303 lines
12 KiB
C++
303 lines
12 KiB
C++
// SPDX-License-Identifier: LGPL-2.1-or-later
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/****************************************************************************
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* *
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* Copyright (c) 2023 Ondsel <development@ondsel.com> *
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* *
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* This file is part of FreeCAD. *
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* *
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* FreeCAD is free software: you can redistribute it and/or modify it *
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* under the terms of the GNU Lesser General Public License as *
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* published by the Free Software Foundation, either version 2.1 of the *
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* License, or (at your option) any later version. *
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* *
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* FreeCAD is distributed in the hope that it will be useful, but *
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* WITHOUT ANY WARRANTY; without even the implied warranty of *
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU *
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* Lesser General Public License for more details. *
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* *
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* You should have received a copy of the GNU Lesser General Public *
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* License along with FreeCAD. If not, see *
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* <https://www.gnu.org/licenses/>. *
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* *
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***************************************************************************/
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#ifndef ASSEMBLY_AssemblyObject_H
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#define ASSEMBLY_AssemblyObject_H
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#include <GeomAbs_CurveType.hxx>
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#include <GeomAbs_SurfaceType.hxx>
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#include <Mod/Assembly/AssemblyGlobal.h>
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#include <App/FeaturePython.h>
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#include <App/Part.h>
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#include <App/PropertyLinks.h>
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namespace MbD
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{
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class ASMTPart;
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class ASMTAssembly;
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class ASMTJoint;
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class ASMTMarker;
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class ASMTPart;
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} // namespace MbD
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namespace App
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{
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class PropertyXLinkSub;
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} // namespace App
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namespace Base
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{
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class Placement;
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class Rotation;
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} // namespace Base
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namespace Assembly
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{
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class JointGroup;
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class ViewGroup;
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struct ObjRef
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{
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App::DocumentObject* obj;
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App::PropertyXLinkSub* ref;
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};
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// This enum has to be the same as the one in JointObject.py
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enum class JointType
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{
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Fixed,
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Revolute,
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Cylindrical,
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Slider,
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Ball,
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Distance,
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Parallel,
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Perpendicular,
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Angle,
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RackPinion,
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Screw,
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Gears,
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Belt,
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};
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enum class DistanceType
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{
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PointPoint,
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LineLine,
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LineCircle,
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CircleCircle,
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PlanePlane,
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PlaneCylinder,
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PlaneSphere,
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PlaneCone,
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PlaneTorus,
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CylinderCylinder,
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CylinderSphere,
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CylinderCone,
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CylinderTorus,
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ConeCone,
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ConeTorus,
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ConeSphere,
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TorusTorus,
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TorusSphere,
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SphereSphere,
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PointPlane,
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PointCylinder,
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PointSphere,
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PointCone,
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PointTorus,
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LinePlane,
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LineCylinder,
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LineSphere,
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LineCone,
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LineTorus,
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CurvePlane,
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CurveCylinder,
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CurveSphere,
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CurveCone,
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CurveTorus,
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PointLine,
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PointCurve,
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Other,
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};
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class AssemblyExport AssemblyObject: public App::Part
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{
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PROPERTY_HEADER_WITH_OVERRIDE(Assembly::AssemblyObject);
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public:
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AssemblyObject();
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~AssemblyObject() override;
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PyObject* getPyObject() override;
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/// returns the type name of the ViewProvider
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const char* getViewProviderName() const override
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{
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return "AssemblyGui::ViewProviderAssembly";
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}
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App::DocumentObjectExecReturn* execute() override;
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/* Solve the assembly. It will update first the joints, solve, update placements of the parts
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and redraw the joints Args : enableRedo : This store initial positions to enable undo while
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being in an active transaction (joint creation).*/
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int solve(bool enableRedo = false, bool updateJCS = true);
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void preDrag(std::vector<App::DocumentObject*> dragParts);
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void doDragStep();
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void postDrag();
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void savePlacementsForUndo();
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void undoSolve();
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void clearUndo();
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void exportAsASMT(std::string fileName);
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Base::Placement getMbdPlacement(std::shared_ptr<MbD::ASMTPart> mbdPart);
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bool validateNewPlacements();
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void setNewPlacements();
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static void recomputeJointPlacements(std::vector<App::DocumentObject*> joints);
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static void redrawJointPlacements(std::vector<App::DocumentObject*> joints);
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static void redrawJointPlacement(App::DocumentObject* joint);
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// This makes sure that LinkGroups or sub-assemblies have identity placements.
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void ensureIdentityPlacements();
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// Ondsel Solver interface
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std::shared_ptr<MbD::ASMTAssembly> makeMbdAssembly();
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std::shared_ptr<MbD::ASMTPart>
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makeMbdPart(std::string& name, Base::Placement plc = Base::Placement(), double mass = 1.0);
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std::shared_ptr<MbD::ASMTPart> getMbDPart(App::DocumentObject* obj);
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// To help the solver, during dragging, we are bundling parts connected by a fixed joint.
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// So several assembly components are bundled in a single ASMTPart.
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// So we need to store the plc of each bundled object relative to the bundle origin (first obj
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// of objectPartMap).
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struct MbDPartData
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{
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std::shared_ptr<MbD::ASMTPart> part;
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Base::Placement offsetPlc; // This is the offset within the bundled parts
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};
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MbDPartData getMbDData(App::DocumentObject* obj);
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std::shared_ptr<MbD::ASMTMarker> makeMbdMarker(std::string& name, Base::Placement& plc);
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std::vector<std::shared_ptr<MbD::ASMTJoint>> makeMbdJoint(App::DocumentObject* joint);
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std::shared_ptr<MbD::ASMTJoint> makeMbdJointOfType(App::DocumentObject* joint,
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JointType jointType);
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std::shared_ptr<MbD::ASMTJoint> makeMbdJointDistance(App::DocumentObject* joint);
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std::string handleOneSideOfJoint(App::DocumentObject* joint,
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const char* propRefName,
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const char* propPlcName);
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void getRackPinionMarkers(App::DocumentObject* joint,
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std::string& markerNameI,
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std::string& markerNameJ);
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int slidingPartIndex(App::DocumentObject* joint);
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void jointParts(std::vector<App::DocumentObject*> joints);
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JointGroup* getJointGroup() const;
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ViewGroup* getExplodedViewGroup() const;
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std::vector<App::DocumentObject*>
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getJoints(bool updateJCS = true, bool delBadJoints = false, bool subJoints = true);
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std::vector<App::DocumentObject*> getGroundedJoints();
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std::vector<App::DocumentObject*> getJointsOfObj(App::DocumentObject* obj);
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std::vector<App::DocumentObject*> getJointsOfPart(App::DocumentObject* part);
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App::DocumentObject* getJointOfPartConnectingToGround(App::DocumentObject* part,
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std::string& name);
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std::vector<App::DocumentObject*> getGroundedParts();
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std::vector<App::DocumentObject*> fixGroundedParts();
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void fixGroundedPart(App::DocumentObject* obj, Base::Placement& plc, std::string& jointName);
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bool isJointConnectingPartToGround(App::DocumentObject* joint, const char* partPropName);
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bool isJointTypeConnecting(App::DocumentObject* joint);
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bool isObjInSetOfObjRefs(App::DocumentObject* obj, const std::vector<ObjRef>& pairs);
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void removeUnconnectedJoints(std::vector<App::DocumentObject*>& joints,
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std::vector<App::DocumentObject*> groundedObjs);
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void traverseAndMarkConnectedParts(App::DocumentObject* currentPart,
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std::vector<ObjRef>& connectedParts,
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const std::vector<App::DocumentObject*>& joints);
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std::vector<ObjRef> getConnectedParts(App::DocumentObject* part,
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const std::vector<App::DocumentObject*>& joints);
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bool isPartGrounded(App::DocumentObject* part);
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bool isPartConnected(App::DocumentObject* part);
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std::vector<ObjRef> getDownstreamParts(App::DocumentObject* part,
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App::DocumentObject* joint = nullptr);
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std::vector<App::DocumentObject*> getUpstreamParts(App::DocumentObject* part, int limit = 0);
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App::DocumentObject* getUpstreamMovingPart(App::DocumentObject* part,
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App::DocumentObject*& joint,
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std::string& name);
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double getObjMass(App::DocumentObject* obj);
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void setObjMasses(std::vector<std::pair<App::DocumentObject*, double>> objectMasses);
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std::vector<AssemblyObject*> getSubAssemblies();
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void updateGroundedJointsPlacements();
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private:
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std::shared_ptr<MbD::ASMTAssembly> mbdAssembly;
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std::unordered_map<App::DocumentObject*, MbDPartData> objectPartMap;
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std::vector<std::pair<App::DocumentObject*, double>> objMasses;
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std::vector<std::shared_ptr<MbD::ASMTPart>> dragMbdParts;
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std::vector<std::pair<App::DocumentObject*, Base::Placement>> previousPositions;
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bool bundleFixed;
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// void handleChangedPropertyType(Base::XMLReader &reader, const char *TypeName, App::Property
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// *prop) override;
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public:
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// ---------------- Utils -------------------
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// Can't put the functions by themselves in AssemblyUtils.cpp :
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// see https://forum.freecad.org/viewtopic.php?p=729577#p729577
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static void swapJCS(App::DocumentObject* joint);
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static bool isEdgeType(App::DocumentObject* obj, std::string& elName, GeomAbs_CurveType type);
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static bool isFaceType(App::DocumentObject* obj, std::string& elName, GeomAbs_SurfaceType type);
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static double getFaceRadius(App::DocumentObject* obj, std::string& elName);
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static double getEdgeRadius(App::DocumentObject* obj, std::string& elName);
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static DistanceType getDistanceType(App::DocumentObject* joint);
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static JointGroup* getJointGroup(const App::Part* part);
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// getters to get from properties
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static void setJointActivated(App::DocumentObject* joint, bool val);
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static bool getJointActivated(App::DocumentObject* joint);
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static double getJointDistance(App::DocumentObject* joint);
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static double getJointDistance2(App::DocumentObject* joint);
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static JointType getJointType(App::DocumentObject* joint);
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static std::string getElementFromProp(App::DocumentObject* obj, const char* propName);
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static std::string getElementTypeFromProp(App::DocumentObject* obj, const char* propName);
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static App::DocumentObject* getObjFromProp(App::DocumentObject* joint, const char* propName);
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static App::DocumentObject* getObjFromRef(App::DocumentObject* obj, std::string& sub);
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static App::DocumentObject* getObjFromRef(App::PropertyXLinkSub* prop);
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static App::DocumentObject* getObjFromRef(App::DocumentObject* joint, const char* propName);
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App::DocumentObject* getMovingPartFromRef(App::DocumentObject* obj, std::string& sub);
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App::DocumentObject* getMovingPartFromRef(App::PropertyXLinkSub* prop);
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App::DocumentObject* getMovingPartFromRef(App::DocumentObject* joint, const char* propName);
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static App::DocumentObject* getLinkedObjFromRef(App::DocumentObject* joint,
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const char* propName);
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static std::vector<std::string> getSubAsList(App::PropertyXLinkSub* prop);
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static std::vector<std::string> getSubAsList(App::DocumentObject* joint, const char* propName);
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};
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// using AssemblyObjectPython = App::FeaturePythonT<AssemblyObject>;
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} // namespace Assembly
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#endif // ASSEMBLY_AssemblyObject_H
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