint.Part2 = None
             joint.Element2 = ""
             joint.Vertex2 = ""
-            joint.Placement2 = UtilsAssembly.activeAssembly().Placement
+            joint.Placement2 = App.Placement()
+            assembly.undoSolve()
 
     def updateJCSPlacements(self, joint):
-        joint.Placement1 = self.findPlacement(joint.Object1, joint.Element1, joint.Vertex1)
-        joint.Placement2 = self.findPlacement(joint.Object2, joint.Element2, joint.Vertex2)
+        joint.Placement1 = self.findPlacement(
+            joint, joint.Object1, joint.Part1, joint.Element1, joint.Vertex1
+        )
+        joint.Placement2 = self.findPlacement(
+            joint, joint.Object2, joint.Part2, joint.Element2, joint.Vertex2, True
+        )
 
     """
     So here we want to find a placement that corresponds to a local coordinate system that would be placed at the selected vertex.
@@ -194,12 +301,19 @@ class Joint:
     - if elt is a cylindrical face, vtx can also be the center of the arcs of the cylindrical face.
     """
 
-    def findPlacement(self, obj, elt, vtx):
+    def findPlacement(self, joint, obj, part, elt, vtx, isSecond=False):
+        assembly = self.getAssembly(joint)
         plc = App.Placement()
 
-        if not obj or not elt or not vtx:
+        if not obj:
             return App.Placement()
 
+        if not elt or not vtx:
+            # case of whole parts such as PartDesign::Body or PartDesign::CordinateSystem.
+            plc = UtilsAssembly.getGlobalPlacement(obj, part)
+            plc = assembly.Placement.inverse() * plc
+            return plc
+
         elt_type, elt_index = UtilsAssembly.extract_type_and_number(elt)
         vtx_type, vtx_index = UtilsAssembly.extract_type_and_number(vtx)
 
@@ -211,11 +325,15 @@ class Joint:
             curve = edge.Curve
 
             # First we find the translation
-            if vtx_type == "Edge":
-                # In this case the edge is a circle/arc and the wanted vertex is its center.
+            if vtx_type == "Edge" or joint.JointType == "Distance":
+                # In this case the wanted vertex is the center.
                 if curve.TypeId == "Part::GeomCircle":
                     center_point = curve.Location
                     plc.Base = (center_point.x, center_point.y, center_point.z)
+                elif curve.TypeId == "Part::GeomLine":
+                    edge_points = UtilsAssembly.getPointsFromVertexes(edge.Vertexes)
+                    line_middle = (edge_points[0] + edge_points[1]) * 0.5
+                    plc.Base = line_middle
             else:
                 vertex = obj.Shape.Vertexes[vtx_index - 1]
                 plc.Base = (vertex.X, vertex.Y, vertex.Z)
@@ -229,31 +347,113 @@ class Joint:
                 plane_origin = App.Vector(0, 0, 0)
                 plane = Part.Plane(plane_origin, plane_normal)
                 plc.Rotation = App.Rotation(plane.Rotation)
-
         elif elt_type == "Face":
             face = obj.Shape.Faces[elt_index - 1]
+            surface = face.Surface
 
             # First we find the translation
-            if vtx_type == "Edge":
+            if vtx_type == "Face" or joint.JointType == "Distance":
+                if surface.TypeId == "Part::GeomCylinder" or surface.TypeId == "Part::GeomCone":
+                    centerOfG = face.CenterOfGravity - surface.Center
+                    centerPoint = surface.Center + centerOfG
+                    centerPoint = centerPoint + App.Vector().projectToLine(centerOfG, surface.Axis)
+                    plc.Base = centerPoint
+                elif surface.TypeId == "Part::GeomTorus" or surface.TypeId == "Part::GeomSphere":
+                    plc.Base = surface.Center
+                else:
+                    plc.Base = face.CenterOfGravity
+            elif vtx_type == "Edge":
                 # In this case the edge is a circle/arc and the wanted vertex is its center.
-                circleOrArc = face.Edges[vtx_index - 1]
-                curve = circleOrArc.Curve
+                edge = face.Edges[vtx_index - 1]
+                curve = edge.Curve
                 if curve.TypeId == "Part::GeomCircle":
                     center_point = curve.Location
                     plc.Base = (center_point.x, center_point.y, center_point.z)
 
+                elif (
+                    surface.TypeId == "Part::GeomCylinder"
+                    and curve.TypeId == "Part::GeomBSplineCurve"
+                ):
+                    # handle special case of 2 cylinder intersecting.
+                    plc.Base = self.findCylindersIntersection(obj, surface, edge, elt_index)
+
             else:
                 vertex = obj.Shape.Vertexes[vtx_index - 1]
                 plc.Base = (vertex.X, vertex.Y, vertex.Z)
 
             # Then we find the Rotation
-            surface = face.Surface
             if surface.TypeId == "Part::GeomPlane":
                 plc.Rotation = App.Rotation(surface.Rotation)
+            else:
+                plc.Rotation = surface.Rotation
+
+        # Now plc is the placement relative to the origin determined by the object placement.
+        # But it does not take into account Part placements. So if the solid is in a part and
+        # if the part has a placement then plc is wrong.
+
+        # change plc to be relative to the object placement.
+        plc = obj.Placement.inverse() * plc
+
+        # change plc to be relative to the origin of the document.
+        global_plc = UtilsAssembly.getGlobalPlacement(obj, part)
+        plc = global_plc * plc
+
+        # change plc to be relative to the assembly.
+        plc = assembly.Placement.inverse() * plc
+
+        # We apply rotation / reverse / offset it necessary, but only to the second JCS.
+        if isSecond:
+            if joint.Offset.Length != 0.0:
+                plc = self.applyOffsetToPlacement(plc, joint.Offset)
+            if joint.Rotation != 0.0:
+                plc = self.applyRotationToPlacement(plc, joint.Rotation)
 
-        # Now plc is the placement in the doc. But we need the placement relative to the solid origin.
         return plc
 
+    def applyOffsetToPlacement(self, plc, offset):
+        plc.Base = plc.Base + plc.Rotation.multVec(offset)
+        return plc
+
+    def applyRotationToPlacement(self, plc, angle):
+        rot = plc.Rotation
+        zRotation = App.Rotation(App.Vector(0, 0, 1), angle)
+        rot = rot.multiply(zRotation)
+        plc.Rotation = rot
+        return plc
+
+    def flipPart(self, joint):
+        if joint.FirstPartConnected:
+            plc = joint.Part2.Placement.inverse() * joint.Placement2
+            localXAxis = plc.Rotation.multVec(App.Vector(1, 0, 0))
+            joint.Part2.Placement = flipPlacement(joint.Part2.Placement, localXAxis)
+        else:
+            plc = joint.Part1.Placement.inverse() * joint.Placement1
+            localXAxis = plc.Rotation.multVec(App.Vector(1, 0, 0))
+            joint.Part1.Placement = flipPlacement(joint.Part1.Placement, localXAxis)
+        self.getAssembly(joint).solve()
+
+    def findCylindersIntersection(self, obj, surface, edge, elt_index):
+        for j, facej in enumerate(obj.Shape.Faces):
+            surfacej = facej.Surface
+            if (elt_index - 1) == j or surfacej.TypeId != "Part::GeomCylinder":
+                continue
+
+            for edgej in facej.Edges:
+                if (
+                    edgej.Curve.TypeId == "Part::GeomBSplineCurve"
+                    and edgej.CenterOfGravity == edge.CenterOfGravity
+                    and edgej.Length == edge.Length
+                ):
+                    # we need intersection between the 2 cylinder axis.
+                    line1 = Part.Line(surface.Center, surface.Center + surface.Axis)
+                    line2 = Part.Line(surfacej.Center, surfacej.Center + surfacej.Axis)
+
+                    res = line1.intersect(line2, Part.Precision.confusion())
+
+                    if res:
+                        return App.Vector(res[0].X, res[0].Y, res[0].Z)
+        return surface.Center
+
 
 class ViewProviderJoint:
     def __init__(self, vobj):
@@ -394,25 +594,34 @@ class ViewProviderJoint:
         r = placement.Rotation.Q
         soTransform.rotation.setValue(r[0], r[1], r[2], r[3])
 
-    def updateData(self, fp, prop):
+    def updateData(self, joint, 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
+        # joint is the handled feature, prop is the name of the property that has changed
         if prop == "Placement1":
-            plc = fp.getPropertyByName("Placement1")
-            if fp.getPropertyByName("Object1"):
+            plc = joint.getPropertyByName("Placement1")
+            if joint.getPropertyByName("Object1"):
                 self.switch_JCS1.whichChild = coin.SO_SWITCH_ALL
                 self.set_JCS_placement(self.transform1, plc)
             else:
                 self.switch_JCS1.whichChild = coin.SO_SWITCH_NONE
 
         if prop == "Placement2":
-            plc = fp.getPropertyByName("Placement2")
-            if fp.getPropertyByName("Object2"):
+            plc = joint.getPropertyByName("Placement2")
+            if joint.getPropertyByName("Object2"):
                 self.switch_JCS2.whichChild = coin.SO_SWITCH_ALL
+                if self.areJCSReversed(joint):
+                    plc = flipPlacement(plc, App.Vector(1, 0, 0))
                 self.set_JCS_placement(self.transform2, plc)
             else:
                 self.switch_JCS2.whichChild = coin.SO_SWITCH_NONE
 
+    def areJCSReversed(self, joint):
+        zaxis1 = joint.Placement1.Rotation.multVec(App.Vector(0, 0, 1))
+        zaxis2 = joint.Placement2.Rotation.multVec(App.Vector(0, 0, 1))
+
+        sameDir = zaxis1.dot(zaxis2) > 0
+        return not sameDir
+
     def showPreviewJCS(self, visible, placement=None):
         if visible:
             self.switch_JCS_preview.whichChild = coin.SO_SWITCH_ALL
@@ -454,12 +663,8 @@ class ViewProviderJoint:
             return ":/icons/Assembly_CreateJointSlider.svg"
         elif self.app_obj.JointType == "Ball":
             return ":/icons/Assembly_CreateJointBall.svg"
-        elif self.app_obj.JointType == "Planar":
-            return ":/icons/Assembly_CreateJointPlanar.svg"
-        elif self.app_obj.JointType == "Parallel":
-            return ":/icons/Assembly_CreateJointParallel.svg"
-        elif self.app_obj.JointType == "Tangent":
-            return ":/icons/Assembly_CreateJointTangent.svg"
+        elif self.app_obj.JointType == "Distance":
+            return ":/icons/Assembly_CreateJointDistance.svg"
 
         return ":/icons/Assembly_CreateJoint.svg"
 
@@ -475,6 +680,10 @@ class ViewProviderJoint:
         return None
 
     def doubleClicked(self, vobj):
+        assembly = vobj.Object.InList[0]
+        if UtilsAssembly.activeAssembly() != assembly:
+            Gui.ActiveDocument.ActiveView.setActiveObject("part", assembly)
+
         panel = TaskAssemblyCreateJoint(0, vobj.Object)
         Gui.Control.showDialog(panel)
 
@@ -555,6 +764,15 @@ class ViewProviderGroundedJoint:
         # App.Console.PrintMessage("Change property: " + str(prop) + "\n")
         pass
 
+    def onDelete(self, feature, subelements):  # subelements is a tuple of strings
+        # Remove grounded tag.
+        if hasattr(feature.Object, "ObjectToGround"):
+            obj = feature.Object.ObjectToGround
+            if obj.Label.endswith(" 🔒"):
+                obj.Label = obj.Label[:-2]
+
+        return True  # If False is returned the object won't be deleted
+
     def getIcon(self):
         return ":/icons/Assembly_ToggleGrounded.svg"
 
@@ -570,8 +788,8 @@ class MakeJointSelGate:
 
         objs_names, element_name = UtilsAssembly.getObjsNamesAndElement(obj.Name, sub)
 
-        if self.assembly.Name not in objs_names or element_name == "":
-            # Only objects within the assembly. And not whole objects, only elements.
+        if self.assembly.Name not in objs_names:
+            # Only objects within the assembly.
             return False
 
         if Gui.Selection.isSelected(obj, sub, Gui.Selection.ResolveMode.NoResolve):
@@ -585,19 +803,28 @@ class MakeJointSelGate:
         full_obj_name = ".".join(objs_names)
         full_element_name = full_obj_name + "." + element_name
         selected_object = UtilsAssembly.getObject(full_element_name)
+        part_containing_selected_object = UtilsAssembly.getContainingPart(
+            full_element_name, selected_object
+        )
 
         for selection_dict in self.taskbox.current_selection:
-            if selection_dict["object"] == selected_object:
+            if selection_dict["part"] == part_containing_selected_object:
                 # Can't join a solid to itself. So the user need to select 2 different parts.
                 return False
 
         return True
 
 
+activeTask = None
+
+
 class TaskAssemblyCreateJoint(QtCore.QObject):
     def __init__(self, jointTypeIndex, jointObj=None):
         super().__init__()
 
+        global activeTask
+        activeTask = self
+
         self.assembly = UtilsAssembly.activeAssembly()
         self.view = Gui.activeDocument().activeView()
         self.doc = App.ActiveDocument
@@ -612,6 +839,10 @@ class TaskAssemblyCreateJoint(QtCore.QObject):
         self.form.jointType.addItems(JointTypes)
         self.form.jointType.setCurrentIndex(jointTypeIndex)
         self.form.jointType.currentIndexChanged.connect(self.onJointTypeChanged)
+        self.form.distanceSpinbox.valueChanged.connect(self.onDistanceChanged)
+        self.form.offsetSpinbox.valueChanged.connect(self.onOffsetChanged)
+        self.form.rotationSpinbox.valueChanged.connect(self.onRotationChanged)
+        self.form.PushButtonReverse.clicked.connect(self.onReverseClicked)
 
         Gui.Selection.clearSelection()
 
@@ -631,6 +862,11 @@ class TaskAssemblyCreateJoint(QtCore.QObject):
 
             self.createJointObject()
 
+        self.toggleDistanceVisibility()
+        self.toggleOffsetVisibility()
+        self.toggleRotationVisibility()
+        self.toggleReverseVisibility()
+
         Gui.Selection.addSelectionGate(
             MakeJointSelGate(self, self.assembly), Gui.Selection.ResolveMode.NoResolve
         )
@@ -662,6 +898,10 @@ class TaskAssemblyCreateJoint(QtCore.QObject):
         return True
 
     def deactivate(self):
+        global activeTask
+        activeTask = None
+        self.assembly.clearUndo()
+
         self.assembly.ViewObject.EnableMovement = True
         Gui.Selection.removeSelectionGate()
         Gui.Selection.removeObserver(self)
@@ -678,11 +918,57 @@ class TaskAssemblyCreateJoint(QtCore.QObject):
         joint_group = UtilsAssembly.getJointGroup(self.assembly)
 
         self.joint = joint_group.newObject("App::FeaturePython", self.jointName)
-        Joint(self.joint, type_index)
+        Joint(self.joint, type_index, self.assembly)
         ViewProviderJoint(self.joint.ViewObject)
 
     def onJointTypeChanged(self, index):
         self.joint.Proxy.setJointType(self.joint, self.form.jointType.currentText())
+        self.toggleDistanceVisibility()
+        self.toggleOffsetVisibility()
+        self.toggleRotationVisibility()
+        self.toggleReverseVisibility()
+
+    def onDistanceChanged(self, quantity):
+        self.joint.Distance = self.form.distanceSpinbox.property("rawValue")
+
+    def onOffsetChanged(self, quantity):
+        self.joint.Offset = App.Vector(0, 0, self.form.offsetSpinbox.property("rawValue"))
+
+    def onRotationChanged(self, quantity):
+        self.joint.Rotation = self.form.rotationSpinbox.property("rawValue")
+
+    def onReverseClicked(self):
+        self.joint.Proxy.flipPart(self.joint)
+
+    def toggleDistanceVisibility(self):
+        if self.form.jointType.currentText() in JointUsingDistance:
+            self.form.distanceLabel.show()
+            self.form.distanceSpinbox.show()
+        else:
+            self.form.distanceLabel.hide()
+            self.form.distanceSpinbox.hide()
+
+    def toggleOffsetVisibility(self):
+        if self.form.jointType.currentText() in JointUsingOffset:
+            self.form.offsetLabel.show()
+            self.form.offsetSpinbox.show()
+        else:
+            self.form.offsetLabel.hide()
+            self.form.offsetSpinbox.hide()
+
+    def toggleRotationVisibility(self):
+        if self.form.jointType.currentText() in JointUsingRotation:
+            self.form.rotationLabel.show()
+            self.form.rotationSpinbox.show()
+        else:
+            self.form.rotationLabel.hide()
+            self.form.rotationSpinbox.hide()
+
+    def toggleReverseVisibility(self):
+        if self.form.jointType.currentText() in JointUsingReverse:
+            self.form.PushButtonReverse.show()
+        else:
+            self.form.PushButtonReverse.hide()
 
     def updateTaskboxFromJoint(self):
         self.current_selection = []
@@ -690,12 +976,14 @@ class TaskAssemblyCreateJoint(QtCore.QObject):
 
         selection_dict1 = {
             "object": self.joint.Object1,
+            "part": self.joint.Part1,
             "element_name": self.joint.Element1,
             "vertex_name": self.joint.Vertex1,
         }
 
         selection_dict2 = {
             "object": self.joint.Object2,
+            "part": self.joint.Part2,
             "element_name": self.joint.Element2,
             "vertex_name": self.joint.Vertex2,
         }
@@ -712,9 +1000,17 @@ class TaskAssemblyCreateJoint(QtCore.QObject):
         elName = self.getObjSubNameFromObj(self.joint.Object2, self.joint.Element2)
         Gui.Selection.addSelection(self.doc.Name, self.joint.Object2.Name, elName)
 
+        self.form.distanceSpinbox.setProperty("rawValue", self.joint.Distance)
+        self.form.offsetSpinbox.setProperty("rawValue", self.joint.Offset.z)
+        self.form.rotationSpinbox.setProperty("rawValue", self.joint.Rotation)
+
+        self.form.jointType.setCurrentIndex(JointTypes.index(self.joint.JointType))
         self.updateJointList()
 
     def getObjSubNameFromObj(self, obj, elName):
+        if obj is None:
+            return elName
+
         if obj.TypeId == "PartDesign::Body":
             return obj.Tip.Name + "." + elName
         elif obj.TypeId == "App::Link":
@@ -738,14 +1034,16 @@ class TaskAssemblyCreateJoint(QtCore.QObject):
         simplified_names = []
         for sel in self.current_selection:
             # TODO: ideally we probably want to hide the feature name in case of PartDesign bodies. ie body.face12 and not body.pad2.face12
-            sname = sel["object"].Label + "." + sel["element_name"]
+            sname = sel["object"].Label
+            if sel["element_name"] != "":
+                sname = sname + "." + sel["element_name"]
             simplified_names.append(sname)
         self.form.featureList.addItems(simplified_names)
 
     def moveMouse(self, info):
         if len(self.current_selection) >= 2 or (
             len(self.current_selection) == 1
-            and self.current_selection[0]["object"] == self.preselection_dict["object"]
+            and self.current_selection[0]["part"] == self.preselection_dict["part"]
         ):
             self.joint.ViewObject.Proxy.showPreviewJCS(False)
             return
@@ -767,14 +1065,22 @@ class TaskAssemblyCreateJoint(QtCore.QObject):
         newPos = App.Vector(cursor_info["x"], cursor_info["y"], cursor_info["z"])
         self.preselection_dict["mouse_pos"] = newPos
 
-        self.preselection_dict["vertex_name"] = UtilsAssembly.findElementClosestVertex(
-            self.preselection_dict
-        )
+        if self.preselection_dict["element_name"] == "":
+            self.preselection_dict["vertex_name"] = ""
+        else:
+            self.preselection_dict["vertex_name"] = UtilsAssembly.findElementClosestVertex(
+                self.preselection_dict
+            )
+
+        isSecond = len(self.current_selection) == 1
 
         placement = self.joint.Proxy.findPlacement(
+            self.joint,
             self.preselection_dict["object"],
+            self.preselection_dict["part"],
             self.preselection_dict["element_name"],
             self.preselection_dict["vertex_name"],
+            isSecond,
         )
         self.joint.ViewObject.Proxy.showPreviewJCS(True, placement)
         self.previewJCSVisible = True
@@ -793,15 +1099,22 @@ class TaskAssemblyCreateJoint(QtCore.QObject):
         full_element_name = UtilsAssembly.getFullElementName(obj_name, sub_name)
         selected_object = UtilsAssembly.getObject(full_element_name)
         element_name = UtilsAssembly.getElementName(full_element_name)
+        part_containing_selected_object = UtilsAssembly.getContainingPart(
+            full_element_name, selected_object
+        )
 
         selection_dict = {
             "object": selected_object,
+            "part": part_containing_selected_object,
             "element_name": element_name,
             "full_element_name": full_element_name,
             "full_obj_name": full_obj_name,
             "mouse_pos": App.Vector(mousePos[0], mousePos[1], mousePos[2]),
         }
-        selection_dict["vertex_name"] = UtilsAssembly.findElementClosestVertex(selection_dict)
+        if element_name == "":
+            selection_dict["vertex_name"] = ""
+        else:
+            selection_dict["vertex_name"] = UtilsAssembly.findElementClosestVertex(selection_dict)
 
         self.current_selection.append(selection_dict)
         self.updateJoint()
@@ -810,11 +1123,14 @@ class TaskAssemblyCreateJoint(QtCore.QObject):
         full_element_name = UtilsAssembly.getFullElementName(obj_name, sub_name)
         selected_object = UtilsAssembly.getObject(full_element_name)
         element_name = UtilsAssembly.getElementName(full_element_name)
+        part_containing_selected_object = UtilsAssembly.getContainingPart(
+            full_element_name, selected_object
+        )
 
         # Find and remove the corresponding dictionary from the combined list
         selection_dict_to_remove = None
         for selection_dict in self.current_selection:
-            if selection_dict["object"] == selected_object:
+            if selection_dict["part"] == part_containing_selected_object:
                 selection_dict_to_remove = selection_dict
                 break
 
@@ -832,9 +1148,13 @@ class TaskAssemblyCreateJoint(QtCore.QObject):
         full_element_name = UtilsAssembly.getFullElementName(obj_name, sub_name)
         selected_object = UtilsAssembly.getObject(full_element_name)
         element_name = UtilsAssembly.getElementName(full_element_name)
+        part_containing_selected_object = UtilsAssembly.getContainingPart(
+            full_element_name, selected_object
+        )
 
         self.preselection_dict = {
             "object": selected_object,
+            "part": part_containing_selected_object,
             "sub_name": sub_name,
             "element_name": element_name,
             "full_element_name": full_element_name,

src/Mod/Assembly/UtilsAssembly.py

@@ -22,6 +22,7 @@
 # ***************************************************************************/
 
 import FreeCAD as App
+import Part
 
 if App.GuiUp:
     import FreeCADGui as Gui
@@ -36,17 +37,35 @@ __url__ = "https://www.freecad.org"
 def activeAssembly():
     doc = Gui.ActiveDocument
 
+    if doc is None or doc.ActiveView is None:
+        return None
+
+    active_assembly = doc.ActiveView.getActiveObject("part")
+
+    if active_assembly is not None and active_assembly.Type == "Assembly":
+        return active_assembly
+
+    return None
+
+
+def activePart():
+    doc = Gui.ActiveDocument
+
     if doc is None or doc.ActiveView is None:
         return None
 
     active_part = doc.ActiveView.getActiveObject("part")
 
-    if active_part is not None and active_part.Type == "Assembly":
+    if active_part is not None and active_part.Type != "Assembly":
         return active_part
 
     return None
 
 
+def isAssemblyCommandActive():
+    return activeAssembly() is not None and not Gui.Control.activeDialog()
+
+
 def isDocTemporary(doc):
     # Guard against older versions of FreeCad which don't have the Temporary attribute
     try:
@@ -56,19 +75,39 @@ def isDocTemporary(doc):
     return temp
 
 
+def assembly_has_at_least_n_parts(n):
+    assembly = activeAssembly()
+    i = 0
+    if not assembly:
+        return False
+    for obj in assembly.OutList:
+        # note : groundedJoints comes in the outlist so we filter those out.
+        if hasattr(obj, "Placement") and not hasattr(obj, "ObjectToGround"):
+            i = i + 1
+            if i == n:
+                return True
+    return False
+
+
 def getObject(full_name):
-    # full_name is "Assembly.Assembly1.Assembly2.Assembly3.Box.Edge16"
-    # or           "Assembly.Assembly1.Assembly2.Assembly3.Body.pad.Edge16"
-    # We want either Body or Box.
-    parts = full_name.split(".")
+    # full_name is "Assembly.Assembly1.LinkOrPart1.Box.Edge16"
+    # or           "Assembly.Assembly1.LinkOrPart1.Body.pad.Edge16"
+    # or           "Assembly.Assembly1.LinkOrPart1.Body.Local_CS.X"
+    # We want either Body or Box or Local_CS.
+    names = full_name.split(".")
     doc = App.ActiveDocument
-    if len(parts) < 3:
+    if len(names) < 3:
         App.Console.PrintError(
             "getObject() in UtilsAssembly.py the object name is too short, at minimum it should be something like 'Assembly.Box.edge16'. It shouldn't be shorter"
         )
         return None
 
-    obj = doc.getObject(parts[-3])  # So either 'Body', or 'Assembly'
+    obj = doc.getObject(names[-2])
+
+    if obj and obj.TypeId == "PartDesign::CoordinateSystem":
+        return doc.getObject(names[-2])
+
+    obj = doc.getObject(names[-3])  # So either 'Body', or 'Assembly'
 
     if not obj:
         return None
@@ -80,8 +119,116 @@ def getObject(full_name):
         if linked_obj.TypeId == "PartDesign::Body":
             return obj
 
-    else:  # primitive, fastener, gear ... or link to primitive, fastener, gear...
-        return doc.getObject(parts[-2])
+    # primitive, fastener, gear ... or link to primitive, fastener, gear...
+    return doc.getObject(names[-2])
+
+
+def getContainingPart(full_name, selected_object):
+    # full_name is "Assembly.Assembly1.LinkOrPart1.Box.Edge16"
+    # or           "Assembly.Assembly1.LinkOrPart1.Body.pad.Edge16"
+    # We want either Body or Box.
+    names = full_name.split(".")
+    doc = App.ActiveDocument
+    if len(names) < 3:
+        App.Console.PrintError(
+            "getContainingPart() in UtilsAssembly.py the object name is too short, at minimum it should be something like 'Assembly.Box.edge16'. It shouldn't be shorter"
+        )
+        return None
+
+    for objName in names:
+        obj = doc.getObject(objName)
+
+        if not obj:
+            continue
+
+        if (
+            obj.TypeId == "PartDesign::Body"
+            and selected_object.TypeId == "PartDesign::CoordinateSystem"
+        ):
+            if obj.hasObject(selected_object, True):
+                return obj
+
+        # Note here we may want to specify a specific behavior for Assembly::AssemblyObject.
+        if obj.TypeId == "App::Part":
+            if obj.hasObject(selected_object, True):
+                return obj
+
+        elif obj.TypeId == "App::Link":
+            linked_obj = obj.getLinkedObject()
+            if linked_obj.TypeId == "App::Part":
+                if linked_obj.hasObject(selected_object, True):
+                    return obj
+
+    # no container found so we return the object itself.
+    return selected_object
+
+
+# The container is used to support cases where the same object appears at several places
+# which happens when you have a link to a part.
+def getGlobalPlacement(targetObj, container=None):
+    inContainerBranch = container is None
+    for part in App.activeDocument().RootObjects:
+        foundPlacement = getTargetPlacementRelativeTo(targetObj, part, container, inContainerBranch)
+        if foundPlacement is not None:
+            return foundPlacement
+
+    return App.Placement()
+
+
+def getTargetPlacementRelativeTo(
+    targetObj, part, container, inContainerBranch, ignorePlacement=False
+):
+    inContainerBranch = inContainerBranch or (not ignorePlacement and part == container)
+
+    if targetObj == part and inContainerBranch and not ignorePlacement:
+        return targetObj.Placement
+
+    if part.TypeId == "App::DocumentObjectGroup":
+        for obj in part.OutList:
+            foundPlacement = getTargetPlacementRelativeTo(
+                targetObj, obj, container, inContainerBranch, ignorePlacement
+            )
+            if foundPlacement is not None:
+                return foundPlacement
+
+    elif part.TypeId == "App::Part" or part.TypeId == "Assembly::AssemblyObject":
+        for obj in part.OutList:
+            foundPlacement = getTargetPlacementRelativeTo(
+                targetObj, obj, container, inContainerBranch
+            )
+            if foundPlacement is None:
+                continue
+
+            # If we were called from a link then we need to ignore this placement as we use the link placement instead.
+            if not ignorePlacement:
+                foundPlacement = part.Placement * foundPlacement
+
+            return foundPlacement
+
+    elif part.TypeId == "App::Link":
+        linked_obj = part.getLinkedObject()
+
+        if linked_obj.TypeId == "App::Part" or linked_obj.TypeId == "Assembly::AssemblyObject":
+            for obj in linked_obj.OutList:
+                foundPlacement = getTargetPlacementRelativeTo(
+                    targetObj, obj, container, inContainerBranch
+                )
+                if foundPlacement is None:
+                    continue
+
+                foundPlacement = part.Placement * foundPlacement
+                return foundPlacement
+
+        foundPlacement = getTargetPlacementRelativeTo(
+            targetObj, linked_obj, container, inContainerBranch, True
+        )
+
+        if foundPlacement is not None and not ignorePlacement:
+            foundPlacement = part.Placement * foundPlacement
+
+        return foundPlacement
+
+    return None
 
 
 def getElementName(full_name):
@@ -93,6 +240,10 @@ def getElementName(full_name):
         # At minimum "Assembly.Box.edge16". It shouldn't be shorter
         return ""
 
+    # case of PartDesign::CoordinateSystem
+    if parts[-1] == "X" or parts[-1] == "Y" or parts[-1] == "Z":
+        return ""
+
     return parts[-1]
 
 
@@ -147,14 +298,25 @@ def extract_type_and_number(element_name):
 
 
 def findElementClosestVertex(selection_dict):
+    obj = selection_dict["object"]
+
+    mousePos = selection_dict["mouse_pos"]
+
+    # We need mousePos to be relative to the part containing obj global placement
+    if selection_dict["object"] != selection_dict["part"]:
+        plc = App.Placement()
+        plc.Base = mousePos
+        global_plc = getGlobalPlacement(selection_dict["part"])
+        plc = global_plc.inverse() * plc
+        mousePos = plc.Base
+
     elt_type, elt_index = extract_type_and_number(selection_dict["element_name"])
 
     if elt_type == "Vertex":
         return selection_dict["element_name"]
 
     elif elt_type == "Edge":
-        edge = selection_dict["object"].Shape.Edges[elt_index - 1]
-
+        edge = obj.Shape.Edges[elt_index - 1]
         curve = edge.Curve
         if curve.TypeId == "Part::GeomCircle":
             # For centers, as they are not shape vertexes, we return the element name.
@@ -162,17 +324,28 @@ def findElementClosestVertex(selection_dict):
             return selection_dict["element_name"]
 
         edge_points = getPointsFromVertexes(edge.Vertexes)
-        closest_vertex_index, _ = findClosestPointToMousePos(
-            edge_points, selection_dict["mouse_pos"]
-        )
-        vertex_name = findVertexNameInObject(
-            edge.Vertexes[closest_vertex_index], selection_dict["object"]
-        )
+
+        if curve.TypeId == "Part::GeomLine":
+            # For lines we allow users to select the middle of lines as well.
+            line_middle = (edge_points[0] + edge_points[1]) * 0.5
+            edge_points.append(line_middle)
+
+        closest_vertex_index, _ = findClosestPointToMousePos(edge_points, mousePos)
+
+        if curve.TypeId == "Part::GeomLine" and closest_vertex_index == 2:
+            # If line center is closest then we have no vertex name to set so we put element name
+            return selection_dict["element_name"]
+
+        vertex_name = findVertexNameInObject(edge.Vertexes[closest_vertex_index], obj)
 
         return vertex_name
 
     elif elt_type == "Face":
-        face = selection_dict["object"].Shape.Faces[elt_index - 1]
+        face = obj.Shape.Faces[elt_index - 1]
+        surface = face.Surface
+        _type = surface.TypeId
+        if _type == "Part::GeomSphere" or _type == "Part::GeomTorus":
+            return selection_dict["element_name"]
 
         # Handle the circle/arc edges for their centers
         center_points = []
@@ -181,19 +354,46 @@ def findElementClosestVertex(selection_dict):
 
         for i, edge in enumerate(edges):
             curve = edge.Curve
-            if curve.TypeId == "Part::GeomCircle":
+            if curve.TypeId == "Part::GeomCircle" or curve.TypeId == "Part::GeomEllipse":
                 center_points.append(curve.Location)
                 center_points_edge_indexes.append(i)
 
+            elif _type == "Part::GeomCylinder" and curve.TypeId == "Part::GeomBSplineCurve":
+                # handle special case of 2 cylinder intersecting.
+                for j, facej in enumerate(obj.Shape.Faces):
+                    surfacej = facej.Surface
+                    if (elt_index - 1) != j and surfacej.TypeId == "Part::GeomCylinder":
+                        for edgej in facej.Edges:
+                            if edgej.Curve.TypeId == "Part::GeomBSplineCurve":
+                                if (
+                                    edgej.CenterOfGravity == edge.CenterOfGravity
+                                    and edgej.Length == edge.Length
+                                ):
+                                    center_points.append(edgej.CenterOfGravity)
+                                    center_points_edge_indexes.append(i)
+
         if len(center_points) > 0:
             closest_center_index, closest_center_distance = findClosestPointToMousePos(
-                center_points, selection_dict["mouse_pos"]
+                center_points, mousePos
             )
 
-        # Hendle the face vertexes
-        face_points = getPointsFromVertexes(face.Vertexes)
+        # Handle the face vertexes
+        face_points = []
+
+        if _type != "Part::GeomCylinder" and _type != "Part::GeomCone":
+            face_points = getPointsFromVertexes(face.Vertexes)
+
+        # We also allow users to select the center of gravity.
+        if _type == "Part::GeomCylinder" or _type == "Part::GeomCone":
+            centerOfG = face.CenterOfGravity - surface.Center
+            centerPoint = surface.Center + centerOfG
+            centerPoint = centerPoint + App.Vector().projectToLine(centerOfG, surface.Axis)
+            face_points.append(centerPoint)
+        else:
+            face_points.append(face.CenterOfGravity)
+
         closest_vertex_index, closest_vertex_distance = findClosestPointToMousePos(
-            face_points, selection_dict["mouse_pos"]
+            face_points, mousePos
         )
 
         if len(center_points) > 0:
@@ -202,9 +402,14 @@ def findElementClosestVertex(selection_dict):
                 index = center_points_edge_indexes[closest_center_index] + 1
                 return "Edge" + str(index)
 
-        vertex_name = findVertexNameInObject(
-            face.Vertexes[closest_vertex_index], selection_dict["object"]
-        )
+        if _type == "Part::GeomCylinder" or _type == "Part::GeomCone":
+            return selection_dict["element_name"]
+
+        if closest_vertex_index == len(face.Vertexes):
+            # If center of gravity then we have no vertex name to set so we put element name
+            return selection_dict["element_name"]
+
+        vertex_name = findVertexNameInObject(face.Vertexes[closest_vertex_index], obj)
 
         return vertex_name
 
@@ -247,8 +452,51 @@ def color_from_unsigned(c):
 
 
 def getJointGroup(assembly):
-    joint_group = assembly.getObject("Joints")
+    joint_group = None
+
+    for obj in assembly.OutList:
+        if obj.TypeId == "Assembly::JointGroup":
+            joint_group = obj
+            break
 
     if not joint_group:
         joint_group = assembly.newObject("Assembly::JointGroup", "Joints")
+
     return joint_group
+
+
+def isAssemblyGrounded():
+    assembly = activeAssembly()
+    if not assembly:
+        return False
+
+    jointGroup = getJointGroup(assembly)
+
+    for joint in jointGroup.Group:
+        if hasattr(joint, "ObjectToGround"):
+            return True
+
+    return False
+
+
+def removeObjAndChilds(obj):
+    removeObjsAndChilds([obj])
+
+
+def removeObjsAndChilds(objs):
+    def addsubobjs(obj, toremoveset):
+        if obj.TypeId == "App::Origin":  # Origins are already handled
+            return
+
+        toremoveset.add(obj)
+        if obj.TypeId != "App::Link":
+            for subobj in obj.OutList:
+                addsubobjs(subobj, toremoveset)
+
+    toremove = set()
+    for obj in objs:
+        addsubobjs(obj, toremove)
+
+    for obj in toremove:
+        if obj:
+            obj.Document.removeObject(obj.Name)