def solveConstraints( doc ):
if not constraintsObjectsAllExist(doc):
return
T_start = time.time()
updateOldStyleConstraintProperties(doc)
constraintObjectQue = [ obj for obj in doc.Objects if 'ConstraintInfo' in obj.Content ]
#doc.Objects already in tree order so no additional sorting / order checking required for constraints.
objectNames = []
for c in constraintObjectQue:
for attr in ['Object1','Object2']:
objectName = getattr(c, attr, None)
if objectName <> None and not objectName in objectNames:
objectNames.append( objectName )
variableManager = VariableManager( doc, objectNames )
debugPrint(3,' variableManager.X0 %s' % variableManager.X0 )
constraintSystem = FixedObjectSystem( variableManager, findBaseObject(doc, objectNames) )
debugPrint(4, 'solveConstraints base system: %s' % constraintSystem.str() )
solved = True
for constraintObj in constraintObjectQue:
debugPrint( 3, ' parsing %s, type:%s' % (constraintObj.Name, constraintObj.Type ))
try:
cArgs = [variableManager, constraintObj]
if not constraintSystem.containtsObject( constraintObj.Object1) and not constraintSystem.containtsObject( constraintObj.Object2):
constraintSystem = AddFreeObjectsUnion(constraintSystem, *cArgs)
if constraintObj.Type == 'plane':
if constraintObj.SubElement2.startswith('Face'): #otherwise vertext
constraintSystem = AxisAlignmentUnion(constraintSystem, *cArgs, constraintValue = constraintObj.directionConstraint )
constraintSystem = PlaneOffsetUnion(constraintSystem, *cArgs, constraintValue = constraintObj.offset.Value)
elif constraintObj.Type == 'angle_between_planes':
constraintSystem = AngleUnion(constraintSystem, *cArgs, constraintValue = constraintObj.angle.Value*pi/180 )
elif constraintObj.Type == 'axial':
constraintSystem = AxisAlignmentUnion(constraintSystem, *cArgs, constraintValue = constraintObj.directionConstraint)
constraintSystem = AxisDistanceUnion(constraintSystem, *cArgs, constraintValue = 0)
if constraintObj.lockRotation: constraintSystem = LockRelativeAxialRotationUnion(constraintSystem, *cArgs, constraintValue = 0)
elif constraintObj.Type == 'circularEdge':
constraintSystem = AxisAlignmentUnion(constraintSystem, *cArgs, constraintValue=constraintObj.directionConstraint)
constraintSystem = AxisDistanceUnion(constraintSystem, *cArgs, constraintValue=0)
constraintSystem = PlaneOffsetUnion(constraintSystem, *cArgs, constraintValue=constraintObj.offset.Value)
if constraintObj.lockRotation: constraintSystem = LockRelativeAxialRotationUnion(constraintSystem, *cArgs, constraintValue = 0)
elif constraintObj.Type == 'sphericalSurface':
constraintSystem = VertexUnion(constraintSystem, *cArgs, constraintValue=0)
else:
raise NotImplementedError, 'constraintType %s not supported yet' % constraintObj.Type
except Assembly2SolverError, msg:
FreeCAD.Console.PrintError('UNABLE TO SOLVE CONSTRAINTS! info:')
FreeCAD.Console.PrintError(msg)
solved = False
break
except:
def solveConstraints(doc):
if not constraintsObjectsAllExist(doc):
return
updateOldStyleConstraintProperties(doc)
constraintObjectQue = [
obj for obj in doc.Objects if 'ConstraintInfo' in obj.Content
]
#doc.Objects already in tree order so no additional sorting / order checking required for constraints.
conObjects = sum([[c.Object1] for c in constraintObjectQue], []) + sum(
[[c.Object2] for c in constraintObjectQue], [])
objectNames = [
obj.Name for obj in doc.Objects
if hasattr(obj, 'Placement') and obj.Name in conObjects
]
variableManager = VariableManager(doc, objectNames)
debugPrint(3, ' variableManager.X0 %s' % variableManager.X0)
constraintSystem = FixedObjectSystem(variableManager,
findBaseObject(doc, objectNames))
debugPrint(4, 'solveConstraints base system: %s' % constraintSystem.str())
solved = True
for constraintObj in constraintObjectQue:
obj1Name = constraintObj.Object1
obj2Name = constraintObj.Object2
debugPrint(
3,
' parsing %s, type:%s' % (constraintObj.Name, constraintObj.Type))
cArgs = [
variableManager, obj1Name, obj2Name, constraintObj.SubElement1,
constraintObj.SubElement2
]
try:
if constraintObj.Type == 'plane':
if constraintObj.SubElement2.startswith(
'Face'): #otherwise vertext
constraintSystem = AxisAlignmentUnion(
constraintSystem,
*cArgs,
constraintValue=constraintObj.directionConstraint)
constraintSystem = PlaneOffsetUnion(
constraintSystem,
*cArgs,
constraintValue=constraintObj.offset.Value)
elif constraintObj.Type == 'angle_between_planes':
constraintSystem = AngleUnion(
constraintSystem,
*cArgs,
constraintValue=constraintObj.angle.Value * pi / 180)
elif constraintObj.Type == 'axial':
constraintSystem = AxisAlignmentUnion(
constraintSystem,
*cArgs,
constraintValue=constraintObj.directionConstraint)
constraintSystem = AxisDistanceUnion(constraintSystem,
*cArgs,
constraintValue=0)
elif constraintObj.Type == 'circularEdge':
constraintSystem = AxisAlignmentUnion(
constraintSystem,
*cArgs,
constraintValue=constraintObj.directionConstraint)
constraintSystem = AxisDistanceUnion(constraintSystem,
*cArgs,
constraintValue=0)
constraintSystem = PlaneOffsetUnion(
constraintSystem,
*cArgs,
constraintValue=constraintObj.offset.Value)
else:
raise NotImplementedError, 'constraintType %s not supported yet' % constraintObj.Type
except Assembly2SolverError, msg:
FreeCAD.Console.PrintError('UNABLE TO SOLVE CONSTRAINTS! info:')
FreeCAD.Console.PrintError(msg)
solved = False
break
except:
def solveConstraints(
doc,
showFailureErrorDialog=True,
printErrors=True,
use_cache=False
):
T_start = time.time()
constraintObjectQue = [ obj for obj in doc.Objects if 'ConstraintInfo' in obj.Content ]
#doc.Objects already in tree order so no additional sorting / order checking required for constraints.
objectNames = []
for c in constraintObjectQue:
for attr in ['Object1','Object2']:
objectName = getattr(c, attr, None)
if objectName != None and not objectName in objectNames:
objectNames.append( objectName )
variableManager = VariableManager( doc, objectNames )
debugPrint(3,' variableManager.X0 %s' % variableManager.X0 )
constraintSystem = FixedObjectSystem( variableManager, findBaseObject(doc, objectNames) )
debugPrint(4, 'solveConstraints base system: %s' % constraintSystem.str() )
solved = True
if use_cache:
t_cache_start = time.time()
constraintSystem, que_start = cache.retrieve( constraintSystem, constraintObjectQue)
debugPrint(3,"~cached solution available for first %i out-off %i constraints (retrieved in %3.2fs)" % (que_start, len(constraintObjectQue), time.time() - t_cache_start ) )
cache.prepare()
else:
que_start = 0
for constraintObj in constraintObjectQue[que_start:]:
debugPrint( 3, ' parsing %s, type:%s' % (constraintObj.Name, constraintObj.Type ))
try:
cArgs = [variableManager, constraintObj]
if not constraintSystem.containtsObject( constraintObj.Object1) and not constraintSystem.containtsObject( constraintObj.Object2):
constraintSystem = AddFreeObjectsUnion(constraintSystem, *cArgs)
if constraintObj.Type == 'plane':
if constraintObj.SubElement2.startswith('Face'): #otherwise vertex
constraintSystem = AxisAlignmentUnion(constraintSystem, *cArgs, constraintValue = constraintObj.directionConstraint )
constraintSystem = PlaneOffsetUnion(constraintSystem, *cArgs, constraintValue = constraintObj.offset.Value)
elif constraintObj.Type == 'angle_between_planes':
constraintSystem = AngleUnion(constraintSystem, *cArgs, constraintValue = constraintObj.angle.Value*pi/180 )
elif constraintObj.Type == 'axial':
constraintSystem = AxisAlignmentUnion(constraintSystem, *cArgs, constraintValue = constraintObj.directionConstraint)
constraintSystem = AxisDistanceUnion(constraintSystem, *cArgs, constraintValue = 0)
if constraintObj.lockRotation: constraintSystem = LockRelativeAxialRotationUnion(constraintSystem, *cArgs, constraintValue = 0)
elif constraintObj.Type == 'circularEdge':
constraintSystem = AxisAlignmentUnion(constraintSystem, *cArgs, constraintValue=constraintObj.directionConstraint)
constraintSystem = AxisDistanceUnion(constraintSystem, *cArgs, constraintValue=0)
constraintSystem = PlaneOffsetUnion(constraintSystem, *cArgs, constraintValue=constraintObj.offset.Value)
if constraintObj.lockRotation: constraintSystem = LockRelativeAxialRotationUnion(constraintSystem, *cArgs, constraintValue = 0)
elif constraintObj.Type == 'sphericalSurface':
constraintSystem = VertexUnion(constraintSystem, *cArgs, constraintValue=0)
else:
raise NotImplementedError('constraintType %s not supported yet' % constraintObj.Type)
if use_cache:
cache.record( constraintSystem )
except Assembly2SolverError as e:
if printErrors:
FreeCAD.Console.PrintError('UNABLE TO SOLVE CONSTRAINTS! info:')
FreeCAD.Console.PrintError(e)
solved = False
break
except:
if printErrors:
FreeCAD.Console.PrintError('UNABLE TO SOLVE CONSTRAINTS! info:')
FreeCAD.Console.PrintError( traceback.format_exc())
solved = False
break
if solved:
debugPrint(4,'placement X %s' % constraintSystem.variableManager.X )
if use_cache:
t_cache_record_start = time.time()
cache.commit( constraintSystem, constraintObjectQue, que_start)
debugPrint( 4,' time cache.record %3.2fs' % (time.time()-t_cache_record_start) )
t_update_freecad_start = time.time()
variableManager.updateFreeCADValues( constraintSystem.variableManager.X )
debugPrint( 4,' time to update FreeCAD placement variables %3.2fs' % (time.time()-t_update_freecad_start) )
debugPrint(2,'Constraint system solved in %2.2fs; resulting system has %i degrees-of-freedom' % (time.time()-T_start, len( constraintSystem.degreesOfFreedom)))
elif showFailureErrorDialog and QtGui.qApp != None: #i.e. GUI active
# http://www.blog.pythonlibrary.org/2013/04/16/pyside-standard-dialogs-and-message-boxes/
flags = QtGui.QMessageBox.StandardButton.Yes
flags |= QtGui.QMessageBox.StandardButton.No
#flags |= QtGui.QMessageBox.Ignore
message = """The assembly2 solver failed to satisfy the constraint "%s".
possible causes
- impossible/contridictorary constraints have be specified, or
- the contraint problem is too difficult for the solver, or
- a bug in the assembly 2 workbench
potential solutions
- redefine the constraint (popup menu item in the treeView)
- delete constraint, and try again using a different constraint scheme.
Delete constraint "%s"?
""" % (constraintObj.Name, constraintObj.Name)
response = QtGui.QMessageBox.critical(QtGui.QApplication.activeWindow(), "Solver Failure!", message, flags)
if response == QtGui.QMessageBox.Yes:
from assembly2.constraints import removeConstraint
removeConstraint( constraintObj )
#elif response == QtGui.QMessageBox.Ignore:
# variableManager.updateFreeCADValues( constraintSystem.variableManager.X )
return constraintSystem if solved else None
#FreeCAD.setActiveDocument("box")
#FreeCAD.ActiveDocument = FreeCAD.getDocument("box")
objName = "box"
box = FreeCAD.ActiveDocument.addObject("Part::FeaturePython", objName)
box.Shape = Part.makeBox(2, 3, 2)
#FreeCAD.ActiveDocument.recompute()
box.Placement.Base.x = rand()
box.Placement.Base.y = rand() + 1
box.Placement.Base.z = rand() + 2
print(box.Placement)
class FakeSystem:
def __init__(self, variableManager):
self.variableManager = variableManager
vM = VariableManager(FreeCAD.ActiveDocument)
print(vM.X)
constaintSystem = FakeSystem(vM)
print('\nTesting PlacementDegreeOfFreedom')
for object_dof in range(6):
d = PlacementDegreeOfFreedom(constaintSystem, objName, object_dof)
print(d)
for i in range(6):
value = pi * (rand() - 0.5)
d.setValue(value)
assert d.getValue() == value
print('\nTesting LinearMotionDegreeOfFreedom')
tol = 10**-14
for i in range(3):
def solveConstraints(
doc,
showFailureErrorDialog=True,
printErrors=True,
use_cache=False,
solver=solve_via_slsqp,
random_restart_attempts=1
):
assert not use_cache, "cache not implemented for Newton solver"
T_start = time.time()
variableManager = VariableManager( doc )
constraints = []
mapper = {
'axial':AxialConstraint,
'plane':PlaneConstraint,
'circularEdge':CircularEdgeConstraint,
'angle_between_planes':AngleConstraint,
'sphericalSurface':SphericalSurfaceConstraint
}
for obj in doc.Objects:
if 'ConstraintInfo' in obj.Content:
debugPrint(3, "assembly2solver parsing %s" % obj.Name )
#try:
constraints.append( mapper[obj.Type]( doc, obj, variableManager) )
#except AttributeError, msg:
# if str(msg).strip() == "'NoneType' object has no attribute 'Placement'":
# flags = QtGui.QMessageBox.StandardButton.Yes | QtGui.QMessageBox.StandardButton.Abort
# message = "%s is refering to an object no longer in the assembly. Delete constraint? otherwise abort solving." % obj.Name
# response = QtGui.QMessageBox.critical(QtGui.qApp.activeWindow(), "Broken Constraint", message, flags )
# if response == QtGui.QMessageBox.Yes:
# FreeCAD.Console.PrintError("removing constraint %s" % obj.Name)
# doc.removeObject(obj.Name)
# else:
# FreeCAD.Console.PrintError("aborted solving constraints due to %s refering a non-existent object" % obj.Name)
# return
# else:
# raise AttributeError(msg)
violatedConstraints = [c for c in constraints if not c.satisfied() ]
vNames = [ vc.constraintObj.Name for vc in violatedConstraints ]
debugPrint( 3, "violated constraints: " + ', '.join(vNames) )
vObjects = sum( [ vc.objectNames() for vc in violatedConstraints ], [] )
debugPrint( 3, "objects associated to these constraints: " + ', '.join( list(set(vObjects))))
vObjects_connectivety = [ sum( obj in c.objectNames() for c in constraints ) for obj in vObjects ]
debugPrint( 3, "repective connectivety %s " % vObjects_connectivety)
if len(violatedConstraints) == 1 and len(vObjects_connectivety) == 2 and sum(vObjects_connectivety) > 2:
if not variableManager.objFixed(vObjects[0]) and not variableManager.objFixed(vObjects[1]):
for obj, conn in zip(vObjects, vObjects_connectivety):
if conn == 1: # makes vObjects_connectivety[0] == 1 or vObjects_connectivety[1] == 1 unnessary
variableManager.fixEveryObjectExcept( obj )
debugPrint( 3, "moving %s as to satisfy %s, everything else fixed" % ( obj, vNames[0]) )
constraints = violatedConstraints
def constraintEqs(x): #equations which need to solved inorder to assemble parts
variableManager.setValues(x)
errors = sum( [c.errors() for c in constraints], [] )
debugPrint( 4, "constraint errors %s" % errors )
return errors
x0 = variableManager.getValues()
debugPrint(3, "variableManager.getValues() %s" % x0)
algName, warningMsg, optResults = solver(constraintEqs, x0, variableManager.bounds() )
debugPrint(3, str(optResults))
if warningMsg <> '' or optResults['fOpt'] > 10**-4 and random_restart_attempts > 0:
for i in range(random_restart_attempts):
variableManager.setValues(x0)
xN = variableManager.peturbValues( vObjects )
algName, warningMsg, optResults = solver(constraintEqs, xN, variableManager.bounds() )
debugPrint(3, str(optResults))
if warningMsg == '' and optResults['fOpt'] < 10**-4:
break
if warningMsg == '' and optResults['fOpt'] < 10**-4: #then constraints satisfied
variableManager.setValues( optResults['xOpt'] )
variableManager.updateFreeCADValues( )
return optResults['xOpt']
elif showFailureErrorDialog and QtGui.qApp != None:
FreeCAD.Console.PrintError("UNABLE TO SOLVE ASSEMBLY CONSTRAINTS. Info:\n")
FreeCAD.Console.PrintError(" optimization algorithm could not minimize the norm of constraint errors\n" )
FreeCAD.Console.PrintError(" optimization algorithm used : %s\n" % algName )
FreeCAD.Console.PrintError(" optimization warning message : %s\n" % warningMsg)
for k,v in optResults.iteritems():
FreeCAD.Console.PrintError(" %s: %s\n" % (k,v))
FreeCAD.Console.PrintError("UNABLE TO SOLVE ASSEMBLY CONSTRAINTS. refer to the Report View window for info\n")
# http://www.blog.pythonlibrary.org/2013/04/16/pyside-standard-dialogs-and-message-boxes/
flags = QtGui.QMessageBox.StandardButton.Yes
flags |= QtGui.QMessageBox.StandardButton.No
message = """The Assembly 2 Netwon solver failed to find a solution to the specified constraints.
This is due to either
- the contraint problem being too difficult for the solver, or
- impossible/contridictorary constraints have be specified.
Either way, the solution is most likely to delete the problematic constraints, and try again using a different constraint scheme.
Delete constraints [%s]?
""" % ', '.join(vNames)
response = QtGui.QMessageBox.critical(
QtGui.qApp.activeWindow(),
"Solver Failure!",
message,
flags
)
if response == QtGui.QMessageBox.Yes:
for name in vNames:
doc.removeObject(name)
FreeCAD.Console.PrintError("removed constraint %s" % name)
return None
def solveConstraints(doc,
showFailureErrorDialog=True,
printErrors=True,
cache=None):
if not constraintsObjectsAllExist(doc):
return
T_start = time.time()
updateOldStyleConstraintProperties(doc)
constraintObjectQue = [
obj for obj in doc.Objects if 'ConstraintInfo' in obj.Content
]
#doc.Objects already in tree order so no additional sorting / order checking required for constraints.
objectNames = []
for c in constraintObjectQue:
for attr in ['Object1', 'Object2']:
objectName = getattr(c, attr, None)
if objectName != None and not objectName in objectNames:
objectNames.append(objectName)
variableManager = VariableManager(doc, objectNames)
debugPrint(3, ' variableManager.X0 %s' % variableManager.X0)
constraintSystem = FixedObjectSystem(variableManager,
findBaseObject(doc, objectNames))
debugPrint(4, 'solveConstraints base system: %s' % constraintSystem.str())
solved = True
if cache != None:
t_cache_start = time.time()
constraintSystem, que_start = cache.retrieve(constraintSystem,
constraintObjectQue)
debugPrint(
3,
"~cached solution available for first %i out-off %i constraints (retrieved in %3.2fs)"
%
(que_start, len(constraintObjectQue), time.time() - t_cache_start))
else:
que_start = 0
for constraintObj in constraintObjectQue[que_start:]:
debugPrint(
3,
' parsing %s, type:%s' % (constraintObj.Name, constraintObj.Type))
try:
cArgs = [variableManager, constraintObj]
if not constraintSystem.containtsObject(
constraintObj.Object1
) and not constraintSystem.containtsObject(constraintObj.Object2):
constraintSystem = AddFreeObjectsUnion(constraintSystem,
*cArgs)
if constraintObj.Type == 'plane':
if constraintObj.SubElement2.startswith(
'Face'): #otherwise vertex
constraintSystem = AxisAlignmentUnion(
constraintSystem,
*cArgs,
constraintValue=constraintObj.directionConstraint)
constraintSystem = PlaneOffsetUnion(
constraintSystem,
*cArgs,
constraintValue=constraintObj.offset.Value)
elif constraintObj.Type == 'angle_between_planes':
constraintSystem = AngleUnion(
constraintSystem,
*cArgs,
constraintValue=constraintObj.angle.Value * pi / 180)
elif constraintObj.Type == 'axial':
constraintSystem = AxisAlignmentUnion(
constraintSystem,
*cArgs,
constraintValue=constraintObj.directionConstraint)
constraintSystem = AxisDistanceUnion(constraintSystem,
*cArgs,
constraintValue=0)
if constraintObj.lockRotation:
constraintSystem = LockRelativeAxialRotationUnion(
constraintSystem, *cArgs, constraintValue=0)
elif constraintObj.Type == 'circularEdge':
constraintSystem = AxisAlignmentUnion(
constraintSystem,
*cArgs,
constraintValue=constraintObj.directionConstraint)
constraintSystem = AxisDistanceUnion(constraintSystem,
*cArgs,
constraintValue=0)
constraintSystem = PlaneOffsetUnion(
constraintSystem,
*cArgs,
constraintValue=constraintObj.offset.Value)
if constraintObj.lockRotation:
constraintSystem = LockRelativeAxialRotationUnion(
constraintSystem, *cArgs, constraintValue=0)
elif constraintObj.Type == 'sphericalSurface':
constraintSystem = VertexUnion(constraintSystem,
*cArgs,
constraintValue=0)
else:
raise NotImplementedError(
'constraintType %s not supported yet' % constraintObj.Type)
if cache:
cache.record_levels.append(
constraintSystem.numberOfParentSystems())
except Assembly2SolverError as e:
if printErrors:
FreeCAD.Console.PrintError(
'UNABLE TO SOLVE CONSTRAINTS! info:')
FreeCAD.Console.PrintError(e)
solved = False
break
except:
if printErrors:
FreeCAD.Console.PrintError(
'UNABLE TO SOLVE CONSTRAINTS! info:')
FreeCAD.Console.PrintError(traceback.format_exc())
solved = False
break
if solved:
debugPrint(4, 'placement X %s' % constraintSystem.variableManager.X)
t_cache_record_start = time.time()
if cache:
cache.record(constraintSystem, constraintObjectQue, que_start)
debugPrint(
4, ' time cache.record %3.2fs' %
(time.time() - t_cache_record_start))
t_update_freecad_start = time.time()
variableManager.updateFreeCADValues(constraintSystem.variableManager.X)
debugPrint(
4, ' time to update FreeCAD placement variables %3.2fs' %
(time.time() - t_update_freecad_start))
debugPrint(
2,
'Constraint system solved in %2.2fs; resulting system has %i degrees-of-freedom'
% (time.time() - T_start, len(constraintSystem.degreesOfFreedom)))
elif showFailureErrorDialog and QtGui.qApp != None: #i.e. GUI active
# http://www.blog.pythonlibrary.org/2013/04/16/pyside-standard-dialogs-and-message-boxes/
flags = QtGui.QMessageBox.StandardButton.Yes
flags |= QtGui.QMessageBox.StandardButton.No
#flags |= QtGui.QMessageBox.Ignore
message = """The assembly2 solver failed to satisfy the constraint "%s".
possible causes
- impossible/contridictorary constraints have be specified, or
- the contraint problem is too difficult for the solver, or
- a bug in the assembly 2 workbench
potential solutions
- redefine the constraint (popup menu item in the treeView)
- delete constraint, and try again using a different constraint scheme.
Delete constraint "%s"?
""" % (constraintObj.Name, constraintObj.Name)
response = QtGui.QMessageBox.critical(QtGui.qApp.activeWindow(),
"Solver Failure!", message,
flags)
if response == QtGui.QMessageBox.Yes:
removeConstraint(constraintObj)
#elif response == QtGui.QMessageBox.Ignore:
# variableManager.updateFreeCADValues( constraintSystem.variableManager.X )
return constraintSystem if solved else None
def test(self):
from degreesOfFreedom import PlacementDegreeOfFreedom, LinearMotionDegreeOfFreedom, AxisRotationDegreeOfFreedom, pi, normalize
from numpy.random import rand
from variableManager import VariableManager
#print('creating test FreeCAD document, constraining a single Cube')
import FreeCAD, Part
FreeCAD.newDocument("testDoc")
#FreeCAD.setActiveDocument("box")
#FreeCAD.ActiveDocument = FreeCAD.getDocument("box")
objName = "box"
box = FreeCAD.ActiveDocument.addObject("Part::FeaturePython", objName)
box.Shape = Part.makeBox(2, 3, 2)
#FreeCAD.ActiveDocument.recompute()
box.Placement.Base.x = rand()
box.Placement.Base.y = rand() + 1
box.Placement.Base.z = rand() + 2
#print(box.Placement)
class FakeSystem:
def __init__(self, variableManager):
self.variableManager = variableManager
vM = VariableManager(FreeCAD.ActiveDocument)
#print(vM.X)
constaintSystem = FakeSystem(vM)
#print('\nTesting PlacementDegreeOfFreedom')
for object_dof in range(6):
d = PlacementDegreeOfFreedom(constaintSystem, objName, object_dof)
#print(d)
for i in range(6):
value = pi * (rand() - 0.5)
d.setValue(value)
assert d.getValue() == value
#print('\nTesting LinearMotionDegreeOfFreedom')
tol = 10**-14
for i in range(3):
d = LinearMotionDegreeOfFreedom(constaintSystem, objName)
d.setDirection(normalize(rand(3) - 0.5))
#print(d)
for i in range(12):
value = 12 * (rand() - 0.5)
d.setValue(value)
returnedValue = d.getValue()
if abs(returnedValue - value) > tol:
raise ValueError(
"d.getValue() - value != %1.0e, [diff %e]" %
(tol, returnedValue - value))
#print('\nTesting AxisRotationDegreeOfFreedom')
tol = 10**-12
for i in range(3):
d = AxisRotationDegreeOfFreedom(constaintSystem, objName)
axis_r = normalize(
rand(3) -
0.5) #axis in parts co-ordinate system (i.e. relative to part)
axis = normalize(rand(3) -
0.5) # desired axis in global co-ordinate system
d.setAxis(axis, axis_r)
d.setValue(
0) #update azi,ela,theta to statify aligment of axis vector
#print(d)
for i in range(6):
value = 2 * pi * (rand() - 0.5)
d.setValue(value)
returnedValue = d.getValue()
#print(' d.getValue() %f value %f, diff %e' % (returnedValue, value, returnedValue - value))
if abs(returnedValue - value) > tol:
raise ValueError(
"d.getValue() - value != %1.0e, [diff %e]" %
(tol, returnedValue - value))