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drivehinge.py
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drivehinge.py
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# -*- 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.
#
#
###################################################################################
'''
This scripted object represents a drive hinge.
The syntax is:
joint: <label>,
drive hinge,
<node 1>,
hinge, euler, 0., 0., 0., # relative axis orientation
<node 2>,
hinge, euler, 0., 0., 0., # relative axis orientation
single, 0., 0., 1., scalar function, "Fun_Arm_Input", # position
multilinear,
0.0, 0.,
0.5, 0.,
1.0, 0.;
label: an integer number to identify the joint, eg: 1,2,3...
node1: the label of the first structural node (this node will drive the second node)
node1: the label of the first structural node (this node will be driven)
'''
#from FreeCAD import Units
import FreeCAD
import FreeCADGui
import Draft
class Drivehinge:
def __init__(self, obj, label, node1, node2):
x = node1.position_X
y = node1.position_Y
z = node1.position_Z
obj.addExtension("App::GroupExtensionPython", self)
#Create scripted object:
obj.addProperty("App::PropertyString","label","Drive hinge","label",1).label = label
obj.addProperty("App::PropertyString","node 1","Drive hinge","node 1",1).node_1 = node1.label
obj.addProperty("App::PropertyString","node 2","Drive hinge","node 2",1).node_2 = node2.label
obj.addProperty("App::PropertyString","joint","Drive hinge","joint",1).joint = 'drive hinge'
obj.addProperty("App::PropertyString","rotation axis","Drive hinge","rotation axis").rotation_axis = '0., 0., 1.'
obj.addProperty("App::PropertyString","scalar function","Drive hinge","scalar function").scalar_function = "scalar_function: "+ label
obj.addProperty("App::PropertyDistance","position X","Initial absolute position","position X").position_X = x
obj.addProperty("App::PropertyDistance","position Y","Initial absolute position","position Y").position_Y = y
obj.addProperty("App::PropertyDistance","position Z","Initial absolute position","position Z").position_Z = z
#Relative rotation axis 1:
obj.addProperty("App::PropertyAngle","relative orientation axis 1 yaw","Relative orientation axis 1","relative orientation axis 1 yaw",1).relative_orientation_axis_1_yaw = FreeCAD.Units.Quantity(0.0,FreeCAD.Units.Unit('deg'))
obj.addProperty("App::PropertyAngle","relative orientation axis 1 pitch","Relative orientation axis 1","relative orientation axis 1 pitch",1).relative_orientation_axis_1_pitch = FreeCAD.Units.Quantity(0.0,FreeCAD.Units.Unit('deg'))
obj.addProperty("App::PropertyAngle","relative orientation axis 1 roll","Relative orientation axis 1","relative orientation axis 1 roll",1).relative_orientation_axis_1_roll = FreeCAD.Units.Quantity(0.0,FreeCAD.Units.Unit('deg'))
#Relative rotation axis 2:
obj.addProperty("App::PropertyAngle","relative orientation axis 2 yaw","Relative orientation axis 2","relative orientation axis 2 yaw",1).relative_orientation_axis_2_yaw = FreeCAD.Units.Quantity(0.0,FreeCAD.Units.Unit('deg'))
obj.addProperty("App::PropertyAngle","relative orientation axis 2 pitch","Relative orientation axis 2","relative orientation axis 2 pitch",1).relative_orientation_axis_2_pitch = FreeCAD.Units.Quantity(0.0,FreeCAD.Units.Unit('deg'))
obj.addProperty("App::PropertyAngle","relative orientation axis 2 roll","Relative orientation axis 2","relative orientation axis 2 roll",1).relative_orientation_axis_2_roll = FreeCAD.Units.Quantity(0.0,FreeCAD.Units.Unit('deg'))
#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.addProperty("App::PropertyString","structural dummy","Animation","structural dummy").structural_dummy = '1'
obj.Proxy = self
#Add the coordinate system and an system to the GUI. The coordinate system represents the position of the node in space:
length = FreeCAD.ActiveDocument.getObjectsByLabel("x: structural: " + node1.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, 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.Label = "jf: "+ label
d.ViewObject.Selectable = False
obj = FreeCAD.ActiveDocument.addObject("App::TextDocument", "scalar_function: "+ label)
obj.Label = 'scalar function: '+ label
#Add an example scalar function:
obj.Text = """
#The first column represents time and the second column is the angle in radians.
#Consider the final time of your simulation.
0.0, 0.,
0.5, 0.,
1.0, pi/4.,
1.5, pi/4.,
2.0, pi/2.,
2.5, pi/2.,
3.0, pi/4.,
3.5, pi/4.,
4.0, 0,
4.5, 0,
5.0, -pi/4.,
5.5, -pi/4.,
6.0, -pi/2.,
6.5, -pi/2.,
7.0, -pi/4.,
7.5, -pi/4.,
8.0, 0.,
8.5, 0.;"""
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
if (float(FreeCADGui.Selection.getSelection()[0].rotation_axis.split(",")[0])==0.0) and (float(FreeCADGui.Selection.getSelection()[0].rotation_axis.split(",")[1])==0.0) and (float(FreeCADGui.Selection.getSelection()[0].rotation_axis.split(",")[2])==1.0):
yaw = 0.
pitch = 0.
roll = 0.
if (float(FreeCADGui.Selection.getSelection()[0].rotation_axis.split(",")[0])==0.0) and (float(FreeCADGui.Selection.getSelection()[0].rotation_axis.split(",")[1])==1.0) and (float(FreeCADGui.Selection.getSelection()[0].rotation_axis.split(",")[2])==0.0):
yaw = 0.
pitch = 0.
roll = -90.
if (float(FreeCADGui.Selection.getSelection()[0].rotation_axis.split(",")[0])==1.0) and (float(FreeCADGui.Selection.getSelection()[0].rotation_axis.split(",")[1])==0.0) and (float(FreeCADGui.Selection.getSelection()[0].rotation_axis.split(",")[2])==0.0):
yaw = 0.
pitch = -90.
roll = 0.
#Move the arrows
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))
except:
return True
def execute(self, fp):
'''Do something when doing a recomputation, this method is mandatory'''
FreeCAD.Console.PrintMessage("Recompute...\n")