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

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This commit is contained in:
Paddle
2024-01-08 22:12:42 +01:00
committed by PaddleStroke
parent ae0d404c4c
commit fc5a1f1b24
17 changed files with 367 additions and 123 deletions
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108
src/Mod/Assembly/App/AssemblyObject.cpp
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@@ -162,6 +162,7 @@ App::DocumentObject* AssemblyObject::getJointOfPartConnectingToGround(App::Docum
bool AssemblyObject::isJointConnectingPartToGround(App::DocumentObject* joint, const char* propname)
{
auto* propPart = dynamic_cast<App::PropertyLink*>(joint->getPropertyByName(propname));
if (!propPart) {
return false;
@@ -173,14 +174,32 @@ bool AssemblyObject::isJointConnectingPartToGround(App::DocumentObject* joint, c
return false;
}
// now we disconnect this joint temporarily
propPart->setValue(nullptr);
// to know if a joint is connecting to ground we disable all the other joints
std::vector<App::DocumentObject*> jointsOfPart = getJointsOfPart(part);
std::vector<bool> activatedStates;
for (auto jointi : jointsOfPart) {
if (jointi->getFullName() == joint->getFullName()) {
continue;
}
activatedStates.push_back(getJointActivated(jointi));
setJointActivated(jointi, false);
}
isConnected = isPartConnected(part);
propPart->setValue(part);
// restore activation states
for (auto jointi : jointsOfPart) {
if (jointi->getFullName() == joint->getFullName() || activatedStates.empty()) {
continue;
}
return !isConnected;
setJointActivated(jointi, activatedStates[0]);
activatedStates.erase(activatedStates.begin());
}
return isConnected;
}
std::vector<App::DocumentObject*> AssemblyObject::getJoints(bool updateJCS)
@@ -193,16 +212,20 @@ std::vector<App::DocumentObject*> AssemblyObject::getJoints(bool updateJCS)
}
Base::PyGILStateLocker lock;
for (auto obj : jointGroup->getObjects()) {
if (!obj) {
for (auto joint : jointGroup->getObjects()) {
if (!joint) {
continue;
}
auto proxy = dynamic_cast<App::PropertyPythonObject*>(obj->getPropertyByName("Proxy"));
auto* prop = dynamic_cast<App::PropertyBool*>(joint->getPropertyByName("Activated"));
if (prop && !prop->getValue()) {
continue;
}
auto proxy = dynamic_cast<App::PropertyPythonObject*>(joint->getPropertyByName("Proxy"));
if (proxy) {
Py::Object joint = proxy->getValue();
if (joint.hasAttr("setJointConnectors")) {
joints.push_back(obj);
if (proxy->getValue().hasAttr("setJointConnectors")) {
joints.push_back(joint);
}
}
}
@@ -347,16 +370,37 @@ bool AssemblyObject::isPartConnected(App::DocumentObject* obj)
}
std::vector<App::DocumentObject*> AssemblyObject::getDownstreamParts(App::DocumentObject* part,
int limit)
App::DocumentObject* joint)
{
if (limit > 1000) { // Inifinite loop protection
// First we deactivate the joint
bool state = getJointActivated(joint);
setJointActivated(joint, false);
std::vector<App::DocumentObject*> joints = getJoints(false);
std::set<App::DocumentObject*> connectedParts = {part};
traverseAndMarkConnectedParts(part, connectedParts, joints);
std::vector<App::DocumentObject*> downstreamParts;
for (auto parti : connectedParts) {
if (!isPartConnected(parti) && (parti != part)) {
downstreamParts.push_back(parti);
}
}
AssemblyObject::setJointActivated(joint, state);
/*if (limit > 1000) { // Inifinite loop protection
return {};
}
limit++;
Base::Console().Warning("limit %d\n", limit);
std::vector<App::DocumentObject*> downstreamParts = {part};
std::string name;
App::DocumentObject* connectingJoint = getJointOfPartConnectingToGround(part, name);
App::DocumentObject* connectingJoint =
getJointOfPartConnectingToGround(part,
name); // ?????????????????????????????? if we remove
// connection to ground then it can't work for tom
std::vector<App::DocumentObject*> jointsOfPart = getJointsOfPart(part);
// remove connectingJoint from jointsOfPart
@@ -365,8 +409,23 @@ std::vector<App::DocumentObject*> AssemblyObject::getDownstreamParts(App::Docume
for (auto joint : jointsOfPart) {
App::DocumentObject* part1 = getLinkObjFromProp(joint, "Part1");
App::DocumentObject* part2 = getLinkObjFromProp(joint, "Part2");
App::DocumentObject* downstreamPart =
part->getFullName() == part1->getFullName() ? part2 : part1;
bool firstIsDown = part->getFullName() == part2->getFullName();
App::DocumentObject* downstreamPart = firstIsDown ? part1 : part2;
Base::Console().Warning("looping\n");
// it is possible that the part is connected to ground by this joint.
// In which case we should not select those parts. To test we disconnect :
auto* propObj = dynamic_cast<App::PropertyLink*>(joint->getPropertyByName("Part1"));
if (!propObj) {
continue;
}
propObj->setValue(nullptr);
bool isConnected = isPartConnected(downstreamPart);
propObj->setValue(part1);
if (isConnected) {
Base::Console().Warning("continue\n");
continue;
}
std::vector<App::DocumentObject*> subDownstreamParts =
getDownstreamParts(downstreamPart, limit);
@@ -376,7 +435,7 @@ std::vector<App::DocumentObject*> AssemblyObject::getDownstreamParts(App::Docume
downstreamParts.push_back(downPart);
}
}
}
}*/
return downstreamParts;
}
@@ -1322,6 +1381,22 @@ void printPlacement(Base::Placement plc, const char* name)
angle);
}
void AssemblyObject::setJointActivated(App::DocumentObject* joint, bool val)
{
auto* propActivated = dynamic_cast<App::PropertyBool*>(joint->getPropertyByName("Activated"));
if (propActivated) {
propActivated->setValue(val);
}
}
bool AssemblyObject::getJointActivated(App::DocumentObject* joint)
{
auto* propActivated = dynamic_cast<App::PropertyBool*>(joint->getPropertyByName("Activated"));
if (propActivated) {
return propActivated->getValue();
}
return false;
}
Base::Placement AssemblyObject::getPlacementFromProp(App::DocumentObject* obj, const char* propName)
{
Base::Placement plc = Base::Placement();
@@ -1494,7 +1569,6 @@ App::DocumentObject* AssemblyObject::getLinkObjFromProp(App::DocumentObject* joi
{
auto* propObj = dynamic_cast<App::PropertyLink*>(joint->getPropertyByName(propLinkName));
if (!propObj) {
Base::Console().Warning("getLinkObjFromProp nullptr\n");
return nullptr;
}
return propObj->getValue();