Merge pull request #10764 from Ondsel-Development/asm_card9

[Assembly] Solve the assembly (Card 9).

cMake/FreeCAD_Helpers/SetupLibOndselSolver.cmake

@@ -0,0 +1,4 @@
+macro(SetupOndselSolverCpp)
+    # -------------------------------- OndselSolver --------------------------------
+    find_package(OndselSolver REQUIRED)
+endmacro(SetupOndselSolverCpp)

src/Base/Vector3D.cpp

@@ -464,6 +464,22 @@ float_type Vector3<float_type>::GetAngle(const Vector3& rcVect) const
     return float_type(acos(dot));
 }
 
+template<class float_type>
+float_type Vector3<float_type>::GetAngleOriented(const Vector3& rcVect, const Vector3& norm) const
+{
+    float_type angle = GetAngle(rcVect);
+
+    Vector3<float_type> crossProduct = Cross(rcVect);
+
+    // Use dot product to determine the sign
+    float_type dot = crossProduct.Dot(norm);
+    if (dot < 0) {
+        angle = 2 * traits_type::pi() - angle;
+    }
+
+    return angle;
+}
+
 template<class float_type>
 void Vector3<float_type>::TransformToCoordinateSystem(const Vector3& rclBase,
                                                       const Vector3& rclDirX,

src/Base/Vector3D.h

@@ -194,6 +194,9 @@ public:
     bool IsNull() const;
     /// Get angle between both vectors. The returned value lies in the interval [0,pi].
     float_type GetAngle(const Vector3& rcVect) const;
+    /// Get oriented angle between both vectors using a normal. The returned value lies in the
+    /// interval [0,2*pi].
+    float_type GetAngleOriented(const Vector3& rcVect, const Vector3& norm) const;
     /** Transforms this point to the coordinate system defined by origin \a rclBase,
      * vector \a vector rclDirX and vector \a vector rclDirY.
      * \note \a rclDirX must be perpendicular to \a rclDirY, i.e. \a rclDirX * \a rclDirY = 0..

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/View3DInventorViewer.cpp

@@ -2647,6 +2647,108 @@ SbVec2f View3DInventorViewer::getNormalizedPosition(const SbVec2s& pnt) const
     return {pX, pY};
 }
 
+SbVec3f View3DInventorViewer::getPointOnXYPlaneOfPlacement(const SbVec2s& pnt, Base::Placement& plc) const
+{
+    SbVec2f pnt2d = getNormalizedPosition(pnt);
+    SoCamera* pCam = this->getSoRenderManager()->getCamera();
+
+    if (!pCam) {
+        // return invalid point
+        return {};
+    }
+
+    SbViewVolume  vol = pCam->getViewVolume();
+    SbLine line;
+    vol.projectPointToLine(pnt2d, line);
+
+    // Calculate the plane using plc
+    Base::Rotation rot = plc.getRotation();
+    Base::Vector3d normalVector = rot.multVec(Base::Vector3d(0, 0, 1));
+    SbVec3f planeNormal(normalVector.x, normalVector.y, normalVector.z);
+
+    // Get the position and convert Base::Vector3d to SbVec3f
+    Base::Vector3d pos = plc.getPosition();
+    SbVec3f planePosition(pos.x, pos.y, pos.z);
+    SbPlane xyPlane(planeNormal, planePosition);
+
+    SbVec3f pt;
+    if (xyPlane.intersect(line, pt)) {
+        return pt; // Intersection point on the XY plane
+    }
+    else {
+        // No intersection found
+        return {};
+    }
+
+    return pt;
+}
+
+SbVec3f projectPointOntoPlane(const SbVec3f& point, const SbPlane& plane) {
+    SbVec3f planeNormal = plane.getNormal();
+    float d = plane.getDistanceFromOrigin();
+    float distance = planeNormal.dot(point) + d;
+    return point - planeNormal * distance;
+}
+
+// Project a line onto a plane
+SbLine projectLineOntoPlane(const SbVec3f& p1, const SbVec3f& p2, const SbPlane& plane) {
+    SbVec3f projectedPoint1 = projectPointOntoPlane(p1, plane);
+    SbVec3f projectedPoint2 = projectPointOntoPlane(p2, plane);
+    return SbLine(projectedPoint1, projectedPoint2);
+}
+
+SbVec3f intersection(const SbVec3f& p11, const SbVec3f& p12, const SbVec3f& p21, const SbVec3f& p22)
+{
+    SbVec3f da = p12 - p11;
+    SbVec3f db = p22 - p21;
+    SbVec3f dc = p21 - p11;
+
+    double s = (dc.cross(db)).dot(da.cross(db)) / da.cross(db).sqrLength();
+    return p11 + da * s;
+}
+
+SbVec3f View3DInventorViewer::getPointOnLine(const SbVec2s& pnt, const SbVec3f& axisCenter, const SbVec3f& axis) const
+{
+    SbVec2f pnt2d = getNormalizedPosition(pnt);
+    SoCamera* pCam = this->getSoRenderManager()->getCamera();
+
+    if (!pCam) {
+        // return invalid point
+        return {};
+    }
+
+    // First we get pnt projection on the focal plane
+    SbViewVolume  vol = pCam->getViewVolume();
+
+    float nearDist = pCam->nearDistance.getValue();
+    float farDist = pCam->farDistance.getValue();
+    float focalDist = pCam->focalDistance.getValue();
+
+    if (focalDist < nearDist || focalDist > farDist) {
+        focalDist = 0.5F * (nearDist + farDist);  // NOLINT
+    }
+
+    SbLine line;
+    SbVec3f pt, ptOnFocalPlaneAndOnLine, ptOnFocalPlane;
+    SbPlane focalPlane = vol.getPlane(focalDist);
+    vol.projectPointToLine(pnt2d, line);
+    focalPlane.intersect(line, ptOnFocalPlane);
+
+    SbLine projectedLine = projectLineOntoPlane(axisCenter, axisCenter + axis, focalPlane);
+    ptOnFocalPlaneAndOnLine = projectedLine.getClosestPoint(ptOnFocalPlane);
+
+    // now we need the intersection point between
+    // - the line passing by ptOnFocalPlaneAndOnLine normal to focalPlane
+    // - The line (axisCenter, axisCenter + axis)
+
+    // Line normal to focal plane through ptOnFocalPlane
+    SbLine normalLine(ptOnFocalPlane, ptOnFocalPlane + focalPlane.getNormal());
+    SbLine axisLine(axisCenter, axisCenter + axis);
+    pt = intersection(ptOnFocalPlane, ptOnFocalPlane + focalPlane.getNormal(), axisCenter, axisCenter + axis);
+
+    return pt;
+}
+
 SbVec3f View3DInventorViewer::getPointOnFocalPlane(const SbVec2s& pnt) const
 {
     SbVec2f pnt2d = getNormalizedPosition(pnt);
@@ -3975,4 +4077,4 @@ void View3DInventorViewer::dragLeaveEvent(QDragLeaveEvent* ev)
     inherited::dragLeaveEvent(ev);
 }
 
-#include "moc_View3DInventorViewer.cpp"
+#include "moc_View3DInventorViewer.cpp" // NOLINT

src/Gui/View3DInventorViewer.h

@@ -318,6 +318,12 @@ public:
     /** Returns the 3d point on the focal plane to the given 2d point. */
     SbVec3f getPointOnFocalPlane(const SbVec2s&) const;
 
+    /** Returns the 3d point on a line to the given 2d point. */
+    SbVec3f getPointOnLine(const SbVec2s&, const SbVec3f& axisCenter, const SbVec3f& axis) const;
+
+    /** Returns the 3d point on the XY plane of a placement to the given 2d point. */
+    SbVec3f getPointOnXYPlaneOfPlacement(const SbVec2s&, Base::Placement&) const;
+
     /** Returns the 2d coordinates on the viewport to the given 3d point. */
     SbVec2s getPointOnViewport(const SbVec3f&) const;
 

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/AppAssembly.cpp

@@ -0,0 +1,63 @@
+// SPDX-License-Identifier: LGPL-2.1-or-later
+/****************************************************************************
+ *                                                                          *
+ *   Copyright (c) 2023 Ondsel <development@ondsel.com>                     *
+ *                                                                          *
+ *   This file is part of FreeCAD.                                          *
+ *                                                                          *
+ *   FreeCAD is free software: you can redistribute it and/or modify it     *
+ *   under the terms of the GNU Lesser General Public License as            *
+ *   published by the Free Software Foundation, either version 2.1 of the   *
+ *   License, or (at your option) any later version.                        *
+ *                                                                          *
+ *   FreeCAD is distributed in the hope that it will be useful, but         *
+ *   WITHOUT ANY WARRANTY; without even the implied warranty of             *
+ *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU       *
+ *   Lesser General Public License for more details.                        *
+ *                                                                          *
+ *   You should have received a copy of the GNU Lesser General Public       *
+ *   License along with FreeCAD. If not, see                                *
+ *   <https://www.gnu.org/licenses/>.                                       *
+ *                                                                          *
+ ***************************************************************************/
+
+#include "PreCompiled.h"
+
+#include <Base/Console.h>
+#include <Base/Interpreter.h>
+#include <Base/PyObjectBase.h>
+
+#include "AssemblyObject.h"
+#include "JointGroup.h"
+
+
+namespace Assembly
+{
+extern PyObject* initModule();
+}
+
+/* Python entry */
+PyMOD_INIT_FUNC(AssemblyApp)
+{
+    // load dependent module
+    try {
+        Base::Interpreter().runString("import Part");
+    }
+    catch (const Base::Exception& e) {
+        PyErr_SetString(PyExc_ImportError, e.what());
+        PyMOD_Return(nullptr);
+    }
+
+    PyObject* mod = Assembly::initModule();
+    Base::Console().Log("Loading Assembly module... done\n");
+
+
+    // NOTE: To finish the initialization of our own type objects we must
+    // call PyType_Ready, otherwise we run into a segmentation fault, later on.
+    // This function is responsible for adding inherited slots from a type's base class.
+
+    Assembly::AssemblyObject ::init();
+    Assembly::JointGroup ::init();
+
+    PyMOD_Return(mod);
+}

src/Mod/Assembly/App/AppAssemblyPy.cpp

@@ -0,0 +1,47 @@
+// SPDX-License-Identifier: LGPL-2.1-or-later
+/****************************************************************************
+ *                                                                          *
+ *   Copyright (c) 2023 Ondsel <development@ondsel.com>                     *
+ *                                                                          *
+ *   This file is part of FreeCAD.                                          *
+ *                                                                          *
+ *   FreeCAD is free software: you can redistribute it and/or modify it     *
+ *   under the terms of the GNU Lesser General Public License as            *
+ *   published by the Free Software Foundation, either version 2.1 of the   *
+ *   License, or (at your option) any later version.                        *
+ *                                                                          *
+ *   FreeCAD is distributed in the hope that it will be useful, but         *
+ *   WITHOUT ANY WARRANTY; without even the implied warranty of             *
+ *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU       *
+ *   Lesser General Public License for more details.                        *
+ *                                                                          *
+ *   You should have received a copy of the GNU Lesser General Public       *
+ *   License along with FreeCAD. If not, see                                *
+ *   <https://www.gnu.org/licenses/>.                                       *
+ *                                                                          *
+ ***************************************************************************/
+
+#include "PreCompiled.h"
+
+#include <Base/Interpreter.h>
+#include <Base/Tools.h>
+
+
+namespace Assembly
+{
+class Module: public Py::ExtensionModule<Module>
+{
+public:
+    Module()
+        : Py::ExtensionModule<Module>("AssemblyApp")
+    {
+        initialize("This module is the Assembly module.");  // register with Python
+    }
+};
+
+PyObject* initModule()
+{
+    return Base::Interpreter().addModule(new Module);
+}
+
+}  // namespace Assembly

src/Mod/Assembly/App/AssemblyObject.h

@@ -0,0 +1,213 @@
+// SPDX-License-Identifier: LGPL-2.1-or-later
+/****************************************************************************
+ *                                                                          *
+ *   Copyright (c) 2023 Ondsel <development@ondsel.com>                     *
+ *                                                                          *
+ *   This file is part of FreeCAD.                                          *
+ *                                                                          *
+ *   FreeCAD is free software: you can redistribute it and/or modify it     *
+ *   under the terms of the GNU Lesser General Public License as            *
+ *   published by the Free Software Foundation, either version 2.1 of the   *
+ *   License, or (at your option) any later version.                        *
+ *                                                                          *
+ *   FreeCAD is distributed in the hope that it will be useful, but         *
+ *   WITHOUT ANY WARRANTY; without even the implied warranty of             *
+ *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU       *
+ *   Lesser General Public License for more details.                        *
+ *                                                                          *
+ *   You should have received a copy of the GNU Lesser General Public       *
+ *   License along with FreeCAD. If not, see                                *
+ *   <https://www.gnu.org/licenses/>.                                       *
+ *                                                                          *
+ ***************************************************************************/
+
+
+#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>
+#include <App/Part.h>
+#include <App/PropertyLinks.h>
+
+namespace MbD
+{
+class ASMTPart;
+class ASMTAssembly;
+class ASMTJoint;
+class ASMTMarker;
+class ASMTPart;
+}  // namespace MbD
+
+namespace Base
+{
+class Placement;
+class Rotation;
+}  // namespace Base
+
+
+namespace Assembly
+{
+
+class JointGroup;
+
+// This enum has to be the same as the one in JointObject.py
+enum class JointType
+{
+    Fixed,
+    Revolute,
+    Cylindrical,
+    Slider,
+    Ball,
+    Distance
+};
+
+class AssemblyExport AssemblyObject: public App::Part
+{
+    PROPERTY_HEADER_WITH_OVERRIDE(Assembly::AssemblyObject);
+
+public:
+    AssemblyObject();
+    ~AssemblyObject() override;
+
+    PyObject* getPyObject() override;
+
+    /// returns the type name of the ViewProvider
+    const char* getViewProviderName() const override
+    {
+        return "AssemblyGui::ViewProviderAssembly";
+    }
+
+    /* Solve the assembly. It will update first the joints, solve, update placements of the parts
+    and redraw the joints Args : enableRedo : This store initial positions to enable undo while
+    being in an active transaction (joint creation).*/
+    int solve(bool enableRedo = false);
+    void preDrag(std::vector<App::DocumentObject*> dragParts);
+    void doDragStep();
+    void postDrag();
+    void savePlacementsForUndo();
+    void undoSolve();
+    void clearUndo();
+
+    void exportAsASMT(std::string fileName);
+
+    void setNewPlacements();
+    void recomputeJointPlacements(std::vector<App::DocumentObject*> joints);
+    void redrawJointPlacements(std::vector<App::DocumentObject*> joints);
+
+
+    // Ondsel Solver interface
+    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::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,
+                                     const char* propObjLinkName,
+                                     const char* propPartName,
+                                     const char* propPlcName);
+
+    void jointParts(std::vector<App::DocumentObject*> joints);
+    JointGroup* getJointGroup();
+    std::vector<App::DocumentObject*> getJoints(bool updateJCS = true);
+    std::vector<App::DocumentObject*> getGroundedJoints();
+    std::vector<App::DocumentObject*> getJointsOfObj(App::DocumentObject* obj);
+    std::vector<App::DocumentObject*> getJointsOfPart(App::DocumentObject* part);
+    App::DocumentObject* getJointOfPartConnectingToGround(App::DocumentObject* part,
+                                                          std::string& name);
+    std::vector<App::DocumentObject*> getGroundedParts();
+    std::vector<App::DocumentObject*> fixGroundedParts();
+    void fixGroundedPart(App::DocumentObject* obj, Base::Placement& plc, std::string& jointName);
+
+    bool isJointConnectingPartToGround(App::DocumentObject* joint, const char* partPropName);
+
+    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);
+    bool isPartGrounded(App::DocumentObject* part);
+    bool isPartConnected(App::DocumentObject* part);
+
+    std::vector<App::DocumentObject*> getDownstreamParts(App::DocumentObject* part,
+                                                         App::DocumentObject* joint);
+    std::vector<App::DocumentObject*> getUpstreamParts(App::DocumentObject* part, int limit = 0);
+    App::DocumentObject* getUpstreamMovingPart(App::DocumentObject* part);
+
+    double getObjMass(App::DocumentObject* obj);
+    void setObjMasses(std::vector<std::pair<App::DocumentObject*, double>> objectMasses);
+
+
+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::shared_ptr<MbD::ASMTPart>> dragMbdParts;
+
+    std::vector<std::pair<App::DocumentObject*, Base::Placement>> previousPositions;
+
+    // void handleChangedPropertyType(Base::XMLReader &reader, const char *TypeName, App::Property
+    // *prop) override;
+
+public:
+    // ---------------- Utils -------------------
+    // Can't put the functions by themselves in AssemblyUtils.cpp :
+    // see https://forum.freecad.org/viewtopic.php?p=729577#p729577
+
+    void swapJCS(App::DocumentObject* joint);
+
+    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
+    static void setJointActivated(App::DocumentObject* joint, bool val);
+    static bool getJointActivated(App::DocumentObject* joint);
+    static double getJointDistance(App::DocumentObject* joint);
+    static JointType getJointType(App::DocumentObject* joint);
+    static const char* getElementFromProp(App::DocumentObject* obj, const char* propName);
+    static std::string getElementTypeFromProp(App::DocumentObject* obj, const char* propName);
+    static App::DocumentObject* getLinkObjFromProp(App::DocumentObject* joint,
+                                                   const char* propName);
+    static App::DocumentObject*
+    getObjFromNameProp(App::DocumentObject* joint, const char* pObjName, const char* pPart);
+    static App::DocumentObject*
+    getLinkedObjFromNameProp(App::DocumentObject* joint, const char* pObjName, const char* pPart);
+    static Base::Placement getPlacementFromProp(App::DocumentObject* obj, const char* propName);
+    static bool getTargetPlacementRelativeTo(Base::Placement& foundPlc,
+                                             App::DocumentObject* targetObj,
+                                             App::DocumentObject* part,
+                                             App::DocumentObject* container,
+                                             bool inContainerBranch,
+                                             bool ignorePlacement = false);
+    static Base::Placement getGlobalPlacement(App::DocumentObject* targetObj,
+                                              App::DocumentObject* container = nullptr);
+    static Base::Placement getGlobalPlacement(App::DocumentObject* joint,
+                                              const char* targetObj,
+                                              const char* container = "");
+};
+
+// using AssemblyObjectPython = App::FeaturePythonT<AssemblyObject>;
+
+}  // namespace Assembly
+
+
+#endif  // ASSEMBLY_AssemblyObject_H

src/Mod/Assembly/App/AssemblyObjectPy.xml

@@ -0,0 +1,91 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<GenerateModel xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="generateMetaModel_Module.xsd">
+  <PythonExport
+      Father="PartPy"
+      Name="AssemblyObjectPy"
+      Twin="AssemblyObject"
+      TwinPointer="AssemblyObject"
+      Include="Mod/Assembly/App/AssemblyObject.h"
+      Namespace="Assembly"
+      FatherInclude="App/PartPy.h"
+      FatherNamespace="App">
+    <Documentation>
+      <Author Licence="LGPL" Name="Ondsel" EMail="development@ondsel.com" />
+      <UserDocu>This class handles document objects in Assembly</UserDocu>
+    </Documentation>
+    <Methode Name="solve">
+      <Documentation>
+        <UserDocu>
+          Solve the assembly and update part placements.
+
+          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
+          priority:
+          -6 if no parts are fixed.
+          -4 if over-constrained,
+          -3 if conflicting constraints,
+          -5 if malformed constraints
+          -1 if solver error,
+          -2 if redundant constraints.
+        </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>
+          Export the assembly in a text format called ASMT.
+
+          exportAsASMT(fileName:str)
+
+          Args:
+          fileName: The name of the file where the ASMT will be exported.
+        </UserDocu>
+      </Documentation>
+    </Methode>
+
+    <CustomAttributes />
+  </PythonExport>
+</GenerateModel>

src/Mod/Assembly/App/AssemblyObjectPyImp.cpp

@@ -0,0 +1,118 @@
+/***************************************************************************
+ *   Copyright (c) 2014 Jürgen Riegel <juergen.riegel@web.de>              *
+ *                                                                         *
+ *   This file is part of the FreeCAD CAx development system.              *
+ *                                                                         *
+ *   This library is free software; you can redistribute it and/or         *
+ *   modify it under the terms of the GNU Library General Public           *
+ *   License as published by the Free Software Foundation; either          *
+ *   version 2 of the License, or (at your option) any later version.      *
+ *                                                                         *
+ *   This library  is distributed in the hope that it will be useful,      *
+ *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
+ *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
+ *   GNU Library General Public License for more details.                  *
+ *                                                                         *
+ *   You should have received a copy of the GNU Library General Public     *
+ *   License along with this library; see the file COPYING.LIB. If not,    *
+ *   write to the Free Software Foundation, Inc., 59 Temple Place,         *
+ *   Suite 330, Boston, MA  02111-1307, USA                                *
+ *                                                                         *
+ ***************************************************************************/
+
+
+#include "PreCompiled.h"
+
+// inclusion of the generated files (generated out of AssemblyObject.xml)
+#include "AssemblyObjectPy.h"
+#include "AssemblyObjectPy.cpp"
+
+using namespace Assembly;
+
+// returns a string which represents the object e.g. when printed in python
+std::string AssemblyObjectPy::representation() const
+{
+    return {"<Assembly object>"};
+}
+
+PyObject* AssemblyObjectPy::getCustomAttributes(const char* /*attr*/) const
+{
+    return nullptr;
+}
+
+int AssemblyObjectPy::setCustomAttributes(const char* /*attr*/, PyObject* /*obj*/)
+{
+    return 0;
+}
+
+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;
+    }
+    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)
+{
+    char* utf8Name;
+    if (!PyArg_ParseTuple(args, "et", "utf-8", &utf8Name)) {
+        return nullptr;
+    }
+
+    std::string fileName = utf8Name;
+    PyMem_Free(utf8Name);
+
+    if (fileName.empty()) {
+        PyErr_SetString(PyExc_ValueError, "Passed string is empty");
+        return nullptr;
+    }
+
+    this->getAssemblyObjectPtr()->exportAsASMT(fileName);
+
+    Py_Return;
+}

src/Mod/Assembly/App/AssemblyUtils.cpp

@@ -0,0 +1,249 @@
+// SPDX-License-Identifier: LGPL-2.1-or-later
+/****************************************************************************
+ *                                                                          *
+ *   Copyright (c) 2023 Ondsel <development@ondsel.com>                     *
+ *                                                                          *
+ *   This file is part of FreeCAD.                                          *
+ *                                                                          *
+ *   FreeCAD is free software: you can redistribute it and/or modify it     *
+ *   under the terms of the GNU Lesser General Public License as            *
+ *   published by the Free Software Foundation, either version 2.1 of the   *
+ *   License, or (at your option) any later version.                        *
+ *                                                                          *
+ *   FreeCAD is distributed in the hope that it will be useful, but         *
+ *   WITHOUT ANY WARRANTY; without even the implied warranty of             *
+ *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU       *
+ *   Lesser General Public License for more details.                        *
+ *                                                                          *
+ *   You should have received a copy of the GNU Lesser General Public       *
+ *   License along with FreeCAD. If not, see                                *
+ *   <https://www.gnu.org/licenses/>.                                       *
+ *                                                                          *
+ ***************************************************************************/
+
+#include "PreCompiled.h"
+#ifndef _PreComp_
+#endif
+
+#include <App/Application.h>
+#include <App/Document.h>
+#include <App/DocumentObject.h>
+#include <App/PropertyStandard.h>
+// #include <App/DocumentObjectGroup.h>
+#include <App/Link.h>
+// #include <Base/Console.h>
+#include <Base/Placement.h>
+#include <Base/Tools.h>
+#include <Base/Interpreter.h>
+
+#include <Mod/Part/App/PartFeature.h>
+
+#include "AssemblyUtils.h"
+
+// ======================================= Utils ======================================
+/*
+namespace Assembly
+{
+
+Base::Placement getPlacementFromProp(App::DocumentObject* obj, const char* propName)
+{
+    Base::Placement plc = Base::Placement();
+    auto* propPlacement = dynamic_cast<App::PropertyPlacement*>(obj->getPropertyByName(propName));
+    if (propPlacement) {
+        plc = propPlacement->getValue();
+    }
+    return plc;
+}
+
+/* // Currently unused
+Base::Placement* getTargetPlacementRelativeTo(
+    App::DocumentObject* targetObj, App::DocumentObject* part, App::DocumentObject* container,
+    bool inContainerBranch, bool ignorePlacement = false)
+{
+    inContainerBranch = inContainerBranch || (!ignorePlacement && part == container);
+
+    Base::Console().Warning("sub --------------\n");
+    if (targetObj == part && inContainerBranch && !ignorePlacement) {
+        Base::Console().Warning("found0\n");
+        return &getPlacementFromProp(targetObj, "Placement");
+    }
+
+    if (auto group = dynamic_cast<App::DocumentObjectGroup*>(part)) {
+        for (auto& obj : group->getOutList()) {
+            auto foundPlacement = getTargetPlacementRelativeTo(
+                targetObj, obj, container, inContainerBranch, ignorePlacement
+            );
+            if (foundPlacement != nullptr) {
+                return foundPlacement;
+            }
+        }
+    }
+    else if (auto assembly = dynamic_cast<AssemblyObject*>(part)) {
+        Base::Console().Warning("h3\n");
+        for (auto& obj : assembly->getOutList()) {
+            auto foundPlacement = getTargetPlacementRelativeTo(
+                targetObj, obj, container, inContainerBranch
+            );
+            if (foundPlacement == nullptr) {
+                continue;
+            }
+
+            if (!ignorePlacement) {
+                *foundPlacement = getPlacementFromProp(part, "Placement") * *foundPlacement;
+            }
+
+            Base::Console().Warning("found\n");
+            return foundPlacement;
+        }
+    }
+    else if (auto link = dynamic_cast<App::Link*>(part)) {
+        Base::Console().Warning("h4\n");
+        auto linked_obj = link->getLinkedObject();
+
+        if (dynamic_cast<App::Part*>(linked_obj) || dynamic_cast<AssemblyObject*>(linked_obj)) {
+            for (auto& obj : linked_obj->getOutList()) {
+                auto foundPlacement = getTargetPlacementRelativeTo(
+                    targetObj, obj, container, inContainerBranch
+                );
+                if (foundPlacement == nullptr) {
+                    continue;
+                }
+
+                *foundPlacement = getPlacementFromProp(link, "Placement") * *foundPlacement;
+                return foundPlacement;
+            }
+        }
+
+        auto foundPlacement = getTargetPlacementRelativeTo(
+            targetObj, linked_obj, container, inContainerBranch, true
+        );
+
+        if (foundPlacement != nullptr && !ignorePlacement) {
+            *foundPlacement = getPlacementFromProp(link, "Placement") * *foundPlacement;
+        }
+
+        Base::Console().Warning("found2\n");
+        return foundPlacement;
+    }
+
+    return nullptr;
+}
+
+Base::Placement getGlobalPlacement(App::DocumentObject* targetObj, App::DocumentObject* container =
+nullptr) { bool inContainerBranch = container == nullptr; auto rootObjects =
+App::GetApplication().getActiveDocument()->getRootObjects(); for (auto& part : rootObjects) { auto
+foundPlacement = getTargetPlacementRelativeTo(targetObj, part, container, inContainerBranch); if
+(foundPlacement != nullptr) { Base::Placement plc(foundPlacement->toMatrix()); return plc;
+        }
+    }
+
+    return Base::Placement();
+}
+*/
+/*
+double getJointDistance(App::DocumentObject* joint)
+{
+    double distance = 0.0;
+
+    auto* prop = dynamic_cast<App::PropertyFloat*>(joint->getPropertyByName("Distance"));
+    if (prop) {
+        distance = prop->getValue();
+    }
+
+    return distance;
+}
+
+JointType getJointType(App::DocumentObject* joint)
+{
+    JointType jointType = JointType::Fixed;
+
+    auto* prop = dynamic_cast<App::PropertyEnumeration*>(joint->getPropertyByName("JointType"));
+    if (prop) {
+        jointType = static_cast<JointType>(prop->getValue());
+    }
+
+    return jointType;
+}
+
+const char* getElementFromProp(App::DocumentObject* obj, const char* propName)
+{
+    auto* prop = dynamic_cast<App::PropertyString*>(obj->getPropertyByName(propName));
+    if (!prop) {
+        return "";
+    }
+
+    return prop->getValue();
+}
+
+std::string getElementTypeFromProp(App::DocumentObject* obj, const char* propName)
+{
+    // The prop is going to be something like 'Edge14' or 'Face7'. We need 'Edge' or 'Face'
+    std::string elementType;
+    for (char ch : std::string(getElementFromProp(obj, propName))) {
+        if (std::isalpha(ch)) {
+            elementType += ch;
+        }
+    }
+    return elementType;
+}
+
+App::DocumentObject* getLinkObjFromProp(App::DocumentObject* joint,
+    const char* propLinkName)
+{
+    auto* propObj = dynamic_cast<App::PropertyLink*>(joint->getPropertyByName(propLinkName));
+    if (!propObj) {
+        return nullptr;
+    }
+    return propObj->getValue();
+}
+
+App::DocumentObject* getObjFromNameProp(App::DocumentObject* joint,
+    const char* pObjName,
+    const char* pPart)
+{
+    auto* propObjName = dynamic_cast<App::PropertyString*>(joint->getPropertyByName(pObjName));
+    if (!propObjName) {
+        return nullptr;
+    }
+    std::string objName = std::string(propObjName->getValue());
+
+    App::DocumentObject* containingPart = getLinkObjFromProp(joint, pPart);
+    if (!containingPart) {
+        return nullptr;
+    }
+
+    if (objName == containingPart->getNameInDocument()) {
+        return containingPart;
+    }
+
+    if (containingPart->getTypeId().isDerivedFrom(App::Link::getClassTypeId())) {
+        App::Link* link = dynamic_cast<App::Link*>(containingPart);
+
+        containingPart = link->getLinkedObject();
+        if (!containingPart) {
+            return nullptr;
+        }
+    }
+
+    for (auto obj : containingPart->getOutList()) {
+        if (objName == obj->getNameInDocument()) {
+            return obj;
+        }
+    }
+
+    return nullptr;
+}
+
+App::DocumentObject* getLinkedObjFromNameProp(App::DocumentObject* joint,
+    const char* pObjName,
+    const char* pPart)
+    {
+        auto* obj = getObjFromNameProp(joint, pObjName, pPart);
+        if (obj) {
+            return obj->getLinkedObject(true);
+        }
+        return nullptr;
+    }
+
+} // namespace Assembly
+*/

src/Mod/Assembly/App/AssemblyUtils.h

@@ -0,0 +1,72 @@
+// SPDX-License-Identifier: LGPL-2.1-or-later
+/****************************************************************************
+ *                                                                          *
+ *   Copyright (c) 2023 Ondsel <development@ondsel.com>                     *
+ *                                                                          *
+ *   This file is part of FreeCAD.                                          *
+ *                                                                          *
+ *   FreeCAD is free software: you can redistribute it and/or modify it     *
+ *   under the terms of the GNU Lesser General Public License as            *
+ *   published by the Free Software Foundation, either version 2.1 of the   *
+ *   License, or (at your option) any later version.                        *
+ *                                                                          *
+ *   FreeCAD is distributed in the hope that it will be useful, but         *
+ *   WITHOUT ANY WARRANTY; without even the implied warranty of             *
+ *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU       *
+ *   Lesser General Public License for more details.                        *
+ *                                                                          *
+ *   You should have received a copy of the GNU Lesser General Public       *
+ *   License along with FreeCAD. If not, see                                *
+ *   <https://www.gnu.org/licenses/>.                                       *
+ *                                                                          *
+ ***************************************************************************/
+
+
+#ifndef ASSEMBLY_AssemblyUtils_H
+#define ASSEMBLY_AssemblyUtils_H
+
+
+#include <Mod/Assembly/AssemblyGlobal.h>
+
+#include <App/FeaturePython.h>
+#include <App/Part.h>
+
+namespace App
+{
+class DocumentObject;
+}  // namespace App
+
+namespace Base
+{
+class Placement;
+}  // namespace Base
+
+namespace Assembly
+{
+/*
+// This enum has to be the same as the one in JointObject.py
+enum class JointType
+{
+    Fixed,
+    Revolute,
+    Cylindrical,
+    Slider,
+    Ball,
+    Distance
+};
+
+// 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);
+App::DocumentObject* getLinkObjFromProp(App::DocumentObject* joint, const char* propName);
+App::DocumentObject* getObjFromNameProp(App::DocumentObject* joint, const char* pObjName, const
+char* pPart); App::DocumentObject* getLinkedObjFromNameProp(App::DocumentObject* joint, const char*
+pObjName, const char* pPart); Base::Placement getPlacementFromProp(App::DocumentObject* obj, const
+char* propName);*/
+
+}  // namespace Assembly
+
+
+#endif  // ASSEMBLY_AssemblyUtils_H

src/Mod/Assembly/App/CMakeLists.txt

@@ -0,0 +1,60 @@
+
+include_directories(
+    ${CMAKE_BINARY_DIR}
+    ${CMAKE_SOURCE_DIR}/src
+    ${CMAKE_SOURCE_DIR}/src/3rdParty/OndselSolver
+    ${CMAKE_BINARY_DIR}/src
+    ${CMAKE_CURRENT_BINARY_DIR}
+    ${OCC_INCLUDE_DIR}
+    ${PYTHON_INCLUDE_DIRS}
+)
+link_directories(${OCC_LIBRARY_DIR})
+
+set(Assembly_LIBS
+    Part
+    PartDesign
+    FreeCADApp
+	OndselSolver
+)
+
+generate_from_xml(AssemblyObjectPy)
+generate_from_xml(JointGroupPy)
+
+SET(Python_SRCS
+    AssemblyObjectPy.xml
+    AssemblyObjectPyImp.cpp
+    JointGroupPy.xml
+    JointGroupPyImp.cpp
+)
+SOURCE_GROUP("Python" FILES ${Python_SRCS})
+
+SET(Module_SRCS
+    AppAssembly.cpp
+    AppAssemblyPy.cpp
+    PreCompiled.cpp
+    PreCompiled.h
+)
+SOURCE_GROUP("Module" FILES ${Module_SRCS})
+
+SET(Assembly_SRCS
+    AssemblyObject.cpp
+    AssemblyObject.h
+    JointGroup.cpp
+    JointGroup.h
+    ${Module_SRCS}
+    ${Python_SRCS}
+)
+
+add_library(Assembly SHARED ${Assembly_SRCS})
+target_link_libraries(Assembly ${Assembly_LIBS})
+
+if(FREECAD_USE_PCH)
+    add_definitions(-D_PreComp_)
+    GET_MSVC_PRECOMPILED_SOURCE("PreCompiled.cpp" PCH_SRCS ${Assembly_SRCS})
+    ADD_MSVC_PRECOMPILED_HEADER(Assembly PreCompiled.h PreCompiled.cpp PCH_SRCS)
+endif(FREECAD_USE_PCH)
+
+SET_BIN_DIR(Assembly AssemblyApp /Mod/Assembly)
+SET_PYTHON_PREFIX_SUFFIX(Assembly)
+
+INSTALL(TARGETS Assembly DESTINATION ${CMAKE_INSTALL_LIBDIR})

src/Mod/Assembly/App/JointGroup.cpp

@@ -0,0 +1,55 @@
+// SPDX-License-Identifier: LGPL-2.1-or-later
+/****************************************************************************
+ *                                                                          *
+ *   Copyright (c) 2023 Ondsel <development@ondsel.com>                     *
+ *                                                                          *
+ *   This file is part of FreeCAD.                                          *
+ *                                                                          *
+ *   FreeCAD is free software: you can redistribute it and/or modify it     *
+ *   under the terms of the GNU Lesser General Public License as            *
+ *   published by the Free Software Foundation, either version 2.1 of the   *
+ *   License, or (at your option) any later version.                        *
+ *                                                                          *
+ *   FreeCAD is distributed in the hope that it will be useful, but         *
+ *   WITHOUT ANY WARRANTY; without even the implied warranty of             *
+ *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU       *
+ *   Lesser General Public License for more details.                        *
+ *                                                                          *
+ *   You should have received a copy of the GNU Lesser General Public       *
+ *   License along with FreeCAD. If not, see                                *
+ *   <https://www.gnu.org/licenses/>.                                       *
+ *                                                                          *
+ ***************************************************************************/
+
+#include "PreCompiled.h"
+#ifndef _PreComp_
+#endif
+
+#include <App/Application.h>
+#include <App/Document.h>
+#include <App/FeaturePythonPyImp.h>
+#include <App/PropertyPythonObject.h>
+#include <Base/Console.h>
+#include <Base/Tools.h>
+
+#include "JointGroup.h"
+#include "JointGroupPy.h"
+
+using namespace Assembly;
+
+
+PROPERTY_SOURCE(Assembly::JointGroup, App::DocumentObjectGroup)
+
+JointGroup::JointGroup()
+{}
+
+JointGroup::~JointGroup() = default;
+
+PyObject* JointGroup::getPyObject()
+{
+    if (PythonObject.is(Py::_None())) {
+        // ref counter is set to 1
+        PythonObject = Py::Object(new JointGroupPy(this), true);
+    }
+    return Py::new_reference_to(PythonObject);
+}

src/Mod/Assembly/App/JointGroup.h

@@ -0,0 +1,58 @@
+// SPDX-License-Identifier: LGPL-2.1-or-later
+/****************************************************************************
+ *                                                                          *
+ *   Copyright (c) 2023 Ondsel <development@ondsel.com>                     *
+ *                                                                          *
+ *   This file is part of FreeCAD.                                          *
+ *                                                                          *
+ *   FreeCAD is free software: you can redistribute it and/or modify it     *
+ *   under the terms of the GNU Lesser General Public License as            *
+ *   published by the Free Software Foundation, either version 2.1 of the   *
+ *   License, or (at your option) any later version.                        *
+ *                                                                          *
+ *   FreeCAD is distributed in the hope that it will be useful, but         *
+ *   WITHOUT ANY WARRANTY; without even the implied warranty of             *
+ *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU       *
+ *   Lesser General Public License for more details.                        *
+ *                                                                          *
+ *   You should have received a copy of the GNU Lesser General Public       *
+ *   License along with FreeCAD. If not, see                                *
+ *   <https://www.gnu.org/licenses/>.                                       *
+ *                                                                          *
+ ***************************************************************************/
+
+
+#ifndef ASSEMBLY_JointGroup_H
+#define ASSEMBLY_JointGroup_H
+
+#include <Mod/Assembly/AssemblyGlobal.h>
+
+#include <App/DocumentObjectGroup.h>
+#include <App/PropertyLinks.h>
+
+
+namespace Assembly
+{
+
+class AssemblyExport JointGroup: public App::DocumentObjectGroup
+{
+    PROPERTY_HEADER_WITH_OVERRIDE(Assembly::JointGroup);
+
+public:
+    JointGroup();
+    ~JointGroup() override;
+
+    PyObject* getPyObject() override;
+
+    /// returns the type name of the ViewProvider
+    const char* getViewProviderName() const override
+    {
+        return "AssemblyGui::ViewProviderJointGroup";
+    }
+};
+
+
+}  // namespace Assembly
+
+
+#endif  // ASSEMBLY_JointGroup_H

src/Mod/Assembly/App/JointGroupPy.xml

@@ -0,0 +1,19 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<GenerateModel xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="generateMetaModel_Module.xsd">
+  <PythonExport
+      Father="DocumentObjectGroupPy"
+      Name="JointGroupPy"
+      Twin="JointGroup"
+      TwinPointer="JointGroup"
+      Include="Mod/Assembly/App/JointGroup.h"
+      Namespace="Assembly"
+      FatherInclude="App/DocumentObjectGroupPy.h"
+      FatherNamespace="App">
+    <Documentation>
+      <Author Licence="LGPL" Name="Ondsel" EMail="development@ondsel.com" />
+      <UserDocu>This class is a group subclass for joints.</UserDocu>
+    </Documentation>
+
+    <CustomAttributes />
+  </PythonExport>
+</GenerateModel>

src/Mod/Assembly/App/JointGroupPyImp.cpp

@@ -0,0 +1,46 @@
+/***************************************************************************
+ *   Copyright (c) 2014 Jürgen Riegel <juergen.riegel@web.de>              *
+ *                                                                         *
+ *   This file is part of the FreeCAD CAx development system.              *
+ *                                                                         *
+ *   This library is free software; you can redistribute it and/or         *
+ *   modify it under the terms of the GNU Library General Public           *
+ *   License as published by the Free Software Foundation; either          *
+ *   version 2 of the License, or (at your option) any later version.      *
+ *                                                                         *
+ *   This library  is distributed in the hope that it will be useful,      *
+ *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
+ *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
+ *   GNU Library General Public License for more details.                  *
+ *                                                                         *
+ *   You should have received a copy of the GNU Library General Public     *
+ *   License along with this library; see the file COPYING.LIB. If not,    *
+ *   write to the Free Software Foundation, Inc., 59 Temple Place,         *
+ *   Suite 330, Boston, MA  02111-1307, USA                                *
+ *                                                                         *
+ ***************************************************************************/
+
+
+#include "PreCompiled.h"
+
+// inclusion of the generated files (generated out of JointGroup.xml)
+#include "JointGroupPy.h"
+#include "JointGroupPy.cpp"
+
+using namespace Assembly;
+
+// returns a string which represents the object e.g. when printed in python
+std::string JointGroupPy::representation() const
+{
+    return {"<Joint Group>"};
+}
+
+PyObject* JointGroupPy::getCustomAttributes(const char* /*attr*/) const
+{
+    return nullptr;
+}
+
+int JointGroupPy::setCustomAttributes(const char* /*attr*/, PyObject* /*obj*/)
+{
+    return 0;
+}

src/Mod/Assembly/App/PreCompiled.cpp

@@ -0,0 +1,25 @@
+// SPDX-License-Identifier: LGPL-2.1-or-later
+/****************************************************************************
+ *                                                                          *
+ *   Copyright (c) 2023 Ondsel <development@ondsel.com>                     *
+ *                                                                          *
+ *   This file is part of FreeCAD.                                          *
+ *                                                                          *
+ *   FreeCAD is free software: you can redistribute it and/or modify it     *
+ *   under the terms of the GNU Lesser General Public License as            *
+ *   published by the Free Software Foundation, either version 2.1 of the   *
+ *   License, or (at your option) any later version.                        *
+ *                                                                          *
+ *   FreeCAD is distributed in the hope that it will be useful, but         *
+ *   WITHOUT ANY WARRANTY; without even the implied warranty of             *
+ *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU       *
+ *   Lesser General Public License for more details.                        *
+ *                                                                          *
+ *   You should have received a copy of the GNU Lesser General Public       *
+ *   License along with FreeCAD. If not, see                                *
+ *   <https://www.gnu.org/licenses/>.                                       *
+ *                                                                          *
+ ***************************************************************************/
+
+
+#include "PreCompiled.h"

src/Mod/Assembly/App/PreCompiled.h

@@ -0,0 +1,51 @@
+// SPDX-License-Identifier: LGPL-2.1-or-later
+/****************************************************************************
+ *                                                                          *
+ *   Copyright (c) 2023 Ondsel <development@ondsel.com>                     *
+ *                                                                          *
+ *   This file is part of FreeCAD.                                          *
+ *                                                                          *
+ *   FreeCAD is free software: you can redistribute it and/or modify it     *
+ *   under the terms of the GNU Lesser General Public License as            *
+ *   published by the Free Software Foundation, either version 2.1 of the   *
+ *   License, or (at your option) any later version.                        *
+ *                                                                          *
+ *   FreeCAD is distributed in the hope that it will be useful, but         *
+ *   WITHOUT ANY WARRANTY; without even the implied warranty of             *
+ *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU       *
+ *   Lesser General Public License for more details.                        *
+ *                                                                          *
+ *   You should have received a copy of the GNU Lesser General Public       *
+ *   License along with FreeCAD. If not, see                                *
+ *   <https://www.gnu.org/licenses/>.                                       *
+ *                                                                          *
+ ***************************************************************************/
+
+#ifndef ASSEMBLY_PRECOMPILED_H
+#define ASSEMBLY_PRECOMPILED_H
+
+#include <FCConfig.h>
+
+#ifdef _MSC_VER
+#pragma warning(disable : 5208)
+#endif
+
+#ifdef _PreComp_
+
+// standard
+#include <cinttypes>
+#include <cmath>
+#include <iomanip>
+#include <map>
+#include <sstream>
+#include <string>
+#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/Assembly/__init__.py

@@ -0,0 +1 @@
+import AssemblyApp

src/Mod/Assembly/AssemblyImport.py

@@ -1,5 +1,5 @@
 # SPDX-License-Identifier: LGPL-2.1-or-later
-# /****************************************************************************
+# /**************************************************************************
 #                                                                           *
 #    Copyright (c) 2023 Ondsel <development@ondsel.com>                     *
 #                                                                           *
@@ -19,7 +19,7 @@
 #    License along with FreeCAD. If not, see                                *
 #    <https://www.gnu.org/licenses/>.                                       *
 #                                                                           *
-# ***************************************************************************/
+# **************************************************************************/
 
 
 def open(filename):

src/Mod/Assembly/AssemblyTests/TestCore.py

@@ -21,10 +21,18 @@
 #                                                                           *
 # ***************************************************************************/
 
-import FreeCAD
+import FreeCAD as App
 import Part
 import unittest
 
+import UtilsAssembly
+import JointObject
+
+
+def _msg(text, end="\n"):
+    """Write messages to the console including the line ending."""
+    App.Console.PrintMessage(text + end)
+
 
 class TestCore(unittest.TestCase):
     @classmethod
@@ -49,26 +57,167 @@ class TestCore(unittest.TestCase):
         """
         pass
 
-        # Close geometry document without saving
-        # FreeCAD.closeDocument(FreeCAD.ActiveDocument.Name)
-
     # Setup and tear down methods called before and after each unit test
     def setUp(self):
         """setUp()...
         This method is called prior to each `test()` method.  Add code and objects here
         that are needed for multiple `test()` methods.
         """
-        self.doc = FreeCAD.ActiveDocument
-        self.con = FreeCAD.Console
+        doc_name = self.__class__.__name__
+        if App.ActiveDocument:
+            if App.ActiveDocument.Name != doc_name:
+                App.newDocument(doc_name)
+        else:
+            App.newDocument(doc_name)
+        App.setActiveDocument(doc_name)
+        self.doc = App.ActiveDocument
+
+        self.assembly = App.ActiveDocument.addObject("Assembly::AssemblyObject", "Assembly")
+        if self.assembly:
+            self.jointgroup = self.assembly.newObject("Assembly::JointGroup", "Joints")
+
+        _msg("  Temporary document '{}'".format(self.doc.Name))
 
     def tearDown(self):
         """tearDown()...
         This method is called after each test() method. Add cleanup instructions here.
         Such cleanup instructions will likely undo those in the setUp() method.
         """
-        pass
+        App.closeDocument(self.doc.Name)
 
-    def test00(self):
-        pass
+    def test_create_assembly(self):
+        """Create an assembly."""
+        operation = "Create Assembly Object"
+        _msg("  Test '{}'".format(operation))
+        self.assertTrue(self.assembly, "'{}' failed".format(operation))
 
-        self.assertTrue(True)
+    def test_create_jointGroup(self):
+        """Create a joint group in an assembly."""
+        operation = "Create JointGroup Object"
+        _msg("  Test '{}'".format(operation))
+        self.assertTrue(self.jointgroup, "'{}' failed".format(operation))
+
+    def test_create_joint(self):
+        """Create a joint in an assembly."""
+        operation = "Create Joint Object"
+        _msg("  Test '{}'".format(operation))
+
+        joint = self.jointgroup.newObject("App::FeaturePython", "testJoint")
+        self.assertTrue(joint, "'{}' failed (FeaturePython creation failed)".format(operation))
+        JointObject.Joint(joint, 0)
+
+        self.assertTrue(hasattr(joint, "JointType"), "'{}' failed".format(operation))
+
+    def test_create_grounded_joint(self):
+        """Create a grounded joint in an assembly."""
+        operation = "Create Grounded Joint Object"
+        _msg("  Test '{}'".format(operation))
+
+        groundedjoint = self.jointgroup.newObject("App::FeaturePython", "testJoint")
+        self.assertTrue(
+            groundedjoint, "'{}' failed (FeaturePython creation failed)".format(operation)
+        )
+
+        box = self.assembly.newObject("Part::Box", "Box")
+
+        JointObject.GroundedJoint(groundedjoint, box)
+
+        self.assertTrue(
+            hasattr(groundedjoint, "ObjectToGround"),
+            "'{}' failed: No attribute 'ObjectToGround'".format(operation),
+        )
+        self.assertTrue(
+            groundedjoint.ObjectToGround == box,
+            "'{}' failed: ObjectToGround not set correctly.".format(operation),
+        )
+
+    def test_find_placement(self):
+        """Test find placement of joint."""
+        operation = "Find placement"
+        _msg("  Test '{}'".format(operation))
+
+        joint = self.jointgroup.newObject("App::FeaturePython", "testJoint")
+        JointObject.Joint(joint, 0)
+
+        L = 2
+        W = 3
+        H = 7
+        box = self.assembly.newObject("Part::Box", "Box")
+        box.Length = L
+        box.Width = W
+        box.Height = H
+        box.Placement = App.Placement(App.Vector(10, 20, 30), App.Rotation(15, 25, 35))
+
+        # Step 0 : box with placement. No element selected
+        plc = joint.Proxy.findPlacement(joint, box.Name, box, "", "")
+        targetPlc = App.Placement(App.Vector(), App.Rotation())
+        self.assertTrue(plc.isSame(targetPlc, 1e-6), "'{}' failed - Step 0".format(operation))
+
+        # Step 1 : box with placement. Face + Vertex
+        plc = joint.Proxy.findPlacement(joint, box.Name, box, "Face6", "Vertex7")
+        targetPlc = App.Placement(App.Vector(L, W, H), App.Rotation())
+        self.assertTrue(plc.isSame(targetPlc, 1e-6), "'{}' failed - Step 1".format(operation))
+
+        # Step 2 : box with placement. Edge + Vertex
+        plc = joint.Proxy.findPlacement(joint, box.Name, box, "Edge8", "Vertex8")
+        targetPlc = App.Placement(App.Vector(L, W, 0), App.Rotation(0, 0, -90))
+        self.assertTrue(plc.isSame(targetPlc, 1e-6), "'{}' failed - Step 2".format(operation))
+
+        # Step 3 : box with placement. Vertex
+        plc = joint.Proxy.findPlacement(joint, box.Name, box, "Vertex3", "Vertex3")
+        targetPlc = App.Placement(App.Vector(0, W, H), App.Rotation())
+        _msg("  plc '{}'".format(plc))
+        _msg("  targetPlc '{}'".format(targetPlc))
+        self.assertTrue(plc.isSame(targetPlc, 1e-6), "'{}' failed - Step 3".format(operation))
+
+        # Step 4 : box with placement. Face
+        plc = joint.Proxy.findPlacement(joint, box.Name, box, "Face2", "Face2")
+        targetPlc = App.Placement(App.Vector(L, W / 2, H / 2), App.Rotation(0, -90, 180))
+        _msg("  plc '{}'".format(plc))
+        _msg("  targetPlc '{}'".format(targetPlc))
+        self.assertTrue(plc.isSame(targetPlc, 1e-6), "'{}' failed - Step 4".format(operation))
+
+    def test_solve_assembly(self):
+        """Test solving an assembly."""
+        operation = "Solve assembly"
+        _msg("  Test '{}'".format(operation))
+
+        box = self.assembly.newObject("Part::Box", "Box")
+        box.Length = 10
+        box.Width = 10
+        box.Height = 10
+        box.Placement = App.Placement(App.Vector(10, 20, 30), App.Rotation(15, 25, 35))
+
+        box2 = self.assembly.newObject("Part::Box", "Box")
+        box2.Length = 10
+        box2.Width = 10
+        box2.Height = 10
+        box2.Placement = App.Placement(App.Vector(40, 50, 60), App.Rotation(45, 55, 65))
+
+        ground = self.jointgroup.newObject("App::FeaturePython", "GroundedJoint")
+        JointObject.GroundedJoint(ground, box2)
+
+        joint = self.jointgroup.newObject("App::FeaturePython", "testJoint")
+        JointObject.Joint(joint, 0)
+
+        current_selection = []
+        current_selection.append(
+            {
+                "object": box2,
+                "part": box2,
+                "element_name": "Face6",
+                "vertex_name": "Vertex7",
+            }
+        )
+        current_selection.append(
+            {
+                "object": box,
+                "part": box,
+                "element_name": "Face6",
+                "vertex_name": "Vertex7",
+            }
+        )
+
+        joint.Proxy.setJointConnectors(joint, current_selection)
+
+        self.assertTrue(box.Placement.isSame(box2.Placement, 1e-6), "'{}'".format(operation))

src/Mod/Assembly/CMakeLists.txt

@@ -8,7 +8,9 @@ set(Assembly_Scripts
     Init.py
     CommandCreateAssembly.py
     CommandInsertLink.py
+    CommandSolveAssembly.py
     CommandCreateJoint.py
+    CommandExportASMT.py
     TestAssemblyWorkbench.py
     JointObject.py
     Preferences.py
@@ -65,3 +67,9 @@ INSTALL(
     DESTINATION
         Mod/Assembly/AssemblyTests
 )
+INSTALL(
+    FILES
+        ${AssemblyScripts_SRCS}
+    DESTINATION
+        Mod/Assembly/Assembly
+)

src/Mod/Assembly/CommandCreateAssembly.py

@@ -1,5 +1,5 @@
 # SPDX-License-Identifier: LGPL-2.1-or-later
-# /****************************************************************************
+# /**************************************************************************
 #                                                                           *
 #    Copyright (c) 2023 Ondsel <development@ondsel.com>                     *
 #                                                                           *
@@ -19,7 +19,7 @@
 #    License along with FreeCAD. If not, see                                *
 #    <https://www.gnu.org/licenses/>.                                       *
 #                                                                           *
-# ***************************************************************************/
+# **************************************************************************/
 
 import FreeCAD as App
 
@@ -28,6 +28,9 @@ from PySide.QtCore import QT_TRANSLATE_NOOP
 if App.GuiUp:
     import FreeCADGui as Gui
 
+import UtilsAssembly
+import Preferences
+
 # translate = App.Qt.translate
 
 __title__ = "Assembly Command Create Assembly"
@@ -46,20 +49,33 @@ class CommandCreateAssembly:
             "Accel": "A",
             "ToolTip": QT_TRANSLATE_NOOP(
                 "Assembly_CreateAssembly",
-                "Create an assembly object in the current document.",
+                "Create an assembly object in the current document, or in the current active assembly (if any). Limit of one root assembly per file.",
             ),
             "CmdType": "ForEdit",
         }
 
     def IsActive(self):
+        if Preferences.preferences().GetBool("EnforceOneAssemblyRule", True):
+            activeAssembly = UtilsAssembly.activeAssembly()
+
+            if UtilsAssembly.isThereOneRootAssembly() and not activeAssembly:
+                return False
+
         return App.ActiveDocument is not None
 
     def Activated(self):
         App.setActiveTransaction("Create assembly")
-        assembly = App.ActiveDocument.addObject("App::Part", "Assembly")
+
+        activeAssembly = UtilsAssembly.activeAssembly()
+        if activeAssembly:
+            assembly = activeAssembly.newObject("Assembly::AssemblyObject", "Assembly")
+        else:
+            assembly = App.ActiveDocument.addObject("Assembly::AssemblyObject", "Assembly")
+
         assembly.Type = "Assembly"
-        Gui.ActiveDocument.ActiveView.setActiveObject("part", assembly)
-        assembly.newObject("App::DocumentObjectGroup", "Joints")
+        if not activeAssembly:
+            Gui.ActiveDocument.setEdit(assembly)
+        assembly.newObject("Assembly::JointGroup", "Joints")
         App.closeActiveTransaction()
 
 

src/Mod/Assembly/CommandCreateJoint.py

@@ -1,5 +1,5 @@
 # SPDX-License-Identifier: LGPL-2.1-or-later
-# /****************************************************************************
+# /**************************************************************************
 #                                                                           *
 #    Copyright (c) 2023 Ondsel <development@ondsel.com>                     *
 #                                                                           *
@@ -19,7 +19,7 @@
 #    License along with FreeCAD. If not, see                                *
 #    <https://www.gnu.org/licenses/>.                                       *
 #                                                                           *
-# ***************************************************************************/
+# **************************************************************************/
 
 import os
 import FreeCAD as App
@@ -31,6 +31,7 @@ if App.GuiUp:
     from PySide import QtCore, QtGui, QtWidgets
 
 import JointObject
+from JointObject import TaskAssemblyCreateJoint
 import UtilsAssembly
 import Assembly_rc
 
@@ -41,6 +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
@@ -49,26 +62,34 @@ class CommandCreateJointFixed:
 
         return {
             "Pixmap": "Assembly_CreateJointFixed",
-            "MenuText": QT_TRANSLATE_NOOP("Assembly_CreateJointFixed", "Create Fixed Joint"),
-            "Accel": "F",
-            "ToolTip": QT_TRANSLATE_NOOP(
+            "MenuText": QT_TRANSLATE_NOOP(
                 "Assembly_CreateJointFixed",
-                "<p>Create a Fixed Joint: Permanently locks two parts together, preventing any movement or rotation.</p>",
+                "Create a Fixed Joint",
             ),
+            "Accel": "J",
+            "ToolTip": "<p>"
+            + QT_TRANSLATE_NOOP(
+                "Assembly_CreateJointFixed",
+                "1 - If an assembly is active : Create a joint permanently locking two parts together, preventing any movement or rotation.",
+            )
+            + "</p>"
+            + "<p>"
+            + QT_TRANSLATE_NOOP(
+                "Assembly_CreateJointFixed",
+                "2 - If a part is active : Position sub parts by matching selected coordinate systems. The second part selected will move.",
+            )
+            + "</p>",
             "CmdType": "ForEdit",
         }
 
     def IsActive(self):
-        return UtilsAssembly.activeAssembly() is not None
+        if UtilsAssembly.activePart:
+            return UtilsAssembly.assembly_has_at_least_n_parts(2)
+
+        return UtilsAssembly.isAssemblyGrounded() and UtilsAssembly.assembly_has_at_least_n_parts(2)
 
     def Activated(self):
-        assembly = UtilsAssembly.activeAssembly()
-        if not assembly:
-            return
-        view = Gui.activeDocument().activeView()
-
-        self.panel = TaskAssemblyCreateJoint(assembly, view, 0)
-        Gui.Control.showDialog(self.panel)
+        activateJoint(0)
 
 
 class CommandCreateJointRevolute:
@@ -81,24 +102,20 @@ class CommandCreateJointRevolute:
             "Pixmap": "Assembly_CreateJointRevolute",
             "MenuText": QT_TRANSLATE_NOOP("Assembly_CreateJointRevolute", "Create Revolute Joint"),
             "Accel": "R",
-            "ToolTip": QT_TRANSLATE_NOOP(
+            "ToolTip": "<p>"
+            + QT_TRANSLATE_NOOP(
                 "Assembly_CreateJointRevolute",
-                "<p>Create a Revolute Joint: Allows rotation around a single axis between selected parts.</p>",
-            ),
+                "Create a Revolute Joint: Allows rotation around a single axis between selected parts.",
+            )
+            + "</p>",
             "CmdType": "ForEdit",
         }
 
     def IsActive(self):
-        return UtilsAssembly.activeAssembly() is not None
+        return isCreateJointActive()
 
     def Activated(self):
-        assembly = UtilsAssembly.activeAssembly()
-        if not assembly:
-            return
-        view = Gui.activeDocument().activeView()
-
-        self.panel = TaskAssemblyCreateJoint(assembly, view, 1)
-        Gui.Control.showDialog(self.panel)
+        activateJoint(1)
 
 
 class CommandCreateJointCylindrical:
@@ -113,24 +130,20 @@ class CommandCreateJointCylindrical:
                 "Assembly_CreateJointCylindrical", "Create Cylindrical Joint"
             ),
             "Accel": "C",
-            "ToolTip": QT_TRANSLATE_NOOP(
+            "ToolTip": "<p>"
+            + QT_TRANSLATE_NOOP(
                 "Assembly_CreateJointCylindrical",
-                "<p>Create a Cylindrical Joint: Enables rotation along one axis while permitting movement along the same axis between assembled parts.</p>",
-            ),
+                "Create a Cylindrical Joint: Enables rotation along one axis while permitting movement along the same axis between assembled parts.",
+            )
+            + "</p>",
             "CmdType": "ForEdit",
         }
 
     def IsActive(self):
-        return UtilsAssembly.activeAssembly() is not None
+        return isCreateJointActive()
 
     def Activated(self):
-        assembly = UtilsAssembly.activeAssembly()
-        if not assembly:
-            return
-        view = Gui.activeDocument().activeView()
-
-        self.panel = TaskAssemblyCreateJoint(assembly, view, 2)
-        Gui.Control.showDialog(self.panel)
+        activateJoint(2)
 
 
 class CommandCreateJointSlider:
@@ -143,24 +156,20 @@ class CommandCreateJointSlider:
             "Pixmap": "Assembly_CreateJointSlider",
             "MenuText": QT_TRANSLATE_NOOP("Assembly_CreateJointSlider", "Create Slider Joint"),
             "Accel": "S",
-            "ToolTip": QT_TRANSLATE_NOOP(
+            "ToolTip": "<p>"
+            + QT_TRANSLATE_NOOP(
                 "Assembly_CreateJointSlider",
-                "<p>Create a Slider Joint: Allows linear movement along a single axis but restricts rotation between selected parts.</p>",
-            ),
+                "Create a Slider Joint: Allows linear movement along a single axis but restricts rotation between selected parts.",
+            )
+            + "</p>",
             "CmdType": "ForEdit",
         }
 
     def IsActive(self):
-        return UtilsAssembly.activeAssembly() is not None
+        return isCreateJointActive()
 
     def Activated(self):
-        assembly = UtilsAssembly.activeAssembly()
-        if not assembly:
-            return
-        view = Gui.activeDocument().activeView()
-
-        self.panel = TaskAssemblyCreateJoint(assembly, view, 3)
-        Gui.Control.showDialog(self.panel)
+        activateJoint(3)
 
 
 class CommandCreateJointBall:
@@ -173,333 +182,141 @@ class CommandCreateJointBall:
             "Pixmap": "Assembly_CreateJointBall",
             "MenuText": QT_TRANSLATE_NOOP("Assembly_CreateJointBall", "Create Ball Joint"),
             "Accel": "B",
-            "ToolTip": QT_TRANSLATE_NOOP(
+            "ToolTip": "<p>"
+            + QT_TRANSLATE_NOOP(
                 "Assembly_CreateJointBall",
-                "<p>Create a Ball Joint: Connects parts at a point, allowing unrestricted movement as long as the connection points remain in contact.</p>",
-            ),
+                "Create a Ball Joint: Connects parts at a point, allowing unrestricted movement as long as the connection points remain in contact.",
+            )
+            + "</p>",
             "CmdType": "ForEdit",
         }
 
     def IsActive(self):
-        return UtilsAssembly.activeAssembly() is not None
+        return isCreateJointActive()
 
     def Activated(self):
-        assembly = UtilsAssembly.activeAssembly()
-        if not assembly:
-            return
-        view = Gui.activeDocument().activeView()
-
-        self.panel = TaskAssemblyCreateJoint(assembly, view, 4)
-        Gui.Control.showDialog(self.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",
-            "ToolTip": QT_TRANSLATE_NOOP(
-                "Assembly_CreateJointPlanar",
-                "<p>Create a Planar Joint: Ensures two selected features are in the same plane, restricting movement to that plane.</p>",
-            ),
+            "Pixmap": "Assembly_CreateJointDistance",
+            "MenuText": QT_TRANSLATE_NOOP("Assembly_CreateJointDistance", "Create Distance Joint"),
+            "Accel": "D",
+            "ToolTip": "<p>"
+            + QT_TRANSLATE_NOOP(
+                "Assembly_CreateJointDistance",
+                "Create a Distance Joint: Fix the distance between the selected objects.",
+            )
+            + "</p>",
             "CmdType": "ForEdit",
         }
 
     def IsActive(self):
-        return UtilsAssembly.activeAssembly() is not None
+        # return False
+        return isCreateJointActive()
 
     def Activated(self):
-        assembly = UtilsAssembly.activeAssembly()
-        if not assembly:
-            return
-        view = Gui.activeDocument().activeView()
-
-        self.panel = TaskAssemblyCreateJoint(assembly, view, 5)
-        Gui.Control.showDialog(self.panel)
+        activateJoint(5)
 
 
-class CommandCreateJointParallel:
+def createGroundedJoint(obj):
+    assembly = UtilsAssembly.activeAssembly()
+    if not assembly:
+        return
+
+    joint_group = UtilsAssembly.getJointGroup(assembly)
+
+    obj.Label = obj.Label + " 🔒"
+    ground = joint_group.newObject("App::FeaturePython", "GroundedJoint")
+    JointObject.GroundedJoint(ground, obj)
+    JointObject.ViewProviderGroundedJoint(ground.ViewObject)
+    return ground
+
+
+class CommandToggleGrounded:
     def __init__(self):
         pass
 
     def GetResources(self):
 
         return {
-            "Pixmap": "Assembly_CreateJointParallel",
-            "MenuText": QT_TRANSLATE_NOOP("Assembly_CreateJointParallel", "Create Parallel Joint"),
-            "Accel": "L",
-            "ToolTip": QT_TRANSLATE_NOOP(
-                "Assembly_CreateJointParallel",
-                "<p>Create a Parallel Joint: Aligns two features to be parallel, constraining relative movement to parallel translations.</p>",
-            ),
+            "Pixmap": "Assembly_ToggleGrounded",
+            "MenuText": QT_TRANSLATE_NOOP("Assembly_ToggleGrounded", "Toggle grounded"),
+            "Accel": "G",
+            "ToolTip": "<p>"
+            + QT_TRANSLATE_NOOP(
+                "Assembly_ToggleGrounded",
+                "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
-
-    def Activated(self):
-        assembly = UtilsAssembly.activeAssembly()
-        if not assembly:
-            return
-        view = Gui.activeDocument().activeView()
-
-        self.panel = TaskAssemblyCreateJoint(assembly, view, 6)
-        Gui.Control.showDialog(self.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": QT_TRANSLATE_NOOP(
-                "Assembly_CreateJointTangent",
-                "<p>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):
-        assembly = UtilsAssembly.activeAssembly()
-        if not assembly:
-            return
-        view = Gui.activeDocument().activeView()
-
-        self.panel = TaskAssemblyCreateJoint(assembly, view, 7)
-        Gui.Control.showDialog(self.panel)
-
-
-class MakeJointSelGate:
-    def __init__(self, taskbox, assembly):
-        self.taskbox = taskbox
-        self.assembly = assembly
-
-    def allow(self, doc, obj, sub):
-        if not sub:
-            return False
-
-        objs_names, element_name = UtilsAssembly.getObjsNamesAndElement(obj.Name, sub)
-
-        if self.assembly.Name not in objs_names or element_name == "":
-            # Only objects within the assembly. And not whole objects, only elements.
-            return False
-
-        if Gui.Selection.isSelected(obj, sub, Gui.Selection.ResolveMode.NoResolve):
-            # If it's to deselect then it's ok
-            return True
-
-        if len(self.taskbox.current_selection) >= 2:
-            # No more than 2 elements can be selected for basic joints.
-            return False
-
-        full_obj_name = ".".join(objs_names)
-        for selection_dict in self.taskbox.current_selection:
-            if selection_dict["full_obj_name"] == full_obj_name:
-                # Can't join a solid to itself. So the user need to select 2 different parts.
-                return False
-
-        return True
-
-
-class TaskAssemblyCreateJoint(QtCore.QObject):
-    def __init__(self, assembly, view, jointTypeIndex):
-        super().__init__()
-
-        self.assembly = assembly
-        self.view = view
-        self.doc = App.ActiveDocument
-
-        self.form = Gui.PySideUic.loadUi(":/panels/TaskAssemblyCreateJoint.ui")
-
-        self.form.jointType.addItems(JointObject.JointTypes)
-        self.form.jointType.setCurrentIndex(jointTypeIndex)
-
-        Gui.Selection.clearSelection()
-        Gui.Selection.addSelectionGate(
-            MakeJointSelGate(self, self.assembly), Gui.Selection.ResolveMode.NoResolve
+        return (
+            UtilsAssembly.isAssemblyCommandActive()
+            and UtilsAssembly.assembly_has_at_least_n_parts(1)
         )
-        Gui.Selection.addObserver(self, Gui.Selection.ResolveMode.NoResolve)
-        Gui.Selection.setSelectionStyle(Gui.Selection.SelectionStyle.GreedySelection)
-        self.current_selection = []
-        self.preselection_dict = None
 
-        self.callbackMove = self.view.addEventCallback("SoLocation2Event", self.moveMouse)
-        self.callbackKey = self.view.addEventCallback("SoKeyboardEvent", self.KeyboardEvent)
+    def Activated(self):
+        assembly = UtilsAssembly.activeAssembly()
+        if not assembly:
+            return
 
-        App.setActiveTransaction("Create joint")
-        self.createJointObject()
+        joint_group = UtilsAssembly.getJointGroup(assembly)
 
-    def accept(self):
-        if len(self.current_selection) != 2:
-            App.Console.PrintWarning("You need to select 2 elements from 2 separate parts.")
-            return False
-        self.deactivate()
+        selection = Gui.Selection.getSelectionEx("*", 0)
+        if not selection:
+            return
+
+        App.setActiveTransaction("Toggle grounded")
+        for sel in selection:
+            # If you select 2 solids (bodies for example) within an assembly.
+            # There'll be a single sel but 2 SubElementNames.
+            for sub in sel.SubElementNames:
+                # Only objects within the assembly.
+                objs_names, element_name = UtilsAssembly.getObjsNamesAndElement(sel.ObjectName, sub)
+                if assembly.Name not in objs_names:
+                    continue
+
+                full_element_name = UtilsAssembly.getFullElementName(sel.ObjectName, sub)
+                obj = UtilsAssembly.getObject(full_element_name)
+                part_containing_obj = UtilsAssembly.getContainingPart(full_element_name, obj)
+
+                # Check if part is grounded and if so delete the joint.
+                ungrounded = False
+                for joint in joint_group.Group:
+                    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()
+                        ungrounded = True
+                        break
+                if ungrounded:
+                    continue
+
+                # Create groundedJoint.
+                createGroundedJoint(part_containing_obj)
         App.closeActiveTransaction()
-        return True
-
-    def reject(self):
-        self.deactivate()
-        App.closeActiveTransaction(True)
-        return True
-
-    def deactivate(self):
-        Gui.Selection.removeSelectionGate()
-        Gui.Selection.removeObserver(self)
-        Gui.Selection.setSelectionStyle(Gui.Selection.SelectionStyle.NormalSelection)
-        Gui.Selection.clearSelection()
-        self.view.removeEventCallback("SoLocation2Event", self.callbackMove)
-        self.view.removeEventCallback("SoKeyboardEvent", self.callbackKey)
-        if Gui.Control.activeDialog():
-            Gui.Control.closeDialog()
-
-    def createJointObject(self):
-        type_index = self.form.jointType.currentIndex()
-
-        joint_group = self.assembly.getObject("Joints")
-
-        if not joint_group:
-            joint_group = self.assembly.newObject("App::DocumentObjectGroup", "Joints")
-
-        self.joint = joint_group.newObject("App::FeaturePython", "Joint")
-        JointObject.Joint(self.joint, type_index)
-        JointObject.ViewProviderJoint(self.joint.ViewObject, self.joint)
-
-    def updateJoint(self):
-        # First we build the listwidget
-        self.form.featureList.clear()
-        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["full_element_name"].split(self.assembly.Name + ".", 1)[-1]
-            simplified_names.append(sname)
-        self.form.featureList.addItems(simplified_names)
-
-        # Then we pass the new list to the join object
-        self.joint.Proxy.setJointConnectors(self.current_selection)
-
-    def moveMouse(self, info):
-        if len(self.current_selection) >= 2 or (
-            len(self.current_selection) == 1
-            and self.current_selection[0]["full_element_name"]
-            == self.preselection_dict["full_element_name"]
-        ):
-            self.joint.ViewObject.Proxy.showPreviewJCS(False)
-            return
-
-        cursor_pos = self.view.getCursorPos()
-        cursor_info = self.view.getObjectInfo(cursor_pos)
-        # cursor_info example  {'x': 41.515, 'y': 7.449, 'z': 16.861, 'ParentObject': <Part object>, 'SubName': 'Body002.Pad.Face5', 'Document': 'part3', 'Object': 'Pad', 'Component': 'Face5'}
-
-        if (
-            not cursor_info
-            or not self.preselection_dict
-            or cursor_info["SubName"] != self.preselection_dict["sub_name"]
-        ):
-            self.joint.ViewObject.Proxy.showPreviewJCS(False)
-            return
-
-        # newPos = self.view.getPoint(*info["Position"]) # This is not what we want, it's not pos on the object but on the focal plane
-
-        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
-        )
-
-        placement = self.joint.Proxy.findPlacement(
-            self.preselection_dict["object"],
-            self.preselection_dict["element_name"],
-            self.preselection_dict["vertex_name"],
-        )
-        self.joint.ViewObject.Proxy.showPreviewJCS(True, placement)
-        self.previewJCSVisible = True
-
-    # 3D view keyboard handler
-    def KeyboardEvent(self, info):
-        if info["State"] == "UP" and info["Key"] == "ESCAPE":
-            self.reject()
-
-        if info["State"] == "UP" and info["Key"] == "RETURN":
-            self.accept()
-
-    # selectionObserver stuff
-    def addSelection(self, doc_name, obj_name, sub_name, mousePos):
-        full_obj_name = UtilsAssembly.getFullObjName(obj_name, sub_name)
-        full_element_name = UtilsAssembly.getFullElementName(obj_name, sub_name)
-        selected_object = UtilsAssembly.getObject(full_element_name)
-        element_name = UtilsAssembly.getElementName(full_element_name)
-
-        selection_dict = {
-            "object": 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)
-
-        self.current_selection.append(selection_dict)
-        self.updateJoint()
-
-    def removeSelection(self, doc_name, obj_name, sub_name, mousePos=None):
-        full_element_name = UtilsAssembly.getFullElementName(obj_name, sub_name)
-
-        # 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["full_element_name"] == full_element_name:
-                selection_dict_to_remove = selection_dict
-                break
-
-        if selection_dict_to_remove is not None:
-            self.current_selection.remove(selection_dict_to_remove)
-
-        self.updateJoint()
-
-    def setPreselection(self, doc_name, obj_name, sub_name):
-        if not sub_name:
-            self.preselection_dict = None
-            return
-
-        full_obj_name = UtilsAssembly.getFullObjName(obj_name, sub_name)
-        full_element_name = UtilsAssembly.getFullElementName(obj_name, sub_name)
-        selected_object = UtilsAssembly.getObject(full_element_name)
-        element_name = UtilsAssembly.getElementName(full_element_name)
-
-        self.preselection_dict = {
-            "object": selected_object,
-            "sub_name": sub_name,
-            "element_name": element_name,
-            "full_element_name": full_element_name,
-            "full_obj_name": full_obj_name,
-        }
-
-    def clearSelection(self, doc_name):
-        self.current_selection.clear()
-        self.updateJoint()
 
 
 if App.GuiUp:
+    Gui.addCommand("Assembly_ToggleGrounded", CommandToggleGrounded())
     Gui.addCommand("Assembly_CreateJointFixed", CommandCreateJointFixed())
     Gui.addCommand("Assembly_CreateJointRevolute", CommandCreateJointRevolute())
     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

@@ -0,0 +1,82 @@
+# SPDX-License-Identifier: LGPL-2.1-or-later
+# /**************************************************************************
+#                                                                           *
+#    Copyright (c) 2023 Ondsel <development@ondsel.com>                     *
+#                                                                           *
+#    This file is part of FreeCAD.                                          *
+#                                                                           *
+#    FreeCAD is free software: you can redistribute it and/or modify it     *
+#    under the terms of the GNU Lesser General Public License as            *
+#    published by the Free Software Foundation, either version 2.1 of the   *
+#    License, or (at your option) any later version.                        *
+#                                                                           *
+#    FreeCAD is distributed in the hope that it will be useful, but         *
+#    WITHOUT ANY WARRANTY; without even the implied warranty of             *
+#    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU       *
+#    Lesser General Public License for more details.                        *
+#                                                                           *
+#    You should have received a copy of the GNU Lesser General Public       *
+#    License along with FreeCAD. If not, see                                *
+#    <https://www.gnu.org/licenses/>.                                       *
+#                                                                           *
+# **************************************************************************/
+
+import FreeCAD as App
+import UtilsAssembly
+
+from PySide.QtCore import QT_TRANSLATE_NOOP
+from PySide.QtWidgets import QFileDialog
+
+if App.GuiUp:
+    import FreeCADGui as Gui
+
+# translate = App.Qt.translate
+
+__title__ = "Assembly Command Create Assembly"
+__author__ = "Ondsel"
+__url__ = "https://www.freecad.org"
+
+
+class CommandExportASMT:
+    def __init__(self):
+        pass
+
+    def GetResources(self):
+        return {
+            "Pixmap": "Assembly_ExportASMT",
+            "MenuText": QT_TRANSLATE_NOOP("Assembly_ExportASMT", "Export ASMT File"),
+            "Accel": "E",
+            "ToolTip": QT_TRANSLATE_NOOP(
+                "Assembly_ExportASMT",
+                "Export currently active assembly as a ASMT file.",
+            ),
+            "CmdType": "ForEdit",
+        }
+
+    def IsActive(self):
+        return UtilsAssembly.isAssemblyCommandActive() and UtilsAssembly.isAssemblyGrounded()
+
+    def Activated(self):
+        document = App.ActiveDocument
+        if not document:
+            return
+
+        assembly = UtilsAssembly.activeAssembly()
+        if not assembly:
+            return
+
+        # Prompt the user for a file location and name
+        defaultFileName = document.Name + ".asmt"
+        filePath, _ = QFileDialog.getSaveFileName(
+            None,
+            "Save ASMT File",
+            defaultFileName,
+            "ASMT Files (*.asmt);;All Files (*)",
+        )
+
+        if filePath:
+            assembly.exportAsASMT(filePath)
+
+
+if App.GuiUp:
+    Gui.addCommand("Assembly_ExportASMT", CommandExportASMT())

src/Mod/Assembly/CommandInsertLink.py

@@ -1,5 +1,5 @@
 # SPDX-License-Identifier: LGPL-2.1-or-later
-# /****************************************************************************
+# /**************************************************************************
 #                                                                           *
 #    Copyright (c) 2023 Ondsel <development@ondsel.com>                     *
 #                                                                           *
@@ -19,8 +19,9 @@
 #    License along with FreeCAD. If not, see                                *
 #    <https://www.gnu.org/licenses/>.                                       *
 #                                                                           *
-# ***************************************************************************/
+# **************************************************************************/
 
+import re
 import os
 import FreeCAD as App
 
@@ -31,6 +32,8 @@ if App.GuiUp:
     from PySide import QtCore, QtGui, QtWidgets
 
 import UtilsAssembly
+import Preferences
+import CommandCreateJoint
 
 # translate = App.Qt.translate
 
@@ -44,22 +47,32 @@ 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", "Remove 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 +94,10 @@ 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)
@@ -89,27 +106,38 @@ class TaskAssemblyInsertLink(QtCore.QObject):
 
         self.allParts = []
         self.partsDoc = []
-        self.numberOfAddedParts = 0
         self.translation = 0
         self.partMoving = False
+        self.totalTranslation = App.Vector()
+        self.groundedObj = None
+
+        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()
+        pref = Preferences.preferences()
+        pref.SetBool("InsertInParts", self.form.CheckBox_InsertInParts.isChecked())
 
     def buildPartList(self):
         self.allParts.clear()
@@ -135,7 +163,7 @@ 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)
@@ -144,7 +172,7 @@ 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)
 
@@ -192,23 +220,125 @@ 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)
+
+        if len(self.insertionStack) == 1 and not UtilsAssembly.isAssemblyGrounded():
+            self.handleFirstInsertion()
+
+    def handleFirstInsertion(self):
+        pref = Preferences.preferences()
+        fixPart = False
+        fixPartPref = pref.GetInt("GroundFirstPart", 0)
+        if fixPartPref == 0:  # unset
+            msgBox = QtWidgets.QMessageBox()
+            msgBox.setWindowTitle("Ground Part?")
+            msgBox.setText(
+                "Do you want to ground the first inserted part automatically?\nYou need at least one grounded part in your assembly."
+            )
+            msgBox.setIcon(QtWidgets.QMessageBox.Question)
+
+            yesButton = msgBox.addButton("Yes", QtWidgets.QMessageBox.YesRole)
+            noButton = msgBox.addButton("No", QtWidgets.QMessageBox.NoRole)
+            yesAlwaysButton = msgBox.addButton("Always", QtWidgets.QMessageBox.YesRole)
+            noAlwaysButton = msgBox.addButton("Never", QtWidgets.QMessageBox.NoRole)
+
+            msgBox.exec_()
+
+            clickedButton = msgBox.clickedButton()
+            if clickedButton == yesButton:
+                fixPart = True
+            elif clickedButton == yesAlwaysButton:
+                fixPart = True
+                pref.SetInt("GroundFirstPart", 1)
+            elif clickedButton == noAlwaysButton:
+                pref.SetInt("GroundFirstPart", 2)
+
+        elif fixPartPref == 1:  # Yes always
+            fixPart = True
+
+        if fixPart:
+            # Create groundedJoint.
+            if len(self.insertionStack) != 1:
+                return
+
+            self.groundedObj = self.insertionStack[0]["addedObject"]
+            self.groundedJoint = CommandCreateJoint.createGroundedJoint(self.groundedObj)
+            self.endMove()
+
+    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)
@@ -229,42 +359,87 @@ 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"]
+                        obj = stack_item["addedObject"]
+                        if self.groundedObj == obj:
+                            self.groundedJoint.Document.removeObject(self.groundedJoint.Name)
+                        UtilsAssembly.removeObjAndChilds(obj)
+
+                        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

@@ -0,0 +1,76 @@
+# SPDX-License-Identifier: LGPL-2.1-or-later
+# /**************************************************************************
+#                                                                           *
+#    Copyright (c) 2023 Ondsel <development@ondsel.com>                     *
+#                                                                           *
+#    This file is part of FreeCAD.                                          *
+#                                                                           *
+#    FreeCAD is free software: you can redistribute it and/or modify it     *
+#    under the terms of the GNU Lesser General Public License as            *
+#    published by the Free Software Foundation, either version 2.1 of the   *
+#    License, or (at your option) any later version.                        *
+#                                                                           *
+#    FreeCAD is distributed in the hope that it will be useful, but         *
+#    WITHOUT ANY WARRANTY; without even the implied warranty of             *
+#    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU       *
+#    Lesser General Public License for more details.                        *
+#                                                                           *
+#    You should have received a copy of the GNU Lesser General Public       *
+#    License along with FreeCAD. If not, see                                *
+#    <https://www.gnu.org/licenses/>.                                       *
+#                                                                           *
+# **************************************************************************/
+
+import os
+import FreeCAD as App
+
+from PySide.QtCore import QT_TRANSLATE_NOOP
+
+if App.GuiUp:
+    import FreeCADGui as Gui
+    from PySide import QtCore, QtGui, QtWidgets
+
+import UtilsAssembly
+import Assembly_rc
+
+# translate = App.Qt.translate
+
+__title__ = "Assembly Command to Solve Assembly"
+__author__ = "Ondsel"
+__url__ = "https://www.freecad.org"
+
+
+class CommandSolveAssembly:
+    def __init__(self):
+        pass
+
+    def GetResources(self):
+
+        return {
+            "Pixmap": "Assembly_SolveAssembly",
+            "MenuText": QT_TRANSLATE_NOOP("Assembly_SolveAssembly", "Solve Assembly"),
+            "Accel": "Z",
+            "ToolTip": "<p>"
+            + QT_TRANSLATE_NOOP(
+                "Assembly_SolveAssembly",
+                "Solve the currently active assembly.",
+            )
+            + "</p>",
+            "CmdType": "ForEdit",
+        }
+
+    def IsActive(self):
+        return UtilsAssembly.isAssemblyCommandActive() and UtilsAssembly.isAssemblyGrounded()
+
+    def Activated(self):
+        assembly = UtilsAssembly.activeAssembly()
+        if not assembly:
+            return
+
+        App.setActiveTransaction("Solve assembly")
+        assembly.solve()
+        App.closeActiveTransaction()
+
+
+if App.GuiUp:
+    Gui.addCommand("Assembly_SolveAssembly", CommandSolveAssembly())

src/Mod/Assembly/Gui/AppAssemblyGui.cpp

@@ -0,0 +1,53 @@
+// SPDX-License-Identifier: LGPL-2.1-or-later
+/****************************************************************************
+ *                                                                          *
+ *   Copyright (c) 2023 Ondsel <development@ondsel.com>                     *
+ *                                                                          *
+ *   This file is part of FreeCAD.                                          *
+ *                                                                          *
+ *   FreeCAD is free software: you can redistribute it and/or modify it     *
+ *   under the terms of the GNU Lesser General Public License as            *
+ *   published by the Free Software Foundation, either version 2.1 of the   *
+ *   License, or (at your option) any later version.                        *
+ *                                                                          *
+ *   FreeCAD is distributed in the hope that it will be useful, but         *
+ *   WITHOUT ANY WARRANTY; without even the implied warranty of             *
+ *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU       *
+ *   Lesser General Public License for more details.                        *
+ *                                                                          *
+ *   You should have received a copy of the GNU Lesser General Public       *
+ *   License along with FreeCAD. If not, see                                *
+ *   <https://www.gnu.org/licenses/>.                                       *
+ *                                                                          *
+ ***************************************************************************/
+
+#include "PreCompiled.h"
+
+#include <Base/Console.h>
+#include <Base/PyObjectBase.h>
+
+#include "ViewProviderAssembly.h"
+#include "ViewProviderJointGroup.h"
+
+
+namespace AssemblyGui
+{
+extern PyObject* initModule();
+}
+
+/* Python entry */
+PyMOD_INIT_FUNC(AssemblyGui)
+{
+    PyObject* mod = AssemblyGui::initModule();
+    Base::Console().Log("Loading AssemblyGui module... done\n");
+
+
+    // NOTE: To finish the initialization of our own type objects we must
+    // call PyType_Ready, otherwise we run into a segmentation fault, later on.
+    // This function is responsible for adding inherited slots from a type's base class.
+
+    AssemblyGui::ViewProviderAssembly ::init();
+    AssemblyGui::ViewProviderJointGroup::init();
+
+    PyMOD_Return(mod);
+}

src/Mod/Assembly/Gui/AppAssemblyGuiPy.cpp

@@ -0,0 +1,46 @@
+// SPDX-License-Identifier: LGPL-2.1-or-later
+/****************************************************************************
+ *                                                                          *
+ *   Copyright (c) 2023 Ondsel <development@ondsel.com>                     *
+ *                                                                          *
+ *   This file is part of FreeCAD.                                          *
+ *                                                                          *
+ *   FreeCAD is free software: you can redistribute it and/or modify it     *
+ *   under the terms of the GNU Lesser General Public License as            *
+ *   published by the Free Software Foundation, either version 2.1 of the   *
+ *   License, or (at your option) any later version.                        *
+ *                                                                          *
+ *   FreeCAD is distributed in the hope that it will be useful, but         *
+ *   WITHOUT ANY WARRANTY; without even the implied warranty of             *
+ *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU       *
+ *   Lesser General Public License for more details.                        *
+ *                                                                          *
+ *   You should have received a copy of the GNU Lesser General Public       *
+ *   License along with FreeCAD. If not, see                                *
+ *   <https://www.gnu.org/licenses/>.                                       *
+ *                                                                          *
+ ***************************************************************************/
+
+#include "PreCompiled.h"
+
+#include <Base/Interpreter.h>
+
+
+namespace AssemblyGui
+{
+class Module: public Py::ExtensionModule<Module>
+{
+public:
+    Module()
+        : Py::ExtensionModule<Module>("AssemblyGui")
+    {
+        initialize("This module is the Assembly module.");  // register with Python
+    }
+};
+
+PyObject* initModule()
+{
+    return Base::Interpreter().addModule(new Module);
+}
+
+}  // namespace AssemblyGui

src/Mod/Assembly/Gui/CMakeLists.txt

@@ -1,9 +1,13 @@
 include_directories(
     ${CMAKE_BINARY_DIR}
     ${CMAKE_CURRENT_BINARY_DIR}
+    ${OCC_INCLUDE_DIR}
 )
 
 set(AssemblyGui_LIBS
+    Assembly
+    PartDesign
+    PartGui
     FreeCADGui
 )
 
@@ -17,8 +21,23 @@ qt_add_resources(AssemblyResource_SRCS Resources/Assembly.qrc ${Assembly_TR_QRC}
 
 SOURCE_GROUP("Resources" FILES ${AssemblyResource_SRCS})
 
+generate_from_xml(ViewProviderAssemblyPy)
+
+SET(Python_SRCS
+    ViewProviderAssemblyPy.xml
+    ViewProviderAssemblyPyImp.cpp
+)
+SOURCE_GROUP("Python" FILES ${Python_SRCS})
 
 SET(AssemblyGui_SRCS_Module
+    AppAssemblyGui.cpp
+    AppAssemblyGuiPy.cpp
+    PreCompiled.cpp
+    PreCompiled.h
+    ViewProviderAssembly.cpp
+    ViewProviderAssembly.h
+    ViewProviderJointGroup.cpp
+    ViewProviderJointGroup.h
     ${Assembly_QRC_SRCS}
 )
 
@@ -29,8 +48,14 @@ SET(AssemblyGui_SRCS
     ${AssemblyResource_SRCS}
     ${AssemblyGui_UIC_HDRS}
     ${AssemblyGui_SRCS_Module}
+    ${Python_SRCS}
 )
 
+if(FREECAD_USE_PCH)
+    add_definitions(-D_PreComp_)
+    GET_MSVC_PRECOMPILED_SOURCE("PreCompiled.cpp" PCH_SRCS ${AssemblyGui_SRCS})
+    ADD_MSVC_PRECOMPILED_HEADER(PathGui PreCompiled.h PreCompiled.cpp PCH_SRCS)
+endif(FREECAD_USE_PCH)
 
 SET(AssemblyGuiIcon_SVG
     Resources/icons/AssemblyWorkbench.svg

src/Mod/Assembly/Gui/PreCompiled.cpp

@@ -0,0 +1,25 @@
+// SPDX-License-Identifier: LGPL-2.1-or-later
+/****************************************************************************
+ *                                                                          *
+ *   Copyright (c) 2023 Ondsel <development@ondsel.com>                     *
+ *                                                                          *
+ *   This file is part of FreeCAD.                                          *
+ *                                                                          *
+ *   FreeCAD is free software: you can redistribute it and/or modify it     *
+ *   under the terms of the GNU Lesser General Public License as            *
+ *   published by the Free Software Foundation, either version 2.1 of the   *
+ *   License, or (at your option) any later version.                        *
+ *                                                                          *
+ *   FreeCAD is distributed in the hope that it will be useful, but         *
+ *   WITHOUT ANY WARRANTY; without even the implied warranty of             *
+ *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU       *
+ *   Lesser General Public License for more details.                        *
+ *                                                                          *
+ *   You should have received a copy of the GNU Lesser General Public       *
+ *   License along with FreeCAD. If not, see                                *
+ *   <https://www.gnu.org/licenses/>.                                       *
+ *                                                                          *
+ ***************************************************************************/
+
+
+#include "PreCompiled.h"

src/Mod/Assembly/Gui/PreCompiled.h

@@ -0,0 +1,54 @@
+// SPDX-License-Identifier: LGPL-2.1-or-later
+/****************************************************************************
+ *                                                                          *
+ *   Copyright (c) 2023 Ondsel <development@ondsel.com>                     *
+ *                                                                          *
+ *   This file is part of FreeCAD.                                          *
+ *                                                                          *
+ *   FreeCAD is free software: you can redistribute it and/or modify it     *
+ *   under the terms of the GNU Lesser General Public License as            *
+ *   published by the Free Software Foundation, either version 2.1 of the   *
+ *   License, or (at your option) any later version.                        *
+ *                                                                          *
+ *   FreeCAD is distributed in the hope that it will be useful, but         *
+ *   WITHOUT ANY WARRANTY; without even the implied warranty of             *
+ *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU       *
+ *   Lesser General Public License for more details.                        *
+ *                                                                          *
+ *   You should have received a copy of the GNU Lesser General Public       *
+ *   License along with FreeCAD. If not, see                                *
+ *   <https://www.gnu.org/licenses/>.                                       *
+ *                                                                          *
+ ***************************************************************************/
+
+#ifndef POINTSGUI_PRECOMPILED_H
+#define POINTSGUI_PRECOMPILED_H
+
+#include <FCConfig.h>
+
+#ifdef _PreComp_
+
+// STL
+#include <algorithm>
+#include <limits>
+#include <memory>
+
+#include <vector>
+#include <sstream>
+#include <iostream>
+
+// Qt
+#ifndef __QtAll__
+#include <Gui/QtAll.h>
+#endif
+
+#include <QWidgetAction>
+
+// all of Inventor
+#ifndef __InventorAll__
+#include <Gui/InventorAll.h>
+#endif
+
+#endif  //_PreComp_
+
+#endif  // POINTSGUI_PRECOMPILED_H

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

@@ -1,17 +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_CreateJointFixed.svg

@@ -7,7 +7,7 @@
    id="svg2821"
    sodipodi:version="0.32"
    inkscape:version="1.3 (0e150ed6c4, 2023-07-21)"
-   sodipodi:docname="Assembly_CreateJointFixed.svg"
+   sodipodi:docname="Assembly_CreateJointFixedNew.svg"
    inkscape:output_extension="org.inkscape.output.svg.inkscape"
    version="1.1"
    xmlns:inkscape="http://www.inkscape.org/namespaces/inkscape"
@@ -175,6 +175,17 @@
        x2="85"
        y2="35"
        spreadMethod="reflect" />
+    <linearGradient
+       id="linearGradient4067-6">
+      <stop
+         style="stop-color:#888a85;stop-opacity:1;"
+         offset="0"
+         id="stop4069-7" />
+      <stop
+         style="stop-color:#2e3436;stop-opacity:1;"
+         offset="1"
+         id="stop4071-5" />
+    </linearGradient>
   </defs>
   <sodipodi:namedview
      id="base"
@@ -183,21 +194,22 @@
      borderopacity="1.0"
      inkscape:pageopacity="0.0"
      inkscape:pageshadow="2"
-     inkscape:zoom="10.193662"
-     inkscape:cx="30.950604"
-     inkscape:cy="29.184801"
-     inkscape:current-layer="layer1"
+     inkscape:zoom="7.2080076"
+     inkscape:cx="44.186968"
+     inkscape:cy="8.4628102"
+     inkscape:current-layer="g2"
      showgrid="true"
      inkscape:document-units="px"
      inkscape:grid-bbox="true"
      inkscape:window-width="2560"
-     inkscape:window-height="1355"
+     inkscape:window-height="1356"
      inkscape:window-x="0"
      inkscape:window-y="0"
      inkscape:window-maximized="1"
      inkscape:showpageshadow="2"
      inkscape:pagecheckerboard="0"
-     inkscape:deskcolor="#d1d1d1">
+     inkscape:deskcolor="#d1d1d1"
+     showguides="true">
     <inkscape:grid
        type="xygrid"
        id="grid2992"
@@ -210,6 +222,27 @@
        spacingy="1"
        spacingx="1"
        units="px" />
+    <sodipodi:guide
+       position="32,65.942284"
+       orientation="-1,0"
+       id="guide1"
+       inkscape:locked="false"
+       inkscape:label=""
+       inkscape:color="rgb(0,134,229)" />
+    <sodipodi:guide
+       position="22,67.121528"
+       orientation="-1,0"
+       id="guide2"
+       inkscape:locked="false"
+       inkscape:label=""
+       inkscape:color="rgb(0,134,229)" />
+    <sodipodi:guide
+       position="42,66.289121"
+       orientation="-1,0"
+       id="guide3"
+       inkscape:locked="false"
+       inkscape:label=""
+       inkscape:color="rgb(0,134,229)" />
   </sodipodi:namedview>
   <metadata
      id="metadata2826">
@@ -261,46 +294,51 @@
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            inkscape:connector-curvature="0"
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+           d="m 54,51.531073 c 0,4.016616 -9.84973,7.272727 -22,7.272727 -12.150264,0 -21.999999,-3.256111 -21.999999,-7.272727 l -1.5e-6,-17.675951 H 54 Z"
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            inkscape:connector-curvature="0"
-           sodipodi:nodetypes="csc" />
+           sodipodi:nodetypes="ccczccc" />
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            id="path2994"
            cx="32"
-           cy="34.381172"
-           rx="24"
-           ry="7.9999995" />
+           cy="31.700123"
+           ry="7.9999995"
+           rx="24" />
       </g>
+      <path
+         d="m 42.539277,35.800977 0.02691,10.547767 c 0,0 -3.169859,1.167493 -10.566183,1.116355 -7.396326,-0.05114 -10.566196,-1.116355 -10.566196,-1.116355 l -0.02323,-10.555835"
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       <g
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          inkscape:label="Part 2"
          transform="translate(3.6192085e-6,-20.496033)">
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src/Mod/Assembly/Gui/Resources/panels/TaskAssemblyCreateJoint.ui

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+    <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/Resources/preferences/Assembly.ui

@@ -13,8 +13,57 @@
   <property name="windowTitle">
    <string>General</string>
   </property>
-  <layout class="QVBoxLayout" name="verticalLayout_3">
-   <item>
+  <layout class="QGridLayout" name="verticalLayout_1">
+   <item row="0" column="0">
+    <widget class="Gui::PrefCheckBox" name="checkBoxEnableEscape">
+     <property name="toolTip">
+      <string>Allow to leave edit mode when pressing Esc button</string>
+     </property>
+     <property name="text">
+      <string>Esc leave edit mode</string>
+     </property>
+     <property name="checked">
+      <bool>true</bool>
+     </property>
+     <property name="prefEntry" stdset="0">
+      <cstring>LeaveEditWithEscape</cstring>
+     </property>
+     <property name="prefPath" stdset="0">
+      <cstring>Mod/Assembly</cstring>
+     </property>
+    </widget>
+   </item>
+   <item row="1" column="0">
+    <widget class="QLabel" name="groundFirstPartLabel">
+     <property name="text">
+      <string>Ground first part:</string>
+     </property>
+    </widget>
+   </item>
+   <item row="1" column="1">
+    <widget class="QComboBox" name="groundFirstPart">
+     <property name="toolTip">
+      <string>When you insert the first part in the assembly, you can choose to ground the part automatically.</string>
+     </property>
+     <property name="currentIndex">
+      <number>0</number>
+     </property>
+    </widget>
+   </item>
+   <item row="1" column="2">
+    <spacer name="horSpacer">
+     <property name="orientation">
+      <enum>Qt::Horizontal</enum>
+     </property>
+     <property name="sizeHint" stdset="0">
+      <size>
+       <width>20</width>
+       <height>20</height>
+      </size>
+     </property>
+    </spacer>
+   </item>
+   <item row="2" column="0">
     <spacer name="verticalSpacer">
      <property name="orientation">
       <enum>Qt::Vertical</enum>
@@ -29,6 +78,13 @@
    </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

@@ -0,0 +1,739 @@
+// SPDX-License-Identifier: LGPL-2.1-or-later
+/****************************************************************************
+ *                                                                          *
+ *   Copyright (c) 2023 Ondsel <development@ondsel.com>                     *
+ *                                                                          *
+ *   This file is part of FreeCAD.                                          *
+ *                                                                          *
+ *   FreeCAD is free software: you can redistribute it and/or modify it     *
+ *   under the terms of the GNU Lesser General Public License as            *
+ *   published by the Free Software Foundation, either version 2.1 of the   *
+ *   License, or (at your option) any later version.                        *
+ *                                                                          *
+ *   FreeCAD is distributed in the hope that it will be useful, but         *
+ *   WITHOUT ANY WARRANTY; without even the implied warranty of             *
+ *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU       *
+ *   Lesser General Public License for more details.                        *
+ *                                                                          *
+ *   You should have received a copy of the GNU Lesser General Public       *
+ *   License along with FreeCAD. If not, see                                *
+ *   <https://www.gnu.org/licenses/>.                                       *
+ *                                                                          *
+ ***************************************************************************/
+
+#include "PreCompiled.h"
+
+#ifndef _PreComp_
+#include <QMessageBox>
+#include <vector>
+#include <sstream>
+#include <iostream>
+#include <Inventor/events/SoKeyboardEvent.h>
+#endif
+
+#include <App/Link.h>
+#include <App/Document.h>
+#include <App/DocumentObject.h>
+#include <App/Part.h>
+#include <Gui/Application.h>
+#include <Gui/BitmapFactory.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/AssemblyUtils.h>
+#include <Mod/Assembly/App/JointGroup.h>
+#include <Mod/PartDesign/App/Body.h>
+
+#include "ViewProviderAssembly.h"
+#include "ViewProviderAssemblyPy.h"
+
+
+using namespace Assembly;
+using namespace AssemblyGui;
+
+void printPlacement(Base::Placement plc, const char* name)
+{
+    Base::Vector3d pos = plc.getPosition();
+    Base::Vector3d axis;
+    double angle;
+    Base::Rotation rot = plc.getRotation();
+    rot.getRawValue(axis, angle);
+    Base::Console().Warning(
+        "placement %s : position (%.1f, %.1f, %.1f) - axis (%.1f, %.1f, %.1f) angle %.1f\n",
+        name,
+        pos.x,
+        pos.y,
+        pos.z,
+        axis.x,
+        axis.y,
+        axis.z,
+        angle);
+}
+
+PROPERTY_SOURCE(AssemblyGui::ViewProviderAssembly, Gui::ViewProviderPart)
+
+ViewProviderAssembly::ViewProviderAssembly()
+    : SelectionObserver(true)
+    , dragMode(DragMode::None)
+    , canStartDragging(false)
+    , partMoving(false)
+    , enableMovement(true)
+    , jointVisibilityBackup(false)
+    , docsToMove({})
+{}
+
+ViewProviderAssembly::~ViewProviderAssembly() = default;
+
+QIcon ViewProviderAssembly::getIcon() const
+{
+    return Gui::BitmapFactory().pixmap("Geoassembly.svg");
+}
+
+bool ViewProviderAssembly::doubleClicked()
+{
+    if (isInEditMode()) {
+        // Part is already 'Active' so we exit edit mode.
+        // Gui::Command::doCommand(Gui::Command::Gui, "Gui.activeDocument().resetEdit()");
+        Gui::Application::Instance->activeDocument()->resetEdit();
+    }
+    else {
+        // assure the Assembly workbench
+        if (App::GetApplication()
+                .GetUserParameter()
+                .GetGroup("BaseApp")
+                ->GetGroup("Preferences")
+                ->GetGroup("Mod/Assembly")
+                ->GetBool("SwitchToWB", true)) {
+            Gui::Command::assureWorkbench("AssemblyWorkbench");
+        }
+
+        // Part is not 'Active' so we enter edit mode to make it so.
+        Gui::Application::Instance->activeDocument()->setEdit(this);
+    }
+
+    return true;
+}
+
+bool ViewProviderAssembly::canDragObject(App::DocumentObject* obj) const
+{
+    // The user should not be able to drag the joint group out of the assembly
+    if (!obj || obj->getTypeId() == Assembly::JointGroup::getClassTypeId()) {
+        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) {
+        // getLinkObjFromProp returns nullptr if the property doesn't exist.
+        App::DocumentObject* obj1 = AssemblyObject::getObjFromNameProp(joint, "Object1", "Part1");
+        App::DocumentObject* obj2 = AssemblyObject::getObjFromNameProp(joint, "Object2", "Part2");
+        App::DocumentObject* part1 = AssemblyObject::getLinkObjFromProp(joint, "Part1");
+        App::DocumentObject* part2 = AssemblyObject::getLinkObjFromProp(joint, "Part2");
+        App::DocumentObject* obj3 = AssemblyObject::getLinkObjFromProp(joint, "ObjectToGround");
+        if (obj == obj1 || obj == obj2 || obj == part1 || obj == part2 || 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)
+{
+    // Set the part as 'Activated' ie bold in the tree.
+    Gui::Command::doCommand(Gui::Command::Gui,
+                            "Gui.ActiveDocument.ActiveView.setActiveObject('%s', "
+                            "App.getDocument('%s').getObject('%s'))",
+                            PARTKEY,
+                            this->getObject()->getDocument()->getName(),
+                            this->getObject()->getNameInDocument());
+
+    return true;
+}
+
+void ViewProviderAssembly::unsetEdit(int ModNum)
+{
+    Q_UNUSED(ModNum);
+    canStartDragging = false;
+    partMoving = false;
+    docsToMove = {};
+
+    // Check if the view is still active before trying to deactivate the assembly.
+    auto doc = getDocument();
+    if (!doc) {
+        return;
+    }
+    auto activeView = doc->getActiveView();
+    if (!activeView) {
+        return;
+    }
+
+    // Set the part as not 'Activated' ie not bold in the tree.
+    Gui::Command::doCommand(Gui::Command::Gui,
+                            "appDoc = App.getDocument('%s')\n"
+                            "Gui.getDocument(appDoc).ActiveView.setActiveObject('%s', None)",
+                            this->getObject()->getDocument()->getName(),
+                            PARTKEY);
+}
+
+bool ViewProviderAssembly::isInEditMode() const
+{
+    App::DocumentObject* activePart = getActivePart();
+    if (!activePart) {
+        return false;
+    }
+
+    return activePart == this->getObject();
+}
+
+App::DocumentObject* ViewProviderAssembly::getActivePart() const
+{
+    auto activeDoc = Gui::Application::Instance->activeDocument();
+    if (!activeDoc) {
+        activeDoc = getDocument();
+    }
+    auto activeView = activeDoc->getActiveView();
+    if (!activeView) {
+        return nullptr;
+    }
+
+    return activeView->getActiveObject<App::DocumentObject*>(PARTKEY);
+}
+
+bool ViewProviderAssembly::keyPressed(bool pressed, int key)
+{
+    if (key == SoKeyboardEvent::ESCAPE) {
+        if (isInEditMode()) {
+
+            ParameterGrp::handle hPgr = App::GetApplication().GetParameterGroupByPath(
+                "User parameter:BaseApp/Preferences/Mod/Assembly");
+
+            return !hPgr->GetBool("LeaveEditWithEscape", true);
+        }
+    }
+
+    return false;  // handle all other key events
+}
+
+bool ViewProviderAssembly::mouseMove(const SbVec2s& cursorPos, Gui::View3DInventorViewer* viewer)
+{
+    // Initialize or end the dragging of parts
+    if (canStartDragging) {
+        canStartDragging = false;
+
+        if (enableMovement && getSelectedObjectsWithinAssembly()) {
+            dragMode = findDragMode();
+
+            if (dragMode == DragMode::None) {
+                return false;
+            }
+
+            SbVec3f vec;
+            if (dragMode == DragMode::RotationOnPlane
+                || dragMode == DragMode::TranslationOnAxisAndRotationOnePlane) {
+                vec = viewer->getPointOnXYPlaneOfPlacement(cursorPos, jcsGlobalPlc);
+                initialPositionRot = Base::Vector3d(vec[0], vec[1], vec[2]);
+            }
+
+            if (dragMode == DragMode::TranslationOnAxis
+                || dragMode == DragMode::TranslationOnAxisAndRotationOnePlane) {
+                Base::Vector3d zAxis =
+                    jcsGlobalPlc.getRotation().multVec(Base::Vector3d(0., 0., 1.));
+                Base::Vector3d pos = jcsGlobalPlc.getPosition();
+                SbVec3f axisCenter(pos.x, pos.y, pos.z);
+                SbVec3f axis(zAxis.x, zAxis.y, zAxis.z);
+                vec = viewer->getPointOnLine(cursorPos, axisCenter, axis);
+                initialPosition = Base::Vector3d(vec[0], vec[1], vec[2]);
+            }
+            else if (dragMode != DragMode::RotationOnPlane) {
+                vec = viewer->getPointOnFocalPlane(cursorPos);
+                initialPosition = Base::Vector3d(vec[0], vec[1], vec[2]);
+                prevPosition = initialPosition;
+            }
+
+            initMove();
+        }
+    }
+
+    // Do the dragging of parts
+    if (partMoving) {
+        Base::Vector3d newPos, newPosRot;
+        if (dragMode == DragMode::RotationOnPlane
+            || dragMode == DragMode::TranslationOnAxisAndRotationOnePlane) {
+            SbVec3f vec = viewer->getPointOnXYPlaneOfPlacement(cursorPos, jcsGlobalPlc);
+            newPosRot = Base::Vector3d(vec[0], vec[1], vec[2]);
+        }
+
+        if (dragMode == DragMode::TranslationOnAxis
+            || dragMode == DragMode::TranslationOnAxisAndRotationOnePlane) {
+            Base::Vector3d zAxis = jcsGlobalPlc.getRotation().multVec(Base::Vector3d(0., 0., 1.));
+            Base::Vector3d pos = jcsGlobalPlc.getPosition();
+            SbVec3f axisCenter(pos.x, pos.y, pos.z);
+            SbVec3f axis(zAxis.x, zAxis.y, zAxis.z);
+            SbVec3f vec = viewer->getPointOnLine(cursorPos, axisCenter, axis);
+            newPos = Base::Vector3d(vec[0], vec[1], vec[2]);
+        }
+        else if (dragMode != DragMode::RotationOnPlane) {
+            SbVec3f vec = viewer->getPointOnFocalPlane(cursorPos);
+            newPos = Base::Vector3d(vec[0], vec[1], vec[2]);
+        }
+
+
+        for (auto& pair : docsToMove) {
+            App::DocumentObject* obj = pair.first;
+            auto* propPlacement =
+                dynamic_cast<App::PropertyPlacement*>(obj->getPropertyByName("Placement"));
+            if (propPlacement) {
+                Base::Placement plc = pair.second;
+                // Base::Console().Warning("newPos %f %f %f\n", newPos.x, newPos.y, newPos.z);
+
+                if (dragMode == DragMode::RotationOnPlane) {
+                    Base::Vector3d center = jcsGlobalPlc.getPosition();
+                    Base::Vector3d norm =
+                        jcsGlobalPlc.getRotation().multVec(Base::Vector3d(0., 0., -1.));
+                    double angle =
+                        (newPosRot - center).GetAngleOriented(initialPositionRot - center, norm);
+                    // Base::Console().Warning("angle %f\n", angle);
+                    Base::Rotation zRotation = Base::Rotation(Base::Vector3d(0., 0., 1.), angle);
+                    Base::Placement rotatedGlovalJcsPlc =
+                        jcsGlobalPlc * Base::Placement(Base::Vector3d(), zRotation);
+                    Base::Placement jcsPlcRelativeToPart = plc.inverse() * jcsGlobalPlc;
+                    plc = rotatedGlovalJcsPlc * jcsPlcRelativeToPart.inverse();
+                }
+                else if (dragMode == DragMode::TranslationOnAxis) {
+                    Base::Vector3d pos = plc.getPosition() + (newPos - initialPosition);
+                    plc.setPosition(pos);
+                }
+                else if (dragMode == DragMode::TranslationOnAxisAndRotationOnePlane) {
+                    Base::Vector3d pos = plc.getPosition() + (newPos - initialPosition);
+                    plc.setPosition(pos);
+
+                    Base::Placement newJcsGlobalPlc = jcsGlobalPlc;
+                    newJcsGlobalPlc.setPosition(jcsGlobalPlc.getPosition()
+                                                + (newPos - initialPosition));
+
+                    Base::Vector3d center = newJcsGlobalPlc.getPosition();
+                    Base::Vector3d norm =
+                        newJcsGlobalPlc.getRotation().multVec(Base::Vector3d(0., 0., -1.));
+
+                    Base::Vector3d projInitialPositionRot =
+                        initialPositionRot.ProjectToPlane(newJcsGlobalPlc.getPosition(), norm);
+                    double angle =
+                        (newPosRot - center).GetAngleOriented(initialPositionRot - center, norm);
+                    // Base::Console().Warning("angle %f\n", angle);
+                    Base::Rotation zRotation = Base::Rotation(Base::Vector3d(0., 0., 1.), angle);
+                    Base::Placement rotatedGlovalJcsPlc =
+                        newJcsGlobalPlc * Base::Placement(Base::Vector3d(), zRotation);
+                    Base::Placement jcsPlcRelativeToPart = plc.inverse() * newJcsGlobalPlc;
+                    plc = rotatedGlovalJcsPlc * jcsPlcRelativeToPart.inverse();
+                }
+                else {  // DragMode::Translation
+                    Base::Vector3d delta = newPos - prevPosition;
+                    prevPosition = newPos;
+
+                    Base::Vector3d pos = propPlacement->getValue().getPosition() + delta;
+                    // Base::Vector3d pos = newPos + (plc.getPosition() - initialPosition);
+                    plc.setPosition(pos);
+                }
+                propPlacement->setValue(plc);
+            }
+        }
+
+        ParameterGrp::handle hGrp = App::GetApplication().GetParameterGroupByPath(
+            "User parameter:BaseApp/Preferences/Mod/Assembly");
+        bool solveOnMove = hGrp->GetBool("SolveOnMove", true);
+        if (solveOnMove) {
+            auto* assemblyPart = static_cast<AssemblyObject*>(getObject());
+            assemblyPart->solve();
+            // assemblyPart->doDragStep();
+        }
+    }
+    return false;
+}
+
+bool ViewProviderAssembly::mouseButtonPressed(int Button,
+                                              bool pressed,
+                                              const SbVec2s& cursorPos,
+                                              const Gui::View3DInventorViewer* viewer)
+{
+    // Left Mouse button ****************************************************
+    if (Button == 1) {
+        if (pressed) {
+            canStartDragging = true;
+        }
+        else {  // Button 1 released
+            // release event is not received when user click on a part for selection.
+            // So we use SelectionObserver to know if something got selected.
+
+            canStartDragging = false;
+            if (partMoving) {
+                endMove();
+                return true;
+            }
+        }
+    }
+
+    return false;
+}
+
+bool ViewProviderAssembly::getSelectedObjectsWithinAssembly()
+{
+    // check the current selection, and check if any of the selected objects are within this
+    // App::Part
+    //  If any, put them into the vector docsToMove and return true.
+    //  Get the document
+    Gui::Document* doc = Gui::Application::Instance->activeDocument();
+
+    if (!doc) {
+        return false;
+    }
+
+    // Get the assembly object for this ViewProvider
+    AssemblyObject* assemblyPart = static_cast<AssemblyObject*>(getObject());
+
+    if (!assemblyPart) {
+        return false;
+    }
+
+    for (auto& selObj : Gui::Selection().getSelectionEx("",
+                                                        App::DocumentObject::getClassTypeId(),
+                                                        Gui::ResolveMode::NoResolve)) {
+        // getSubNames() returns ["Body001.Pad.Face14", "Body002.Pad.Face7"]
+        //  if you have several objects within the same assembly selected.
+
+        std::vector<std::string> objsSubNames = selObj.getSubNames();
+        for (auto& subNamesStr : objsSubNames) {
+            std::vector<std::string> subNames = parseSubNames(subNamesStr);
+
+            App::DocumentObject* obj = getObjectFromSubNames(subNames);
+            if (!obj) {
+                continue;
+            }
+
+            // Check if the selected object is a child of the assembly
+            if (assemblyPart->hasObject(obj, true)) {
+                auto* propPlacement =
+                    dynamic_cast<App::PropertyPlacement*>(obj->getPropertyByName("Placement"));
+                if (propPlacement) {
+                    docsToMove.emplace_back(obj, propPlacement->getValue());
+                }
+            }
+        }
+    }
+
+    // This function is called before the selection is updated. So if a user click and drag a part
+    // it is not selected at that point. So we need to get the preselection too.
+    if (Gui::Selection().hasPreselection()) {
+
+        // Base::Console().Warning("Gui::Selection().getPreselection().pSubName %s\n",
+        //                         Gui::Selection().getPreselection().pSubName);
+
+        std::string subNamesStr = Gui::Selection().getPreselection().pSubName;
+        std::vector<std::string> subNames = parseSubNames(subNamesStr);
+
+        App::DocumentObject* preselectedObj = getObjectFromSubNames(subNames);
+        if (preselectedObj && assemblyPart->hasObject(preselectedObj, true)) {
+            bool alreadyIn = false;
+            for (auto& pair : docsToMove) {
+                App::DocumentObject* obj = pair.first;
+                if (obj == preselectedObj) {
+                    alreadyIn = true;
+                    break;
+                }
+            }
+
+            if (!alreadyIn) {
+                auto* propPlacement = dynamic_cast<App::PropertyPlacement*>(
+                    preselectedObj->getPropertyByName("Placement"));
+                if (propPlacement) {
+                    docsToMove.emplace_back(preselectedObj, propPlacement->getValue());
+                }
+            }
+        }
+    }
+
+    return !docsToMove.empty();
+}
+
+std::vector<std::string> ViewProviderAssembly::parseSubNames(std::string& subNamesStr)
+{
+    std::vector<std::string> subNames;
+    std::string subName;
+    std::istringstream subNameStream(subNamesStr);
+    while (std::getline(subNameStream, subName, '.')) {
+        subNames.push_back(subName);
+    }
+    return subNames;
+}
+
+App::DocumentObject* ViewProviderAssembly::getObjectFromSubNames(std::vector<std::string>& subNames)
+{
+    App::Document* appDoc = App::GetApplication().getActiveDocument();
+
+    std::string objName;
+    if (subNames.size() < 2) {
+        return nullptr;
+    }
+    else if (subNames.size() == 2) {
+        // If two subnames then it can't be a body and the object we want is the first one
+        // For example we want box in "box.face1"
+        return appDoc->getObject(subNames[0].c_str());
+    }
+
+    // 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) {
+            continue;
+        }
+
+        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(App::Part::getClassTypeId())
+                || linkedObj->getTypeId().isDerivedFrom(PartDesign::Body::getClassTypeId())) {
+                return obj;
+            }
+        }
+    }
+
+    // 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());
+}
+
+ViewProviderAssembly::DragMode ViewProviderAssembly::findDragMode()
+{
+    if (docsToMove.size() == 1) {
+        auto* assemblyPart = static_cast<AssemblyObject*>(getObject());
+        std::string partPropName;
+        movingJoint =
+            assemblyPart->getJointOfPartConnectingToGround(docsToMove[0].first, partPropName);
+
+        if (!movingJoint) {
+            return DragMode::Translation;
+        }
+
+        JointType jointType = AssemblyObject::getJointType(movingJoint);
+        if (jointType == JointType::Fixed) {
+            // If fixed joint we need to find the upstream joint to find move mode.
+            // For example : Gnd -(revolute)- A -(fixed)- B : if user try to move B, then we should
+            // actually move A
+            App::DocumentObject* upstreamPart =
+                assemblyPart->getUpstreamMovingPart(docsToMove[0].first);
+            docsToMove.clear();
+            if (!upstreamPart) {
+                return DragMode::None;
+            }
+
+            auto* propPlacement =
+                dynamic_cast<App::PropertyPlacement*>(upstreamPart->getPropertyByName("Placement"));
+            if (propPlacement) {
+                docsToMove.emplace_back(upstreamPart, propPlacement->getValue());
+            }
+
+            movingJoint =
+                assemblyPart->getJointOfPartConnectingToGround(docsToMove[0].first, partPropName);
+            if (!movingJoint) {
+                return DragMode::Translation;
+            }
+            jointType = AssemblyObject::getJointType(movingJoint);
+        }
+
+        const char* plcPropName = (partPropName == "Part1") ? "Placement1" : "Placement2";
+        const char* objPropName = (partPropName == "Part1") ? "Object1" : "Object2";
+
+        // jcsPlc is relative to the Object
+        jcsPlc = AssemblyObject::getPlacementFromProp(movingJoint, plcPropName);
+
+        // Make jcsGlobalPlc relative to the origin of the doc
+        Base::Placement global_plc =
+            AssemblyObject::getGlobalPlacement(movingJoint, objPropName, partPropName.c_str());
+        jcsGlobalPlc = global_plc * jcsPlc;
+
+        // Add downstream parts so that they move together
+        auto downstreamParts = assemblyPart->getDownstreamParts(docsToMove[0].first, movingJoint);
+        for (auto part : downstreamParts) {
+            auto* propPlacement =
+                dynamic_cast<App::PropertyPlacement*>(part->getPropertyByName("Placement"));
+            if (propPlacement) {
+                docsToMove.emplace_back(part, propPlacement->getValue());
+            }
+        }
+
+        jointVisibilityBackup = movingJoint->Visibility.getValue();
+        if (!jointVisibilityBackup) {
+            movingJoint->Visibility.setValue(true);
+        }
+
+        if (jointType == JointType::Revolute) {
+            return DragMode::RotationOnPlane;
+        }
+        else if (jointType == JointType::Slider) {
+            return DragMode::TranslationOnAxis;
+        }
+        else if (jointType == JointType::Cylindrical) {
+            return DragMode::TranslationOnAxisAndRotationOnePlane;
+        }
+        else if (jointType == JointType::Ball) {
+            // return DragMode::Ball;
+        }
+        else if (jointType == JointType::Distance) {
+            //  depends on the type of distance. For example plane-plane:
+            // return DragMode::TranslationOnPlane;
+        }
+    }
+    return DragMode::Translation;
+}
+
+void ViewProviderAssembly::initMove()
+{
+    Gui::Command::openCommand(tr("Move part").toStdString().c_str());
+    partMoving = true;
+
+    // prevent selection while moving
+    auto* view = dynamic_cast<Gui::View3DInventor*>(
+        Gui::Application::Instance->editDocument()->getActiveView());
+    if (view) {
+        Gui::View3DInventorViewer* viewerNotConst;
+        viewerNotConst = static_cast<Gui::View3DInventor*>(view)->getViewer();
+        viewerNotConst->setSelectionEnabled(false);
+    }
+
+    ParameterGrp::handle hGrp = App::GetApplication().GetParameterGroupByPath(
+        "User parameter:BaseApp/Preferences/Mod/Assembly");
+    bool solveOnMove = hGrp->GetBool("SolveOnMove", true);
+    if (solveOnMove) {
+        objectMasses.clear();
+        for (auto& pair : docsToMove) {
+            objectMasses.push_back({pair.first, 10.0});
+        }
+
+        auto* assemblyPart = static_cast<AssemblyObject*>(getObject());
+        assemblyPart->setObjMasses(objectMasses);
+        /*std::vector<App::DocumentObject*> dragParts;
+        for (auto& pair : docsToMove) {
+            dragParts.push_back(pair.first);
+        }
+        assemblyPart->preDrag(dragParts);*/
+    }
+}
+
+void ViewProviderAssembly::endMove()
+{
+    docsToMove = {};
+    partMoving = false;
+    canStartDragging = false;
+
+    if (movingJoint && !jointVisibilityBackup) {
+        movingJoint->Visibility.setValue(false);
+    }
+
+    movingJoint = nullptr;
+
+    // enable selection after the move
+    auto* view = dynamic_cast<Gui::View3DInventor*>(
+        Gui::Application::Instance->editDocument()->getActiveView());
+    if (view) {
+        Gui::View3DInventorViewer* viewerNotConst;
+        viewerNotConst = static_cast<Gui::View3DInventor*>(view)->getViewer();
+        viewerNotConst->setSelectionEnabled(true);
+    }
+
+    ParameterGrp::handle hGrp = App::GetApplication().GetParameterGroupByPath(
+        "User parameter:BaseApp/Preferences/Mod/Assembly");
+    bool solveOnMove = hGrp->GetBool("SolveOnMove", true);
+    if (solveOnMove) {
+        auto* assemblyPart = static_cast<AssemblyObject*>(getObject());
+        // assemblyPart->postDrag();
+        assemblyPart->setObjMasses({});
+    }
+
+    Gui::Command::commitCommand();
+}
+
+void ViewProviderAssembly::onSelectionChanged(const Gui::SelectionChanges& msg)
+{
+    if (msg.Type == Gui::SelectionChanges::AddSelection
+        || msg.Type == Gui::SelectionChanges::ClrSelection
+        || msg.Type == Gui::SelectionChanges::RmvSelection) {
+        canStartDragging = false;
+    }
+}
+
+bool ViewProviderAssembly::onDelete(const std::vector<std::string>& subNames)
+{
+    // Delete the joingroup when assembly is deleted
+    for (auto obj : getObject()->getOutList()) {
+        if (obj->getTypeId() == Assembly::JointGroup::getClassTypeId()) {
+            obj->getDocument()->removeObject(obj->getNameInDocument());
+        }
+    }
+
+    return ViewProviderPart::onDelete(subNames);
+}
+
+PyObject* ViewProviderAssembly::getPyObject()
+{
+    if (!pyViewObject) {
+        pyViewObject = new ViewProviderAssemblyPy(this);
+    }
+    pyViewObject->IncRef();
+    return pyViewObject;
+}

src/Mod/Assembly/Gui/ViewProviderAssembly.h

@@ -0,0 +1,143 @@
+// SPDX-License-Identifier: LGPL-2.1-or-later
+/****************************************************************************
+ *                                                                          *
+ *   Copyright (c) 2023 Ondsel <development@ondsel.com>                     *
+ *                                                                          *
+ *   This file is part of FreeCAD.                                          *
+ *                                                                          *
+ *   FreeCAD is free software: you can redistribute it and/or modify it     *
+ *   under the terms of the GNU Lesser General Public License as            *
+ *   published by the Free Software Foundation, either version 2.1 of the   *
+ *   License, or (at your option) any later version.                        *
+ *                                                                          *
+ *   FreeCAD is distributed in the hope that it will be useful, but         *
+ *   WITHOUT ANY WARRANTY; without even the implied warranty of             *
+ *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU       *
+ *   Lesser General Public License for more details.                        *
+ *                                                                          *
+ *   You should have received a copy of the GNU Lesser General Public       *
+ *   License along with FreeCAD. If not, see                                *
+ *   <https://www.gnu.org/licenses/>.                                       *
+ *                                                                          *
+ ***************************************************************************/
+
+#ifndef ASSEMBLYGUI_VIEWPROVIDER_ViewProviderAssembly_H
+#define ASSEMBLYGUI_VIEWPROVIDER_ViewProviderAssembly_H
+
+#include <QCoreApplication>
+
+#include <Mod/Assembly/AssemblyGlobal.h>
+
+#include <Gui/Selection.h>
+#include <Gui/ViewProviderPart.h>
+
+namespace Gui
+{
+class View3DInventorViewer;
+}
+
+namespace AssemblyGui
+{
+
+class AssemblyGuiExport ViewProviderAssembly: public Gui::ViewProviderPart,
+                                              public Gui::SelectionObserver
+{
+    Q_DECLARE_TR_FUNCTIONS(AssemblyGui::ViewProviderAssembly)
+    PROPERTY_HEADER_WITH_OVERRIDE(AssemblyGui::ViewProviderAssembly);
+
+    enum class DragMode
+    {
+        Translation,
+        TranslationOnAxis,
+        TranslationOnPlane,
+        Rotation,
+        RotationOnPlane,
+        TranslationOnAxisAndRotationOnePlane,
+        Ball,
+        None,
+    };
+
+public:
+    ViewProviderAssembly();
+    ~ViewProviderAssembly() override;
+
+    /// deliver the icon shown in the tree view. Override from ViewProvider.h
+    QIcon getIcon() const override;
+
+    bool doubleClicked() override;
+    bool onDelete(const std::vector<std::string>& subNames) override;
+
+    /** @name enter/exit edit mode */
+    //@{
+    bool setEdit(int ModNum) override;
+    void unsetEdit(int ModNum) override;
+    bool isInEditMode() const;
+
+    /// 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() const;
+
+
+    /// is called when the Provider is in edit and a key event ocours. Only ESC ends edit.
+    bool keyPressed(bool pressed, int key) override;
+    /// is called when the provider is in edit and the mouse is moved
+    bool mouseMove(const SbVec2s& pos, Gui::View3DInventorViewer* viewer) override;
+    /// is called when the Provider is in edit and the mouse is clicked
+    bool mouseButtonPressed(int Button,
+                            bool pressed,
+                            const SbVec2s& cursorPos,
+                            const Gui::View3DInventorViewer* viewer) override;
+
+    /// Finds what drag mode should be used based on the user selection.
+    DragMode findDragMode();
+    void initMove();
+    void endMove();
+    virtual void setEnableMovement(bool enable = true)
+    {
+        enableMovement = enable;
+    }
+    virtual bool getEnableMovement() const
+    {
+        return enableMovement;
+    }
+
+    bool getSelectedObjectsWithinAssembly();
+    App::DocumentObject* getObjectFromSubNames(std::vector<std::string>& subNames);
+    std::vector<std::string> parseSubNames(std::string& subNamesStr);
+
+    /// Get the python wrapper for that ViewProvider
+    PyObject* getPyObject() override;
+
+    // protected:
+    /// get called by the container whenever a property has been changed
+    // void onChanged(const App::Property* prop) override;
+
+    void onSelectionChanged(const Gui::SelectionChanges& msg) override;
+
+    DragMode dragMode;
+    bool canStartDragging;
+    bool partMoving;
+    bool enableMovement;
+    bool jointVisibilityBackup;
+    int numberOfSel;
+    Base::Vector3d prevPosition;
+    Base::Vector3d initialPosition;
+    Base::Vector3d initialPositionRot;
+    Base::Placement jcsPlc;
+    Base::Placement jcsGlobalPlc;
+
+    App::DocumentObject* movingJoint;
+
+    std::vector<std::pair<App::DocumentObject*, double>> objectMasses;
+    std::vector<std::pair<App::DocumentObject*, Base::Placement>> docsToMove;
+};
+
+}  // namespace AssemblyGui
+
+#endif  // ASSEMBLYGUI_VIEWPROVIDER_ViewProviderAssembly_H

src/Mod/Assembly/Gui/ViewProviderAssemblyPy.xml

@@ -0,0 +1,23 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<GenerateModel xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="generateMetaModel_Module.xsd">
+    <PythonExport
+        Father="ViewProviderPy"
+        Name="ViewProviderAssemblyPy"
+        Twin="ViewProviderAssembly"
+        TwinPointer="ViewProviderAssembly"
+        Include="Mod/Assembly/Gui/ViewProviderAssembly.h"
+        Namespace="AssemblyGui"
+        FatherInclude="Gui/ViewProviderPy.h"
+        FatherNamespace="Gui">
+        <Documentation>
+            <Author Licence="LGPL" Name="Ondsel" EMail="development@ondsel.com" />
+            <UserDocu>This is the ViewProviderAssembly class</UserDocu>
+        </Documentation>
+        <Attribute Name="EnableMovement">
+            <Documentation>
+                <UserDocu>Enable moving the parts by clicking and dragging.</UserDocu>
+            </Documentation>
+            <Parameter Name="EnableMoving" Type="Boolean" />
+        </Attribute>
+    </PythonExport>
+</GenerateModel>

src/Mod/Assembly/Gui/ViewProviderAssemblyPyImp.cpp

@@ -0,0 +1,59 @@
+/***************************************************************************
+ *   Copyright (c) 2008 Werner Mayer <wmayer[at]users.sourceforge.net>     *
+ *                                                                         *
+ *   This file is part of the FreeCAD CAx development system.              *
+ *                                                                         *
+ *   This library is free software; you can redistribute it and/or         *
+ *   modify it under the terms of the GNU Library General Public           *
+ *   License as published by the Free Software Foundation; either          *
+ *   version 2 of the License, or (at your option) any later version.      *
+ *                                                                         *
+ *   This library  is distributed in the hope that it will be useful,      *
+ *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
+ *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
+ *   GNU Library General Public License for more details.                  *
+ *                                                                         *
+ *   You should have received a copy of the GNU Library General Public     *
+ *   License along with this library; see the file COPYING.LIB. If not,    *
+ *   write to the Free Software Foundation, Inc., 59 Temple Place,         *
+ *   Suite 330, Boston, MA  02111-1307, USA                                *
+ *                                                                         *
+ **************************************************************************/
+
+#include "PreCompiled.h"
+
+// inclusion of the generated files (generated out of ViewProviderAssemblyPy.xml)
+#include "ViewProviderAssemblyPy.h"
+#include "ViewProviderAssemblyPy.cpp"
+
+
+using namespace Gui;
+
+// returns a string which represents the object e.g. when printed in python
+std::string ViewProviderAssemblyPy::representation() const
+{
+    std::stringstream str;
+    str << "<Assembly View provider object at " << getViewProviderAssemblyPtr() << ">";
+
+    return str.str();
+}
+
+Py::Boolean ViewProviderAssemblyPy::getEnableMovement() const
+{
+    return {getViewProviderAssemblyPtr()->getEnableMovement()};
+}
+
+void ViewProviderAssemblyPy::setEnableMovement(Py::Boolean arg)
+{
+    getViewProviderAssemblyPtr()->setEnableMovement(arg);
+}
+
+PyObject* ViewProviderAssemblyPy::getCustomAttributes(const char* /*attr*/) const
+{
+    return nullptr;
+}
+
+int ViewProviderAssemblyPy::setCustomAttributes(const char* /*attr*/, PyObject* /*obj*/)
+{
+    return 0;
+}

src/Mod/Assembly/Gui/ViewProviderJointGroup.cpp

@@ -0,0 +1,55 @@
+// SPDX-License-Identifier: LGPL-2.1-or-later
+/****************************************************************************
+ *                                                                          *
+ *   Copyright (c) 2023 Ondsel <development@ondsel.com>                     *
+ *                                                                          *
+ *   This file is part of FreeCAD.                                          *
+ *                                                                          *
+ *   FreeCAD is free software: you can redistribute it and/or modify it     *
+ *   under the terms of the GNU Lesser General Public License as            *
+ *   published by the Free Software Foundation, either version 2.1 of the   *
+ *   License, or (at your option) any later version.                        *
+ *                                                                          *
+ *   FreeCAD is distributed in the hope that it will be useful, but         *
+ *   WITHOUT ANY WARRANTY; without even the implied warranty of             *
+ *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU       *
+ *   Lesser General Public License for more details.                        *
+ *                                                                          *
+ *   You should have received a copy of the GNU Lesser General Public       *
+ *   License along with FreeCAD. If not, see                                *
+ *   <https://www.gnu.org/licenses/>.                                       *
+ *                                                                          *
+ ***************************************************************************/
+
+#include "PreCompiled.h"
+
+#ifndef _PreComp_
+#endif
+
+#include <App/Document.h>
+#include <App/DocumentObject.h>
+#include <Gui/Application.h>
+#include <Gui/BitmapFactory.h>
+
+#include "ViewProviderJointGroup.h"
+
+
+using namespace AssemblyGui;
+
+PROPERTY_SOURCE(AssemblyGui::ViewProviderJointGroup, Gui::ViewProviderDocumentObjectGroup)
+
+ViewProviderJointGroup::ViewProviderJointGroup()
+{}
+
+ViewProviderJointGroup::~ViewProviderJointGroup() = default;
+
+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

@@ -0,0 +1,69 @@
+// SPDX-License-Identifier: LGPL-2.1-or-later
+/****************************************************************************
+ *                                                                          *
+ *   Copyright (c) 2023 Ondsel <development@ondsel.com>                     *
+ *                                                                          *
+ *   This file is part of FreeCAD.                                          *
+ *                                                                          *
+ *   FreeCAD is free software: you can redistribute it and/or modify it     *
+ *   under the terms of the GNU Lesser General Public License as            *
+ *   published by the Free Software Foundation, either version 2.1 of the   *
+ *   License, or (at your option) any later version.                        *
+ *                                                                          *
+ *   FreeCAD is distributed in the hope that it will be useful, but         *
+ *   WITHOUT ANY WARRANTY; without even the implied warranty of             *
+ *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU       *
+ *   Lesser General Public License for more details.                        *
+ *                                                                          *
+ *   You should have received a copy of the GNU Lesser General Public       *
+ *   License along with FreeCAD. If not, see                                *
+ *   <https://www.gnu.org/licenses/>.                                       *
+ *                                                                          *
+ ***************************************************************************/
+
+#ifndef ASSEMBLYGUI_VIEWPROVIDER_ViewProviderJointGroup_H
+#define ASSEMBLYGUI_VIEWPROVIDER_ViewProviderJointGroup_H
+
+#include <Mod/Assembly/AssemblyGlobal.h>
+
+#include <Gui/ViewProviderDocumentObjectGroup.h>
+
+
+namespace AssemblyGui
+{
+
+class AssemblyGuiExport ViewProviderJointGroup: public Gui::ViewProviderDocumentObjectGroup
+{
+    PROPERTY_HEADER_WITH_OVERRIDE(AssemblyGui::ViewProviderJointGroup);
+
+public:
+    ViewProviderJointGroup();
+    ~ViewProviderJointGroup() override;
+
+    /// 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;
+};
+
+}  // namespace AssemblyGui
+
+#endif  // ASSEMBLYGUI_VIEWPROVIDER_ViewProviderJointGroup_H

src/Mod/Assembly/Init.py

@@ -1,5 +1,5 @@
 # SPDX-License-Identifier: LGPL-2.1-or-later
-# /****************************************************************************
+# /**************************************************************************
 #                                                                           *
 #    Copyright (c) 2023 Ondsel <development@ondsel.com>                     *
 #                                                                           *
@@ -19,7 +19,7 @@
 #    License along with FreeCAD. If not, see                                *
 #    <https://www.gnu.org/licenses/>.                                       *
 #                                                                           *
-# ***************************************************************************/
+# **************************************************************************/
 
 # Get the Parameter Group of this module
 ParGrp = App.ParamGet("System parameter:Modules").GetGroup("Assembly")

src/Mod/Assembly/InitGui.py

@@ -1,5 +1,5 @@
 # SPDX-License-Identifier: LGPL-2.1-or-later
-# /****************************************************************************
+# /**************************************************************************
 #                                                                           *
 #    Copyright (c) 2023 Ondsel <development@ondsel.com>                     *
 #                                                                           *
@@ -19,7 +19,7 @@
 #    License along with FreeCAD. If not, see                                *
 #    <https://www.gnu.org/licenses/>.                                       *
 #                                                                           *
-# ***************************************************************************/
+# **************************************************************************/
 
 import Assembly_rc
 
@@ -49,7 +49,6 @@ class AssemblyWorkbench(Workbench):
     "Assembly workbench"
 
     def __init__(self):
-        print("Loading Assembly workbench...")
         self.__class__.Icon = (
             FreeCAD.getResourceDir() + "Mod/Assembly/Resources/icons/AssemblyWorkbench.svg"
         )
@@ -57,7 +56,6 @@ class AssemblyWorkbench(Workbench):
         self.__class__.ToolTip = "Assembly workbench"
 
     def Initialize(self):
-        print("Initializing Assembly workbench...")
         global AssemblyCommandGroup
 
         translate = FreeCAD.Qt.translate
@@ -65,7 +63,7 @@ class AssemblyWorkbench(Workbench):
         # load the builtin modules
         from PySide import QtCore, QtGui
         from PySide.QtCore import QT_TRANSLATE_NOOP
-        import CommandCreateAssembly, CommandInsertLink, CommandCreateJoint
+        import CommandCreateAssembly, CommandInsertLink, CommandCreateJoint, CommandSolveAssembly, CommandExportASMT
         from Preferences import PreferencesPage
 
         # from Preferences import preferences
@@ -76,28 +74,35 @@ class AssemblyWorkbench(Workbench):
         FreeCADGui.addPreferencePage(PreferencesPage, QT_TRANSLATE_NOOP("QObject", "Assembly"))
 
         # build commands list
-        cmdlist = ["Assembly_CreateAssembly", "Assembly_InsertLink"]
+        cmdList = [
+            "Assembly_CreateAssembly",
+            "Assembly_InsertLink",
+            "Assembly_SolveAssembly",
+        ]
+
+        cmdListMenuOnly = [
+            "Assembly_ExportASMT",
+        ]
+
         cmdListJoints = [
+            "Assembly_ToggleGrounded",
+            "Separator",
             "Assembly_CreateJointFixed",
             "Assembly_CreateJointRevolute",
             "Assembly_CreateJointCylindrical",
             "Assembly_CreateJointSlider",
             "Assembly_CreateJointBall",
-            "Assembly_CreateJointPlanar",
-            "Assembly_CreateJointParallel",
-            "Assembly_CreateJointTangent",
+            "Assembly_CreateJointDistance",
         ]
 
-        self.appendToolbar(QT_TRANSLATE_NOOP("Workbench", "Assembly"), cmdlist)
+        self.appendToolbar(QT_TRANSLATE_NOOP("Workbench", "Assembly"), cmdList)
         self.appendToolbar(QT_TRANSLATE_NOOP("Workbench", "Assembly Joints"), cmdListJoints)
 
         self.appendMenu(
             [QT_TRANSLATE_NOOP("Workbench", "&Assembly")],
-            cmdlist + ["Separator"] + cmdListJoints,
+            cmdList + cmdListMenuOnly + ["Separator"] + cmdListJoints,
         )
 
-        print("Assembly workbench loaded")
-
     def Activated(self):
         # update the translation engine
         FreeCADGui.updateLocale()

src/Mod/Assembly/Preferences.py

@@ -1,5 +1,5 @@
 # SPDX-License-Identifier: LGPL-2.1-or-later
-# /****************************************************************************
+# /**************************************************************************
 #                                                                           *
 #    Copyright (c) 2023 Ondsel <development@ondsel.com>                     *
 #                                                                           *
@@ -19,11 +19,13 @@
 #    License along with FreeCAD. If not, see                                *
 #    <https://www.gnu.org/licenses/>.                                       *
 #                                                                           *
-# ***************************************************************************/
+# **************************************************************************/
 
 import FreeCAD
 import FreeCADGui
 
+translate = FreeCAD.Qt.translate
+
 
 def preferences():
     return FreeCAD.ParamGet("User parameter:BaseApp/Preferences/Mod/Assembly")
@@ -34,7 +36,15 @@ class PreferencesPage:
         self.form = FreeCADGui.PySideUic.loadUi(":preferences/Assembly.ui")
 
     def saveSettings(self):
-        pass
+        pref = preferences()
+        pref.SetBool("LeaveEditWithEscape", self.form.checkBoxEnableEscape.isChecked())
+        pref.SetInt("GroundFirstPart", self.form.groundFirstPart.currentIndex())
 
     def loadSettings(self):
-        pass
+        pref = preferences()
+        self.form.checkBoxEnableEscape.setChecked(pref.GetBool("LeaveEditWithEscape", True))
+        self.form.groundFirstPart.clear()
+        self.form.groundFirstPart.addItem(translate("Assembly", "Ask"))
+        self.form.groundFirstPart.addItem(translate("Assembly", "Always"))
+        self.form.groundFirstPart.addItem(translate("Assembly", "Never"))
+        self.form.groundFirstPart.setCurrentIndex(pref.GetInt("GroundFirstPart", 0))

src/Mod/Assembly/TestAssemblyWorkbench.py

@@ -1,5 +1,5 @@
 # SPDX-License-Identifier: LGPL-2.1-or-later
-# /****************************************************************************
+# /**************************************************************************
 #                                                                           *
 #    Copyright (c) 2023 Ondsel <development@ondsel.com>                     *
 #                                                                           *
@@ -19,13 +19,12 @@
 #    License along with FreeCAD. If not, see                                *
 #    <https://www.gnu.org/licenses/>.                                       *
 #                                                                           *
-# ***************************************************************************/
+# **************************************************************************/
 
 import TestApp
 
 from AssemblyTests.TestCore import TestCore
 
 
-# dummy usage to get flake8 and lgtm quiet
-False if TestCore.__name__ else True
-False if TestApp.__name__ else True
+# Use the modules so that code checkers don't complain (flake8)
+True if TestCore else False

src/Mod/Assembly/UtilsAssembly.py

@@ -1,5 +1,5 @@
 # SPDX-License-Identifier: LGPL-2.1-or-later
-# /****************************************************************************
+# /**************************************************************************
 #                                                                           *
 #    Copyright (c) 2023 Ondsel <development@ondsel.com>                     *
 #                                                                           *
@@ -19,13 +19,18 @@
 #    License along with FreeCAD. If not, see                                *
 #    <https://www.gnu.org/licenses/>.                                       *
 #                                                                           *
-# ***************************************************************************/
+# **************************************************************************/
 
 import FreeCAD as App
+import Part
 
 if App.GuiUp:
     import FreeCADGui as Gui
 
+import PySide.QtCore as QtCore
+import PySide.QtGui as QtGui
+
+
 # translate = App.Qt.translate
 
 __title__ = "Assembly utilitary functions"
@@ -36,17 +41,35 @@ __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:
@@ -56,32 +79,299 @@ def isDocTemporary(doc):
     return temp
 
 
+def assembly_has_at_least_n_parts(n):
+    assembly = activeAssembly()
+    i = 0
+    if not assembly:
+        assembly = activePart()
+        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.LinkOrAssembly1.LinkOrPart1.LinkOrBox.Edge16"
+    # or           "Assembly.LinkOrAssembly1.LinkOrPart1.LinkOrBody.pad.Edge16"
+    # or           "Assembly.LinkOrAssembly1.LinkOrPart1.LinkOrBody.Local_CS.X"
+    # We want either LinkOrBody or LinkOrBox 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'
+    prevObj = None
 
-    if not obj:
-        return None
+    for i, objName in enumerate(names):
+        if i == 0:
+            prevObj = doc.getObject(objName)
+            if prevObj.TypeId == "App::Link":
+                prevObj = prevObj.getLinkedObject()
+            continue
 
-    if obj.TypeId == "PartDesign::Body":
-        return obj
-    elif obj.TypeId == "App::Link":
-        linked_obj = obj.getLinkedObject()
-        if linked_obj.TypeId == "PartDesign::Body":
+        obj = None
+        if prevObj.TypeId in {"App::Part", "Assembly::AssemblyObject", "App::DocumentObjectGroup"}:
+            for obji in prevObj.OutList:
+                if obji.Name == objName:
+                    obj = obji
+                    break
+
+        if obj is None:
+            return None
+
+        # the last is the element name. So if we are at the last but one name, then it must be the selected
+        if i == len(names) - 2:
             return obj
 
-    else:  # primitive, fastener, gear ... or link to primitive, fastener, gear...
-        return doc.getObject(parts[-2])
+        if obj.TypeId == "App::Link":
+            linked_obj = obj.getLinkedObject()
+            if linked_obj.TypeId == "PartDesign::Body":
+                if i + 1 < len(names):
+                    obj2 = None
+                    for obji in linked_obj.OutList:
+                        if obji.Name == names[i + 1]:
+                            obj2 = obji
+                            break
+                    if obj2 and isBodySubObject(obj2.TypeId):
+                        return obj2
+                return obj
+            elif linked_obj.isDerivedFrom("Part::Feature"):
+                return obj
+            else:
+                prevObj = linked_obj
+                continue
+
+        elif obj.TypeId in {"App::Part", "Assembly::AssemblyObject", "App::DocumentObjectGroup"}:
+            prevObj = obj
+            continue
+
+        elif obj.TypeId == "PartDesign::Body":
+            if i + 1 < len(names):
+                obj2 = None
+                for obji in obj.OutList:
+                    if obji.Name == names[i + 1]:
+                        obj2 = obji
+                        break
+                if obj2 and isBodySubObject(obj2.TypeId):
+                    return obj2
+            return obj
+
+        elif obj.isDerivedFrom("Part::Feature"):
+            # primitive, fastener, gear ...
+            return obj
+
+    return None
+
+
+def isBodySubObject(typeId):
+    return (
+        typeId == "Sketcher::SketchObject"
+        or typeId == "PartDesign::Point"
+        or typeId == "PartDesign::Line"
+        or typeId == "PartDesign::Plane"
+        or typeId == "PartDesign::CoordinateSystem"
+    )
+
+
+def getContainingPart(full_name, selected_object, activeAssemblyOrPart=None):
+    # full_name is "Assembly.Assembly1.LinkOrPart1.LinkOrBox.Edge16" -> LinkOrPart1
+    # or           "Assembly.Assembly1.LinkOrPart1.LinkOrBody.pad.Edge16" -> LinkOrPart1
+    # or           "Assembly.Assembly1.LinkOrPart1.LinkOrBody.Sketch.Edge1" -> LinkOrBody
+
+    if selected_object is None:
+        App.Console.PrintError("getContainingPart() in UtilsAssembly.py selected_object is None")
+        return None
+
+    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 == selected_object:
+            return selected_object
+
+        if obj.TypeId == "PartDesign::Body" and isBodySubObject(selected_object.TypeId):
+            if selected_object in obj.OutListRecursive:
+                return obj
+
+        # Note here we may want to specify a specific behavior for Assembly::AssemblyObject.
+        if obj.TypeId == "App::Part":
+            if selected_object in obj.OutListRecursive:
+                if not activeAssemblyOrPart:
+                    return obj
+                elif activeAssemblyOrPart in obj.OutListRecursive or obj == activeAssemblyOrPart:
+                    continue
+                else:
+                    return obj
+
+        elif obj.TypeId == "App::Link":
+            linked_obj = obj.getLinkedObject()
+            if linked_obj.TypeId == "PartDesign::Body" and isBodySubObject(selected_object.TypeId):
+                if selected_object in linked_obj.OutListRecursive:
+                    return obj
+            if linked_obj.TypeId == "App::Part":
+                # linked_obj_doc = linked_obj.Document
+                # selected_obj_in_doc = doc.getObject(selected_object.Name)
+                if selected_object in linked_obj.OutListRecursive:
+                    if not activeAssemblyOrPart:
+                        return obj
+                    elif (linked_obj.Document == activeAssemblyOrPart.Document) and (
+                        activeAssemblyOrPart in linked_obj.OutListRecursive
+                        or linked_obj == activeAssemblyOrPart
+                    ):
+                        continue
+                    else:
+                        return obj
+
+    # no container found so we return the object itself.
+    return selected_object
+
+
+def getObjectInPart(objName, part):
+    if part.Name == objName:
+        return part
+
+    if part.TypeId == "App::Link":
+        part = part.getLinkedObject()
+
+    if part.TypeId in {
+        "App::Part",
+        "Assembly::AssemblyObject",
+        "App::DocumentObjectGroup",
+        "PartDesign::Body",
+    }:
+        for obji in part.OutListRecursive:
+            if obji.Name == objName:
+                return obji
+
+    return None
+
+
+# get the placement of Obj relative to its containing Part
+# Example : assembly.part1.part2.partn.body1 : placement of Obj relative to part1
+def getObjPlcRelativeToPart(objName, part):
+    obj = getObjectInPart(objName, part)
+
+    # we need plc to be relative to the containing part
+    obj_global_plc = getGlobalPlacement(obj, part)
+    part_global_plc = getGlobalPlacement(part)
+
+    return part_global_plc.inverse() * obj_global_plc
+
+
+# Example : assembly.part1.part2.partn.body1 : jcsPlc is relative to body1
+# This function returns jcsPlc relative to part1
+def getJcsPlcRelativeToPart(jcsPlc, objName, part):
+    obj_relative_plc = getObjPlcRelativeToPart(objName, part)
+    return obj_relative_plc * jcsPlc
+
+
+# Return the jcs global placement
+def getJcsGlobalPlc(jcsPlc, objName, part):
+    obj = getObjectInPart(objName, part)
+
+    obj_global_plc = getGlobalPlacement(obj, part)
+    return obj_global_plc * jcsPlc
+
+
+# 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):
+    if targetObj is None:
+        return App.Placement()
+
+    inContainerBranch = container is None
+    for rootObj in App.activeDocument().RootObjects:
+        foundPlacement = getTargetPlacementRelativeTo(
+            targetObj, rootObj, container, inContainerBranch
+        )
+        if foundPlacement is not None:
+            return foundPlacement
+
+    return App.Placement()
+
+
+def isThereOneRootAssembly():
+    for part in App.activeDocument().RootObjects:
+        if part.TypeId == "Assembly::AssemblyObject":
+            return True
+    return False
+
+
+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 in {"App::Part", "Assembly::AssemblyObject", "PartDesign::Body"}:
+        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 part == linked_obj or linked_obj is None:
+            return None  # upon loading this can happen for external links.
+
+        if linked_obj.TypeId in {"App::Part", "Assembly::AssemblyObject", "PartDesign::Body"}:
+            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 +383,10 @@ def getElementName(full_name):
         # At minimum "Assembly.Box.edge16". It shouldn't be shorter
         return ""
 
+    # case of PartDesign datums : CoordinateSystem, point, line, plane
+    if parts[-1] in {"X", "Y", "Z", "Point", "Line", "Plane"}:
+        return ""
+
     return parts[-1]
 
 
@@ -147,14 +441,25 @@ 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 +467,28 @@ 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 +497,46 @@ 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 +545,14 @@ 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
 
@@ -244,3 +592,54 @@ def color_from_unsigned(c):
         float(int((c >> 16) & 0xFF) / 255),
         float(int((c >> 8) & 0xFF) / 255),
     ]
+
+
+def getJointGroup(assembly):
+    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)

src/Tools/updatecrowdin.py

@@ -111,6 +111,11 @@ locations = [
     ],
     ["App", "../App/Resources/translations", "../App/Resources/App.qrc"],
     ["Arch", "../Mod/Arch/Resources/translations", "../Mod/Arch/Resources/Arch.qrc"],
+    [
+        "Assembly",
+        "../Mod/Assembly/Gui/Resources/translations",
+        "../Mod/Assembly/Gui/Resources/Assembly.qrc",
+    ],
     [
         "draft",
         "../Mod/Draft/Resources/translations",

src/Tools/updatets.py

@@ -67,6 +67,11 @@ directories = [
         "workingdir": "./src/Mod/Arch/",
         "tsdir": "Resources/translations",
     },
+    {
+        "tsname": "Assembly",
+        "workingdir": "./src/Mod/Assembly/",
+        "tsdir": "Gui/Resources/translations",
+    },
     {
         "tsname": "Draft",
         "workingdir": "./src/Mod/Draft/",

tests/CMakeLists.txt

@@ -78,6 +78,9 @@ set(TestExecutables
     Tests_run
 )
 
+if(BUILD_ASSEMBLY)
+  list (APPEND TestExecutables Assembly_tests_run)
+endif(BUILD_ASSEMBLY)
 if(BUILD_MATERIAL)
   list (APPEND TestExecutables Material_tests_run)
 endif(BUILD_MATERIAL)

tests/src/Base/Vector3D.cpp

@@ -316,4 +316,16 @@ TEST(Vector, TestIsParallelShortVectors)
     EXPECT_FALSE(vec.IsParallel(Base::Vector3d(0.01, 0.02, 0.04), 0.02));
 }
 
+TEST(Vector, TestAngleOriented)
+{
+    Base::Vector3d vec1(0.000001, 0, 0);
+    Base::Vector3d vec2(0, 0.000001, 0);
+    Base::Vector3d norm(0, 0, 0.000001);
+    double angle = vec1.GetAngleOriented(vec2, norm);
+    EXPECT_EQ(angle, Base::float_traits<double>::pi() * 0.5);
+    angle = vec2.GetAngleOriented(vec1, norm);
+    EXPECT_EQ(angle, Base::float_traits<double>::pi() * 1.5);
+}
+
 // NOLINTEND
+

tests/src/Mod/Assembly/App/AssemblyObject.cpp

@@ -0,0 +1,57 @@
+// SPDX-License-Identifier: LGPL-2.1-or-later
+
+#include "gtest/gtest.h"
+
+#include <FCConfig.h>
+
+#include <App/Application.h>
+#include <App/Document.h>
+#include <App/Expression.h>
+#include <App/ObjectIdentifier.h>
+#include <Mod/Assembly/App/AssemblyObject.h>
+#include <Mod/Assembly/App/JointGroup.h>
+#include <src/App/InitApplication.h>
+
+class AssemblyObjectTest: public ::testing::Test
+{
+protected:
+    static void SetUpTestSuite()
+    {
+        tests::initApplication();
+    }
+
+    void SetUp() override
+    {
+        _docName = App::GetApplication().getUniqueDocumentName("test");
+        auto _doc = App::GetApplication().newDocument(_docName.c_str(), "testUser");
+        _assemblyObj =
+            static_cast<Assembly::AssemblyObject*>(_doc->addObject("Assembly::AssemblyObject"));
+        _jointGroupObj = static_cast<Assembly::JointGroup*>(
+            _assemblyObj->addObject("Assembly::JointGroup", "jointGroupTest"));
+    }
+
+    void TearDown() override
+    {
+        App::GetApplication().closeDocument(_docName.c_str());
+    }
+
+    Assembly::AssemblyObject* getObject()
+    {
+        return _assemblyObj;
+    }
+
+private:
+    // TODO: use shared_ptr or something else here?
+    Assembly::AssemblyObject* _assemblyObj;
+    Assembly::JointGroup* _jointGroupObj;
+    std::string _docName;
+};
+
+TEST_F(AssemblyObjectTest, createAssemblyObject)  // NOLINT
+{
+    // Arrange
+
+    // Act
+
+    // Assert
+}

tests/src/Mod/Assembly/App/CMakeLists.txt

@@ -0,0 +1,5 @@
+target_sources(
+    Assembly_tests_run
+        PRIVATE
+            ${CMAKE_CURRENT_SOURCE_DIR}/AssemblyObject.cpp
+)

tests/src/Mod/Assembly/CMakeLists.txt

@@ -0,0 +1,15 @@
+
+target_include_directories(Assembly_tests_run PUBLIC
+    ${EIGEN3_INCLUDE_DIR}
+    ${OCC_INCLUDE_DIR}
+    ${Python3_INCLUDE_DIRS}
+    ${XercesC_INCLUDE_DIRS}
+)
+
+target_link_libraries(Assembly_tests_run
+    gtest_main
+    ${Google_Tests_LIBS}
+    Assembly
+)
+
+add_subdirectory(App)

tests/src/Mod/CMakeLists.txt

@@ -1,3 +1,6 @@
+if(BUILD_ASSEMBLY)
+  add_subdirectory(Assembly)
+endif(BUILD_ASSEMBLY)
 if(BUILD_MATERIAL)
   add_subdirectory(Material)
 endif(BUILD_MATERIAL)