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axialrotation.py
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axialrotation.py
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# -*- coding: utf-8 -*-
# -*- coding: utf-8 -*-
###################################################################################
#
# Copyright 2021 Jose Gabriel Egas Ortuno
#
# This program is free software; you can redistribute it and/or modify
# it under the terms of the GNU General Public License as published by
# the Free Software Foundation; either version 2 of the License, or
# (at your option) any later version.
#
# This program 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 General Public License for more details.
#
# You should have received a copy of the GNU General Public License
# along with this program; if not, write to the Free Software
# Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
# MA 02110-1301, USA.
#
#
###################################################################################
'''
joint: 2,
axial rotation,
1, # node 1 label (static node, it seems it could be a dynamic node too, in such a case the axial rotation node would be mooving around)
null, # relative offset (null = the motor is at the static node)
hinge, euler, 0., 0., 0. # relative orientation
2, # node 2 label (dynamic node)
0.025, 0., 0., # relative offset (to the dynamic node)
hinge, euler, 0., 0., 0. # relative orientation
ramp, 2.*pi, 0., 1., 0.; # angular velocity
'''
#from FreeCAD import Units
import FreeCAD
import Draft
import FreeCADGui
class Axialrotation:
def __init__(self, obj, label, static, dynamic):
#Get the cylinder's center of mass, so that the joint is placed here:
x = static.position_X - dynamic.position_X
y = static.position_Y - dynamic.position_Y
z = static.position_Z - dynamic.position_Z
yaw = FreeCAD.Units.Quantity(0.0,FreeCAD.Units.Unit('deg'))
pitch = FreeCAD.Units.Quantity(0.0,FreeCAD.Units.Unit('deg'))
roll = FreeCAD.Units.Quantity(0.0,FreeCAD.Units.Unit('deg'))
obj.addExtension("App::GroupExtensionPython", self)
#Create scripted object:
obj.addProperty("App::PropertyString","label","Axial Rotation","label",1).label = label
obj.addProperty("App::PropertyString","joint","Axial Rotation","joint",1).joint = 'axial rotation'
obj.addProperty("App::PropertyString","static node","Axial Rotation","static node",1).static_node = static.label
obj.addProperty("App::PropertyString","dynamic node","Axial Rotation","dynami cnode",1).dynamic_node = dynamic.label
obj.addProperty("App::PropertyString","relative offset","Axial Rotation","relative offset",1).relative_offset = 'null'
obj.addProperty("App::PropertyDistance","relative offset 1 X","Relative offset 1","relative offset 1 X",1).relative_offset_1_X = x
obj.addProperty("App::PropertyDistance","relative offset 1 Y","Relative offset 1","relative offset 1 Y",1).relative_offset_1_Y = y
obj.addProperty("App::PropertyDistance","relative offset 1 Z","Relative offset 1","relative offset 1 Z",1).relative_offset_1_Z = z
obj.addProperty("App::PropertyAngle","yaw","Relative orientation 1","yaw").yaw = yaw
obj.addProperty("App::PropertyAngle","pitch","Relative orientation 1","pitch").pitch = pitch
obj.addProperty("App::PropertyAngle","roll","Relative orientation 1","roll").roll = roll
obj.addProperty("App::PropertyAngle","yaw1","Relative orientation 2","yaw1").yaw1 = yaw
obj.addProperty("App::PropertyAngle","pitch1","Relative orientation 2","pitch1").pitch1 = pitch
obj.addProperty("App::PropertyAngle","roll1","Relative orientation 2","roll1").roll1 = roll
obj.addProperty("App::PropertyString","angular velocity","Axial Rotation","angular velocity").angular_velocity = 'const, 10.'
obj.addProperty("App::PropertyDistance","position X","Initial absolute position","position X",1).position_X = static.position_X
obj.addProperty("App::PropertyDistance","position Y","Initial absolute position","position Y",1).position_Y = static.position_Y
obj.addProperty("App::PropertyDistance","position Z","Initial absolute position","position Z",1).position_Z = static.position_Z
#Animation parameters:
obj.addProperty("App::PropertyEnumeration","animate","Animation","animate")
obj.animate=['false','true']
obj.addProperty("App::PropertyEnumeration","frame","Animation","frame")
obj.frame=['global','local']
obj.addProperty("App::PropertyString","force vector multiplier","Animation","force vector multiplier").force_vector_multiplier = '1'
obj.Proxy = self
x = static.position_X
y = static.position_Y
z = static.position_Z
length = FreeCAD.ActiveDocument.getObjectsByLabel("x: structural: " + static.label)[0].Length.Value # Calculate the body characteristic length. Will be used to size the arrows that represent the node.
p1 = FreeCAD.Vector(0, 0, 0)
#Add x vector of the coordinate system:
p2 = FreeCAD.Vector(length, 0, 0)
l = Draft.makeLine(p1, p2)
l.Label = 'x: joint: '+ label
l.ViewObject.LineColor = (1.00,0.00,0.00)
l.ViewObject.PointColor = (1.00,0.00,0.00)
l.Placement=FreeCAD.Placement(FreeCAD.Vector(x,y,z), FreeCAD.Rotation(FreeCAD.Vector(0,0,1),0), FreeCAD.Vector(0,0,0))
l.ViewObject.EndArrow = True
l.ViewObject.ArrowType = u"Arrow"
l.ViewObject.LineWidth = 1.00
l.ViewObject.PointSize = 1.00
l.ViewObject.ArrowSize = str(length/15)+' mm'
l.ViewObject.Selectable = False
#Add y vector of the coordinate system:
p2 = FreeCAD.Vector(0, length, 0)
l = Draft.makeLine(p1, p2)
l.Label = 'y: joint: '+ label
l.ViewObject.LineColor = (0.00,1.00,0.00)
l.ViewObject.PointColor = (0.00,1.00,0.00)
l.Placement=FreeCAD.Placement(FreeCAD.Vector(x,y,z), FreeCAD.Rotation(FreeCAD.Vector(0,0,1),0), FreeCAD.Vector(0,0,0))
l.ViewObject.EndArrow = True
l.ViewObject.ArrowType = u"Arrow"
l.ViewObject.LineWidth = 1.00
l.ViewObject.PointSize = 1.00
l.ViewObject.ArrowSize = str(length/15)+' mm'
l.ViewObject.Selectable = False
#Add z vector of the coordinate system:
p2 = FreeCAD.Vector(0, 0, length)
l = Draft.makeLine(p1, p2)
l.Label = 'z: joint: '+ label
l.ViewObject.ArrowType = u"Dot"
l.ViewObject.LineColor = (0.00,0.00,1.00)
l.ViewObject.PointColor = (0.00,0.00,1.00)
l.Placement=FreeCAD.Placement(FreeCAD.Vector(x,y,z), FreeCAD.Rotation(FreeCAD.Vector(0,0,1),0), FreeCAD.Vector(0,0,0))
l.ViewObject.EndArrow = True
l.ViewObject.LineWidth = 1.00
l.ViewObject.PointSize = 1.00
l.ViewObject.ArrowSize = str(length/15)+' mm'
l.ViewObject.Selectable = False
#Add the vector to visualize reaction forces
Llength = FreeCAD.Units.Quantity(FreeCAD.ActiveDocument.getObjectsByLabel("X")[0].End[0]/4,FreeCAD.Units.Unit('mm'))
p1 = FreeCAD.Vector(x, y, z)
p2 = FreeCAD.Vector(x+Llength, y+Llength, z+Llength)
d = Draft.makeLine(p1, p2)
d.ViewObject.LineColor = (1.00,0.00,0.00)
d.ViewObject.PointColor = (1.00,0.00,0.00)
d.ViewObject.LineWidth = 1.00
d.ViewObject.PointSize = 1.00
d.ViewObject.EndArrow = True
d.ViewObject.ArrowType = u"Arrow"
d.ViewObject.ArrowSize = str(Llength/75)#+' mm'
d.ViewObject.Selectable = False
d.Label = "jf: "+ label
FreeCAD.ActiveDocument.recompute()
def onChanged(self, fp, prop):
'''Do something when a property has changed'''
try:
if (len(FreeCADGui.Selection.getSelection()) == 1):
#Get the new position and orientation
x = FreeCADGui.Selection.getSelection()[0].position_X
y = FreeCADGui.Selection.getSelection()[0].position_Y
z = FreeCADGui.Selection.getSelection()[0].position_Z
yaw = FreeCADGui.Selection.getSelection()[0].yaw
pitch = FreeCADGui.Selection.getSelection()[0].pitch
roll = FreeCADGui.Selection.getSelection()[0].roll
#Move the arrows and text
FreeCAD.ActiveDocument.getObjectsByLabel("x: joint: "+FreeCADGui.Selection.getSelection()[0].Label[-1])[0].Placement=FreeCAD.Placement(FreeCAD.Vector(x,y,z), FreeCAD.Rotation(yaw,pitch,roll), FreeCAD.Vector(0,0,0))
FreeCAD.ActiveDocument.getObjectsByLabel("y: joint: "+FreeCADGui.Selection.getSelection()[0].Label[-1])[0].Placement=FreeCAD.Placement(FreeCAD.Vector(x,y,z), FreeCAD.Rotation(yaw,pitch,roll), FreeCAD.Vector(0,0,0))
FreeCAD.ActiveDocument.getObjectsByLabel("z: joint: "+FreeCADGui.Selection.getSelection()[0].Label[-1])[0].Placement=FreeCAD.Placement(FreeCAD.Vector(x,y,z), FreeCAD.Rotation(yaw,pitch,roll), FreeCAD.Vector(0,0,0))
FreeCAD.ActiveDocument.getObjectsByLabel("i: joint: "+FreeCADGui.Selection.getSelection()[0].Label[-1])[0].Placement=FreeCAD.Placement(FreeCAD.Vector(x,y,z), FreeCAD.Rotation(yaw,pitch,roll), FreeCAD.Vector(0,0,0))
except:
return True