constraint: extend Angle locking to yaw-pitch-roll

Angle locking applies to PlaneCoincident, PlaneAlignment,
AxialAlignment, and MultiParallel

constraint.py

@@ -7,6 +7,13 @@ from .proxy import ProxyType, PropertyInfo, propGet, propGetValue
 import os
 _iconPath = os.path.join(utils.iconPath,'constraints')
 
+PointInfo = namedtuple('PointInfo', ('entity','params','vertex'))
+LineInfo = namedtuple('LineInfo', ('entity','p1','p2'))
+NormalInfo = namedtuple('NormalInfo', ('entity','rot','params'))
+PlaneInfo = namedtuple('PlaneInfo', ('entity','origin','normal'))
+CircleInfo = namedtuple('CurcleInfo',('entity','radius','p0'))
+ArcInfo = namedtuple('CurcleInfo',('entity','p1','p0','params'))
+
 def _d(solver,partInfo,subname,shape,retAll=False):
     'return a handle of any supported element of a draft object'
     if not solver:
@@ -45,7 +52,7 @@ def _p(solver,partInfo,subname,shape,retAll=False):
     system = solver.system
     if h:
         system.log('cache {}: {}'.format(key,h))
-        return h if retAll else h[0]
+        return h if retAll else h.entity
 
     v = utils.getElementPos(shape)
 
@@ -58,30 +65,28 @@ def _p(solver,partInfo,subname,shape,retAll=False):
             params.append(system.addParamV(val,group=partInfo.Group))
         system.NameTag = nameTag
         e = system.addPoint3d(*params)
-        h = [e, params]
+        h = PointInfo(entity=e,params=params,vertex=v)
-        system.log('{}: add draft point {},{}'.format(key,h,v))
+        system.log('{}: add draft point {}'.format(key,h))
 
         if system.sketchPlane and not solver.isFixedElement(part,subname):
             system.NameTag = nameTag + '.i'
-            e2 = system.addPointInPlane(e,system.sketchPlane[0],
+            e2 = system.addPointInPlane(e,system.sketchPlane.entity,
                 group=partInfo.Group)
             system.log('{}: add draft point in plane {},{}'.format(
-                partInfo.PartName,e2,system.sketchPlane[0]))
+                partInfo.PartName,e2,system.sketchPlane.entity))
 
     elif utils.isDraftCircle(part):
         requireArc = subname=='Vertex2'
         e = _prepareDraftCircle(solver,partInfo,requireArc)
-        if requireArc:
+        if requireArc or subname=='Vertex1':
-            h = [e[1]]
+            h = PointInfo(entity=e.p0,params=partInfo.Params,vertex=v)
-        elif subname=='Vertex1':
-            h = [e[2]]
         elif subname=='Edge1':
             # center point
-            h = [partInfo.Workplane[1]]
+            h = partInfo.Workplane.origin
         else:
             raise RuntimeError('Invalid draft circle subname {} of '
                     '{}'.format(subname,partInfo.PartName))
-        system.log('{}: add circle point {},{}'.format(key,h,e))
+        system.log('{}: add circle point {}'.format(key,h))
 
     else:
         nameTag = partInfo.PartName + '.' + key
@@ -89,13 +94,11 @@ def _p(solver,partInfo,subname,shape,retAll=False):
         e = system.addPoint3dV(*v)
         system.NameTag = nameTag + 't'
         h = system.addTransform(e,*partInfo.Params,group=partInfo.Group)
-        h = [h,e]
+        h = PointInfo(entity=h, params=partInfo.Params,vertex=v)
         system.log('{}: {},{}'.format(key,h,partInfo.Group))
 
-    # use the point entity as key to store its original position vector
-    partInfo.EntityMap[h[0]] = [v]
     partInfo.EntityMap[key] = h
-    return h if retAll else h[0]
+    return h if retAll else h.entity
 
 def _n(solver,partInfo,subname,shape,retAll=False):
     'return a handle of a transformed normal quaterion derived from shape'
@@ -113,8 +116,6 @@ def _n(solver,partInfo,subname,shape,retAll=False):
     if h:
         system.log('cache {}: {}'.format(key,h))
     else:
-        h = []
-
         if utils.isDraftCircle(partInfo.Part):
             _prepareDraftCircle(solver,partInfo)
 
@@ -123,25 +124,13 @@ def _n(solver,partInfo,subname,shape,retAll=False):
         system.NameTag = nameTag
         e = system.addNormal3dV(*utils.getNormal(rot))
         system.NameTag += 't'
-        h.append(system.addTransform(e,*partInfo.Params,group=partInfo.Group))
+        nz = system.addTransform(e,*partInfo.Params,group=partInfo.Group)
 
-        # also add x axis pointing quaterion for convenience
+        h = NormalInfo(entity=nz,rot=rot,params=partInfo.Params)
-        xrot = FreeCAD.Rotation(FreeCAD.Vector(0,1,0),90).multiply(rot)
-        system.NameTag = nameTag + 'x'
-        e = system.addNormal3dV(*utils.getNormal(xrot))
-        system.NameTag = nameTag + 'xt'
-        h.append(system.addTransform(e,*partInfo.Params,group=partInfo.Group))
-
-        # also add local x pointing vector (1,0,0) 
-        px = rot.multVec(FreeCAD.Vector(1,0,0))
-        hx = system.addPoint3dV(px.x,px.y,px.z)
-        h.append(system.addTransform(hx,*partInfo.Params,group=partInfo.Group))
 
         system.log('{}: {},{}'.format(key,h,partInfo.Group))
-        # use the normal entity as key to store its original rotation
-        partInfo.EntityMap[h[0]] = [rot]
         partInfo.EntityMap[key] = h
-    return h if retAll else h[0]
+    return h if retAll else h.entity
 
 def _l(solver,partInfo,subname,shape,retAll=False):
     'return a pair of handle of the end points of an edge in "shape"'
@@ -154,7 +143,7 @@ def _l(solver,partInfo,subname,shape,retAll=False):
         if not vname1:
             raise RuntimeError('Invalid draft subname {} or {}'.format(
                 subname,objName(partInfo)))
-        v = shape.Edges[0].Vertexes
+        v = shape.Edge1.Vertexes
         ret = _p(solver,partInfo,vname1,v[0])
         if ret:
             return ret
@@ -168,7 +157,7 @@ def _l(solver,partInfo,subname,shape,retAll=False):
         system.log('cache {}: {}'.format(key,h))
     else:
         nameTag = partInfo.PartName + '.' + key
-        v = shape.Edges[0].Vertexes
+        v = shape.Edge1.Vertexes
         if utils.isDraftWire(part):
             vname1,vname2 = utils.edge2VertexIndex(part,subname)
             if not vname1:
@@ -188,11 +177,11 @@ def _l(solver,partInfo,subname,shape,retAll=False):
 
         system.NameTag = nameTag
         h = system.addLineSegment(tp1,tp2,group=partInfo.Group)
-        h = (h,tp1,tp2)
+        h = LineInfo(entity=h,p1=tp1,p2=tp2)
         system.log('{}: {},{}'.format(key,h,partInfo.Group))
         partInfo.EntityMap[key] = h
 
-    return h if retAll else h[0]
+    return h if retAll else h.entity
 
 def _la(solver,partInfo,subname,shape,retAll=False):
    _ = retAll
@@ -240,13 +229,13 @@ def _w(solver,partInfo,subname,shape,retAll=False):
     if h:
         system.log('cache {}: {}'.format(key,h))
     else:
-        p = _p(solver,partInfo,subname,shape)
+        p = _p(solver,partInfo,subname,shape,True)
         n = _n(solver,partInfo,subname,shape,True)
         system.NameTag = partInfo.PartName + '.' + key
-        w = system.addWorkplane(p,n[0],group=partInfo.Group)
+        w = system.addWorkplane(p.entity,n.entity,group=partInfo.Group)
-        h = [w,p,n]
+        h = PlaneInfo(entity=w,origin=p,normal=n)
         system.log('{}: {},{}'.format(key,h,partInfo.Group))
-    return h if retAll else h[0]
+    return h if retAll else h.entity
 
 def _wa(solver,partInfo,subname,shape,retAll=False):
     _ = retAll
@@ -269,21 +258,22 @@ def _c(solver,partInfo,subname,shape,requireArc=False,retAll=False):
     system = solver.system
     if h:
         system.log('cache {}: {}'.format(key,h))
-        return h if retAll else h[0]
+        return h if retAll else h.entity
 
     g = partInfo.Group
     nameTag = partInfo.PartName + '.' + key
 
     if utils.isDraftCircle(partInfo.Part):
         part = partInfo.Part
-        w,p,n = partInfo.Workplane[:3]
+        pln = partInfo.Workplane
-        n = n[0]
 
         if system.sketchPlane and not solver.isFixedElement(part,subname):
             system.NameTag = nameTag + '.o'
-            e1 = system.addSameOrientation(n,system.sketchPlane[2],group=g)
+            e1 = system.addSameOrientation(pln.normal.entity,
+                    system.sketchPlane.normal.entity, group=g)
             system.NameTag = nameTag + '.i'
-            e2 = system.addPointInPlane(p,system.sketchPlane[0],group=g)
+            e2 = system.addPointInPlane(
+                    pln.origin.entity, system.sketchPlane.entity, group=g)
             system.log('{}: fix draft circle in plane {},{}'.format(
                 partInfo.PartName,e1,e2))
 
@@ -294,14 +284,15 @@ def _c(solver,partInfo,subname,shape,requireArc=False,retAll=False):
             system.NameTag = nameTag + '.r'
             r = system.addParamV(part.Radius.Value,group=g)
             system.NameTag = nameTag + '.p0'
-            p0 = system.addPoint2d(w,r,solver.v0,group=g)
+            p0 = system.addPoint2d(pln.entity,r,solver.v0,group=g)
             system.NameTag = nameTag
-            e = system.addCircle(p,n,system.addDistance(r),group=g)
+            e = system.addCircle(pln.origin.entity, pln.normal.entity,
-            h = [e,r,p0]
+                                 system.addDistance(r), group=g)
+            h = CircleInfo(entity=e,radius=r,p0=p0)
             system.log('{}: add draft circle {}, {}'.format(key,h,g))
         else:
             system.NameTag = nameTag + '.c'
-            center = system.addPoint2d(w,solver.v0,solver.v0,group=g)
+            center = system.addPoint2d(pln.entity,solver.v0,solver.v0,group=g)
             params = []
             points = []
             v = shape.Vertexes
@@ -310,10 +301,11 @@ def _c(solver,partInfo,subname,shape,requireArc=False,retAll=False):
                     system.NameTag = nameTag+n.format(i)
                     params.append(system.addParamV(val,group=g))
                 system.NameTag = nameTag + '.p{}'.format(i)
-                points.append(system.addPoint2d(w,*params[-2:],group=g))
+                pt = system.addPoint2d(pln.entity,*params[-2:],group=g)
+                points.append(pt)
             system.NameTag = nameTag
-            e = system.addArcOfCircle(w,center,*points,group=g)
+            e = system.addArcOfCircle(pln.entity,center,*points,group=g)
-            h = [e,points[1],points[0],params]
+            h = ArcInfo(entity=e,p1=points[1],p0=points[0],params=params)
             system.log('{}: add draft arc {}, {}'.format(key,h,g))
 
             # exhaust all possible keys from a draft circle to save
@@ -321,8 +313,7 @@ def _c(solver,partInfo,subname,shape,requireArc=False,retAll=False):
             sub = subname + '.c' if requireArc else '.a'
             partInfo.EntityMap[sub] = h
     else:
-        w,p,n = _w(solver,partInfo,subname,shape,True)[:3]
+        pln = _w(solver,partInfo,subname,shape,True)
-        n = n[0]
         r = utils.getElementCircular(shape)
         if not r:
             raise RuntimeError('shape is not cicular')
@@ -331,16 +322,19 @@ def _c(solver,partInfo,subname,shape,requireArc=False,retAll=False):
         if requireArc or isinstance(r,(list,tuple)):
             l = _l(solver,partInfo,subname,shape,True)
             system.NameTag = nameTag
-            h = system.addArcOfCircle(w,p,l[1],l[2],group=g)
+            h = system.addArcOfCircle(
+                    pln.entity, pln.origin.entity, l.p1, l.p2, group=g)
+            h = ArcInfo(entity=h,p1=l.p2,p0=l.p1,params=None)
         else:
             system.NameTag = nameTag
-            h = system.addCircle(p,n,hr,group=g)
+            h = system.addCircle(
-        h = (h,hr)
+                    pln.origin.entity, pln.normal.entity, hr, group=g)
+            h = CircleInfo(entity=h,radius=hr,p0=None)
         system.log('{}: {},{}'.format(key,h,g))
 
     partInfo.EntityMap[key] = h
 
-    return h if retAll else h[0]
+    return h if retAll else h.entity
 
 def _dc(solver,partInfo,subname,shape,requireArc=False,retAll=False):
     'return a handle of a draft circle'
@@ -519,21 +513,36 @@ class Constraint(ProxyType):
 
 
 def _makeProp(name,tp,doc='',getter=propGet,internal=False,default=None):
-    PropertyInfo(Constraint,name,tp,doc,getter=getter,
+    return PropertyInfo(Constraint,name,tp,doc,getter=getter,duplicate=True,
-            group='Constraint',internal=internal,default=default)
+            group='Constraint',internal=internal,default=default).Key
 
 _makeProp('Distance','App::PropertyDistance',getter=propGetValue)
 _makeProp('Length','App::PropertyDistance',getter=propGetValue,default=5.0)
 _makeProp('Offset','App::PropertyDistance',getter=propGetValue)
 _makeProp('Cascade','App::PropertyBool',internal=True)
 _makeProp('Angle','App::PropertyAngle',getter=propGetValue)
-_makeProp('LockAngle','App::PropertyBool')
+
+_AngleProps = [
+_makeProp('LockAngle','App::PropertyBool',
+        doc='Enforce an angle offset defined as yaw-pitch-roll angle of the\n'
+            'second plane performed in the order of x-y-z'),
+_makeProp('Angle','App::PropertyAngle',getter=propGetValue,
+        doc='The rotation angle of the second plane about its z-axis.\n'
+            'You need to enable LockAngle for this to take effect.'),
+_makeProp('AnglePitch','App::PropertyAngle',getter=propGetValue,
+        doc='Rotation angle of the second plane about its y-axis.\n'
+            'You need to enable LockAngle for this to take effect.'),
+_makeProp('AngleRoll','App::PropertyAngle',getter=propGetValue,
+        doc='Rotation angle of the second plane about its x-axis\n'
+            'You need to enable LockAngle for this to take effect.'),
+]
+
 _makeProp('Ratio','App::PropertyFloat',default=1.0)
 _makeProp('Difference','App::PropertyFloat')
 _makeProp('Diameter','App::PropertyDistance',getter=propGetValue,default=10.0)
 _makeProp('Radius','App::PropertyDistance',getter=propGetValue,default=5.0)
 _makeProp('Supplement','App::PropertyBool',
-        'If True, then the second angle is calculated as 180-angle')
+        'If True, then the angle is calculated as 180-angle')
 _makeProp('AtEnd','App::PropertyBool',
         'If True, then tangent at the end point, or else at the start point')
 
@@ -624,7 +633,7 @@ class Base(object):
 
         if cls._workplane and len(elements)==len(cls._entityDef):
             if solver.system.sketchPlane:
-                ret.append(solver.system.sketchPlane[0])
+                ret.append(solver.system.sketchPlane.entity)
             elif int(cls._workplane)>1:
                 raise RuntimeError('Constraint "{}" requires a sketch plane '
                     'or a {} element to define a projection plane'.format(
@@ -755,7 +764,7 @@ class Locked(Base):
                 e0 = e1
                 system.NameTag = nameTag + surfix
                 if system.sketchPlane and utils.isDraftObject(info.Part):
-                    w = system.sketchPlane[0]
+                    w = system.sketchPlane.entity
                 else:
                     w = 0
                 e = system.addPointsCoincident(e1,e2,w,group=solver.group)
@@ -901,7 +910,7 @@ class BaseCascade(BaseMulti):
 class PlaneCoincident(BaseCascade):
     _id = 35
     _iconName = 'Assembly_ConstraintCoincidence.svg'
-    _props = ['Cascade','Offset','LockAngle','Angle']
+    _props = ['Cascade','Offset'] + _AngleProps
     _tooltip = \
         'Add a "{}" constraint to conincide planes of two or more parts.\n'\
         'The planes are coincided at their centers with an optional distance.'
@@ -909,7 +918,7 @@ class PlaneCoincident(BaseCascade):
 class PlaneAlignment(BaseCascade):
     _id = 37
     _iconName = 'Assembly_ConstraintAlignment.svg'
-    _props = ['Cascade','Offset','LockAngle','Angle']
+    _props = ['Cascade','Offset'] + _AngleProps
     _tooltip = 'Add a "{}" constraint to rotate planes of two or more parts\n'\
                'into the same orientation'
 
@@ -917,7 +926,7 @@ class PlaneAlignment(BaseCascade):
 class AxialAlignment(BaseMulti):
     _id = 36
     _iconName = 'Assembly_ConstraintAxial.svg'
-    _props = ['LockAngle','Angle']
+    _props = _AngleProps
     _tooltip = 'Add a "{}" constraint to align planes of two or more parts.\n'\
         'The planes are aligned at the direction of their surface normal axis.'
 
@@ -934,8 +943,8 @@ class MultiParallel(BaseMulti):
     _id = 291
     _entityDef = (_lw,)
     _iconName = 'Assembly_ConstraintMultiParallel.svg'
-    _props = ['LockAngle','Angle']
+    _props = _AngleProps
-    _tooltip = 'Add a "{}" constraint to make planes normal or linear edges\n'\
+    _tooltip = 'Add a "{}" constraint to make planes ormal or linear edges\n'\
         'of two or more parts parallel.'
 
 

solver.py

@@ -4,7 +4,8 @@ import FreeCAD, FreeCADGui
 from .assembly import Assembly, isTypeOf, setPlacement
 from . import utils
 from .utils import syslogger as logger, objName, isSamePlacement
-from .constraint import Constraint, cstrName
+from .constraint import Constraint, cstrName, \
+                        NormalInfo, PlaneInfo, PointInfo
 from .system import System
 
 # Part: the part object
@@ -44,13 +45,17 @@ class Solver(object):
         self.v0 = self.system.addParamV(0,group=self._fixedGroup)
         self.v1 = self.system.addParamV(1,group=self._fixedGroup)
 
-        # convenience normals
+        # convenience x normals
         rotx = FreeCAD.Rotation(FreeCAD.Vector(0,1,0),-90)
         self.nx = self.system.addNormal3dV(*utils.getNormal(rotx))
 
         # convenience x pointing vector
         self.px = self.system.addPoint3d(self.v1,self.v0,self.v0)
 
+        # convenience y normals
+        roty = FreeCAD.Rotation(FreeCAD.Vector(1,0,0),90)
+        self.ny = self.system.addNormal3dV(*utils.getNormal(roty))
+
         self._fixedParts = Constraint.getFixedParts(self,cstrs)
         for part in self._fixedParts:
             self._fixedElements.add((part,None))
@@ -115,10 +120,11 @@ class Solver(object):
                 changed = False
                 points = part.Points
                 for key,h in partInfo.EntityMap.items():
-                    if not key.endswith('.p') or\
+                    if not isinstance(key, str) or\
+                       not key.endswith('.p') or\
                        not key.startswith('Vertex'):
                         continue
-                    v = [ self.system.getParam(p).val for p in h[1] ]
+                    v = [ self.system.getParam(p).val for p in h.params ]
                     v = FreeCAD.Vector(*v)
                     v = partInfo.Placement.inverse().multVec(v)
                     idx = utils.draftWireVertex2PointIndex(part,key[:-2])
@@ -163,9 +169,9 @@ class Solver(object):
                           part.FirstAngle.Value,
                           part.LastAngle.Value)
                     if part.FirstAngle == part.LastAngle:
-                        v = (self.system.getParam(h[1]).val,v0[1],v0[2])
+                        v = (self.system.getParam(h.radius).val,v0[1],v0[2])
                     else:
-                        params = [self.system.getParam(p).val for p in h[3]]
+                        params = [self.system.getParam(p).val for p in h.params]
                         p0 = FreeCAD.Vector(1,0,0)
                         p1 = FreeCAD.Vector(params[0],params[1],0)
                         p2 = FreeCAD.Vector(params[2],params[3],0)
@@ -222,14 +228,13 @@ class Solver(object):
             p = self.system.addPoint3d(*params[:3],group=g)
             self.system.NameTag = info.PartName + '.n'
             n = self.system.addNormal3d(*params[3:],group=g)
-            self.system.NameTag = info.PartName + '.nx'
-            nx = self.system.addTransform(self.nx,
-                    self.v0,self.v0,self.v0,*params[3:],group=g)
-            px = self.system.addTransform(self.px,self.v0,self.v0,
-                    self.v0,*params[3:],group=g)
             self.system.NameTag = info.PartName + '.w'
             w = self.system.addWorkplane(p,n,group=g)
-            h = (w,p,(n,nx,px))
+            h = PlaneInfo(entity=w,
+                    origin=PointInfo(entity=p, params=None,
+                                     vertex=FreeCAD.Vector()),
+                    normal=NormalInfo(entity=n,rot=FreeCAD.Rotation(),
+                                      params=params))
 
         partInfo = PartInfo(Part = info.Part,
                             PartName = info.PartName,

system.py

@@ -1,6 +1,7 @@
 import os
+import FreeCAD
 from .constraint import cstrName
-from .utils import getIcon, syslogger as logger, objName, project2D
+from .utils import getIcon, syslogger as logger, objName, project2D, getNormal
 from .proxy import ProxyType, PropertyInfo
 
 class System(ProxyType):
@@ -130,22 +131,26 @@ class SystemExtension(object):
         self.sketchPlane = args[0] if args else None
         return self.sketchPlane
 
-    def setOrientation(self,h,lockAngle,angle,n1,n2,nx1,nx2,group):
+    def setOrientation(self,h,lockAngle,yaw,pitch,roll,n1,n2,group):
-        if lockAngle and not angle:
+        if not lockAngle:
-            h.append(self.addSameOrientation(n1,n2,group=group))
+            h.append(self.addParallel(n1.entity,n2.entity,group=group))
+            return
+        if not yaw and not pitch and not roll:
+            n = n2.entity
         else:
-            h.append(self.addParallel(n1,n2,group=group))
+            rot = n2.rot.multiply(FreeCAD.Rotation(yaw,pitch,roll))
-            if lockAngle:
+            e = self.addNormal3dV(*getNormal(rot))
-                h.append(self.addAngle(angle,False,nx1,nx2,group=group))
+            n = self.addTransform(e,*n2.params,group=group)
+        h.append(self.addSameOrientation(n1.entity,n,group=group))
         return h
 
     def reportRedundancy(self,warn=False):
         msg = '{} between {} and {}'.format(cstrName(self.cstrObj),
                 self.firstInfo.PartName, self.secondInfo.PartName)
         if warn:
-            logger.warn('skip redundant ' + msg)
+            logger.warn('skip redundant ' + msg, frame=1)
         else:
-            logger.info('auto relax ' + msg)
+            logger.info('auto relax ' + msg, frame=1)
 
     def countConstraints(self,increment,count,*names):
         first,second = self.firstInfo,self.secondInfo
@@ -163,21 +168,18 @@ class SystemExtension(object):
             if increment:
                 cstrs += [None]*increment
             ret += len(cstrs)
-            if count and ret >= count:
+            if count and ret>=count:
                 if ret>count:
                     self.reportRedundancy(True)
                     return -1
-                else:
+                elif ret!=len(cstrs):
                     self.reportRedundancy()
         return ret
 
-    def addPlaneCoincident(self,d,lockAngle,angle,e1,e2,group=0):
+    def addPlaneCoincident(
+            self, d, lockAngle, yaw, pitch, roll, pln1, pln2, group=0):
         if not group:
             group = self.GroupHandle
-        w1,p1,n1 = e1[:3]
-        _,p2,n2 = e2[:3]
-        n1,nx1 = n1[:2]
-        n2,nx2 = n2[:2]
         h = []
         count = self.countConstraints(2 if lockAngle else 1,2,'Coincident')
         if count<0:
@@ -191,28 +193,29 @@ class SystemExtension(object):
             # We project the initial points to the first element plane, and
             # check for differences in x and y components of the points to
             # determine whether to use horizontal or vertical constraint.
-            v1,v2 = project2D(self.firstInfo.EntityMap[n1][0],
+            v1,v2 = project2D(pln1.normal.rot,
-                              self.firstInfo.EntityMap[p1][0],
+                    pln1.origin.vertex, pln2.origin.vertex)
-                              self.secondInfo.EntityMap[p2][0])
             if abs(v1.x-v2.x) < abs(v1.y-v2.y):
-                h.append(self.addPointsHorizontal(p1,p2,w1,group=group))
+                h.append(self.addPointsHorizontal(pln1.origin.entity,
+                    pln2.origin.entity, pln1.entity, group=group))
             else:
-                h.append(self.addPointsVertical(p1,p2,w1,group=group))
+                h.append(self.addPointsVertical(pln1.origin.entity,
+                    pln2.origin.entity, pln1.entity, group=group))
             return h
         if d:
-            h.append(self.addPointPlaneDistance(d,p2,w1,group=group))
+            h.append(self.addPointPlaneDistance(
-            h.append(self.addPointsCoincident(p1,p2,w1,group=group))
+                d, pln2.origin.entity, pln1.entity, group=group))
+            h.append(self.addPointsCoincident(pln1.origin.entity,
+                pln2.origin.entity, pln1.entity, group=group))
         else:
-            h.append(self.addPointsCoincident(p1,p2,group=group))
+            h.append(self.addPointsCoincident(
-        return self.setOrientation(h,lockAngle,angle,n1,n2,nx1,nx2,group)
+                pln1.origin.entity, pln2.origin.entity, group=group))
+        return self.setOrientation(h, lockAngle, yaw, pitch, roll,
+                                   pln1.normal, pln2.normal, group)
 
-    def addPlaneAlignment(self,d,lockAngle,angle,e1,e2,group=0):
+    def addPlaneAlignment(self,d,lockAngle,yaw,pitch,roll,pln1,pln2,group=0):
         if not group:
             group = self.GroupHandle
-        w1,_,n1 = e1[:4]
-        _,p2,n2 = e2[:4]
-        n1,nx1 = n1[:2]
-        n2,nx2 = n2[:2]
         h = []
         if self.relax:
             count = self.countConstraints(2 if lockAngle else 1,3,'Alignment')
@@ -221,49 +224,51 @@ class SystemExtension(object):
         else:
             count = 0
         if d:
-            h.append(self.addPointPlaneDistance(d,p2,w1,group=group))
+            h.append(self.addPointPlaneDistance(
+                d, pln2.origin.entity, pln1.entity.entity, group=group))
         else:
-            h.append(self.addPointInPlane(p2,w1,group=group))
+            h.append(self.addPointInPlane(
+                pln2.origin.entity, pln1.entity,group=group))
         if count<=2:
             if count==2 and not lockAngle:
                 self.reportRedundancy()
-            h.append(self.setOrientation(h,lockAngle,angle,n1,n2,nx1,nx2,group))
+            self.setOrientation(h, lockAngle, yaw, pitch, roll,
+                                pln1.normal, pln2.normal, group)
         return h
 
-    def addAxialAlignment(self,lockAngle,angle,e1,e2,group=0):
+    def addAxialAlignment(self,lockAngle,yaw,pitch,roll,pln1,pln2,group=0):
         if not group:
             group = self.GroupHandle
         count = self.countConstraints(0,2,'Coincident')
         if count<0:
             return
         if count:
-            return self.addPlaneCoincident(False,0,0,e1,e2,group)
+            return self.addPlaneCoincident(0,False,0,0,0,pln1,pln2,group)
-        w1,p1,n1 = e1[:3]
-        _,p2,n2 = e2[:3]
-        n1,nx1 = n1[:2]
-        n2,nx2 = n2[:2]
         h = []
-        h.append(self.addPointsCoincident(p1,p2,w1,group=group))
+        h.append(self.addPointsCoincident(pln1.origin.entity,
-        return self.setOrientation(h,lockAngle,angle,n1,n2,nx1,nx2,group)
+                        pln2.origin.entity, pln2.entity, group=group))
+        return self.setOrientation(h, lockAngle, yaw, pitch, roll,
+                                   pln1.normal, pln2.normal, group)
 
-    def addMultiParallel(self,lockAngle,angle,e1,e2,group=0):
+    def addMultiParallel(self,lockAngle,yaw,pitch,raw,e1,e2,group=0):
         h = []
         isPlane = isinstance(e1,list),isinstance(e2,list)
         if all(isPlane):
-            return self.setOrientation(
+            return self.setOrientation(h, lockAngle, yaw, pitch, raw,
-                    h,lockAngle,angle,e1[2],e2[2],e1[3],e2[3],group);
+                                       e1.normal, e2.normal, group);
         if not any(isPlane):
-            h.append(self.addParallel(e1,e2,group=group))
+            h.append(self.addParallel(
+                e1.normal.entity, e2.normal.entity, group=group))
         elif isPlane[0]:
-            h.append(self.addPerpendicular(e1[2],e2,group=group))
+            h.append(self.addPerpendicular(e1.normal.entity, e2, group=group))
         else:
-            h.append(self.addPerpendicular(e1,e2[2],group=group))
+            h.append(self.addPerpendicular(e1, e2.normal.entity, group=group))
         return h
 
-    def addColinear(self,e1,e2,wrkpln=0,group=0):
+    def addColinear(self,l1,l2,wrkpln=0,group=0):
         h = []
-        h.append(self.addParallel(e1[0],e2,wrkpln=wrkpln,group=group))
+        h.append(self.addParallel(l1.entity,l2,wrkpln=wrkpln,group=group))
-        h.append(self.addPointOnLine(e1[1],e2,wrkpln=wrkpln,group=group))
+        h.append(self.addPointOnLine(l1.entity,l2,wrkpln=wrkpln,group=group))
         return h
 
     def addPlacement(self,pla,group=0):