Assembly: Add 'Angle', 'Perpendicular' and 'Parallel' joints.

src/Mod/Assembly/App/AssemblyObject.cpp

@@ -58,12 +58,15 @@
 #include <OndselSolver/ASMTMarker.h>
 #include <OndselSolver/ASMTPart.h>
 #include <OndselSolver/ASMTJoint.h>
+#include <OndselSolver/ASMTAngleJoint.h>
 #include <OndselSolver/ASMTFixedJoint.h>
 #include <OndselSolver/ASMTGearJoint.h>
 #include <OndselSolver/ASMTRevoluteJoint.h>
 #include <OndselSolver/ASMTCylindricalJoint.h>
 #include <OndselSolver/ASMTTranslationalJoint.h>
 #include <OndselSolver/ASMTSphericalJoint.h>
+#include <OndselSolver/ASMTParallelAxesJoint.h>
+#include <OndselSolver/ASMTPerpendicularJoint.h>
 #include <OndselSolver/ASMTPointInPlaneJoint.h>
 #include <OndselSolver/ASMTPointInLineJoint.h>
 #include <OndselSolver/ASMTLineInPlaneJoint.h>
@@ -846,6 +849,23 @@ std::shared_ptr<ASMTJoint> AssemblyObject::makeMbdJointOfType(App::DocumentObjec
     else if (type == JointType::Distance) {
         return makeMbdJointDistance(joint);
     }
+    else if (type == JointType::Parallel) {
+        return CREATE<ASMTParallelAxesJoint>::With();
+    }
+    else if (type == JointType::Perpendicular) {
+        return CREATE<ASMTPerpendicularJoint>::With();
+    }
+    else if (type == JointType::Angle) {
+        double angle = fabs(Base::toRadians(getJointDistance(joint)));
+        if (fmod(angle, 2 * M_PI) < Precision::Confusion()) {
+            return CREATE<ASMTParallelAxesJoint>::With();
+        }
+        else {
+            auto mbdJoint = CREATE<ASMTAngleJoint>::With();
+            mbdJoint->theIzJz = angle;
+            return mbdJoint;
+        }
+    }
     else if (type == JointType::RackPinion) {
         auto mbdJoint = CREATE<ASMTRackPinionJoint>::With();
         mbdJoint->pitchRadius = getJointDistance(joint);

src/Mod/Assembly/App/AssemblyObject.h

@@ -66,6 +66,9 @@ enum class JointType
     Slider,
     Ball,
     Distance,
+    Parallel,
+    Perpendicular,
+    Angle,
     RackPinion,
     Screw,
     Gears,

src/Mod/Assembly/CommandCreateJoint.py

@@ -238,6 +238,86 @@ def Activated(self):
         activateJoint(5)
 
 
+class CommandCreateJointParallel:
+    def __init__(self):
+        pass
+
+    def GetResources(self):
+
+        return {
+            "Pixmap": "Assembly_CreateJointParallel",
+            "MenuText": QT_TRANSLATE_NOOP("Assembly_CreateJointParallel", "Create Parallel Joint"),
+            "Accel": "N",
+            "ToolTip": "<p>"
+            + QT_TRANSLATE_NOOP(
+                "Assembly_CreateJointParallel",
+                "Create an Parallel Joint: Make the Z axis of selected coordinate systems parallel.",
+            )
+            + "</p>",
+            "CmdType": "ForEdit",
+        }
+
+    def IsActive(self):
+        return isCreateJointActive()
+
+    def Activated(self):
+        activateJoint(6)
+
+
+class CommandCreateJointPerpendicular:
+    def __init__(self):
+        pass
+
+    def GetResources(self):
+
+        return {
+            "Pixmap": "Assembly_CreateJointPerpendicular",
+            "MenuText": QT_TRANSLATE_NOOP(
+                "Assembly_CreateJointPerpendicular", "Create Perpendicular Joint"
+            ),
+            "Accel": "M",
+            "ToolTip": "<p>"
+            + QT_TRANSLATE_NOOP(
+                "Assembly_CreateJointPerpendicular",
+                "Create an Perpendicular Joint: Make the Z axis of selected coordinate systems perpendicular.",
+            )
+            + "</p>",
+            "CmdType": "ForEdit",
+        }
+
+    def IsActive(self):
+        return isCreateJointActive()
+
+    def Activated(self):
+        activateJoint(7)
+
+
+class CommandCreateJointAngle:
+    def __init__(self):
+        pass
+
+    def GetResources(self):
+
+        return {
+            "Pixmap": "Assembly_CreateJointAngle",
+            "MenuText": QT_TRANSLATE_NOOP("Assembly_CreateJointAngle", "Create Angle Joint"),
+            "Accel": "X",
+            "ToolTip": "<p>"
+            + QT_TRANSLATE_NOOP(
+                "Assembly_CreateJointAngle",
+                "Create an Angle Joint: Fix the angle between the Z axis of selected coordinate systems.",
+            )
+            + "</p>",
+            "CmdType": "ForEdit",
+        }
+
+    def IsActive(self):
+        return isCreateJointActive()
+
+    def Activated(self):
+        activateJoint(8)
+
+
 class CommandCreateJointRackPinion:
     def __init__(self):
         pass
@@ -268,7 +348,7 @@ def IsActive(self):
         return isCreateJointActive()
 
     def Activated(self):
-        activateJoint(6)
+        activateJoint(9)
 
 
 class CommandCreateJointScrew:
@@ -299,7 +379,7 @@ def IsActive(self):
         return isCreateJointActive()
 
     def Activated(self):
-        activateJoint(7)
+        activateJoint(10)
 
 
 class CommandCreateJointGears:
@@ -330,7 +410,7 @@ def IsActive(self):
         return isCreateJointActive()
 
     def Activated(self):
-        activateJoint(8)
+        activateJoint(11)
 
 
 class CommandCreateJointBelt:
@@ -361,7 +441,7 @@ def IsActive(self):
         return isCreateJointActive()
 
     def Activated(self):
-        activateJoint(9)
+        activateJoint(12)
 
 
 class CommandGroupGearBelt:
@@ -483,6 +563,9 @@ def Activated(self):
     Gui.addCommand("Assembly_CreateJointSlider", CommandCreateJointSlider())
     Gui.addCommand("Assembly_CreateJointBall", CommandCreateJointBall())
     Gui.addCommand("Assembly_CreateJointDistance", CommandCreateJointDistance())
+    Gui.addCommand("Assembly_CreateJointParallel", CommandCreateJointParallel())
+    Gui.addCommand("Assembly_CreateJointPerpendicular", CommandCreateJointPerpendicular())
+    Gui.addCommand("Assembly_CreateJointAngle", CommandCreateJointAngle())
     Gui.addCommand("Assembly_CreateJointRackPinion", CommandCreateJointRackPinion())
     Gui.addCommand("Assembly_CreateJointScrew", CommandCreateJointScrew())
     Gui.addCommand("Assembly_CreateJointGears", CommandCreateJointGears())

src/Mod/Assembly/Gui/Resources/Assembly.qrc

@@ -3,9 +3,12 @@
         <file>icons/Assembly_InsertLink.svg</file>
         <file>icons/preferences-assembly.svg</file>
         <file>icons/Assembly_ToggleGrounded.svg</file>
+        <file>icons/Assembly_CreateJointAngle.svg</file>
         <file>icons/Assembly_CreateJointBall.svg</file>
         <file>icons/Assembly_CreateJointCylindrical.svg</file>
         <file>icons/Assembly_CreateJointFixed.svg</file>
+        <file>icons/Assembly_CreateJointParallel.svg</file>
+        <file>icons/Assembly_CreateJointPerpendicular.svg</file>
         <file>icons/Assembly_CreateJointPlanar.svg</file>
         <file>icons/Assembly_CreateJointRevolute.svg</file>
         <file>icons/Assembly_CreateJointSlider.svg</file>