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Assembly: Make RackPinion and Screw easier to setup.

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This commit is contained in:
PaddleStroke
2024-04-17 12:45:18 +02:00
committed by Yorik van Havre
parent b44505db39
commit 98c518835c
4 changed files with 180 additions and 24 deletions
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173
src/Mod/Assembly/App/AssemblyObject.cpp
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@@ -845,6 +845,15 @@ std::shared_ptr<ASMTJoint> AssemblyObject::makeMbdJointOfType(App::DocumentObjec
return mbdJoint;
}
else if (type == JointType::Screw) {
int slidingIndex = slidingPartIndex(joint);
if (slidingIndex == 0) { // invalid this joint needs a slider
return nullptr;
}
if (slidingIndex != 1) {
swapJCS(joint); // make sure that sliding is first.
}
auto mbdJoint = CREATE<ASMTScrewJoint>::With();
mbdJoint->pitch = getJointDistance(joint);
return mbdJoint;
@@ -1066,13 +1075,21 @@ AssemblyObject::makeMbdJoint(App::DocumentObject* joint)
return {};
}
std::string fullMarkerName1 = handleOneSideOfJoint(joint, "Object1", "Part1", "Placement1");
std::string fullMarkerName2 = handleOneSideOfJoint(joint, "Object2", "Part2", "Placement2");
std::string jointName = joint->getFullName();
std::string fullMarkerNameI, fullMarkerNameJ;
if (jointType == JointType::RackPinion) {
getRackPinionMarkers(joint, fullMarkerNameI, fullMarkerNameJ);
}
else {
fullMarkerNameI = handleOneSideOfJoint(joint, "Object1", "Part1", "Placement1");
fullMarkerNameJ = handleOneSideOfJoint(joint, "Object2", "Part2", "Placement2");
}
if (fullMarkerNameI == "" || fullMarkerNameJ == "") {
return {};
}
mbdJoint->setName(joint->getFullName());
mbdJoint->setMarkerI(fullMarkerName1);
mbdJoint->setMarkerJ(fullMarkerName2);
mbdJoint->setMarkerI(fullMarkerNameI);
mbdJoint->setMarkerJ(fullMarkerNameJ);
// Add limits if needed.
auto* prop = dynamic_cast<App::PropertyBool*>(joint->getPropertyByName("EnableLimits"));
@@ -1083,9 +1100,8 @@ AssemblyObject::makeMbdJoint(App::DocumentObject* joint)
if (propLenMin) {
auto limit = ASMTTranslationLimit::With();
limit->setName(joint->getFullName() + "-LimitLenMin");
limit->setMarkerI(fullMarkerName1);
limit->setMarkerJ(fullMarkerName2);
// limit->setmotionJoint(jointName);
limit->setMarkerI(fullMarkerNameI);
limit->setMarkerJ(fullMarkerNameJ);
limit->settype("=>");
limit->setlimit(std::to_string(propLenMin->getValue()));
limit->settol("1.0e-9");
@@ -1096,8 +1112,8 @@ AssemblyObject::makeMbdJoint(App::DocumentObject* joint)
if (propLenMax) {
auto limit = ASMTTranslationLimit::With();
limit->setName(joint->getFullName() + "-LimitLenMax");
limit->setMarkerI(fullMarkerName1);
limit->setMarkerJ(fullMarkerName2);
limit->setMarkerI(fullMarkerNameI);
limit->setMarkerJ(fullMarkerNameJ);
limit->settype("=<");
limit->setlimit(std::to_string(propLenMax->getValue()));
limit->settol("1.0e-9");
@@ -1110,8 +1126,8 @@ AssemblyObject::makeMbdJoint(App::DocumentObject* joint)
if (propRotMin) {
auto limit = ASMTRotationLimit::With();
limit->setName(joint->getFullName() + "-LimitRotMin");
limit->setMarkerI(fullMarkerName1);
limit->setMarkerJ(fullMarkerName2);
limit->setMarkerI(fullMarkerNameI);
limit->setMarkerJ(fullMarkerNameJ);
limit->settype("=>");
limit->setlimit(std::to_string(propRotMin->getValue()) + "*pi/180.0");
limit->settol("1.0e-9");
@@ -1122,8 +1138,8 @@ AssemblyObject::makeMbdJoint(App::DocumentObject* joint)
if (propRotMax) {
auto limit = ASMTRotationLimit::With();
limit->setName(joint->getFullName() + "-LimiRotMax");
limit->setMarkerI(fullMarkerName1);
limit->setMarkerJ(fullMarkerName2);
limit->setMarkerI(fullMarkerNameI);
limit->setMarkerJ(fullMarkerNameJ);
limit->settype("=<");
limit->setlimit(std::to_string(propRotMax->getValue()) + "*pi/180.0");
limit->settol("1.0e-9");
@@ -1144,9 +1160,10 @@ std::string AssemblyObject::handleOneSideOfJoint(App::DocumentObject* joint,
App::DocumentObject* obj = getObjFromNameProp(joint, propObjName, propPartName);
if (!part) {
std::string msg = std::string("The property ") + propPartName + " of Joint "
+ joint->getFullName() + " is empty.\n";
THROWM(Base::ValueError, msg);
Base::Console().Warning("The property %s or Joint %s is empty.",
propPartName,
joint->getFullName());
return "";
}
std::shared_ptr<ASMTPart> mbdPart = getMbDPart(part);
@@ -1172,6 +1189,128 @@ std::string AssemblyObject::handleOneSideOfJoint(App::DocumentObject* joint,
return "/OndselAssembly/" + mbdPart->name + "/" + markerName;
}
void AssemblyObject::getRackPinionMarkers(App::DocumentObject* joint,
std::string& markerNameI,
std::string& markerNameJ)
{
// ASMT rack pinion joint must get the rack as I and pinion as J.
// - rack marker has to have Z axis parallel to pinion Z axis.
// - rack marker has to have X axis parallel to the sliding axis.
// The user will have selected the sliding marker so we need to transform it.
// And we need to detect which marker is the rack.
int slidingIndex = slidingPartIndex(joint);
if (slidingIndex == 0) {
return;
}
if (slidingIndex != 1) {
swapJCS(joint); // make sure that rack is first.
}
App::DocumentObject* part1 = getLinkObjFromProp(joint, "Part1");
App::DocumentObject* obj1 = getObjFromNameProp(joint, "Object1", "Part1");
Base::Placement plc1 = getPlacementFromProp(joint, "Placement1");
App::DocumentObject* part2 = getLinkObjFromProp(joint, "Part2");
App::DocumentObject* obj2 = getObjFromNameProp(joint, "Object2", "Part2");
Base::Placement plc2 = getPlacementFromProp(joint, "Placement2");
// For the pinion nothing special needed :
markerNameJ = handleOneSideOfJoint(joint, "Object2", "Part2", "Placement2");
// For the rack we need to change the placement :
// make the pinion plc relative to the rack placement.
Base::Placement pinion_global_plc = getGlobalPlacement(obj2, part2);
plc2 = pinion_global_plc * plc2;
Base::Placement rack_global_plc = getGlobalPlacement(obj1, part1);
plc2 = rack_global_plc.inverse() * plc2;
// The rot of the rack placement should be the same as the pinion, but with X axis along the
// slider axis.
Base::Rotation rot = plc2.getRotation();
// the yaw of rot has to be the same as plc1
Base::Vector3d currentZAxis = rot.multVec(Base::Vector3d(0, 0, 1));
Base::Vector3d currentXAxis = rot.multVec(Base::Vector3d(1, 0, 0));
Base::Vector3d targetXAxis = plc1.getRotation().multVec(Base::Vector3d(0, 0, 1));
// Calculate the angle between the current X axis and the target X axis
double yawAdjustment = currentXAxis.GetAngle(targetXAxis);
// Determine the direction of the yaw adjustment using cross product
Base::Vector3d crossProd = currentXAxis.Cross(targetXAxis);
if (currentZAxis * crossProd < 0) { // If cross product is in opposite direction to Z axis
yawAdjustment = -yawAdjustment;
}
// Create a yaw rotation around the Z axis
Base::Rotation yawRotation(currentZAxis, yawAdjustment);
// Combine the initial rotation with the yaw adjustment
Base::Rotation adjustedRotation = rot * yawRotation;
plc1.setRotation(adjustedRotation);
// Then end of processing similar to handleOneSideOfJoint :
if (obj1->getNameInDocument() != part1->getNameInDocument()) {
plc1 = rack_global_plc * plc1;
Base::Placement part_global_plc = getGlobalPlacement(part1);
plc1 = part_global_plc.inverse() * plc1;
}
std::string markerName = joint->getFullName();
auto mbdMarker = makeMbdMarker(markerName, plc1);
std::shared_ptr<ASMTPart> mbdPart = getMbDPart(part1);
mbdPart->addMarker(mbdMarker);
markerNameI = "/OndselAssembly/" + mbdPart->name + "/" + markerName;
}
int AssemblyObject::slidingPartIndex(App::DocumentObject* joint)
{
App::DocumentObject* part1 = getLinkObjFromProp(joint, "Part1");
App::DocumentObject* obj1 = getObjFromNameProp(joint, "Object1", "Part1");
Base::Placement plc1 = getPlacementFromProp(joint, "Placement1");
App::DocumentObject* part2 = getLinkObjFromProp(joint, "Part2");
App::DocumentObject* obj2 = getObjFromNameProp(joint, "Object2", "Part2");
Base::Placement plc2 = getPlacementFromProp(joint, "Placement2");
int slidingFound = 0;
for (auto* jt : getJoints(false, false)) {
if (getJointType(jt) == JointType::Slider) {
App::DocumentObject* jpart1 = getLinkObjFromProp(jt, "Part1");
App::DocumentObject* jpart2 = getLinkObjFromProp(jt, "Part2");
int found = 0;
Base::Placement plcjt, plci;
if (jpart1 == part1 || jpart1 == part2) {
found = (jpart1 == part1) ? 1 : 2;
plci = (jpart1 == part1) ? plc1 : plc2;
plcjt = getPlacementFromProp(jt, "Placement1");
}
else if (jpart2 == part1 || jpart2 == part2) {
found = (jpart2 == part1) ? 1 : 2;
plci = (jpart2 == part1) ? plc1 : plc2;
plcjt = getPlacementFromProp(jt, "Placement2");
}
if (found != 0) {
// check the placements plcjt and (jcs1 or jcs2 depending on found value) Z axis are
// colinear ie if their pitch and roll are the same.
double y1, p1, r1, y2, p2, r2;
plcjt.getRotation().getYawPitchRoll(y1, p1, r1);
plci.getRotation().getYawPitchRoll(y2, p2, r2);
if (fabs(p1 - p2) < Precision::Confusion()
&& fabs(r1 - r2) < Precision::Confusion()) {
slidingFound = found;
}
}
}
}
return slidingFound;
}
std::shared_ptr<ASMTPart> AssemblyObject::getMbDPart(App::DocumentObject* obj)
{
std::shared_ptr<ASMTPart> mbdPart;