Assembly : Add support for perspective camera.

Remove exportASMT from toolbar. Fix Fixedjoint name and tooltip Fix various bugs Introduce solver drag functions.
2024-01-11 16:51:54 +01:00
parent 46b1a1ebfc
commit cdb1af6543
9 changed files with 760 additions and 623 deletions
--- a/src/Gui/View3DInventorViewer.cpp
+++ b/src/Gui/View3DInventorViewer.cpp
@@ -2737,7 +2737,7 @@ SbVec3f View3DInventorViewer::getPointOnLine(const SbVec2s& pnt, const SbVec3f&
    SbLine projectedLine = projectLineOntoPlane(axisCenter, axisCenter + axis, focalPlane);
    ptOnFocalPlaneAndOnLine = projectedLine.getClosestPoint(ptOnFocalPlane);

-    // now we need the intersection point between 
+    // now we need the intersection point between
    // - the line passing by ptOnFocalPlaneAndOnLine normal to focalPlane
    // - The line (axisCenter, axisCenter + axis)

@@ -4077,4 +4077,4 @@ void View3DInventorViewer::dragLeaveEvent(QDragLeaveEvent* ev)
    inherited::dragLeaveEvent(ev);
 }

-#include "moc_View3DInventorViewer.cpp"
+#include "moc_View3DInventorViewer.cpp" // NOLINT
--- a/src/Mod/Assembly/App/AssemblyObject.cpp
+++ b/src/Mod/Assembly/App/AssemblyObject.cpp
--- a/src/Mod/Assembly/App/AssemblyObject.h
+++ b/src/Mod/Assembly/App/AssemblyObject.h
@@ -50,6 +50,7 @@ class Placement;
 class Rotation;
 }  // namespace Base

+
 namespace Assembly
 {

@@ -82,11 +83,25 @@ public:
        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);
@@ -101,22 +116,24 @@ public:
    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);
-    bool isJointConnectingPartToGround(App::DocumentObject* joint, const char* partPropName);
-    std::vector<App::DocumentObject*> getGroundedJoints();
-    void fixGroundedPart(App::DocumentObject* obj, Base::Placement& plc, std::string& jointName);
-    std::vector<App::DocumentObject*> fixGroundedParts();
    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);
@@ -125,17 +142,9 @@ public:
                                       const std::vector<App::DocumentObject*>& joints);
    std::vector<App::DocumentObject*>
    getConnectedParts(App::DocumentObject* part, const std::vector<App::DocumentObject*>& joints);
-
-    JointGroup* getJointGroup();
-
-    void swapJCS(App::DocumentObject* joint);
-
-    void setNewPlacements();
-    void redrawJointPlacements(std::vector<App::DocumentObject*> joints);
-    void recomputeJointPlacements(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);
@@ -144,17 +153,13 @@ public:
    double getObjMass(App::DocumentObject* obj);
    void setObjMasses(std::vector<std::pair<App::DocumentObject*, double>> objectMasses);

-    bool isEdgeType(App::DocumentObject* obj, const char* elName, GeomAbs_CurveType type);
-    bool isFaceType(App::DocumentObject* obj, const char* elName, GeomAbs_SurfaceType type);
-    double getFaceRadius(App::DocumentObject* obj, const char* elName);
-    double getEdgeRadius(App::DocumentObject* obj, const char* elName);
-

 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;

@@ -166,6 +171,13 @@ public:
    // 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);
--- a/src/Mod/Assembly/CommandCreateJoint.py
+++ b/src/Mod/Assembly/CommandCreateJoint.py
@@ -64,13 +64,19 @@ class CommandCreateJointFixed:
            "Pixmap": "Assembly_CreateJointFixed",
            "MenuText": QT_TRANSLATE_NOOP(
                "Assembly_CreateJointFixed",
-                "If an assembly is active : Create a Fixed Joint.\n If a part is active : Position sub parts by matching.",
+                "Create a Fixed Joint",
            ),
            "Accel": "J",
            "ToolTip": "<p>"
            + QT_TRANSLATE_NOOP(
                "Assembly_CreateJointFixed",
-                "Create a Fixed Joint: Permanently locks two parts together, preventing any movement or rotation.",
+                "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 seleted coordinate systems. The second part selected will move.",
            )
            + "</p>",
            "CmdType": "ForEdit",
@@ -270,6 +276,7 @@ class CommandToggleGrounded:
                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")
@@ -281,10 +288,12 @@ class CommandToggleGrounded:
                        doc = App.ActiveDocument
                        doc.removeObject(joint.Name)
                        doc.recompute()
-                        return
+                        ungrounded = True
+                        break
+                if ungrounded:
+                    continue

                # Create groundedJoint.
-
                part_containing_obj.Label = part_containing_obj.Label + " 🔒"
                ground = joint_group.newObject("App::FeaturePython", "GroundedJoint")
                JointObject.GroundedJoint(ground, part_containing_obj)
--- a/src/Mod/Assembly/Gui/ViewProviderAssembly.cpp
+++ b/src/Mod/Assembly/Gui/ViewProviderAssembly.cpp
@@ -75,6 +75,7 @@ PROPERTY_SOURCE(AssemblyGui::ViewProviderAssembly, Gui::ViewProviderPart)

 ViewProviderAssembly::ViewProviderAssembly()
    : SelectionObserver(true)
+    , dragMode(DragMode::None)
    , canStartDragging(false)
    , partMoving(false)
    , enableMovement(true)
@@ -116,7 +117,7 @@ bool ViewProviderAssembly::doubleClicked()

 bool ViewProviderAssembly::canDragObject(App::DocumentObject* obj) const
 {
-    Base::Console().Warning("ViewProviderAssembly::canDragObject\n");
+    // The user should not be able to drag the joint group out of the assembly
    if (!obj || obj->getTypeId() == Assembly::JointGroup::getClassTypeId()) {
        return false;
    }
@@ -210,7 +211,7 @@ void ViewProviderAssembly::unsetEdit(int ModNum)
                            PARTKEY);
 }

-bool ViewProviderAssembly::isInEditMode()
+bool ViewProviderAssembly::isInEditMode() const
 {
    App::DocumentObject* activePart = getActivePart();
    if (!activePart) {
@@ -220,20 +221,18 @@ bool ViewProviderAssembly::isInEditMode()
    return activePart == this->getObject();
 }

-App::DocumentObject* ViewProviderAssembly::getActivePart()
+App::DocumentObject* ViewProviderAssembly::getActivePart() const
 {
-    App::DocumentObject* activePart = nullptr;
    auto activeDoc = Gui::Application::Instance->activeDocument();
    if (!activeDoc) {
        activeDoc = getDocument();
    }
-    auto activeView = activeDoc->setActiveView(this);
+    auto activeView = activeDoc->getActiveView();
    if (!activeView) {
        return nullptr;
    }

-    activePart = activeView->getActiveObject<App::DocumentObject*>(PARTKEY);
-    return activePart;
+    return activeView->getActiveObject<App::DocumentObject*>(PARTKEY);
 }

 bool ViewProviderAssembly::mouseMove(const SbVec2s& cursorPos, Gui::View3DInventorViewer* viewer)
@@ -243,21 +242,21 @@ bool ViewProviderAssembly::mouseMove(const SbVec2s& cursorPos, Gui::View3DInvent
        canStartDragging = false;

        if (enableMovement && getSelectedObjectsWithinAssembly()) {
-            moveMode = findMoveMode();
+            dragMode = findDragMode();

-            if (moveMode == MoveMode::None) {
+            if (dragMode == DragMode::None) {
                return false;
            }

            SbVec3f vec;
-            if (moveMode == MoveMode::RotationOnPlane
-                || moveMode == MoveMode::TranslationOnAxisAndRotationOnePlane) {
+            if (dragMode == DragMode::RotationOnPlane
+                || dragMode == DragMode::TranslationOnAxisAndRotationOnePlane) {
                vec = viewer->getPointOnXYPlaneOfPlacement(cursorPos, jcsGlobalPlc);
                initialPositionRot = Base::Vector3d(vec[0], vec[1], vec[2]);
            }

-            if (moveMode == MoveMode::TranslationOnAxis
-                || moveMode == MoveMode::TranslationOnAxisAndRotationOnePlane) {
+            if (dragMode == DragMode::TranslationOnAxis
+                || dragMode == DragMode::TranslationOnAxisAndRotationOnePlane) {
                Base::Vector3d zAxis =
                    jcsGlobalPlc.getRotation().multVec(Base::Vector3d(0., 0., 1.));
                Base::Vector3d pos = jcsGlobalPlc.getPosition();
@@ -266,9 +265,10 @@ bool ViewProviderAssembly::mouseMove(const SbVec2s& cursorPos, Gui::View3DInvent
                vec = viewer->getPointOnLine(cursorPos, axisCenter, axis);
                initialPosition = Base::Vector3d(vec[0], vec[1], vec[2]);
            }
-            else if (moveMode != MoveMode::RotationOnPlane) {
+            else if (dragMode != DragMode::RotationOnPlane) {
                vec = viewer->getPointOnFocalPlane(cursorPos);
                initialPosition = Base::Vector3d(vec[0], vec[1], vec[2]);
+                prevPosition = initialPosition;
            }

            initMove();
@@ -278,14 +278,14 @@ bool ViewProviderAssembly::mouseMove(const SbVec2s& cursorPos, Gui::View3DInvent
    // Do the dragging of parts
    if (partMoving) {
        Base::Vector3d newPos, newPosRot;
-        if (moveMode == MoveMode::RotationOnPlane
-            || moveMode == MoveMode::TranslationOnAxisAndRotationOnePlane) {
+        if (dragMode == DragMode::RotationOnPlane
+            || dragMode == DragMode::TranslationOnAxisAndRotationOnePlane) {
            SbVec3f vec = viewer->getPointOnXYPlaneOfPlacement(cursorPos, jcsGlobalPlc);
            newPosRot = Base::Vector3d(vec[0], vec[1], vec[2]);
        }

-        if (moveMode == MoveMode::TranslationOnAxis
-            || moveMode == MoveMode::TranslationOnAxisAndRotationOnePlane) {
+        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);
@@ -293,7 +293,7 @@ bool ViewProviderAssembly::mouseMove(const SbVec2s& cursorPos, Gui::View3DInvent
            SbVec3f vec = viewer->getPointOnLine(cursorPos, axisCenter, axis);
            newPos = Base::Vector3d(vec[0], vec[1], vec[2]);
        }
-        else if (moveMode != MoveMode::RotationOnPlane) {
+        else if (dragMode != DragMode::RotationOnPlane) {
            SbVec3f vec = viewer->getPointOnFocalPlane(cursorPos);
            newPos = Base::Vector3d(vec[0], vec[1], vec[2]);
        }
@@ -307,7 +307,7 @@ bool ViewProviderAssembly::mouseMove(const SbVec2s& cursorPos, Gui::View3DInvent
                Base::Placement plc = pair.second;
                // Base::Console().Warning("newPos %f %f %f\n", newPos.x, newPos.y, newPos.z);

-                if (moveMode == MoveMode::RotationOnPlane) {
+                if (dragMode == DragMode::RotationOnPlane) {
                    Base::Vector3d center = jcsGlobalPlc.getPosition();
                    Base::Vector3d norm =
                        jcsGlobalPlc.getRotation().multVec(Base::Vector3d(0., 0., -1.));
@@ -320,13 +320,18 @@ bool ViewProviderAssembly::mouseMove(const SbVec2s& cursorPos, Gui::View3DInvent
                    Base::Placement jcsPlcRelativeToPart = plc.inverse() * jcsGlobalPlc;
                    plc = rotatedGlovalJcsPlc * jcsPlcRelativeToPart.inverse();
                }
-                else if (moveMode == MoveMode::TranslationOnAxisAndRotationOnePlane) {
+                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.));
@@ -342,8 +347,12 @@ bool ViewProviderAssembly::mouseMove(const SbVec2s& cursorPos, Gui::View3DInvent
                    Base::Placement jcsPlcRelativeToPart = plc.inverse() * newJcsGlobalPlc;
                    plc = rotatedGlovalJcsPlc * jcsPlcRelativeToPart.inverse();
                }
-                else {
-                    Base::Vector3d pos = newPos + (plc.getPosition() - initialPosition);
+                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);
@@ -356,6 +365,7 @@ bool ViewProviderAssembly::mouseMove(const SbVec2s& cursorPos, Gui::View3DInvent
        if (solveOnMove) {
            auto* assemblyPart = static_cast<AssemblyObject*>(getObject());
            assemblyPart->solve();
+            // assemblyPart->doDragStep();
        }
    }
    return false;
@@ -532,7 +542,7 @@ App::DocumentObject* ViewProviderAssembly::getObjectFromSubNames(std::vector<std
    return appDoc->getObject(objName.c_str());
 }

-ViewProviderAssembly::MoveMode ViewProviderAssembly::findMoveMode()
+ViewProviderAssembly::DragMode ViewProviderAssembly::findDragMode()
 {
    if (docsToMove.size() == 1) {
        auto* assemblyPart = static_cast<AssemblyObject*>(getObject());
@@ -541,7 +551,7 @@ ViewProviderAssembly::MoveMode ViewProviderAssembly::findMoveMode()
            assemblyPart->getJointOfPartConnectingToGround(docsToMove[0].first, partPropName);

        if (!movingJoint) {
-            return MoveMode::Translation;
+            return DragMode::Translation;
        }

        JointType jointType = AssemblyObject::getJointType(movingJoint);
@@ -553,7 +563,7 @@ ViewProviderAssembly::MoveMode ViewProviderAssembly::findMoveMode()
                assemblyPart->getUpstreamMovingPart(docsToMove[0].first);
            docsToMove.clear();
            if (!upstreamPart) {
-                return MoveMode::None;
+                return DragMode::None;
            }

            auto* propPlacement =
@@ -565,7 +575,7 @@ ViewProviderAssembly::MoveMode ViewProviderAssembly::findMoveMode()
            movingJoint =
                assemblyPart->getJointOfPartConnectingToGround(docsToMove[0].first, partPropName);
            if (!movingJoint) {
-                return MoveMode::Translation;
+                return DragMode::Translation;
            }
            jointType = AssemblyObject::getJointType(movingJoint);
        }
@@ -597,20 +607,23 @@ ViewProviderAssembly::MoveMode ViewProviderAssembly::findMoveMode()
        }

        if (jointType == JointType::Revolute) {
-            return MoveMode::RotationOnPlane;
+            return DragMode::RotationOnPlane;
        }
        else if (jointType == JointType::Slider) {
-            return MoveMode::TranslationOnAxis;
+            return DragMode::TranslationOnAxis;
        }
        else if (jointType == JointType::Cylindrical) {
-            return MoveMode::TranslationOnAxisAndRotationOnePlane;
+            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 MoveMode::TranslationOnPlane;
+            // return DragMode::TranslationOnPlane;
        }
    }
-    return MoveMode::Translation;
+    return DragMode::Translation;
 }

 void ViewProviderAssembly::initMove()
@@ -627,14 +640,23 @@ void ViewProviderAssembly::initMove()
        viewerNotConst->setSelectionEnabled(false);
    }

-    objectMasses.clear();
+    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});
+        }

-    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);*/
    }
-
-    auto* assemblyPart = static_cast<AssemblyObject*>(getObject());
-    assemblyPart->setObjMasses(objectMasses);
 }

 void ViewProviderAssembly::endMove()
@@ -658,13 +680,18 @@ void ViewProviderAssembly::endMove()
        viewerNotConst->setSelectionEnabled(true);
    }

-    auto* assemblyPart = static_cast<AssemblyObject*>(getObject());
-    assemblyPart->setObjMasses({});
+    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
--- a/src/Mod/Assembly/Gui/ViewProviderAssembly.h
+++ b/src/Mod/Assembly/Gui/ViewProviderAssembly.h
@@ -45,6 +45,18 @@ class AssemblyGuiExport ViewProviderAssembly: public Gui::ViewProviderPart,
    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;
@@ -59,7 +71,7 @@ public:
    //@{
    bool setEdit(int ModNum) override;
    void unsetEdit(int ModNum) override;
-    bool isInEditMode();
+    bool isInEditMode() const;

    /// Ask the view provider if it accepts object deletions while in edit
    bool acceptDeletionsInEdit() override
@@ -69,19 +81,8 @@ public:

    bool canDragObject(App::DocumentObject*) const override;

-    App::DocumentObject* getActivePart();
+    App::DocumentObject* getActivePart() const;

-    enum class MoveMode
-    {
-        Translation,
-        TranslationOnAxis,
-        TranslationOnPlane,
-        Rotation,
-        RotationOnPlane,
-        TranslationOnAxisAndRotationOnePlane,
-        None,
-    };
-    MoveMode moveMode;

    /// is called when the provider is in edit and the mouse is moved
    bool mouseMove(const SbVec2s& pos, Gui::View3DInventorViewer* viewer) override;
@@ -90,18 +91,11 @@ public:
                            bool pressed,
                            const SbVec2s& cursorPos,
                            const Gui::View3DInventorViewer* viewer) override;
-    MoveMode findMoveMode();
+
+    /// Finds what drag mode should be used based on the user selection.
+    DragMode findDragMode();
    void initMove();
    void endMove();
-
-
-    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;
-
    virtual void setEnableMovement(bool enable = true)
    {
        enableMovement = enable;
@@ -111,17 +105,26 @@ public:
        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;
--- a/src/Mod/Assembly/InitGui.py
+++ b/src/Mod/Assembly/InitGui.py
@@ -75,10 +75,13 @@ class AssemblyWorkbench(Workbench):
        FreeCADGui.addPreferencePage(PreferencesPage, QT_TRANSLATE_NOOP("QObject", "Assembly"))

        # build commands list
-        cmdlist = [
+        cmdList = [
            "Assembly_CreateAssembly",
            "Assembly_InsertLink",
            "Assembly_SolveAssembly",
+        ]
+
+        cmdListMenuOnly = [
            "Assembly_ExportASMT",
        ]

@@ -93,12 +96,12 @@ class AssemblyWorkbench(Workbench):
            "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")
--- a/src/Mod/Assembly/JointObject.py
+++ b/src/Mod/Assembly/JointObject.py
@@ -83,8 +83,6 @@ def solveIfAllowed(assembly, storePrev=False):

 class Joint:
    def __init__(self, joint, type_index):
-        self.Type = "Joint"
-
        joint.Proxy = self

        joint.addProperty(
@@ -237,12 +235,11 @@ class Joint:

        self.setJointConnectors(joint, [])

-    def __getstate__(self):
-        return self.Type
+    def dumps(self):
+        return None

-    def __setstate__(self, state):
-        if state:
-            self.Type = state
+    def loads(self, state):
+        return None

    def getAssembly(self, joint):
        return joint.InList[0]
@@ -256,23 +253,25 @@ class Joint:
        # App.Console.PrintMessage("Change property: " + str(prop) + "\n")

        if prop == "Rotation" or prop == "Offset" or prop == "Distance":
-            if hasattr(
-                joint, "Vertex1"
-            ):  # during loading the onchanged may be triggered before full init.
+            # during loading the onchanged may be triggered before full init.
+            if hasattr(joint, "Vertex1"):  # so we check Vertex1
+                self.updateJCSPlacements(joint)
+                obj1 = UtilsAssembly.getObjectInPart(joint.Object1, joint.Part1)
+                obj2 = UtilsAssembly.getObjectInPart(joint.Object2, joint.Part2)
+                presolved = self.preSolve(
+                    joint,
+                    obj1,
+                    joint.Part1,
+                    obj2,
+                    joint.Part2,
+                    False,
+                )
+
                isAssembly = self.getAssembly(joint).Type == "Assembly"
-                if isAssembly:
+                if isAssembly and not presolved:
                    solveIfAllowed(self.getAssembly(joint))
                else:
                    self.updateJCSPlacements(joint)
-                    obj1 = UtilsAssembly.getObjectInPart(joint.Object1, joint.Part1)
-                    obj2 = UtilsAssembly.getObjectInPart(joint.Object2, joint.Part2)
-                    self.preSolve(
-                        joint,
-                        obj1,
-                        joint.Part1,
-                        obj2,
-                        joint.Part2,
-                    )

    def execute(self, fp):
        """Do something when doing a recomputation, this method is mandatory"""
@@ -380,6 +379,8 @@ class Joint:
        elt_type, elt_index = UtilsAssembly.extract_type_and_number(elt)
        vtx_type, vtx_index = UtilsAssembly.extract_type_and_number(vtx)

+        isLine = False
+
        if elt_type == "Vertex":
            vertex = obj.Shape.Vertexes[elt_index - 1]
            plc.Base = (vertex.X, vertex.Y, vertex.Z)
@@ -406,6 +407,7 @@ class Joint:
                plc.Rotation = App.Rotation(curve.Rotation)

            if curve.TypeId == "Part::GeomLine":
+                isLine = True
                plane_normal = curve.Direction
                plane_origin = App.Vector(0, 0, 0)
                plane = Part.Plane(plane_origin, plane_normal)
@@ -457,6 +459,15 @@ class Joint:
        # change plc to be relative to the object placement.
        plc = obj.Placement.inverse() * plc

+        # post-process of plc for some special cases
+        if elt_type == "Vertex":
+            plc.Rotation = App.Rotation()
+        elif isLine:
+            plane_normal = plc.Rotation.multVec(App.Vector(0, 0, 1))
+            plane_origin = App.Vector(0, 0, 0)
+            plane = Part.Plane(plane_origin, plane_normal)
+            plc.Rotation = App.Rotation(plane.Rotation)
+
        # change plc to be relative to the origin of the document.
        # global_plc = UtilsAssembly.getGlobalPlacement(obj, part)
        # plc = global_plc * plc
@@ -535,7 +546,7 @@ class Joint:
                        return App.Vector(res[0].X, res[0].Y, res[0].Z)
        return surface.Center

-    def preSolve(self, joint, obj1, part1, obj2, part2):
+    def preSolve(self, joint, obj1, part1, obj2, part2, savePlc=True):
        # The goal of this is to put the part in the correct position to avoid wrong placement by the solve.

        # we actually don't want to match perfectly the JCS, it is best to match them
@@ -543,8 +554,9 @@ class Joint:
        sameDir = self.areJcsSameDir(joint)

        if hasattr(self, "part2Connected") and not self.part2Connected:
-            self.partMovedByPresolved = joint.Part2
-            self.presolveBackupPlc = joint.Part2.Placement
+            if savePlc:
+                self.partMovedByPresolved = joint.Part2
+                self.presolveBackupPlc = joint.Part2.Placement

            globalJcsPlc1 = UtilsAssembly.getJcsGlobalPlc(
                joint.Placement1, joint.Object1, joint.Part1
@@ -555,10 +567,12 @@ class Joint:
            if not sameDir:
                jcsPlc2 = self.flipPlacement(jcsPlc2)
            joint.Part2.Placement = globalJcsPlc1 * jcsPlc2.inverse()
+            return True

        elif hasattr(self, "part1Connected") and not self.part1Connected:
-            self.partMovedByPresolved = joint.Part1
-            self.presolveBackupPlc = joint.Part1.Placement
+            if savePlc:
+                self.partMovedByPresolved = joint.Part1
+                self.presolveBackupPlc = joint.Part1.Placement

            globalJcsPlc2 = UtilsAssembly.getJcsGlobalPlc(
                joint.Placement2, joint.Object2, joint.Part2
@@ -569,6 +583,8 @@ class Joint:
            if not sameDir:
                jcsPlc1 = self.flipPlacement(jcsPlc1)
            joint.Part1.Placement = globalJcsPlc2 * jcsPlc1.inverse()
+            return True
+        return False

    def undoPreSolve(self):
        if self.partMovedByPresolved:
@@ -608,7 +624,10 @@ class ViewProviderJoint:

        camera = Gui.ActiveDocument.ActiveView.getCameraNode()
        self.cameraSensor = coin.SoFieldSensor(self.camera_callback, camera)
-        self.cameraSensor.attach(camera.height)
+        if isinstance(camera, coin.SoPerspectiveCamera):
+            self.cameraSensor.attach(camera.focalDistance)
+        elif isinstance(camera, coin.SoOrthographicCamera):
+            self.cameraSensor.attach(camera.height)

        self.app_obj = vobj.Object

@@ -711,7 +730,14 @@ class ViewProviderJoint:

    def get_JCS_size(self):
        camera = Gui.ActiveDocument.ActiveView.getCameraNode()
-        if not camera:
+
+        # Check if the camera is a perspective camera
+        if isinstance(camera, coin.SoPerspectiveCamera):
+            return camera.focalDistance.getValue() / 20
+        elif isinstance(camera, coin.SoOrthographicCamera):
+            return camera.height.getValue() / 20
+        else:
+            # Default value if camera type is unknown
            return 10

        return camera.height.getValue() / 20
@@ -736,7 +762,8 @@ class ViewProviderJoint:
                plc = joint.Placement1
                self.switch_JCS1.whichChild = coin.SO_SWITCH_ALL

-                self.set_JCS_placement(self.transform1, plc, joint.Object1, joint.Part1)
+                if joint.Part1:
+                    self.set_JCS_placement(self.transform1, plc, joint.Object1, joint.Part1)
            else:
                self.switch_JCS1.whichChild = coin.SO_SWITCH_NONE

@@ -745,7 +772,8 @@ class ViewProviderJoint:
                plc = joint.Placement2
                self.switch_JCS2.whichChild = coin.SO_SWITCH_ALL

-                self.set_JCS_placement(self.transform2, plc, joint.Object2, joint.Part2)
+                if joint.Part2:
+                    self.set_JCS_placement(self.transform2, plc, joint.Object2, joint.Part2)
            else:
                self.switch_JCS2.whichChild = coin.SO_SWITCH_NONE

@@ -827,7 +855,6 @@ class ViewProviderJoint:

 class GroundedJoint:
    def __init__(self, joint, obj_to_ground):
-        self.Type = "GoundedJoint"
        joint.Proxy = self
        self.joint = joint

@@ -852,12 +879,11 @@ class GroundedJoint:

        joint.Placement = obj_to_ground.Placement

-    def __getstate__(self):
-        return self.Type
+    def dumps(self):
+        return None

-    def __setstate__(self, state):
-        if state:
-            self.Type = state
+    def loads(self, state):
+        return None

    def onChanged(self, fp, prop):
        """Do something when a property has changed"""
--- a/src/Mod/Assembly/UtilsAssembly.py
+++ b/src/Mod/Assembly/UtilsAssembly.py
@@ -220,7 +220,7 @@ def getContainingPart(full_name, selected_object, activeAssemblyOrPart=None):
                if linked_obj.hasObject(selected_object, True):
                    if not activeAssemblyOrPart:
                        return obj
-                    elif (
+                    elif (linked_obj.Document == activeAssemblyOrPart.Document) and (
                        linked_obj.hasObject(activeAssemblyOrPart, True)
                        or linked_obj == activeAssemblyOrPart
                    ):
@@ -282,9 +282,14 @@ def getJcsGlobalPlc(jcsPlc, objName, part):
 # 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 part in App.activeDocument().RootObjects:
-        foundPlacement = getTargetPlacementRelativeTo(targetObj, part, container, inContainerBranch)
+    for rootObj in App.activeDocument().RootObjects:
+        foundPlacement = getTargetPlacementRelativeTo(
+            targetObj, rootObj, container, inContainerBranch
+        )
        if foundPlacement is not None:
            return foundPlacement

@@ -330,6 +335,8 @@ def getTargetPlacementRelativeTo(

    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: