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Assembly: Fix simulation crash with limits

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This commit is contained in:
PaddleStroke
2025-09-09 18:07:28 +02:00
committed by Chris Hennes
parent 0b18828a14
commit dde9b038aa
1 changed files with 92 additions and 86 deletions
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178
src/Mod/Assembly/App/AssemblyObject.cpp
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@@ -1369,103 +1369,109 @@ AssemblyObject::makeMbdJoint(App::DocumentObject* joint)
mbdJoint->setMarkerI(fullMarkerNameI);
mbdJoint->setMarkerJ(fullMarkerNameJ);
// Add limits if needed.
if (jointType == JointType::Slider || jointType == JointType::Cylindrical) {
auto* pLenMin = dynamic_cast<App::PropertyFloat*>(joint->getPropertyByName("LengthMin"));
auto* pLenMax = dynamic_cast<App::PropertyFloat*>(joint->getPropertyByName("LengthMax"));
auto* pMinEnabled =
dynamic_cast<App::PropertyBool*>(joint->getPropertyByName("EnableLengthMin"));
auto* pMaxEnabled =
dynamic_cast<App::PropertyBool*>(joint->getPropertyByName("EnableLengthMax"));
// Add limits if needed. We do not add if this is a simulation or their might clash.
if (motions.empty()) {
if (jointType == JointType::Slider || jointType == JointType::Cylindrical) {
auto* pLenMin =
dynamic_cast<App::PropertyFloat*>(joint->getPropertyByName("LengthMin"));
auto* pLenMax =
dynamic_cast<App::PropertyFloat*>(joint->getPropertyByName("LengthMax"));
auto* pMinEnabled =
dynamic_cast<App::PropertyBool*>(joint->getPropertyByName("EnableLengthMin"));
auto* pMaxEnabled =
dynamic_cast<App::PropertyBool*>(joint->getPropertyByName("EnableLengthMax"));
if (pLenMin && pLenMax && pMinEnabled && pMaxEnabled) { // Make sure properties do exist
// Swap the values if necessary.
bool minEnabled = pMinEnabled->getValue();
bool maxEnabled = pMaxEnabled->getValue();
double minLength = pLenMin->getValue();
double maxLength = pLenMax->getValue();
if (pLenMin && pLenMax && pMinEnabled
&& pMaxEnabled) { // Make sure properties do exist
// Swap the values if necessary.
bool minEnabled = pMinEnabled->getValue();
bool maxEnabled = pMaxEnabled->getValue();
double minLength = pLenMin->getValue();
double maxLength = pLenMax->getValue();
if ((minLength > maxLength) && minEnabled && maxEnabled) {
pLenMin->setValue(maxLength);
pLenMax->setValue(minLength);
minLength = maxLength;
maxLength = pLenMax->getValue();
if ((minLength > maxLength) && minEnabled && maxEnabled) {
pLenMin->setValue(maxLength);
pLenMax->setValue(minLength);
minLength = maxLength;
maxLength = pLenMax->getValue();
pMinEnabled->setValue(maxEnabled);
pMaxEnabled->setValue(minEnabled);
minEnabled = maxEnabled;
maxEnabled = pMaxEnabled->getValue();
}
pMinEnabled->setValue(maxEnabled);
pMaxEnabled->setValue(minEnabled);
minEnabled = maxEnabled;
maxEnabled = pMaxEnabled->getValue();
}
if (minEnabled) {
auto limit = ASMTTranslationLimit::With();
limit->setName(joint->getFullName() + "-LimitLenMin");
limit->setMarkerI(fullMarkerNameI);
limit->setMarkerJ(fullMarkerNameJ);
limit->settype("=>");
limit->setlimit(std::to_string(minLength));
limit->settol("1.0e-9");
mbdAssembly->addLimit(limit);
}
if (minEnabled) {
auto limit = ASMTTranslationLimit::With();
limit->setName(joint->getFullName() + "-LimitLenMin");
limit->setMarkerI(fullMarkerNameI);
limit->setMarkerJ(fullMarkerNameJ);
limit->settype("=>");
limit->setlimit(std::to_string(minLength));
limit->settol("1.0e-9");
mbdAssembly->addLimit(limit);
}
if (maxEnabled) {
auto limit2 = ASMTTranslationLimit::With();
limit2->setName(joint->getFullName() + "-LimitLenMax");
limit2->setMarkerI(fullMarkerNameI);
limit2->setMarkerJ(fullMarkerNameJ);
limit2->settype("=<");
limit2->setlimit(std::to_string(maxLength));
limit2->settol("1.0e-9");
mbdAssembly->addLimit(limit2);
if (maxEnabled) {
auto limit2 = ASMTTranslationLimit::With();
limit2->setName(joint->getFullName() + "-LimitLenMax");
limit2->setMarkerI(fullMarkerNameI);
limit2->setMarkerJ(fullMarkerNameJ);
limit2->settype("=<");
limit2->setlimit(std::to_string(maxLength));
limit2->settol("1.0e-9");
mbdAssembly->addLimit(limit2);
}
}
}
}
if (jointType == JointType::Revolute || jointType == JointType::Cylindrical) {
auto* pRotMin = dynamic_cast<App::PropertyFloat*>(joint->getPropertyByName("AngleMin"));
auto* pRotMax = dynamic_cast<App::PropertyFloat*>(joint->getPropertyByName("AngleMax"));
auto* pMinEnabled =
dynamic_cast<App::PropertyBool*>(joint->getPropertyByName("EnableAngleMin"));
auto* pMaxEnabled =
dynamic_cast<App::PropertyBool*>(joint->getPropertyByName("EnableAngleMax"));
if (jointType == JointType::Revolute || jointType == JointType::Cylindrical) {
auto* pRotMin = dynamic_cast<App::PropertyFloat*>(joint->getPropertyByName("AngleMin"));
auto* pRotMax = dynamic_cast<App::PropertyFloat*>(joint->getPropertyByName("AngleMax"));
auto* pMinEnabled =
dynamic_cast<App::PropertyBool*>(joint->getPropertyByName("EnableAngleMin"));
auto* pMaxEnabled =
dynamic_cast<App::PropertyBool*>(joint->getPropertyByName("EnableAngleMax"));
if (pRotMin && pRotMax && pMinEnabled && pMaxEnabled) { // Make sure properties do exist
// Swap the values if necessary.
bool minEnabled = pMinEnabled->getValue();
bool maxEnabled = pMaxEnabled->getValue();
double minAngle = pRotMin->getValue();
double maxAngle = pRotMax->getValue();
if ((minAngle > maxAngle) && minEnabled && maxEnabled) {
pRotMin->setValue(maxAngle);
pRotMax->setValue(minAngle);
minAngle = maxAngle;
maxAngle = pRotMax->getValue();
if (pRotMin && pRotMax && pMinEnabled
&& pMaxEnabled) { // Make sure properties do exist
// Swap the values if necessary.
bool minEnabled = pMinEnabled->getValue();
bool maxEnabled = pMaxEnabled->getValue();
double minAngle = pRotMin->getValue();
double maxAngle = pRotMax->getValue();
if ((minAngle > maxAngle) && minEnabled && maxEnabled) {
pRotMin->setValue(maxAngle);
pRotMax->setValue(minAngle);
minAngle = maxAngle;
maxAngle = pRotMax->getValue();
pMinEnabled->setValue(maxEnabled);
pMaxEnabled->setValue(minEnabled);
minEnabled = maxEnabled;
maxEnabled = pMaxEnabled->getValue();
}
pMinEnabled->setValue(maxEnabled);
pMaxEnabled->setValue(minEnabled);
minEnabled = maxEnabled;
maxEnabled = pMaxEnabled->getValue();
}
if (minEnabled) {
auto limit = ASMTRotationLimit::With();
limit->setName(joint->getFullName() + "-LimitRotMin");
limit->setMarkerI(fullMarkerNameI);
limit->setMarkerJ(fullMarkerNameJ);
limit->settype("=>");
limit->setlimit(std::to_string(minAngle) + "*pi/180.0");
limit->settol("1.0e-9");
mbdAssembly->addLimit(limit);
}
if (minEnabled) {
auto limit = ASMTRotationLimit::With();
limit->setName(joint->getFullName() + "-LimitRotMin");
limit->setMarkerI(fullMarkerNameI);
limit->setMarkerJ(fullMarkerNameJ);
limit->settype("=>");
limit->setlimit(std::to_string(minAngle) + "*pi/180.0");
limit->settol("1.0e-9");
mbdAssembly->addLimit(limit);
}
if (maxEnabled) {
auto limit2 = ASMTRotationLimit::With();
limit2->setName(joint->getFullName() + "-LimitRotMax");
limit2->setMarkerI(fullMarkerNameI);
limit2->setMarkerJ(fullMarkerNameJ);
limit2->settype("=<");
limit2->setlimit(std::to_string(maxAngle) + "*pi/180.0");
limit2->settol("1.0e-9");
mbdAssembly->addLimit(limit2);
if (maxEnabled) {
auto limit2 = ASMTRotationLimit::With();
limit2->setName(joint->getFullName() + "-LimitRotMax");
limit2->setMarkerI(fullMarkerNameI);
limit2->setMarkerJ(fullMarkerNameJ);
limit2->settype("=<");
limit2->setlimit(std::to_string(maxAngle) + "*pi/180.0");
limit2->settol("1.0e-9");
mbdAssembly->addLimit(limit2);
}
}
}
}