Assembly: Introduce core functionality of assembly workbench.

cMake/FreeCAD_Helpers/SetupLibOndselSolver.cmake

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+macro(SetupOndselSolverCpp)
+    # -------------------------------- OndselSolver --------------------------------
+    find_package(OndselSolver REQUIRED)
+endmacro(SetupOndselSolverCpp)

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.cpp

@@ -0,0 +1,516 @@
+// 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 <cmath>
+#include <vector>
+#include <unordered_map>
+#endif
+
+#include <App/Application.h>
+#include <App/Document.h>
+#include <App/DocumentObjectGroup.h>
+#include <App/FeaturePythonPyImp.h>
+#include <App/PropertyPythonObject.h>
+#include <Base/Console.h>
+#include <Base/Placement.h>
+#include <Base/Rotation.h>
+#include <Base/Tools.h>
+#include <Base/Interpreter.h>
+
+#include <OndselSolver/CREATE.h>
+#include <OndselSolver/ASMTSimulationParameters.h>
+#include <OndselSolver/ASMTAssembly.h>
+#include <OndselSolver/ASMTMarker.h>
+#include <OndselSolver/ASMTPart.h>
+#include <OndselSolver/ASMTJoint.h>
+#include <OndselSolver/ASMTFixedJoint.h>
+#include <OndselSolver/ASMTRevoluteJoint.h>
+#include <OndselSolver/ASMTCylindricalJoint.h>
+#include <OndselSolver/ASMTTranslationalJoint.h>
+#include <OndselSolver/ASMTSphericalJoint.h>
+#include <OndselSolver/ASMTPointInPlaneJoint.h>
+#include <OndselSolver/ASMTTime.h>
+#include <OndselSolver/ASMTConstantGravity.h>
+
+#include "AssemblyObject.h"
+#include "AssemblyObjectPy.h"
+#include "JointGroup.h"
+
+using namespace App;
+using namespace Assembly;
+using namespace MbD;
+
+
+PROPERTY_SOURCE(Assembly::AssemblyObject, App::Part)
+
+AssemblyObject::AssemblyObject()
+    : mbdAssembly(std::make_shared<ASMTAssembly>())
+{}
+
+AssemblyObject::~AssemblyObject() = default;
+
+PyObject* AssemblyObject::getPyObject()
+{
+    if (PythonObject.is(Py::_None())) {
+        // ref counter is set to 1
+        PythonObject = Py::Object(new AssemblyObjectPy(this), true);
+    }
+    return Py::new_reference_to(PythonObject);
+}
+
+std::vector<App::DocumentObject*> AssemblyObject::getJoints()
+{
+    std::vector<App::DocumentObject*> joints = {};
+
+    App::Document* doc = getDocument();
+
+    std::vector<DocumentObject*> jointGroups =
+        doc->getObjectsOfType(Assembly::JointGroup::getClassTypeId());
+
+    Base::PyGILStateLocker lock;
+    if (jointGroups.size() > 0) {
+        for (auto* obj : static_cast<App::DocumentObjectGroup*>(jointGroups[0])->getObjects()) {
+            App::PropertyPythonObject* proxy = obj
+                ? dynamic_cast<App::PropertyPythonObject*>(obj->getPropertyByName("Proxy"))
+                : nullptr;
+            if (proxy) {
+                Py::Object joint = proxy->getValue();
+                if (joint.hasAttr("setJointConnectors")) {
+                    joints.push_back(obj);
+                }
+            }
+        }
+    }
+
+    // Make sure the joints are up to date.
+    recomputeJointPlacements(joints);
+
+    return joints;
+}
+
+bool AssemblyObject::fixGroundedParts()
+{
+    App::Document* doc = getDocument();
+    App::DocumentObject* jointsGroup = doc->getObject("Joints");
+
+    bool onePartFixed = false;
+
+    Base::PyGILStateLocker lock;
+    if (jointsGroup && jointsGroup->isDerivedFrom(App::DocumentObjectGroup::getClassTypeId())) {
+        for (auto* obj : static_cast<App::DocumentObjectGroup*>(jointsGroup)->getObjects()) {
+            auto* propObj =
+                dynamic_cast<App::PropertyLink*>(obj->getPropertyByName("ObjectToGround"));
+            if (propObj) {
+                App::DocumentObject* objToGround = propObj->getValue();
+
+                Base::Placement plc = getPlacementFromProp(obj, "Placement");
+                std::string str = obj->getFullName();
+                fixGroundedPart(objToGround, plc, str);
+                onePartFixed = true;
+            }
+        }
+    }
+    return onePartFixed;
+}
+
+void AssemblyObject::fixGroundedPart(App::DocumentObject* obj,
+                                     Base::Placement& plc,
+                                     std::string& name)
+{
+    std::string markerName1 = "marker-" + obj->getFullName();
+    auto mbdMarker1 = makeMbdMarker(markerName1, plc);
+    mbdAssembly->addMarker(mbdMarker1);
+
+    std::shared_ptr<ASMTPart> mbdPart = getMbDPart(obj);
+
+    std::string markerName2 = "FixingMarker";
+    auto mbdMarker2 = makeMbdMarker(markerName2, plc);
+    mbdPart->addMarker(mbdMarker2);
+
+    markerName1 = "/OndselAssembly/" + mbdMarker1->name;
+    markerName2 = "/OndselAssembly/" + mbdPart->name + "/" + mbdMarker2->name;
+
+    auto mbdJoint = CREATE<ASMTFixedJoint>::With();
+    mbdJoint->setName(name);
+    mbdJoint->setMarkerI(markerName1);
+    mbdJoint->setMarkerJ(markerName2);
+
+    mbdAssembly->addJoint(mbdJoint);
+}
+
+void AssemblyObject::jointParts(std::vector<App::DocumentObject*> joints)
+{
+    for (auto* joint : joints) {
+        std::shared_ptr<ASMTJoint> mbdJoint = makeMbdJoint(joint);
+        mbdAssembly->addJoint(mbdJoint);
+    }
+}
+
+Base::Placement AssemblyObject::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;
+}
+
+int AssemblyObject::solve()
+{
+    // Base::Console().Warning("solve\n");
+    mbdAssembly = makeMbdAssembly();
+    objectPartMap.clear();
+
+    if (!fixGroundedParts()) {
+        // If no part fixed we can't solve.
+        return -6;
+    }
+
+    std::vector<App::DocumentObject*> joints = getJoints();
+
+    jointParts(joints);
+
+    try {
+        mbdAssembly->solve();
+    }
+    catch (...) {
+        Base::Console().Error("Solve failed\n");
+        return -1;
+    }
+
+    setNewPlacements();
+
+    // The Placement1 and Placement2 of each joint needs to be updated as the parts moved.
+    // Note calling only recomputeJointPlacements makes a weird illegal storage access
+    // When solving while moving part. Happens in Py::Callable(attr).apply();
+    // it apparantly can't access the JointObject 'updateJCSPlacements' function.
+    getJoints();
+
+    return 0;
+}
+
+void AssemblyObject::exportAsASMT(std::string fileName)
+{
+    Base::Console().Warning("hello 1\n");
+    mbdAssembly = makeMbdAssembly();
+    objectPartMap.clear();
+    Base::Console().Warning("hello 2\n");
+    fixGroundedParts();
+
+    std::vector<App::DocumentObject*> joints = getJoints();
+
+    Base::Console().Warning("hello 3\n");
+    jointParts(joints);
+
+    Base::Console().Warning("hello 4\n");
+    Base::Console().Warning("%s\n", fileName.c_str());
+    mbdAssembly->outputFile(fileName);
+    Base::Console().Warning("hello 5\n");
+}
+
+std::shared_ptr<ASMTJoint> AssemblyObject::makeMbdJointOfType(JointType jointType)
+{
+    std::shared_ptr<ASMTJoint> mbdJoint;
+
+    if (jointType == JointType::Fixed) {
+        mbdJoint = CREATE<ASMTFixedJoint>::With();
+    }
+    else if (jointType == JointType::Revolute) {
+        mbdJoint = CREATE<ASMTRevoluteJoint>::With();
+    }
+    else if (jointType == JointType::Cylindrical) {
+        mbdJoint = CREATE<ASMTCylindricalJoint>::With();
+    }
+    else if (jointType == JointType::Slider) {
+        mbdJoint = CREATE<ASMTTranslationalJoint>::With();
+    }
+    else if (jointType == JointType::Ball) {
+        mbdJoint = CREATE<ASMTSphericalJoint>::With();
+    }
+    else if (jointType == JointType::Planar) {
+        mbdJoint = CREATE<ASMTPointInPlaneJoint>::With();
+    }
+    else if (jointType == JointType::Parallel) {
+        // TODO
+        mbdJoint = CREATE<ASMTFixedJoint>::With();
+    }
+    else if (jointType == JointType::Tangent) {
+        // TODO
+        mbdJoint = CREATE<ASMTFixedJoint>::With();
+    }
+
+    return mbdJoint;
+}
+
+std::shared_ptr<ASMTJoint> AssemblyObject::makeMbdJoint(App::DocumentObject* joint)
+{
+    JointType jointType = JointType::Fixed;
+
+    auto* prop = joint
+        ? dynamic_cast<App::PropertyEnumeration*>(joint->getPropertyByName("JointType"))
+        : nullptr;
+    if (prop) {
+        jointType = static_cast<JointType>(prop->getValue());
+    }
+
+    std::shared_ptr<ASMTJoint> mbdJoint = makeMbdJointOfType(jointType);
+
+    std::string fullMarkerName1 = handleOneSideOfJoint(joint, "Object1", "Placement1");
+    std::string fullMarkerName2 = handleOneSideOfJoint(joint, "Object2", "Placement2");
+
+    mbdJoint->setMarkerI(fullMarkerName1);
+    mbdJoint->setMarkerJ(fullMarkerName2);
+
+    return mbdJoint;
+}
+
+std::shared_ptr<ASMTPart> AssemblyObject::getMbDPart(App::DocumentObject* obj)
+{
+    std::shared_ptr<ASMTPart> mbdPart;
+
+    Base::Placement plc = getPlacementFromProp(obj, "Placement");
+
+    auto it = objectPartMap.find(obj);
+    if (it != objectPartMap.end()) {
+        // obj has been associated with an ASMTPart before
+        mbdPart = it->second;
+    }
+    else {
+        // obj has not been associated with an ASMTPart before
+        std::string str = obj->getFullName();
+        mbdPart = makeMbdPart(str, plc);
+        mbdAssembly->addPart(mbdPart);
+        objectPartMap[obj] = mbdPart;  // Store the association
+    }
+
+    return mbdPart;
+}
+
+std::string AssemblyObject::handleOneSideOfJoint(App::DocumentObject* joint,
+                                                 const char* propLinkName,
+                                                 const char* propPlcName)
+{
+    auto* propObj = dynamic_cast<App::PropertyLink*>(joint->getPropertyByName(propLinkName));
+    if (!propObj) {
+        return nullptr;
+    }
+    App::DocumentObject* obj = propObj->getValue();
+
+    std::shared_ptr<ASMTPart> mbdPart = getMbDPart(obj);
+    Base::Placement objPlc = getPlacementFromProp(obj, "Placement");
+    Base::Placement plc = getPlacementFromProp(joint, propPlcName);
+    // Now we have plc which is the JCS placement, but its relative to the doc origin, not to the
+    // obj.
+
+    plc = objPlc.inverse() * plc;
+
+    std::string markerName = joint->getFullName();
+    auto mbdMarker = makeMbdMarker(markerName, plc);
+    mbdPart->addMarker(mbdMarker);
+
+    return "/OndselAssembly/" + mbdPart->name + "/" + markerName;
+}
+
+std::shared_ptr<ASMTMarker> AssemblyObject::makeMbdMarker(std::string& name, Base::Placement& plc)
+{
+    auto mbdMarker = CREATE<ASMTMarker>::With();
+    mbdMarker->setName(name);
+
+    Base::Vector3d pos = plc.getPosition();
+    mbdMarker->setPosition3D(pos.x, pos.y, pos.z);
+
+    // TODO : replace with quaternion to simplify
+    Base::Rotation rot = plc.getRotation();
+    Base::Matrix4D mat;
+    rot.getValue(mat);
+    Base::Vector3d r0 = mat.getRow(0);
+    Base::Vector3d r1 = mat.getRow(1);
+    Base::Vector3d r2 = mat.getRow(2);
+    mbdMarker->setRotationMatrix(r0.x, r0.y, r0.z, r1.x, r1.y, r1.z, r2.x, r2.y, r2.z);
+    /*double q0, q1, q2, q3;
+    rot.getValue(q0, q1, q2, q3);
+    mbdMarker->setQuarternions(q0, q1, q2, q3);*/
+    return mbdMarker;
+}
+
+std::shared_ptr<ASMTPart>
+AssemblyObject::makeMbdPart(std::string& name, Base::Placement plc, double mass)
+{
+    auto mdbPart = CREATE<ASMTPart>::With();
+    mdbPart->setName(name);
+
+    auto massMarker = CREATE<ASMTPrincipalMassMarker>::With();
+    massMarker->setMass(mass);
+    massMarker->setDensity(1.0);
+    massMarker->setMomentOfInertias(1.0, 1.0, 1.0);
+    mdbPart->setPrincipalMassMarker(massMarker);
+
+    Base::Vector3d pos = plc.getPosition();
+    mdbPart->setPosition3D(pos.x, pos.y, pos.z);
+    // Base::Console().Warning("MbD Part placement : (%f, %f, %f)\n", pos.x, pos.y, pos.z);
+
+    // TODO : replace with quaternion to simplify
+    Base::Rotation rot = plc.getRotation();
+    Base::Matrix4D mat;
+    rot.getValue(mat);
+    Base::Vector3d r0 = mat.getRow(0);
+    Base::Vector3d r1 = mat.getRow(1);
+    Base::Vector3d r2 = mat.getRow(2);
+    mdbPart->setRotationMatrix(r0.x, r0.y, r0.z, r1.x, r1.y, r1.z, r2.x, r2.y, r2.z);
+    /*double q0, q1, q2, q3;
+    rot.getValue(q0, q1, q2, q3);
+    mdbPart->setQuarternions(q0, q1, q2, q3);*/
+
+    return mdbPart;
+}
+
+std::shared_ptr<ASMTAssembly> AssemblyObject::makeMbdAssembly()
+{
+    auto assembly = CREATE<ASMTAssembly>::With();
+    assembly->setName("OndselAssembly");
+
+    return assembly;
+}
+
+void AssemblyObject::setNewPlacements()
+{
+    for (auto& pair : objectPartMap) {
+        App::DocumentObject* obj = pair.first;
+        std::shared_ptr<ASMTPart> mbdPart = pair.second;
+
+        if (!obj || !mbdPart) {
+            continue;
+        }
+
+        // Check if the object has a "Placement" property
+        auto* propPlacement =
+            dynamic_cast<App::PropertyPlacement*>(obj->getPropertyByName("Placement"));
+        if (propPlacement) {
+
+            double x, y, z;
+            mbdPart->getPosition3D(x, y, z);
+            // Base::Console().Warning("in set placement : (%f, %f, %f)\n", x, y, z);
+            Base::Vector3d pos = Base::Vector3d(x, y, z);
+
+            // TODO : replace with quaternion to simplify
+            auto& r0 = mbdPart->rotationMatrix->at(0);
+            auto& r1 = mbdPart->rotationMatrix->at(1);
+            auto& r2 = mbdPart->rotationMatrix->at(2);
+            Base::Vector3d row0 = Base::Vector3d(r0->at(0), r0->at(1), r0->at(2));
+            Base::Vector3d row1 = Base::Vector3d(r1->at(0), r1->at(1), r1->at(2));
+            Base::Vector3d row2 = Base::Vector3d(r2->at(0), r2->at(1), r2->at(2));
+            Base::Matrix4D mat;
+            mat.setRow(0, row0);
+            mat.setRow(1, row1);
+            mat.setRow(2, row2);
+            Base::Rotation rot = Base::Rotation(mat);
+
+            /*double q0, q1, q2, q3;
+            mbdPart->getQuarternions(q0, q1, q2, q3);
+            Base::Rotation rot = Base::Rotation(q0, q1, q2, q3);*/
+
+            Base::Placement newPlacement = Base::Placement(pos, rot);
+
+            propPlacement->setValue(newPlacement);
+        }
+    }
+}
+
+void AssemblyObject::recomputeJointPlacements(std::vector<App::DocumentObject*> joints)
+{
+    // The Placement1 and Placement2 of each joint needs to be updated as the parts moved.
+    for (auto* joint : joints) {
+
+        App::PropertyPythonObject* proxy = joint
+            ? dynamic_cast<App::PropertyPythonObject*>(joint->getPropertyByName("Proxy"))
+            : nullptr;
+
+        if (!proxy) {
+            continue;
+        }
+
+        Py::Object jointPy = proxy->getValue();
+
+        if (!jointPy.hasAttr("updateJCSPlacements")) {
+            continue;
+        }
+
+        Py::Object attr = jointPy.getAttr("updateJCSPlacements");
+        if (attr.ptr() && attr.isCallable()) {
+            Py::Tuple args(1);
+            args.setItem(0, Py::asObject(joint->getPyObject()));
+            Py::Callable(attr).apply(args);
+        }
+    }
+}
+
+double AssemblyObject::getObjMass(App::DocumentObject* obj)
+{
+    for (auto& pair : objMasses) {
+        if (pair.first == obj) {
+            return pair.second;
+        }
+    }
+    return 1.0;
+}
+
+void AssemblyObject::setObjMasses(std::vector<std::pair<App::DocumentObject*, double>> objectMasses)
+{
+    objMasses = objectMasses;
+}
+
+/*void Part::handleChangedPropertyType(Base::XMLReader& reader, const char* TypeName, App::Property*
+prop)
+{
+    App::Part::handleChangedPropertyType(reader, TypeName, prop);
+}*/
+
+/* Apparantly not necessary as App::Part doesn't have this.
+// Python Assembly feature ---------------------------------------------------------
+
+namespace App
+{
+    /// @cond DOXERR
+    PROPERTY_SOURCE_TEMPLATE(Assembly::AssemblyObjectPython, Assembly::AssemblyObject)
+        template<>
+    const char* Assembly::AssemblyObjectPython::getViewProviderName() const
+    {
+        return "AssemblyGui::ViewProviderAssembly";
+    }
+    template<>
+    PyObject* Assembly::AssemblyObjectPython::getPyObject()
+    {
+        if (PythonObject.is(Py::_None())) {
+            // ref counter is set to 1
+            PythonObject = Py::Object(new FeaturePythonPyT<AssemblyObjectPy>(this), true);
+        }
+        return Py::new_reference_to(PythonObject);
+    }
+    /// @endcond
+
+    // explicit template instantiation
+    template class AssemblyExport FeaturePythonT<Assembly::AssemblyObject>;
+}// namespace App*/

src/Mod/Assembly/App/AssemblyObject.h

@@ -0,0 +1,119 @@
+// 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 <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
+{
+
+// This enum has to be the same as the one in JointObject.py
+enum class JointType
+{
+    Fixed,
+    Revolute,
+    Cylindrical,
+    Slider,
+    Ball,
+    Planar,
+    Parallel,
+    Tangent
+};
+
+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";
+    }
+
+    int solve();
+    void exportAsASMT(std::string fileName);
+    std::shared_ptr<MbD::ASMTAssembly> makeMbdAssembly();
+    std::shared_ptr<MbD::ASMTPart>
+    makeMbdPart(std::string& name, Base::Placement plc = Base::Placement(), double mass = 1.0);
+    std::shared_ptr<MbD::ASMTPart> getMbDPart(App::DocumentObject* obj);
+    std::shared_ptr<MbD::ASMTMarker> makeMbdMarker(std::string& name, Base::Placement& plc);
+    std::shared_ptr<MbD::ASMTJoint> makeMbdJoint(App::DocumentObject* joint);
+    std::shared_ptr<MbD::ASMTJoint> makeMbdJointOfType(JointType jointType);
+    std::string handleOneSideOfJoint(App::DocumentObject* joint,
+                                     const char* propObjLinkName,
+                                     const char* propPlcName);
+    void fixGroundedPart(App::DocumentObject* obj, Base::Placement& plc, std::string& jointName);
+    bool fixGroundedParts();
+    void jointParts(std::vector<App::DocumentObject*> joints);
+    std::vector<App::DocumentObject*> getJoints();
+    Base::Placement getPlacementFromProp(App::DocumentObject* obj, const char* propName);
+    void setNewPlacements();
+    void recomputeJointPlacements(std::vector<App::DocumentObject*> joints);
+
+    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;
+
+    // void handleChangedPropertyType(Base::XMLReader &reader, const char *TypeName, App::Property
+    // *prop) override;
+};
+
+// using AssemblyObjectPython = App::FeaturePythonT<AssemblyObject>;
+
+}  // namespace Assembly
+
+
+#endif  // ASSEMBLY_AssemblyObject_H

src/Mod/Assembly/App/AssemblyObjectPy.xml

@@ -0,0 +1,50 @@
+<?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()
+
+          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="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 +1,75 @@
+/***************************************************************************
+ *   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)
+{
+    if (!PyArg_ParseTuple(args, "")) {
+        return nullptr;
+    }
+    int ret = this->getAssemblyObjectPtr()->solve();
+    return Py_BuildValue("i", ret);
+}
+
+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/CMakeLists.txt

@@ -0,0 +1,59 @@
+
+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
+    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 +1,46 @@
+// 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/>.                                       *
+ *                                                                          *
+ ***************************************************************************/
+
+#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>
+
+#endif  // _PreComp_
+#endif  // ASSEMBLY_PRECOMPILED_H

src/Mod/Assembly/Assembly/__init__.py

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

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

src/Mod/Assembly/CommandCreateAssembly.py

@@ -56,10 +56,10 @@ class CommandCreateAssembly:
 
     def Activated(self):
         App.setActiveTransaction("Create assembly")
-        assembly = App.ActiveDocument.addObject("App::Part", "Assembly")
+        assembly = App.ActiveDocument.addObject("Assembly::AssemblyObject", "Assembly")
         assembly.Type = "Assembly"
         Gui.ActiveDocument.ActiveView.setActiveObject("part", assembly)
-        assembly.newObject("App::DocumentObjectGroup", "Joints")
+        assembly.newObject("Assembly::JointGroup", "Joints")
         App.closeActiveTransaction()
 
 

src/Mod/Assembly/CommandCreateJoint.py

@@ -31,6 +31,7 @@ if App.GuiUp:
     from PySide import QtCore, QtGui, QtWidgets
 
 import JointObject
+from JointObject import TaskAssemblyCreateJoint
 import UtilsAssembly
 import Assembly_rc
 
@@ -51,10 +52,12 @@ class CommandCreateJointFixed:
             "Pixmap": "Assembly_CreateJointFixed",
             "MenuText": QT_TRANSLATE_NOOP("Assembly_CreateJointFixed", "Create Fixed Joint"),
             "Accel": "F",
-            "ToolTip": QT_TRANSLATE_NOOP(
+            "ToolTip": "<p>"
+            + 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: Permanently locks two parts together, preventing any movement or rotation.",
+            )
+            + "</p>",
             "CmdType": "ForEdit",
         }
 
@@ -62,13 +65,8 @@ class CommandCreateJointFixed:
         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, 0)
-        Gui.Control.showDialog(self.panel)
+        panel = TaskAssemblyCreateJoint(0)
+        Gui.Control.showDialog(panel)
 
 
 class CommandCreateJointRevolute:
@@ -81,10 +79,12 @@ 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",
         }
 
@@ -92,13 +92,8 @@ class CommandCreateJointRevolute:
         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, 1)
-        Gui.Control.showDialog(self.panel)
+        panel = TaskAssemblyCreateJoint(1)
+        Gui.Control.showDialog(panel)
 
 
 class CommandCreateJointCylindrical:
@@ -113,10 +108,12 @@ 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",
         }
 
@@ -124,13 +121,8 @@ class CommandCreateJointCylindrical:
         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, 2)
-        Gui.Control.showDialog(self.panel)
+        panel = TaskAssemblyCreateJoint(2)
+        Gui.Control.showDialog(panel)
 
 
 class CommandCreateJointSlider:
@@ -143,10 +135,12 @@ 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",
         }
 
@@ -154,13 +148,8 @@ class CommandCreateJointSlider:
         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, 3)
-        Gui.Control.showDialog(self.panel)
+        panel = TaskAssemblyCreateJoint(3)
+        Gui.Control.showDialog(panel)
 
 
 class CommandCreateJointBall:
@@ -173,10 +162,12 @@ 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",
         }
 
@@ -184,13 +175,8 @@ class CommandCreateJointBall:
         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, 4)
-        Gui.Control.showDialog(self.panel)
+        panel = TaskAssemblyCreateJoint(4)
+        Gui.Control.showDialog(panel)
 
 
 class CommandCreateJointPlanar:
@@ -203,10 +189,12 @@ class CommandCreateJointPlanar:
             "Pixmap": "Assembly_CreateJointPlanar",
             "MenuText": QT_TRANSLATE_NOOP("Assembly_CreateJointPlanar", "Create Planar Joint"),
             "Accel": "P",
-            "ToolTip": QT_TRANSLATE_NOOP(
+            "ToolTip": "<p>"
+            + 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>",
-            ),
+                "Create a Planar Joint: Ensures two selected features are in the same plane, restricting movement to that plane.",
+            )
+            + "</p>",
             "CmdType": "ForEdit",
         }
 
@@ -214,13 +202,8 @@ class CommandCreateJointPlanar:
         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, 5)
-        Gui.Control.showDialog(self.panel)
+        panel = TaskAssemblyCreateJoint(5)
+        Gui.Control.showDialog(panel)
 
 
 class CommandCreateJointParallel:
@@ -233,10 +216,12 @@ class CommandCreateJointParallel:
             "Pixmap": "Assembly_CreateJointParallel",
             "MenuText": QT_TRANSLATE_NOOP("Assembly_CreateJointParallel", "Create Parallel Joint"),
             "Accel": "L",
-            "ToolTip": QT_TRANSLATE_NOOP(
+            "ToolTip": "<p>"
+            + QT_TRANSLATE_NOOP(
                 "Assembly_CreateJointParallel",
-                "<p>Create a Parallel Joint: Aligns two features to be parallel, constraining relative movement to parallel translations.</p>",
-            ),
+                "Create a Parallel Joint: Aligns two features to be parallel, constraining relative movement to parallel translations.",
+            )
+            + "</p>",
             "CmdType": "ForEdit",
         }
 
@@ -244,13 +229,8 @@ class CommandCreateJointParallel:
         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)
+        panel = TaskAssemblyCreateJoint(6)
+        Gui.Control.showDialog(panel)
 
 
 class CommandCreateJointTangent:
@@ -263,10 +243,39 @@ class CommandCreateJointTangent:
             "Pixmap": "Assembly_CreateJointTangent",
             "MenuText": QT_TRANSLATE_NOOP("Assembly_CreateJointTangent", "Create Tangent Joint"),
             "Accel": "T",
-            "ToolTip": QT_TRANSLATE_NOOP(
+            "ToolTip": "<p>"
+            + 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>",
-            ),
+                "Create a Tangent Joint: Forces two features to be tangent, restricting movement to smooth transitions along their contact surface.",
+            )
+            + "</p>",
+            "CmdType": "ForEdit",
+        }
+
+    def IsActive(self):
+        return UtilsAssembly.activeAssembly() is not None
+
+    def Activated(self):
+        panel = TaskAssemblyCreateJoint(7)
+        Gui.Control.showDialog(panel)
+
+
+class CommandToggleGrounded:
+    def __init__(self):
+        pass
+
+    def GetResources(self):
+
+        return {
+            "Pixmap": "Assembly_ToggleGrounded",
+            "MenuText": QT_TRANSLATE_NOOP("Assembly_ToggleGrounded", "Toggle grounded"),
+            "Accel": "F",
+            "ToolTip": "<p>"
+            + QT_TRANSLATE_NOOP(
+                "Assembly_ToggleGrounded",
+                "Toggle the grounded state of a part. Grounding a part permanently locks its position in the assembly, preventing any movement or rotation. You need at least one grounded part per assembly.",
+            )
+            + "</p>",
             "CmdType": "ForEdit",
         }
 
@@ -277,224 +286,40 @@ class CommandCreateJointTangent:
         assembly = UtilsAssembly.activeAssembly()
         if not assembly:
             return
-        view = Gui.activeDocument().activeView()
 
-        self.panel = TaskAssemblyCreateJoint(assembly, view, 7)
-        Gui.Control.showDialog(self.panel)
+        joint_group = UtilsAssembly.getJointGroup(assembly)
 
+        selection = Gui.Selection.getSelectionEx("*", 0)
+        if not selection:
+            return
 
-class MakeJointSelGate:
-    def __init__(self, taskbox, assembly):
-        self.taskbox = taskbox
-        self.assembly = assembly
+        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:
 
-    def allow(self, doc, obj, sub):
-        if not sub:
-            return False
+                full_element_name = UtilsAssembly.getFullElementName(sel.ObjectName, sub)
+                obj = UtilsAssembly.getObject(full_element_name)
 
-        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)
+                # Check if part is grounded and if so delete the joint.
+                for joint in joint_group.Group:
+                    if hasattr(joint, "ObjectToGround") and joint.ObjectToGround == obj:
+                        doc = App.ActiveDocument
+                        doc.removeObject(joint.Name)
+                        doc.recompute()
+                        return
 
+                # Create groundedJoint.
+                ground = joint_group.newObject("App::FeaturePython", "GroundedJoint")
+                JointObject.GroundedJoint(ground, obj)
+                JointObject.ViewProviderGroundedJoint(ground.ViewObject)
         Gui.Selection.clearSelection()
-        Gui.Selection.addSelectionGate(
-            MakeJointSelGate(self, self.assembly), Gui.Selection.ResolveMode.NoResolve
-        )
-        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)
-
-        App.setActiveTransaction("Create joint")
-        self.createJointObject()
-
-    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()
         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())

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.activeAssembly() is not None
+
+    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

@@ -110,6 +110,7 @@ class TaskAssemblyInsertLink(QtCore.QObject):
     def deactivated(self):
         if self.partMoving:
             self.endMove()
+            self.doc.removeObject(self.createdLink.Name)
 
     def buildPartList(self):
         self.allParts.clear()

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": "F",
+            "ToolTip": "<p>"
+            + QT_TRANSLATE_NOOP(
+                "Assembly_SolveAssembly",
+                "Solve the currently active assembly.",
+            )
+            + "</p>",
+            "CmdType": "ForEdit",
+        }
+
+    def IsActive(self):
+        return UtilsAssembly.activeAssembly() is not None
+
+    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 +1,43 @@
+// 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>
+
+
+#endif  //_PreComp_
+
+#endif  // POINTSGUI_PRECOMPILED_H

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

@@ -2,6 +2,7 @@
     <qresource>
         <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>
@@ -10,6 +11,7 @@
         <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>panels/TaskAssemblyCreateJoint.ui</file>
         <file>panels/TaskAssemblyInsertLink.ui</file>
         <file>preferences/Assembly.ui</file>

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"
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      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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+           d="m 56.000001,52.8038 c 0,4.418278 -10.745166,8 -24,8 -13.254833,0 -23.9999985,-3.581722 -23.9999985,-8 l -2e-6,-22.788679 L 56,30.015122 Z"
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+           cy="31.700123"
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src/Mod/Assembly/Gui/Resources/icons/Assembly_ExportASMT.svg

@@ -0,0 +1,944 @@
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+<svg
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+   height="48px"
+   id="svg4198"
+   sodipodi:version="0.32"
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+   sodipodi:docname="Assembly_ExportASMT.svg"
+   inkscape:output_extension="org.inkscape.output.svg.inkscape"
+   version="1.1"
+   inkscape:export-filename="/home/yorik/Sources/FreeCAD/src/Gui/Icons/freecad-doc.png"
+   inkscape:export-xdpi="128"
+   inkscape:export-ydpi="128"
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+   xmlns:sodipodi="http://sodipodi.sourceforge.net/DTD/sodipodi-0.dtd"
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+   xmlns="http://www.w3.org/2000/svg"
+   xmlns:svg="http://www.w3.org/2000/svg"
+   xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#"
+   xmlns:cc="http://creativecommons.org/ns#"
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src/Mod/Assembly/Gui/ViewProviderAssembly.cpp

@@ -0,0 +1,398 @@
+// 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 <vector>
+#include <sstream>
+#include <iostream>
+#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/Command.h>
+#include <Gui/MDIView.h>
+#include <Gui/View3DInventor.h>
+#include <Gui/View3DInventorViewer.h>
+#include <Mod/Assembly/App/AssemblyObject.h>
+#include <Mod/PartDesign/App/Body.h>
+
+#include "ViewProviderAssembly.h"
+#include "ViewProviderAssemblyPy.h"
+
+
+using namespace Assembly;
+using namespace AssemblyGui;
+
+PROPERTY_SOURCE(AssemblyGui::ViewProviderAssembly, Gui::ViewProviderPart)
+
+ViewProviderAssembly::ViewProviderAssembly()
+    : SelectionObserver(true)
+    , canStartDragging(false)
+    , partMoving(false)
+    , enableMovement(true)
+    , 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()");
+    }
+    else {
+        // Part is not 'Active' so we enter edit mode to make it so.
+        Gui::Application::Instance->activeDocument()->setEdit(this);
+    }
+
+    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 = {};
+
+    // Set the part as not 'Activated' ie not bold in the tree.
+    Gui::Command::doCommand(Gui::Command::Gui,
+                            "Gui.ActiveDocument.ActiveView.setActiveObject('%s', None)",
+                            PARTKEY);
+}
+
+bool ViewProviderAssembly::isInEditMode()
+{
+    App::DocumentObject* activePart = getActivePart();
+    if (!activePart) {
+        return false;
+    }
+
+    return activePart == this->getObject();
+}
+
+App::DocumentObject* ViewProviderAssembly::getActivePart()
+{
+    App::DocumentObject* activePart = nullptr;
+    auto activeDoc = Gui::Application::Instance->activeDocument();
+    if (!activeDoc) {
+        activeDoc = getDocument();
+    }
+    auto activeView = activeDoc->setActiveView(this);
+    if (!activeView) {
+        return nullptr;
+    }
+
+    activePart = activeView->getActiveObject<App::DocumentObject*>(PARTKEY);
+    return activePart;
+}
+
+bool ViewProviderAssembly::mouseMove(const SbVec2s& cursorPos, Gui::View3DInventorViewer* viewer)
+{
+    // Base::Console().Warning("Mouse move\n");
+
+    // Initialize or end the dragging of parts
+    if (canStartDragging) {
+        canStartDragging = false;
+
+        if (enableMovement && getSelectedObjectsWithinAssembly()) {
+            SbVec3f vec = viewer->getPointOnFocalPlane(cursorPos);
+            Base::Vector3d mousePosition = Base::Vector3d(vec[0], vec[1], vec[2]);
+
+            initMove(mousePosition);
+        }
+    }
+
+    // Do the dragging of parts
+    if (partMoving) {
+        SbVec3f vec = viewer->getPointOnFocalPlane(cursorPos);
+        Base::Vector3d mousePosition = 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 = propPlacement->getValue();
+                // Base::Console().Warning("transl %f %f %f\n", pair.second.x, pair.second.y,
+                // pair.second.z);
+                Base::Vector3d pos = mousePosition + pair.second;
+                Base::Placement newPlacement = Base::Placement(pos, plc.getRotation());
+                propPlacement->setValue(newPlacement);
+            }
+        }
+
+        auto* assemblyPart = static_cast<AssemblyObject*>(getObject());
+        assemblyPart->solve();
+    }
+    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) {
+                    Base::Placement plc = propPlacement->getValue();
+                    Base::Vector3d pos = plc.getPosition();
+                    docsToMove.emplace_back(obj, pos);
+                }
+            }
+        }
+    }
+
+    // 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) {
+            if (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) {
+                        Base::Placement plc = propPlacement->getValue();
+                        Base::Vector3d pos = plc.getPosition();
+                        docsToMove.emplace_back(preselectedObj, pos);
+                    }
+                }
+            }
+        }
+    }
+
+    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());
+    }
+    else {
+        objName = subNames[subNames.size() - 3];
+
+        App::DocumentObject* obj = appDoc->getObject(objName.c_str());
+        if (!obj) {
+            return nullptr;
+        }
+        if (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->getTypeId().isDerivedFrom(PartDesign::Body::getClassTypeId())) {
+                return obj;
+            }
+        }
+
+        // then its neither a body or a link to a body.
+        objName = subNames[subNames.size() - 2];
+        return appDoc->getObject(objName.c_str());
+    }
+}
+
+void ViewProviderAssembly::initMove(Base::Vector3d& mousePosition)
+{
+    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);
+    }
+
+    objectMasses.clear();
+
+    for (auto& pair : docsToMove) {
+        pair.second = pair.second - mousePosition;
+        objectMasses.push_back({pair.first, 10.0});
+    }
+
+    auto* assemblyPart = static_cast<AssemblyObject*>(getObject());
+    assemblyPart->setObjMasses(objectMasses);
+}
+
+void ViewProviderAssembly::endMove()
+{
+    docsToMove = {};
+    partMoving = false;
+    canStartDragging = false;
+
+    // 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);
+    }
+
+    auto* assemblyPart = static_cast<AssemblyObject*>(getObject());
+    assemblyPart->setObjMasses({});
+}
+
+
+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;
+    }
+}
+
+PyObject* ViewProviderAssembly::getPyObject()
+{
+    if (!pyViewObject) {
+        pyViewObject = new ViewProviderAssemblyPy(this);
+    }
+    pyViewObject->IncRef();
+    return pyViewObject;
+}

src/Mod/Assembly/Gui/ViewProviderAssembly.h

@@ -0,0 +1,106 @@
+// 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 <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
+{
+    PROPERTY_HEADER_WITH_OVERRIDE(AssemblyGui::ViewProviderAssembly);
+
+public:
+    ViewProviderAssembly();
+    ~ViewProviderAssembly() override;
+
+    /// deliver the icon shown in the tree view. Override from ViewProvider.h
+    QIcon getIcon() const override;
+
+    bool doubleClicked() override;
+
+    /** @name enter/exit edit mode */
+    //@{
+    bool setEdit(int ModNum) override;
+    void unsetEdit(int ModNum) override;
+    bool isInEditMode();
+
+    App::DocumentObject* getActivePart();
+
+    /// 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;
+
+    void initMove(Base::Vector3d& mousePosition);
+    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;
+    }
+    virtual bool getEnableMovement() const
+    {
+        return enableMovement;
+    }
+
+    // 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;
+
+    bool canStartDragging;
+    bool partMoving;
+    bool enableMovement;
+    int numberOfSel;
+
+    std::vector<std::pair<App::DocumentObject*, double>> objectMasses;
+    std::vector<std::pair<App::DocumentObject*, Base::Vector3d>> 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 +1,49 @@
+// 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");
+}

src/Mod/Assembly/Gui/ViewProviderJointGroup.h

@@ -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/>.                                       *
+ *                                                                          *
+ ***************************************************************************/
+
+#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;
+
+    // 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/InitGui.py

@@ -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"
         )
@@ -65,7 +64,7 @@ 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
@@ -76,8 +75,16 @@ 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",
+            "Assembly_ExportASMT",
+        ]
+
         cmdListJoints = [
+            "Assembly_ToggleGrounded",
+            "Separator",
             "Assembly_CreateJointFixed",
             "Assembly_CreateJointRevolute",
             "Assembly_CreateJointCylindrical",

src/Mod/Assembly/JointObject.py

@@ -26,6 +26,7 @@ import math
 import FreeCAD as App
 import Part
 
+from PySide import QtCore
 from PySide.QtCore import QT_TRANSLATE_NOOP
 
 if App.GuiUp:
@@ -54,8 +55,9 @@ JointTypes = [
 
 class Joint:
     def __init__(self, joint, type_index):
+        self.Type = "Joint"
+
         joint.Proxy = self
-        self.joint = joint
 
         joint.addProperty(
             "App::PropertyEnumeration",
@@ -130,7 +132,18 @@ class Joint:
             ),
         )
 
-        self.setJointConnectors([])
+        self.setJointConnectors(joint, [])
+
+    def __getstate__(self):
+        return self.Type
+
+    def __setstate__(self, state):
+        if state:
+            self.Type = state
+
+    def setJointType(self, joint, jointType):
+        joint.JointType = jointType
+        joint.Label = jointType.replace(" ", "")
 
     def onChanged(self, fp, prop):
         """Do something when a property has changed"""
@@ -142,34 +155,34 @@ class Joint:
         # App.Console.PrintMessage("Recompute Python Box feature\n")
         pass
 
-    def setJointConnectors(self, current_selection):
+    def setJointConnectors(self, joint, current_selection):
         # current selection is a vector of strings like "Assembly.Assembly1.Assembly2.Body.Pad.Edge16" including both what selection return as obj_name and obj_sub
 
         if len(current_selection) >= 1:
-            self.joint.Object1 = current_selection[0]["object"]
-            self.joint.Element1 = current_selection[0]["element_name"]
-            self.joint.Vertex1 = current_selection[0]["vertex_name"]
-            self.joint.Placement1 = self.findPlacement(
-                self.joint.Object1, self.joint.Element1, self.joint.Vertex1
-            )
+            joint.Object1 = current_selection[0]["object"]
+            joint.Element1 = current_selection[0]["element_name"]
+            joint.Vertex1 = current_selection[0]["vertex_name"]
+            joint.Placement1 = self.findPlacement(joint.Object1, joint.Element1, joint.Vertex1)
         else:
-            self.joint.Object1 = None
-            self.joint.Element1 = ""
-            self.joint.Vertex1 = ""
-            self.joint.Placement1 = UtilsAssembly.activeAssembly().Placement
+            joint.Object1 = None
+            joint.Element1 = ""
+            joint.Vertex1 = ""
+            joint.Placement1 = UtilsAssembly.activeAssembly().Placement
 
         if len(current_selection) >= 2:
-            self.joint.Object2 = current_selection[1]["object"]
-            self.joint.Element2 = current_selection[1]["element_name"]
-            self.joint.Vertex2 = current_selection[1]["vertex_name"]
-            self.joint.Placement2 = self.findPlacement(
-                self.joint.Object2, self.joint.Element2, self.joint.Vertex2
-            )
+            joint.Object2 = current_selection[1]["object"]
+            joint.Element2 = current_selection[1]["element_name"]
+            joint.Vertex2 = current_selection[1]["vertex_name"]
+            joint.Placement2 = self.findPlacement(joint.Object2, joint.Element2, joint.Vertex2)
         else:
-            self.joint.Object2 = None
-            self.joint.Element2 = ""
-            self.joint.Vertex2 = ""
-            self.joint.Placement2 = UtilsAssembly.activeAssembly().Placement
+            joint.Object2 = None
+            joint.Element2 = ""
+            joint.Vertex2 = ""
+            joint.Placement2 = UtilsAssembly.activeAssembly().Placement
+
+    def updateJCSPlacements(self, joint):
+        joint.Placement1 = self.findPlacement(joint.Object1, joint.Element1, joint.Vertex1)
+        joint.Placement2 = self.findPlacement(joint.Object2, joint.Element2, joint.Vertex2)
 
     """
     So here we want to find a placement that corresponds to a local coordinate system that would be placed at the selected vertex.
@@ -182,7 +195,11 @@ class Joint:
     """
 
     def findPlacement(self, obj, elt, vtx):
-        plc = App.Placement(obj.Placement)
+        plc = App.Placement()
+
+        if not obj or not elt or not vtx:
+            return App.Placement()
+
         elt_type, elt_index = UtilsAssembly.extract_type_and_number(elt)
         vtx_type, vtx_index = UtilsAssembly.extract_type_and_number(vtx)
 
@@ -234,12 +251,18 @@ class Joint:
             if surface.TypeId == "Part::GeomPlane":
                 plc.Rotation = App.Rotation(surface.Rotation)
 
+        # Now plc is the placement in the doc. But we need the placement relative to the solid origin.
         return plc
 
 
 class ViewProviderJoint:
-    def __init__(self, obj, app_obj):
+    def __init__(self, vobj):
         """Set this object to the proxy object of the actual view provider"""
+
+        vobj.Proxy = self
+
+    def attach(self, vobj):
+        """Setup the scene sub-graph of the view provider, this method is mandatory"""
         self.axis_thickness = 3
 
         view_params = App.ParamGet("User parameter:BaseApp/Preferences/View")
@@ -258,11 +281,8 @@ class ViewProviderJoint:
         self.cameraSensor = coin.SoFieldSensor(self.camera_callback, camera)
         self.cameraSensor.attach(camera.height)
 
-        self.app_obj = app_obj
-        obj.Proxy = self
+        self.app_obj = vobj.Object
 
-    def attach(self, obj):
-        """Setup the scene sub-graph of the view provider, this method is mandatory"""
         self.transform1 = coin.SoTransform()
         self.transform2 = coin.SoTransform()
         self.transform3 = coin.SoTransform()
@@ -275,21 +295,21 @@ class ViewProviderJoint:
         self.draw_style.style = coin.SoDrawStyle.LINES
         self.draw_style.lineWidth = self.axis_thickness
 
-        self.switch_JCS1 = self.JCS_sep(obj, self.transform1)
-        self.switch_JCS2 = self.JCS_sep(obj, self.transform2)
-        self.switch_JCS_preview = self.JCS_sep(obj, self.transform3)
+        self.switch_JCS1 = self.JCS_sep(self.transform1)
+        self.switch_JCS2 = self.JCS_sep(self.transform2)
+        self.switch_JCS_preview = self.JCS_sep(self.transform3)
 
         self.display_mode = coin.SoGroup()
         self.display_mode.addChild(self.switch_JCS1)
         self.display_mode.addChild(self.switch_JCS2)
         self.display_mode.addChild(self.switch_JCS_preview)
-        obj.addDisplayMode(self.display_mode, "Wireframe")
+        vobj.addDisplayMode(self.display_mode, "Wireframe")
 
     def camera_callback(self, *args):
         scaleF = self.get_JCS_size()
         self.axisScale.scaleFactor.setValue(scaleF, scaleF, scaleF)
 
-    def JCS_sep(self, obj, soTransform):
+    def JCS_sep(self, soTransform):
         pick = coin.SoPickStyle()
         pick.style.setValue(coin.SoPickStyle.UNPICKABLE)
 
@@ -424,21 +444,21 @@ class ViewProviderJoint:
             self.x_axis_so_color.rgb.setValue(c[0], c[1], c[2])
 
     def getIcon(self):
-        if self.app_obj.getPropertyByName("JointType") == "Fixed":
+        if self.app_obj.JointType == "Fixed":
             return ":/icons/Assembly_CreateJointFixed.svg"
-        elif self.app_obj.getPropertyByName("JointType") == "Revolute":
+        elif self.app_obj.JointType == "Revolute":
             return ":/icons/Assembly_CreateJointRevolute.svg"
-        elif self.app_obj.getPropertyByName("JointType") == "Cylindrical":
+        elif self.app_obj.JointType == "Cylindrical":
             return ":/icons/Assembly_CreateJointCylindrical.svg"
-        elif self.app_obj.getPropertyByName("JointType") == "Slider":
+        elif self.app_obj.JointType == "Slider":
             return ":/icons/Assembly_CreateJointSlider.svg"
-        elif self.app_obj.getPropertyByName("JointType") == "Ball":
+        elif self.app_obj.JointType == "Ball":
             return ":/icons/Assembly_CreateJointBall.svg"
-        elif self.app_obj.getPropertyByName("JointType") == "Planar":
+        elif self.app_obj.JointType == "Planar":
             return ":/icons/Assembly_CreateJointPlanar.svg"
-        elif self.app_obj.getPropertyByName("JointType") == "Parallel":
+        elif self.app_obj.JointType == "Parallel":
             return ":/icons/Assembly_CreateJointParallel.svg"
-        elif self.app_obj.getPropertyByName("JointType") == "Tangent":
+        elif self.app_obj.JointType == "Tangent":
             return ":/icons/Assembly_CreateJointTangent.svg"
 
         return ":/icons/Assembly_CreateJoint.svg"
@@ -453,3 +473,374 @@ class ViewProviderJoint:
         """When restoring the serialized object from document we have the chance to set some internals here.\
                 Since no data were serialized nothing needs to be done here."""
         return None
+
+    def doubleClicked(self, vobj):
+        panel = TaskAssemblyCreateJoint(0, vobj.Object)
+        Gui.Control.showDialog(panel)
+
+
+################ Grounded Joint object #################
+
+
+class GroundedJoint:
+    def __init__(self, joint, obj_to_ground):
+        self.Type = "GoundedJoint"
+        joint.Proxy = self
+        self.joint = joint
+
+        joint.addProperty(
+            "App::PropertyLink",
+            "ObjectToGround",
+            "Ground",
+            QT_TRANSLATE_NOOP("App::Property", "The object to ground"),
+        )
+
+        joint.ObjectToGround = obj_to_ground
+
+        joint.addProperty(
+            "App::PropertyPlacement",
+            "Placement",
+            "Ground",
+            QT_TRANSLATE_NOOP(
+                "App::Property",
+                "This is where the part is grounded.",
+            ),
+        )
+
+        joint.Placement = obj_to_ground.Placement
+
+    def __getstate__(self):
+        return self.Type
+
+    def __setstate__(self, state):
+        if state:
+            self.Type = state
+
+    def onChanged(self, fp, prop):
+        """Do something when a property has changed"""
+        # App.Console.PrintMessage("Change property: " + str(prop) + "\n")
+        pass
+
+    def execute(self, fp):
+        """Do something when doing a recomputation, this method is mandatory"""
+        # App.Console.PrintMessage("Recompute Python Box feature\n")
+        pass
+
+
+class ViewProviderGroundedJoint:
+    def __init__(self, obj):
+        """Set this object to the proxy object of the actual view provider"""
+        obj.Proxy = self
+
+    def attach(self, obj):
+        """Setup the scene sub-graph of the view provider, this method is mandatory"""
+        pass
+
+    def updateData(self, fp, prop):
+        """If a property of the handled feature has changed we have the chance to handle this here"""
+        # fp is the handled feature, prop is the name of the property that has changed
+        pass
+
+    def getDisplayModes(self, obj):
+        """Return a list of display modes."""
+        modes = ["Wireframe"]
+        return modes
+
+    def getDefaultDisplayMode(self):
+        """Return the name of the default display mode. It must be defined in getDisplayModes."""
+        return "Wireframe"
+
+    def onChanged(self, vp, prop):
+        """Here we can do something when a single property got changed"""
+        # App.Console.PrintMessage("Change property: " + str(prop) + "\n")
+        pass
+
+    def getIcon(self):
+        return ":/icons/Assembly_ToggleGrounded.svg"
+
+
+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)
+        full_element_name = full_obj_name + "." + element_name
+        selected_object = UtilsAssembly.getObject(full_element_name)
+
+        for selection_dict in self.taskbox.current_selection:
+            if selection_dict["object"] == selected_object:
+                # 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, jointTypeIndex, jointObj=None):
+        super().__init__()
+
+        self.assembly = UtilsAssembly.activeAssembly()
+        self.view = Gui.activeDocument().activeView()
+        self.doc = App.ActiveDocument
+
+        if not self.assembly or not self.view or not self.doc:
+            return
+
+        self.assembly.ViewObject.EnableMovement = False
+
+        self.form = Gui.PySideUic.loadUi(":/panels/TaskAssemblyCreateJoint.ui")
+
+        self.form.jointType.addItems(JointTypes)
+        self.form.jointType.setCurrentIndex(jointTypeIndex)
+        self.form.jointType.currentIndexChanged.connect(self.onJointTypeChanged)
+
+        Gui.Selection.clearSelection()
+
+        if jointObj:
+            self.joint = jointObj
+            self.jointName = jointObj.Label
+            App.setActiveTransaction("Edit " + self.jointName + " Joint")
+
+            self.updateTaskboxFromJoint()
+
+        else:
+            self.jointName = self.form.jointType.currentText().replace(" ", "")
+            App.setActiveTransaction("Create " + self.jointName + " Joint")
+
+            self.current_selection = []
+            self.preselection_dict = None
+
+            self.createJointObject()
+
+        Gui.Selection.addSelectionGate(
+            MakeJointSelGate(self, self.assembly), Gui.Selection.ResolveMode.NoResolve
+        )
+        Gui.Selection.addObserver(self, Gui.Selection.ResolveMode.NoResolve)
+        Gui.Selection.setSelectionStyle(Gui.Selection.SelectionStyle.GreedySelection)
+
+        self.callbackMove = self.view.addEventCallback("SoLocation2Event", self.moveMouse)
+        self.callbackKey = self.view.addEventCallback("SoKeyboardEvent", self.KeyboardEvent)
+
+    def accept(self):
+        if len(self.current_selection) != 2:
+            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()
+
+        self.assembly.solve()
+
+        App.closeActiveTransaction()
+        return True
+
+    def reject(self):
+        self.deactivate()
+        App.closeActiveTransaction(True)
+        return True
+
+    def deactivate(self):
+        self.assembly.ViewObject.EnableMovement = True
+        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 = UtilsAssembly.getJointGroup(self.assembly)
+
+        self.joint = joint_group.newObject("App::FeaturePython", self.jointName)
+        Joint(self.joint, type_index)
+        ViewProviderJoint(self.joint.ViewObject)
+
+    def onJointTypeChanged(self, index):
+        self.joint.Proxy.setJointType(self.joint, self.form.jointType.currentText())
+
+    def updateTaskboxFromJoint(self):
+        self.current_selection = []
+        self.preselection_dict = None
+
+        selection_dict1 = {
+            "object": self.joint.Object1,
+            "element_name": self.joint.Element1,
+            "vertex_name": self.joint.Vertex1,
+        }
+
+        selection_dict2 = {
+            "object": self.joint.Object2,
+            "element_name": self.joint.Element2,
+            "vertex_name": self.joint.Vertex2,
+        }
+
+        self.current_selection.append(selection_dict1)
+        self.current_selection.append(selection_dict2)
+
+        elName = self.getObjSubNameFromObj(self.joint.Object1, self.joint.Element1)
+        """print(
+            f"Gui.Selection.addSelection('{self.doc.Name}', '{self.joint.Object1.Name}', '{elName}')"
+        )"""
+        Gui.Selection.addSelection(self.doc.Name, self.joint.Object1.Name, elName)
+
+        elName = self.getObjSubNameFromObj(self.joint.Object2, self.joint.Element2)
+        Gui.Selection.addSelection(self.doc.Name, self.joint.Object2.Name, elName)
+
+        self.updateJointList()
+
+    def getObjSubNameFromObj(self, obj, elName):
+        if obj.TypeId == "PartDesign::Body":
+            return obj.Tip.Name + "." + elName
+        elif obj.TypeId == "App::Link":
+            linked_obj = obj.getLinkedObject()
+            if linked_obj.TypeId == "PartDesign::Body":
+                return linked_obj.Tip.Name + "." + elName
+            else:
+                return elName
+        else:
+            return elName
+
+    def updateJoint(self):
+        # First we build the listwidget
+        self.updateJointList()
+
+        # Then we pass the new list to the join object
+        self.joint.Proxy.setJointConnectors(self.joint, self.current_selection)
+
+    def updateJointList(self):
+        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["object"].Label + "." + sel["element_name"]
+            simplified_names.append(sname)
+        self.form.featureList.addItems(simplified_names)
+
+    def moveMouse(self, info):
+        if len(self.current_selection) >= 2 or (
+            len(self.current_selection) == 1
+            and self.current_selection[0]["object"] == self.preselection_dict["object"]
+        ):
+            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)
+        selected_object = UtilsAssembly.getObject(full_element_name)
+        element_name = UtilsAssembly.getElementName(full_element_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["object"] == selected_object:
+                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()

src/Mod/Assembly/UtilsAssembly.py

@@ -244,3 +244,11 @@ def color_from_unsigned(c):
         float(int((c >> 16) & 0xFF) / 255),
         float(int((c >> 8) & 0xFF) / 255),
     ]
+
+
+def getJointGroup(assembly):
+    joint_group = assembly.getObject("Joints")
+
+    if not joint_group:
+        joint_group = assembly.newObject("Assembly::JointGroup", "Joints")
+    return joint_group