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Assembly: Adds a pre-solve when creating joint, preventing wrong orthogonal solutions from solver.

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This commit is contained in:
Paddle
2024-01-08 22:12:42 +01:00
committed by PaddleStroke
parent 672b04c0c4
commit d13df26333
17 changed files with 367 additions and 123 deletions
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230
src/Mod/Assembly/JointObject.py
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@@ -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 math
@@ -79,12 +79,6 @@ def solveIfAllowed(assembly, storePrev=False):
assembly.solve(storePrev)
def flipPlacement(plc, localXAxis):
flipRot = App.Rotation(localXAxis, 180)
plc.Rotation = plc.Rotation.multiply(flipRot)
return plc
class Joint:
def __init__(self, joint, type_index, assembly):
self.Type = "Joint"
@@ -230,13 +224,14 @@ class Joint:
joint.addProperty(
"App::PropertyBool",
"FirstPartConnected",
"Activated",
"Joint",
QT_TRANSLATE_NOOP(
"App::Property",
"This indicate if the first part was connected to ground at the time of joint creation.",
"This indicate if the joint is active.",
),
)
joint.Activated = True
self.setJointConnectors(joint, [])
@@ -275,7 +270,7 @@ class Joint:
if len(current_selection) >= 1:
joint.Part1 = None
joint.FirstPartConnected = assembly.isPartConnected(current_selection[0]["part"])
self.part1Connected = assembly.isPartConnected(current_selection[0]["part"])
joint.Object1 = current_selection[0]["object"].Name
joint.Part1 = current_selection[0]["part"]
@@ -290,8 +285,12 @@ class Joint:
joint.Element1 = ""
joint.Vertex1 = ""
joint.Placement1 = App.Placement()
self.partMovedByPresolved = None
if len(current_selection) >= 2:
joint.Part2 = None
self.part2Connected = assembly.isPartConnected(current_selection[1]["part"])
joint.Object2 = current_selection[1]["object"].Name
joint.Part2 = current_selection[1]["part"]
joint.Element2 = current_selection[1]["element_name"]
@@ -299,7 +298,13 @@ class Joint:
joint.Placement2 = self.findPlacement(
joint, joint.Object2, joint.Part2, joint.Element2, joint.Vertex2, True
)
self.preventOrthogonal(joint)
self.preSolve(
joint,
current_selection[0]["object"],
joint.Part1,
current_selection[1]["object"],
joint.Part2,
)
solveIfAllowed(assembly, True)
else:
@@ -309,6 +314,7 @@ class Joint:
joint.Vertex2 = ""
joint.Placement2 = App.Placement()
assembly.undoSolve()
self.undoPreSolve()
def updateJCSPlacements(self, joint):
if not joint.Detach1:
@@ -455,34 +461,29 @@ class Joint:
plc.Rotation = rot * zRotation
return plc
def flipPart(self, joint):
if joint.FirstPartConnected:
plc = joint.Placement2 # relative to obj
obj = UtilsAssembly.getObjectInPart(joint.Object2, joint.Part2)
def flipPlacement(self, plc):
return self.applyRotationToPlacementAlongAxis(plc, 180, App.Vector(1, 0, 0))
# we need plc to be relative to the containing part
obj_global_plc = UtilsAssembly.getGlobalPlacement(obj, joint.Part2)
part_global_plc = UtilsAssembly.getGlobalPlacement(joint.Part2)
plc = obj_global_plc * plc
plc = part_global_plc.inverse() * plc
jcsXAxis = plc.Rotation.multVec(App.Vector(1, 0, 0))
joint.Part2.Placement = flipPlacement(joint.Part2.Placement, jcsXAxis)
def flipOnePart(self, joint):
if hasattr(self, "part2Connected") and not self.part2Connected:
jcsPlc = UtilsAssembly.getJcsPlcRelativeToPart(
joint.Placement2, joint.Object2, joint.Part2
)
globalJcsPlc = UtilsAssembly.getJcsGlobalPlc(
joint.Placement2, joint.Object2, joint.Part2
)
jcsPlc = self.flipPlacement(jcsPlc)
joint.Part2.Placement = globalJcsPlc * jcsPlc.inverse()
else:
plc = joint.Placement1 # relative to obj
obj = UtilsAssembly.getObjectInPart(joint.Object1, joint.Part1)
# we need plc to be relative to the containing part
obj_global_plc = UtilsAssembly.getGlobalPlacement(obj, joint.Part1)
part_global_plc = UtilsAssembly.getGlobalPlacement(joint.Part1)
plc = obj_global_plc * plc
plc = part_global_plc.inverse() * plc
jcsXAxis = plc.Rotation.multVec(App.Vector(1, 0, 0))
joint.Part1.Placement = flipPlacement(joint.Part1.Placement, jcsXAxis)
jcsPlc = UtilsAssembly.getJcsPlcRelativeToPart(
joint.Placement1, joint.Object1, joint.Part1
)
globalJcsPlc = UtilsAssembly.getJcsGlobalPlc(
joint.Placement1, joint.Object1, joint.Part1
)
jcsPlc = self.flipPlacement(jcsPlc)
joint.Part1.Placement = globalJcsPlc * jcsPlc.inverse()
solveIfAllowed(self.getAssembly(joint))
@@ -508,18 +509,55 @@ class Joint:
return App.Vector(res[0].X, res[0].Y, res[0].Z)
return surface.Center
def preventOrthogonal(self, joint):
zAxis1 = joint.Placement1.Rotation.multVec(App.Vector(0, 0, 1))
zAxis2 = joint.Placement2.Rotation.multVec(App.Vector(0, 0, 1))
if abs(zAxis1.dot(zAxis2)) < Part.Precision.confusion():
if joint.FirstPartConnected:
joint.Part2.Placement = self.applyRotationToPlacementAlongAxis(
joint.Part2.Placement, 30.0, App.Vector(1, 2, 0)
)
else:
joint.Part1.Placement = self.applyRotationToPlacementAlongAxis(
joint.Part1.Placement, 30.0, App.Vector(1, 2, 0)
)
def preSolve(self, joint, obj1, part1, obj2, part2):
# The goal of this is to put the part in the correct position to avoid wrong placement by the solve.
# we actually don't want to match perfectly the JCS, it is best to match them
# in the current closest direction, ie either matched or flipped.
sameDir = self.areJcsSameDir(joint)
if hasattr(self, "part2Connected") and not self.part2Connected:
self.partMovedByPresolved = joint.Part2
self.presolveBackupPlc = joint.Part2.Placement
globalJcsPlc1 = UtilsAssembly.getJcsGlobalPlc(
joint.Placement1, joint.Object1, joint.Part1
)
jcsPlc2 = UtilsAssembly.getJcsPlcRelativeToPart(
joint.Placement2, joint.Object2, joint.Part2
)
if not sameDir:
jcsPlc2 = self.flipPlacement(jcsPlc2)
joint.Part2.Placement = globalJcsPlc1 * jcsPlc2.inverse()
elif hasattr(self, "part1Connected") and not self.part1Connected:
self.partMovedByPresolved = joint.Part1
self.presolveBackupPlc = joint.Part1.Placement
globalJcsPlc2 = UtilsAssembly.getJcsGlobalPlc(
joint.Placement2, joint.Object2, joint.Part2
)
jcsPlc1 = UtilsAssembly.getJcsPlcRelativeToPart(
joint.Placement1, joint.Object1, joint.Part1
)
if not sameDir:
jcsPlc1 = self.flipPlacement(jcsPlc1)
joint.Part1.Placement = globalJcsPlc2 * jcsPlc1.inverse()
def undoPreSolve(
self,
):
if self.partMovedByPresolved:
self.partMovedByPresolved.Placement = self.presolveBackupPlc
self.partMovedByPresolved = None
def areJcsSameDir(self, joint):
globalJcsPlc1 = UtilsAssembly.getJcsGlobalPlc(joint.Placement1, joint.Object1, joint.Part1)
globalJcsPlc2 = UtilsAssembly.getJcsGlobalPlc(joint.Placement2, joint.Object2, joint.Part2)
zAxis1 = globalJcsPlc1.Rotation.multVec(App.Vector(0, 0, 1))
zAxis2 = globalJcsPlc2.Rotation.multVec(App.Vector(0, 0, 1))
return zAxis1.dot(zAxis2) > 0
class ViewProviderJoint:
@@ -567,7 +605,7 @@ class ViewProviderJoint:
self.switch_JCS_preview = self.JCS_sep(self.transform3)
self.pick = coin.SoPickStyle()
self.pick.style.setValue(coin.SoPickStyle.UNPICKABLE)
self.setPickableState(True)
self.display_mode = coin.SoType.fromName("SoFCSelection").createInstance()
self.display_mode.addChild(self.pick)
@@ -682,20 +720,11 @@ class ViewProviderJoint:
if joint.Object2:
plc = joint.Placement2
self.switch_JCS2.whichChild = coin.SO_SWITCH_ALL
# if self.areJCSReversed(joint):
# plc = flipPlacement(plc, App.Vector(1, 0, 0))
self.set_JCS_placement(self.transform2, plc, joint.Object2, joint.Part2)
else:
self.switch_JCS2.whichChild = coin.SO_SWITCH_NONE
def areJCSReversed(self, joint):
zAxis1 = joint.Placement1.Rotation.multVec(App.Vector(0, 0, 1))
zAxis2 = joint.Placement2.Rotation.multVec(App.Vector(0, 0, 1))
sameDir = zAxis1.dot(zAxis2) > 0
return not sameDir
def showPreviewJCS(self, visible, placement=None, objName="", part=None):
if visible:
self.switch_JCS_preview.whichChild = coin.SO_SWITCH_ALL
@@ -763,7 +792,7 @@ class ViewProviderJoint:
def doubleClicked(self, vobj):
assembly = vobj.Object.InList[0]
if UtilsAssembly.activeAssembly() != assembly:
Gui.ActiveDocument.ActiveView.setActiveObject("part", assembly)
Gui.ActiveDocument.setEdit(assembly)
panel = TaskAssemblyCreateJoint(0, vobj.Object)
Gui.Control.showDialog(panel)
@@ -925,16 +954,19 @@ class TaskAssemblyCreateJoint(QtCore.QObject):
self.form.rotationSpinbox.valueChanged.connect(self.onRotationChanged)
self.form.PushButtonReverse.clicked.connect(self.onReverseClicked)
Gui.Selection.clearSelection()
if jointObj:
Gui.Selection.clearSelection()
self.creating = False
self.joint = jointObj
self.jointName = jointObj.Label
App.setActiveTransaction("Edit " + self.jointName + " Joint")
self.updateTaskboxFromJoint()
self.visibilityBackup = self.joint.Visibility
self.joint.Visibility = True
else:
self.creating = True
self.jointName = self.form.jointType.currentText().replace(" ", "")
App.setActiveTransaction("Create " + self.jointName + " Joint")
@@ -942,6 +974,8 @@ class TaskAssemblyCreateJoint(QtCore.QObject):
self.preselection_dict = None
self.createJointObject()
self.visibilityBackup = False
self.handleInitialSelection()
self.toggleDistanceVisibility()
self.toggleOffsetVisibility()
@@ -964,13 +998,10 @@ class TaskAssemblyCreateJoint(QtCore.QObject):
App.Console.PrintWarning("You need to select 2 elements from 2 separate parts.")
return False
# Hide JSC's when joint is created and enable selection highlighting
# self.joint.ViewObject.Visibility = False
# self.joint.ViewObject.OnTopWhenSelected = "Enabled"
self.deactivate()
solveIfAllowed(self.assembly)
self.joint.Visibility = self.visibilityBackup
App.closeActiveTransaction()
return True
@@ -978,6 +1009,8 @@ class TaskAssemblyCreateJoint(QtCore.QObject):
def reject(self):
self.deactivate()
App.closeActiveTransaction(True)
if not self.creating: # update visibility only if we are editing the joint
self.joint.Visibility = self.visibilityBackup
return True
def deactivate(self):
@@ -996,6 +1029,64 @@ class TaskAssemblyCreateJoint(QtCore.QObject):
if Gui.Control.activeDialog():
Gui.Control.closeDialog()
def handleInitialSelection(self):
selection = Gui.Selection.getSelectionEx("*", 0)
if not selection:
return
for sel in selection:
# If you select 2 solids (bodies for example) within an assembly.
# There'll be a single sel but 2 SubElementNames.
if not sel.SubElementNames:
# no subnames, so its a root assembly itself that is selected.
Gui.Selection.removeSelection(sel.Object)
continue
for sub_name in sel.SubElementNames:
# Only objects within the assembly.
objs_names, element_name = UtilsAssembly.getObjsNamesAndElement(
sel.ObjectName, sub_name
)
if len(self.current_selection) >= 2 or self.assembly.Name not in objs_names:
Gui.Selection.removeSelection(sel.Object, sub_name)
continue
obj_name = sel.ObjectName
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)
part_containing_selected_object = UtilsAssembly.getContainingPart(
full_element_name, selected_object
)
if selected_object == self.assembly:
# do not accept selection of assembly itself
Gui.Selection.removeSelection(sel.Object, sub_name)
continue
if (
len(self.current_selection) == 1
and selected_object == self.current_selection[0]["object"]
):
# do not select several feature of the same object.
Gui.Selection.removeSelection(sel.Object, sub_name)
continue
selection_dict = {
"object": selected_object,
"part": part_containing_selected_object,
"element_name": element_name,
"full_element_name": full_element_name,
"full_obj_name": full_obj_name,
"vertex_name": element_name,
}
self.current_selection.append(selection_dict)
self.updateJoint()
def createJointObject(self):
type_index = self.form.jointType.currentIndex()
@@ -1022,7 +1113,7 @@ class TaskAssemblyCreateJoint(QtCore.QObject):
self.joint.Rotation = self.form.rotationSpinbox.property("rawValue")
def onReverseClicked(self):
self.joint.Proxy.flipPart(self.joint)
self.joint.Proxy.flipOnePart(self.joint)
def toggleDistanceVisibility(self):
if self.form.jointType.currentText() in JointUsingDistance:
@@ -1130,7 +1221,10 @@ class TaskAssemblyCreateJoint(QtCore.QObject):
def moveMouse(self, info):
if len(self.current_selection) >= 2 or (
len(self.current_selection) == 1
and self.current_selection[0]["part"] == self.preselection_dict["part"]
and (
not self.preselection_dict
or self.current_selection[0]["part"] == self.preselection_dict["part"]
)
):
self.joint.ViewObject.Proxy.showPreviewJCS(False)
return