solver: improve redundancy checking of implicit constraints

Related #403

freecad/asm3/assembly.py

@@ -102,6 +102,13 @@ def editGroup(obj,children,notouch=None):
         change = '-Immutable'
         revert = 'Immutable'
 
+    if isTypeOf(obj,(AsmConstraintGroup,AsmConstraint)):
+        # the order inside constraint group actually matters, so do not
+        # engage no touch
+        parent = None
+        block = False
+        notouch = False
+    else:
         parent = getattr(obj,'_Parent',None)
         if parent and 'Touched' in parent.State:
             parent = None
@@ -109,12 +116,6 @@ def editGroup(obj,children,notouch=None):
         if not hasProperty(obj,'NoTouch'):
             notouch = False
         elif notouch is None:
-        if (isTypeOf(parent,AsmConstraintGroup) or \
-                isTypeOf(obj,AsmConstraintGroup)):
-            # the order inside constraint group actually matters, so do not
-            # engage no touch
-            parent = None
-        else:
             notouch = not obj.NoTouch
 
         if notouch:
@@ -122,6 +123,7 @@ def editGroup(obj,children,notouch=None):
         block = gui.AsmCmdManager.AutoRecompute
         if block:
             gui.AsmCmdManager.AutoRecompute = False
+
     try:
         if change:
             obj.setPropertyStatus('Group',change)
@@ -137,10 +139,10 @@ def editGroup(obj,children,notouch=None):
             parent.purgeTouched()
 
 def setupSortMenu(menu,func,func2):
-    action = QtGui.QAction(QtGui.QIcon(),"Sort A~Z",menu)
+    action = QtGui.QAction(QtGui.QIcon(),"Sort element A~Z",menu)
     QtCore.QObject.connect(action,QtCore.SIGNAL("triggered()"),func)
     menu.addAction(action)
-    action = QtGui.QAction(QtGui.QIcon(),"Sort Z~A",menu)
+    action = QtGui.QAction(QtGui.QIcon(),"Sort element Z~A",menu)
     QtCore.QObject.connect(
             action,QtCore.SIGNAL("triggered()"),func2)
     menu.addAction(action)
@@ -217,7 +219,10 @@ class ViewProviderAsmBase(object):
         vobj.Proxy = self
         self.attach(vobj)
 
-    def replaceObject(self,_new,_old):
+    def canReplaceObject(self, _old, _new):
+        return False
+
+    def replaceObject(self,_old,_new):
         return False
 
     def canAddToSceneGraph(self):
@@ -285,7 +290,7 @@ class AsmGroup(AsmBase):
 
 class ViewProviderAsmGroup(ViewProviderAsmBase):
     def claimChildren(self):
-        return self.ViewObject.Object.Group
+        return getattr(self.ViewObject.Object, 'Group', [])
 
     def doubleClicked(self, _vobj):
         return False
@@ -293,6 +298,21 @@ class ViewProviderAsmGroup(ViewProviderAsmBase):
     def canDropObject(self,_child):
         return False
 
+    def canReplaceObject(self, _oldObj, newObj):
+        return newObj in self.ViewObject.Object.Group
+
+    def replaceObject(self, oldObj, newObj):
+        try:
+            children = self.ViewObject.Object.Group
+            old_idx = children.index(oldObj)
+            new_idx = children.index(newObj)
+            del children[new_idx]
+            children.insert(old_idx, newObj)
+            editGroup(self.ViewObject.Object, children)
+            return True
+        except Exception:
+            return False
+
 
 class ViewProviderAsmGroupOnTop(ViewProviderAsmGroup):
     def __init__(self,vobj):
@@ -309,6 +329,8 @@ class AsmPartGroup(AsmGroup):
     def getSubObjects(self,obj,_reason):
         # Deletion order problem may cause exception here. Just silence it
         try:
+            if not getattr(obj.Document,'Partial',False) \
+                    or not self.getAssembly().Object.Freeze:
                 return [ '{}.'.format(o.Name) for o in flattenGroup(obj) ]
         except Exception:
             pass
@@ -317,6 +339,10 @@ class AsmPartGroup(AsmGroup):
         super(AsmPartGroup,self).linkSetup(obj)
         if not hasProperty(obj,'DerivedFrom'):
             obj.addProperty('App::PropertyLink','DerivedFrom','Base','')
+        try:
+            obj.setPropertyStatus('Shape','-Output')
+        except Exception:
+            pass
         self.derivedParts = None
 
     def checkDerivedParts(self):
@@ -374,7 +400,6 @@ class AsmPartGroup(AsmGroup):
         obj = parent.Document.addObject("Part::FeaturePython",name,
                     AsmPartGroup(parent),None,True)
         obj.setPropertyStatus('Placement',('Output','Hidden'))
-        obj.setPropertyStatus('Shape','Output')
         ViewProviderAsmPartGroup(obj.ViewObject)
         obj.purgeTouched()
         return obj
@@ -383,9 +408,6 @@ class AsmPartGroup(AsmGroup):
 class ViewProviderAsmPartGroup(ViewProviderAsmGroup):
     _iconName = 'Assembly_Assembly_Part_Tree.svg'
 
-    def replaceObject(self,new,old):
-        return self.Object.replaceObject(new,old)
-
     def canDropObjectEx(self,obj,_owner,_subname,_elements):
         return isTypeOf(obj,Assembly, True) or not isTypeOf(obj,AsmBase)
 
@@ -445,6 +467,9 @@ class ViewProviderAsmPartGroup(ViewProviderAsmGroup):
                 pass
         vobj.DefaultMode = mode
 
+    def canReplaceObject(self, _old, _new):
+        return True
+
     def replaceObject(self,oldObj,newObj):
         res = self.ViewObject.replaceObject(oldObj,newObj)
         if res<=0:
@@ -620,12 +645,7 @@ class AsmElement(AsmBase):
         if not obj:
             return False # broken beyond fix
 
-        subs = Part.splitSubname(subname)
+        if not utils.getElement(linked, subname):
-        if not subs[1]:
-            return False # no mapped element name
-
-        shape = linked.getSubObject(subs[0])
-        if not utils.getElement(shape, subs[1]):
             return True
 
     def fix(self):
@@ -640,7 +660,7 @@ class AsmElement(AsmBase):
         if not subs[1]:
             raise RuntimeError('No mapped sub-element found')
 
-        shape = linked.getSubObject(subs[0])
+        shape = Part.getShape(linked,subs[0])
         if utils.getElement(shape, subs[1]):
             return
 
@@ -685,6 +705,10 @@ class AsmElement(AsmBase):
             self.version.value += 1
             return False
 
+        if self.getAssembly().Object.Freeze:
+            logger.warn('Skip recomputing frozen element {}', objName(obj))
+            return True
+
         if obj.Detach:
             self.updatePlacement()
             return True
@@ -692,7 +716,9 @@ class AsmElement(AsmBase):
         info = None
         try:
             info = self.getInfo(False)
-        except Exception:
+        except Exception as e:
+            logger.warn(str(e))
+
             self.updatePlacement()
 
             if not gui.AsmCmdManager.AutoFixElement:
@@ -809,10 +835,13 @@ class AsmElement(AsmBase):
 
         link = self.Object.LinkedObject
         if not isinstance(link,tuple):
-            raise RuntimeError('Borken element link')
+            raise RuntimeError('Broken element link')
         obj = link[0].getSubObject(link[1],1)
         if not obj:
-            raise RuntimeError('Borken element link')
+            if self.getAssembly().Object.Freeze:
+                raise RuntimeError('Unable to resolve element on frozen assembly %s'\
+                                    % objName(self.getAssembly().Object))
+            raise RuntimeError('Broken element link %s.%s'%(objName(link[0]), link[1]))
         if not isTypeOf(obj,AsmElement):
             # If not pointing to another element, then assume we are directly
             # pointing to the geometry element, just return as it is, which is a
@@ -1183,7 +1212,8 @@ class ViewProviderAsmElement(ViewProviderAsmOnTop):
         if not vobj or hasProperty(vobj.Object,'Radius'):
             return
         if getattr(vobj,'ShowCS',False) or\
-                gui.AsmCmdManager.ShowElementCS:
+                gui.AsmCmdManager.ShowElementCS or\
+                not hasattr(vobj.Object,'Shape'):
             return True
         return utils.isInfinite(vobj.Object.Shape)
 
@@ -1356,18 +1386,29 @@ class ViewProviderAsmElement(ViewProviderAsmOnTop):
             rot = FreeCAD.Rotation(FreeCAD.Vector(1,0,0),180)
         rot = FreeCAD.Placement(FreeCAD.Vector(), rot)
 
-        FreeCAD.setActiveTransaction(
+        title = 'Flip element' if flipElement else 'Flip part'
-                'Flip element' if flipElement else 'Flip part')
+        FreeCAD.setActiveTransaction(title)
         try:
             if flipElement:
                 obj.Offset = rot.multiply(obj.Offset)
+            else:
+                if hasProperty(obj,'Count'):
+                    # for multiplied elements, we shall flip the first part of
+                    # the first pairing elements. Note that constraint
+                    # multiplication algorithm will sort the element pairs based
+                    # on their proximity to stablize index change
+                    info = obj.Proxy.getInfo(expand=True)[0]
+                    shape = Part.getShape(obj, '%d.' % info.Part[1], transform=False)
+                    offset = utils.getElementPlacement(shape)
                 else:
                     offset = utils.getElementPlacement(obj.getSubObject(''))
                 offset = offset.multiply(rot).multiply(offset.inverse())
-                setPlacement(info.Part, offset.multiply(info.Placement))
+                pla = offset.multiply(info.Placement)
+                setPlacement(info.Part, pla)
             obj.recompute(True)
             FreeCAD.closeActiveTransaction()
         except Exception:
+            QtGui.QMessageBox.critical(None, 'Flip', title + ' failed')
             FreeCAD.closeActiveTransaction(True)
             raise
 
@@ -1379,6 +1420,20 @@ class ViewProviderAsmElement(ViewProviderAsmOnTop):
         obj = self.ViewObject.Object
         ViewProviderAsmElement.doFlip(obj, obj.Proxy.getInfo(), False)
 
+    def getLinkedViewProvider(self, recursive):
+        obj = self.ViewObject.Object
+        try:
+            sub = obj.Proxy.getElementSubname(recursive)
+        except Exception:
+            return
+        linked = obj.Proxy.getAssembly().getPartGroup().getSubObject(sub, retType=1)
+        if not linked:
+            return
+        subs = Part.splitSubname(sub)
+        if subs[1] or subs[2]:
+            return (linked.ViewObject, Part.joinSubname('', subs[1], subs[2]))
+        return linked.ViewObject
+
 class AsmElementSketch(AsmElement):
     def __init__(self,obj,parent):
         super(AsmElementSketch,self).__init__(parent)
@@ -1570,7 +1625,7 @@ def getElementInfo(parent,subname,
                         # no element object here.
                         part = (part[0],idx,part[1],True)
                         pla = part[0].Placement.multiply(plaList[idx])
-                    except ValueError:
+                    except Exception:
                         raise RuntimeError('invalid array subname of element '
                             '{}: {}'.format(objName(parent),subnameRef))
 
@@ -1592,7 +1647,7 @@ def getElementInfo(parent,subname,
                 '{}.{}'.format(objName(part),subname))
         pla = getattr(part,'Placement',FreeCAD.Placement())
         obj = part.getLinkedObject(False)
-        partName = part.Name
+        partName = objName(part)
 
     if transformShape:
         # Copy and transform shape. We have to copy the shape here to work
@@ -1648,6 +1703,11 @@ class AsmElementLink(AsmBase):
 
         self.version = AsmVersion()
 
+    # Suppress link array (when ShowElement=True) getSubObjects, so that view
+    # provider getBoundingBox can work.
+    def getSubObjects(self, _obj, _reason):
+        return
+
     def migrate(self,obj):
         link = obj.LinkedObject
         if not isinstance(link,tuple):
@@ -1771,6 +1831,17 @@ class AsmElementLink(AsmBase):
     def getAssembly(self):
         return self.parent.parent.parent
 
+    def getLinkedElement(self):
+        'Get linked AsmElement object'
+        link = self.Object.LinkedObject
+        if not isinstance(link,tuple):
+            linked = link
+        else:
+            linked = link[0].getSubObject(link[1],1)
+        if not linked:
+            raise RuntimeError('broken link')
+        return linked
+
     def getElementSubname(self,recursive=False):
         'Resolve element link subname'
 
@@ -1896,8 +1967,7 @@ class AsmElementLink(AsmBase):
         info = self.info
 
         if obj.Offset.isIdentity():
-            if not obj.Placement.isIdentity():
+            pla = FreeCAD.Placement()
-                obj.Placement = FreeCAD.Placement()
         else:
             # obj.Offset is in the element shape's coordinate system, we need to
             # transform it to the assembly coordinate system
@@ -1905,8 +1975,6 @@ class AsmElementLink(AsmBase):
             mOffset = obj.Offset.toMatrix()
             mat = info.Placement.toMatrix()*mShape
             pla = FreeCAD.Placement(mat*mOffset*mat.inverse())
-            if not utils.isSamePlacement(obj.Placement,pla):
-                obj.Placement = pla
             info.Shape.transformShape(mShape*mOffset*mShape.inverse())
 
             info = ElementInfo(Parent = info.Parent,
@@ -1922,6 +1990,9 @@ class AsmElementLink(AsmBase):
 
         parent = self.parent.Object
         if not Constraint.canMultiply(parent):
+            # adjust placement calculated based on obj.Offset
+            if not utils.isSamePlacement(obj.Placement,pla):
+                obj.Placement = pla
             self.multiply = False
             self.infos.append(info)
             return self.infos if expand else self.info
@@ -1933,8 +2004,18 @@ class AsmElementLink(AsmBase):
                 self.infos.append(info)
                 return self.infos if expand else self.info
             infos = []
-            offset = info.Placement.inverse()
             plaList = []
+
+            # We change this AsmElementLink into a LinkArray to visually display
+            # the multipled element (i.e. the first element in the parent
+            # constraint). Because of this, we shall encode the
+            # AsmElementLink.Offset of the element into each individual
+            # placement in AsmElementLink.PlacementList. So reset
+            # AsmElementLink.Placement here first, and then add the extra offset
+            # 'pla'.
+            obj.Placement = FreeCAD.Placement()
+            offset = info.Placement.inverse() * pla
+
             for i in range(obj.Count):
                 part = info.Part
                 if part[3]:
@@ -1945,7 +2026,9 @@ class AsmElementLink(AsmBase):
                     pla = sobj.Placement
                     part = (part[0],i,sobj,part[3])
                 pla = part[0].Placement.multiply(pla)
+
                 plaList.append(pla.multiply(offset))
+
                 infos.append(ElementInfo(
                                Parent = info.Parent,
                                SubnameRef = info.SubnameRef,
@@ -1959,6 +2042,10 @@ class AsmElementLink(AsmBase):
             self.infos = infos
             return infos if expand else info
 
+        # adjust placement calculated based on obj.Offset
+        if not utils.isSamePlacement(obj.Placement,pla):
+            obj.Placement = pla
+
         for i,edge in enumerate(info.Shape.Edges):
             self.infos.append(ElementInfo(
                             Parent = info.Parent,
@@ -2093,6 +2180,22 @@ class ViewProviderAsmElementLink(ViewProviderAsmOnTop):
         obj = self.ViewObject.Object
         ViewProviderAsmElement.doFlip(obj, obj.Proxy.getInfo(), False)
 
+    def getLinkedViewProvider(self, recursive):
+        obj = self.ViewObject.Object
+        if not recursive:
+            return obj.LinkedObject.ViewObject
+        try:
+            sub = obj.Proxy.getElementSubname(True)
+        except Exception:
+            return
+        linked = obj.Proxy.getAssembly().getPartGroup().getSubObject(sub, retType=1)
+        if not linked:
+            return
+        subs = Part.splitSubname(sub)
+        if subs[1] or subs[2]:
+            return (linked.ViewObject, Part.joinSubname('',subs[1], subs[2]))
+        return linked.ViewObject
+
 
 class AsmConstraint(AsmGroup):
 
@@ -2277,7 +2380,7 @@ class AsmConstraint(AsmGroup):
         # element shape
 
         offset = FreeCAD.Vector(getattr(obj,'OffsetX',0),
-                                getattr(obj,'Offset&',0),
+                                getattr(obj,'OffsetY',0),
                                 getattr(obj,'Offset',0))
         poses = poses[:count]
         infos0 = firstChild.Proxy.getInfo(expand=True)[:count]
@@ -2296,7 +2399,7 @@ class AsmConstraint(AsmGroup):
             if i<len(prev) and prev[i]<count:
                 j = prev[i]
                 if used[i]<0 and not order[j] and \
-                   pos0.distanceToPoint(poses[j]) < 1e-7:
+                   pos0.distanceToPoint(poses[j]) < 1e-6:
                     distances[i] = 0
                     if not elements[i]._refPla:
                         pla = infos[j].Placement.multiply(
@@ -2313,7 +2416,7 @@ class AsmConstraint(AsmGroup):
                 if order[j]:
                     continue
                 d = pos0.distanceToPoint(pos)
-                if used[i]<0 and d < 1e-7:
+                if used[i]<0 and d < 1e-6:
                     distances[i] = 0
                     if not elements[i]._refPla:
                         pla = infos[j].Placement.multiply(
@@ -2347,6 +2450,10 @@ class AsmConstraint(AsmGroup):
         firstChild.Proxy.infos = order
         self.prevOrder = used
 
+        from . import solver
+        if solver.isBusy():
+            return
+
         # now for those instances that are 'out of place', lets assign some
         # initial placement
 
@@ -2376,14 +2483,21 @@ class AsmConstraint(AsmGroup):
             if ref:
                 pla = pla.multiply(ref)
             else:
-                pla = info0.Placement.multiply(pla.multiply(pla0.inverse()))
+                pla = pla.multiply(p0.inverse())
             showPart(partGroup,info0.Part)
             touched = True
-            setPlacement(info0.Part,pla,True)
 
-        if touched:
+            #  DO NOT purgeTouched here. We shall leave it as touched and
-            firstChild.Proxy.getInfo(True)
+            #  trigger a second pass of recomputation to properly update the
-            firstChild.purgeTouched()
+            #  associated element of this part.
+            #
+            #  setPlacement(info0.Part,pla,purgeTouched=True)
+            #
+            setPlacement(info0.Part,pla)
+
+        #  if touched:
+        #      firstChild.Proxy.getInfo(True)
+        #      firstChild.purgeTouched()
 
     def execute(self,obj):
         if not getattr(self,'_initializing',False) and\
@@ -2688,7 +2802,17 @@ class AsmConstraint(AsmGroup):
                 setLinkProperty(info.Part,'ShowElement',False)
                 try:
                     setLinkProperty(info.Part,'ElementCount',1)
+
+                    # adjust the first element to point to the first array
+                    # element. 'elements[0]' is an AsmElementLink, so follow its
+                    # link first to obtain the AsmElement, and then change its
+                    # subname reference
+                    element = elements[0].Proxy.getLinkedElement()
+                    link = element.LinkedObject
+                    if isinstance(link, tuple):
+                        element.setLink(link[0], '0.' + link[1])
                 except Exception:
+                    logger.error(traceback.format_exc())
                     raise RuntimeError('Failed to change element count of '
                         '{}'.format(info.PartName))
 
@@ -2759,7 +2883,7 @@ class ViewProviderAsmConstraint(ViewProviderAsmGroup):
     def setupContextMenu(self,vobj,menu):
         obj = vobj.Object
         action = QtGui.QAction(QtGui.QIcon(),
-                "Enable" if obj.Disabled else "Disable", menu)
+                "Enable constraint" if obj.Disabled else "Disable constraint", menu)
         QtCore.QObject.connect(
                 action,QtCore.SIGNAL("triggered()"),self.toggleDisable)
         menu.addAction(action)
@@ -3008,15 +3132,13 @@ class AsmRelationGroup(AsmBase):
         super(AsmRelationGroup,self).__init__()
 
     def attach(self,obj):
-        # AsmRelationGroup do not install LinkBaseExtension
-        # obj.addExtension('App::LinkBaseExtensionPython', None)
-
         obj.addProperty('App::PropertyLinkList','Group','')
         obj.setPropertyStatus('Group','Hidden')
         obj.addProperty('App::PropertyLink','Constraints','')
         # this is to make sure relations are recomputed after all constraints
         obj.Constraints = self.parent.getConstraintGroup()
         obj.setPropertyStatus('Constraints',('Hidden','Immutable'))
+
         self.linkSetup(obj)
 
     def getViewProviderName(self,_obj):
@@ -3024,6 +3146,20 @@ class AsmRelationGroup(AsmBase):
 
     def linkSetup(self,obj):
         super(AsmRelationGroup,self).linkSetup(obj)
+
+        # AsmRelationGroup used to not having the LinkBaseExtension for
+        # the sake of simplicity. It is added now to make it a LinkGroup so that
+        # its children can be auto deleted by setting GroupMode to 1
+        if not obj.hasExtension('App::LinkBaseExtensionPython'):
+            obj.addExtension('App::LinkBaseExtensionPython', None)
+            obj.addProperty("App::PropertyEnumeration","GroupMode","Base",'')
+            obj.configLinkProperty(ElementList='Group', LinkMode='GroupMode')
+            obj.GroupMode = 1 # auto delete children
+            obj.setPropertyStatus('GroupMode',
+                        ('Hidden','Immutable','Transient'))
+        else:
+            obj.configLinkProperty(ElementList='Group', LinkMode='GroupMode')
+
         for o in obj.Group:
             o.Proxy.parent = self
             if o.Count:
@@ -3440,15 +3576,26 @@ class ViewProviderAsmRelation(ViewProviderAsmBase):
     def canDropObjects(self):
         return False
 
-    def onDelete(self,_vobj,_subs):
-        return False
-
     def canDelete(self,_obj):
         return True
 
     def claimChildren(self):
         return self.ViewObject.Object.Group
 
+    def getDetailPath(self,subname,path,append):
+        vobj = self.ViewObject
+        idx = subname.find('.')
+        if idx > 0:
+            obj = vobj.Object
+            sobj = obj.getSubObject(subname[:idx+1], retType=1)
+            # checking of relation of part that is a link array element
+            if sobj != obj:
+                if isTypeOf(sobj, AsmRelation):
+                    subname = str(sobj.Index) + subname[idx:]
+                else:
+                    subname = ''
+        return vobj.getDetailPath(subname,path,append)
+
 
 BuildShapeNone = 'None'
 BuildShapeCompound = 'Compound'
@@ -4203,11 +4350,12 @@ class ViewProviderAssembly(ViewProviderAsmGroup):
     def __init__(self,vobj):
         self._movingPart = None
         super(ViewProviderAssembly,self).__init__(vobj)
+        self.showParts()
 
     def setupContextMenu(self,vobj,menu):
         obj = vobj.Object
         action = QtGui.QAction(QtGui.QIcon(),
-                "Unfreeze" if obj.Freeze else "Freeze", menu)
+                "Unfreeze assembly" if obj.Freeze else "Freeze assembly", menu)
         QtCore.QObject.connect(
                 action,QtCore.SIGNAL("triggered()"),self.toggleFreeze)
         menu.addAction(action)
@@ -4218,6 +4366,7 @@ class ViewProviderAssembly(ViewProviderAsmGroup):
                 'Unfreeze assembly' if obj.Freeze else 'Freeze assembly')
         try:
             obj.Freeze = not obj.Freeze
+            obj.recompute(True)
             FreeCAD.closeActiveTransaction()
         except Exception:
             FreeCAD.closeActiveTransaction(True)
@@ -4237,6 +4386,12 @@ class ViewProviderAssembly(ViewProviderAsmGroup):
     def canDelete(self,obj):
         return isTypeOf(obj,AsmRelationGroup)
 
+    def canReplaceObject(self, _old, _new):
+        return False
+
+    def replaceObject(self,_old,_new):
+        return False
+
     def _convertSubname(self,owner,subname):
         sub = subname.split('.')
         if not sub:
@@ -4345,6 +4500,9 @@ class ViewProviderAssembly(ViewProviderAsmGroup):
         return False
 
     def showParts(self):
+        if not hasProperty(self.ViewObject,'ShowParts'):
+            self.ViewObject.addProperty("App::PropertyBool","ShowParts"," Link")
+            return
         proxy = self.ViewObject.Object.Proxy
         if proxy:
             proxy.getPartGroup().ViewObject.Proxy.showParts()
@@ -4365,9 +4523,6 @@ class ViewProviderAssembly(ViewProviderAsmGroup):
             self.showParts()
 
     def finishRestoring(self):
-        if not hasProperty(self.ViewObject,'ShowParts'):
-            self.ViewObject.addProperty("App::PropertyBool","ShowParts"," Link")
-        else:
         self.showParts()
 
     @classmethod
@@ -4489,10 +4644,10 @@ class AsmWorkPlane(object):
             else:
                 if tp==1:
                     pla = FreeCAD.Placement(info.Placement.Base,
-                        FreeCAD.Rotation(FreeCAD.Vector(0,1,0),-90))
+                        FreeCAD.Rotation(FreeCAD.Vector(1,0,0),90))
                 elif tp==2:
                     pla = FreeCAD.Placement(info.Placement.Base,
-                        FreeCAD.Rotation(FreeCAD.Vector(1,0,0),90))
+                        FreeCAD.Rotation(FreeCAD.Vector(0,1,0),-90))
                 else:
                     pla = info.Placement
 

freecad/asm3/constraint.py

@@ -245,11 +245,15 @@ def _lw(solver,partInfo,subname,shape,retAll=False):
     'return a handle for either a line or a plane depending on the shape'
     _ = retAll
     if not solver:
-        if utils.isLinearEdge(shape) or utils.isPlanar(shape):
+        if utils.isLinearEdge(shape) or \
+           utils.isPlanar(shape) or \
+           utils.isCylindricalPlane(shape):
             return
-        return 'a linear edge or edge/face with planar surface'
+        return 'a linear edge or edge/face with planar or cylindrical surface'
     if utils.isLinearEdge(shape):
         return _l(solver,partInfo,subname,shape,False)
+    if utils.isCylindricalPlane(shape):
+        return _n(solver,partInfo,subname,shape,False)
     return _wa(solver,partInfo,subname,shape)
 
 def _w(solver,partInfo,subname,shape,retAll=False,noCheck=False):
@@ -1171,7 +1175,8 @@ class BaseMulti(Base):
                     e = cls._entityDef[0](
                             solver,partInfo,info.Subname,info.Shape)
                     params = props + [e0,e]
-                    solver.system.checkRedundancy(obj,partInfo0,partInfo)
+                    solver.system.checkRedundancy(
+                            obj,partInfo0,partInfo,info0.SubnameRef,info.SubnameRef)
                     h = func(*params,group=solver.group)
                     if isinstance(h,(list,tuple)):
                         ret += list(h)
@@ -1224,16 +1229,19 @@ class BaseMulti(Base):
             if i==idx0:
                 e0 = cls._entityDef[idx0](
                         solver,partInfo,info.Subname,info.Shape)
+                subname0 = info.SubnameRef
                 info0 = partInfo
             else:
                 e = cls._entityDef[0](solver,partInfo,info.Subname,info.Shape)
             if e0 and e:
                 if idx0:
                     params = props + [e,e0]
-                    solver.system.checkRedundancy(obj,partInfo,info0)
+                    solver.system.checkRedundancy(
+                            obj,partInfo,info0,info.SubnameRef,subname0)
                 else:
                     params = props + [e0,e]
-                    solver.system.checkRedundancy(obj,info0,partInfo)
+                    solver.system.checkRedundancy(
+                            obj,info0,partInfo,subname0,info.SubnameRef)
                 h = func(*params,group=solver.group)
                 if isinstance(h,(list,tuple)):
                     ret += list(h)
@@ -1266,7 +1274,8 @@ class BaseCascade(BaseMulti):
                 params = props + [e1,e2]
             else:
                 params = props + [e2,e1]
-            solver.system.checkRedundancy(obj,prevInfo,partInfo)
+            solver.system.checkRedundancy(
+                    obj,prevInfo,partInfo,prev.SubnameRef,info.SubnameRef)
             h = func(*params,group=solver.group)
             if isinstance(h,(list,tuple)):
                 ret += list(h)

freecad/asm3/gui.py

@@ -10,6 +10,16 @@ from .utils import getElementPos,objName,addIconToFCAD,guilogger as logger
 from .proxy import ProxyType
 from .FCADLogger import FCADLogger
 
+def _isCommandActive(cmd):
+    try:
+        return FreeCADGui.Command.isActive(FreeCADGui.Command.get(cmd))
+    except Exception:
+        pass
+    try:
+        return FreeCADGui.isCommandActive(cmd)
+    except Exception:
+        return True
+
 class SelectionObserver:
     def __init__(self):
         self._attached = False
@@ -38,9 +48,13 @@ class SelectionObserver:
             res = sobj.Proxy.parent.Object.isElementVisible(sobj.Name)
             if res and vis:
                 return False
+            if not res and not vis:
+                return;
             sobj.Proxy.parent.Object.setElementVisible(sobj.Name,vis)
         elif isTypeOf(sobj,AsmConstraint):
             vis = [vis] * len(flattenGroup(sobj))
+            if sobj.VisibilityList == tuple(vis):
+                return
             sobj.setPropertyStatus('VisibilityList','-Immutable')
             sobj.VisibilityList = vis
             sobj.setPropertyStatus('VisibilityList','Immutable')
@@ -103,7 +117,9 @@ class SelectionObserver:
         hasSelection = FreeCADGui.Selection.hasSelection()
         for cmd in self.cmds:
             cmd.onSelectionChange(hasSelection)
-        FreeCADGui.updateCommands()
+        update = getattr(FreeCADGui, 'updateCommands', None)
+        if update:
+            update()
 
     def addSelection(self,docname,objname,subname,_pos):
         self.onChange()
@@ -250,6 +266,7 @@ class AsmCmdBase(with_metaclass(AsmCmdManager, object)):
     _contextMenuName = 'Assembly'
     _accel = None
     _cmdType = None
+    _iconName = None
 
     @classmethod
     def checkActive(cls):
@@ -257,15 +274,18 @@ class AsmCmdBase(with_metaclass(AsmCmdManager, object)):
 
     @classmethod
     def getIconName(cls):
+        if cls._iconName:
             return addIconToFCAD(cls._iconName)
 
     @classmethod
     def GetResources(cls):
         ret = {
-            'Pixmap':cls.getIconName(),
             'MenuText':cls.getMenuText(),
             'ToolTip':cls.getToolTip()
         }
+        name = cls.getIconName()
+        if name:
+            ret['Pixmap'] = name
         if cls._accel:
             ret['Accel'] = cls._accel
         if cls._cmdType is not None:
@@ -853,6 +873,7 @@ class AsmCmdGotoRelation(AsmCmdBase):
     _iconName = 'Assembly_GotoRelation.svg'
     _accel = 'A, R'
     _toolbarName = ''
+    _cmdType = 'NoTransaction'
 
     @classmethod
     def Activated(cls):
@@ -950,7 +971,7 @@ class AsmCmdGotoLinked(AsmCmdBase):
 
     @classmethod
     def IsActive(cls):
-        return FreeCADGui.isCommandActive('Std_LinkSelectLinked')
+        return _isCommandActive('Std_LinkSelectLinked')
 
 class AsmCmdGotoLinkedFinal(AsmCmdBase):
     _id = 23
@@ -1008,7 +1029,7 @@ class AsmCmdGotoLinkedFinal(AsmCmdBase):
             obj = sels[0].Object.getSubObject(sels[0].SubElementNames[0],1)
             if isTypeOf(obj, (AsmElementLink,AsmElement)):
                 return True
-        return FreeCADGui.isCommandActive('Std_LinkSelectLinkedFinal')
+        return _isCommandActive('Std_LinkSelectLinkedFinal')
 
 class AsmCmdUp(AsmCmdBase):
     _id = 6
@@ -1096,3 +1117,38 @@ class AsmCmdMultiply(AsmCmdBase):
     @classmethod
     def onSelectionChange(cls,hasSelection):
         cls._active = None if hasSelection else False
+
+class AsmCmdToggleConstraint(AsmCmdBase):
+    _id = 32
+    _menuText = 'Toggle constraints'
+    _toolbarName = None
+    _menuGroupName = None
+    _contextMenuName = None
+
+    @classmethod
+    def checkActive(cls):
+        from .assembly import isTypeOf, AsmConstraint
+        cls._active = False
+        count = 0
+        for obj in FreeCADGui.Selection.getSelection('*'):
+            if not isTypeOf(obj, AsmConstraint):
+                return
+            count += 1
+        cls._active = count > 1
+
+    @classmethod
+    def onSelectionChange(cls,hasSelection):
+        cls._active = None if hasSelection else False
+
+    @classmethod
+    def Activated(cls):
+        from .assembly import isTypeOf, AsmConstraint
+        FreeCAD.setActiveTransaction('Toggle constraints')
+        try:
+            for obj in FreeCADGui.Selection.getSelection('*'):
+                if isTypeOf(obj, AsmConstraint):
+                    obj.Disabled = not obj.Disabled
+            FreeCAD.closeActiveTransaction()
+        except Exception:
+            FreeCAD.closeActiveTransaction(True)
+            raise

freecad/asm3/init_gui.py

@@ -43,17 +43,15 @@ class Assembly3Workbench(FreeCADGui.Workbench):
         from .gui import AsmCmdManager,AsmCmdGotoRelation,\
                          AsmCmdGotoLinked, AsmCmdGotoLinkedFinal
         AsmCmdManager.init()
-        cmdSet = set()
         for name,cmds in AsmCmdManager.Toolbars.items():
-            cmdSet.update(cmds)
             self.appendToolbar(name,[cmd.getName() for cmd in cmds])
         self.appendToolbar('Assembly3 Navigation', [
             AsmCmdGotoRelation.getName(), AsmCmdGotoLinked.getName(),
             AsmCmdGotoLinkedFinal.getName()])
         for name,cmds in AsmCmdManager.Menus.items():
-            cmdSet.update(cmds)
             self.appendMenu(name,[cmd.getName() for cmd in cmds])
-        self._observer.setCommands(cmdSet)
+
+        self._observer.setCommands(AsmCmdManager.getInfo().Types)
         #  FreeCADGui.addPreferencePage(
         #          ':/assembly3/ui/assembly3_prefs.ui','Assembly3')
 
@@ -68,7 +66,12 @@ class Assembly3Workbench(FreeCADGui.Workbench):
         for name,cmds in menus.items():
             self.appendContextMenu(name,cmds)
 
-    def ContextMenu(self, _recipient):
+    def ContextMenu(self, recipient):
+        if recipient == 'Tree':
+            from .gui import AsmCmdToggleConstraint
+            if AsmCmdToggleConstraint.IsActive():
+                self.appendContextMenu([],AsmCmdToggleConstraint.getName())
+
         logger.catch('',self._contextMenu)
 
 FreeCADGui.addWorkbench(Assembly3Workbench)

freecad/asm3/mover.py

@@ -15,7 +15,7 @@ class AsmMovingPart(object):
     def __init__(self, moveInfo, element, moveElement):
         hierarchy = moveInfo.HierarchyList
         info = moveInfo.ElementInfo
-        self.objs = [h.Assembly for h in reversed(hierarchy)]
+        self.objs = [h.Assembly.getLinkedObject(True) for h in reversed(hierarchy)]
         self.assembly = resolveAssembly(info.Parent)
         self.viewObject = self.assembly.Object.ViewObject
         self.info = info
@@ -235,6 +235,9 @@ class AsmMovingPart(object):
             setPlacement(info.Part,pla)
             rollback.append((info.PartName,info.Part,info.Placement.copy()))
 
+        if QtGui.QApplication.keyboardModifiers()==QtCore.Qt.ShiftModifier:
+            return
+
         if not gui.AsmCmdManager.AutoRecompute or \
            QtGui.QApplication.keyboardModifiers()==QtCore.Qt.ControlModifier:
             # AsmCmdManager.AutoRecompute means auto re-solve the system. The

freecad/asm3/solver.py

@@ -18,15 +18,12 @@ from .system import System
 #            plane of the part.
 # EntityMap: string -> entity handle map, for caching
 # Group: transforming entity group handle
-# CstrMap: map from other part to the constrain between this and the other part.
-#          This is for auto constraint DOF reduction. Only some composite
-#          constraints will be mapped.
 # Update: in case the constraint uses the `Multiplication` feature, only the
 #         first element of all the coplanar edges will be actually constrainted.
 #         The rest ElementInfo will be stored here for later update by matrix
 #         transformation.
 PartInfo = namedtuple('SolverPartInfo', ('Part','PartName','Placement',
-    'Params','Workplane','EntityMap','Group','CstrMap','Update'))
+    'Params','Workplane','EntityMap','Group','Update'))
 
 class Solver(object):
     def __init__(self,assembly,reportFailed,dragPart,recompute,rollback):
@@ -315,7 +312,6 @@ class Solver(object):
                             Workplane = h,
                             EntityMap = {},
                             Group = group if group else g,
-                            CstrMap = {},
                             Update = [])
 
         self.system.log('{}, {}',partInfo,g)

freecad/asm3/system.py

@@ -115,6 +115,14 @@ class SystemBase(with_metaclass(System, object)):
             self.verbose = obj.Verbose
             self.log = logger.info if obj.Verbose else logger.debug
 
+def _cstrKey(cstrType, firstPart, secondPart):
+    if firstPart > secondPart:
+        return (cstrType, secondPart, firstPart)
+    else:
+        return (cstrType, firstPart, secondPart)
+
+# For skipping invalid constraints
+_DummyCstrList = [None] * 6
 
 class SystemExtension(object):
     def __init__(self):
@@ -125,9 +133,17 @@ class SystemExtension(object):
         self.firstInfo = None
         self.secondInfo = None
         self.relax = False
+        self.coincidences = {}
+        self.cstrMap = {}
+        self.elementCstrMap = {}
+        self.elementMap = {}
+        self.firstElement = None
+        self.secondElement = None
 
-    def checkRedundancy(self,obj,firstInfo,secondInfo):
+    def checkRedundancy(self,obj,firstInfo,secondInfo,firstElement,secondElement):
         self.cstrObj,self.firstInfo,self.secondInfo=obj,firstInfo,secondInfo
+        self.firstElement = firstElement
+        self.secondElement = secondElement
 
     def addSketchPlane(self,*args,**kargs):
         _ = kargs
@@ -147,34 +163,121 @@ class SystemExtension(object):
         h.append(self.addSameOrientation(n1.entity,n,group=group))
         return h
 
-    def reportRedundancy(self,warn=False):
+    def reportRedundancy(self,firstPart=None,secondPart=None,count=0,limit=0,implicit=False):
         msg = '{} between {} and {}'.format(cstrName(self.cstrObj),
-                self.firstInfo.PartName, self.secondInfo.PartName)
+                firstPart if firstPart else self.firstInfo.PartName,
-        if warn:
+                secondPart if secondPart else self.secondInfo.PartName)
-            logger.warn('skip redundant {}', msg, frame=1)
+        if implicit:
+            logger.msg('redundant implicit constraint {}, {}', msg, count, frame=1)
+        elif count > limit:
+            logger.warn('skip redundant {}, {}', msg, count, frame=1)
         else:
-            logger.debug('auto relax {}', msg, frame=1)
+            logger.msg('auto relax {}, {}', msg, count, frame=1)
 
-    def _countConstraints(self,increment,limit,*names):
+    def _populateConstraintMap(
-        first,second = self.firstInfo,self.secondInfo
+            self,cstrType,firstElement,secondElement,increment,limit,item,implicit):
-        if not first or not second:
+
-            return []
+        firstPart = self.elementMap[firstElement]
-        for name in names:
+        secondPart = self.elementMap[secondElement]
-            cstrs = first.CstrMap.get(second.Part,{}).get(name,None)
+        if firstPart == secondPart:
-            if not cstrs:
+            return _DummyCstrList
-                if increment:
+
-                    cstrs = second.CstrMap.setdefault(
+        # A constraint may contain elements belong to more than two parts.  For
-                                first.Part,{}).setdefault(name,[])
+        # exmaple, for a constraint with elements from part A, B, C, we'll
-                else:
+        # expand it into two constraints for parts AB and AC. However, we must
-                    cstrs = second.CstrMap.get(first.Part,{}).get(name,[])
+        # also count the implicit constraint between B and C.
-            cstrs += [None]*increment
+        #
+        # self.cstrMap is a map for counting constraints of the same type
+        # between pairs of parts. The count is used for checking redundancy and
+        # auto relaxing. The map is keyed using
+        #
+        #       tuple(cstrType, firstPartName, secondPartName)
+        #
+        # and the value is a list. The item of this list is constraint defined
+        # (e.g.  PlaineAilgnment stores a plane entity as item for auto
+        # relaxing) , the length of this list is use as the constraint count to
+        # be used later to decide how to auto relax the constraint.
+        #
+        # See the following link for difficulties on auto relaxing with implicit
+        # constraints. Right now there is no search performed. So the auto relax
+        # may fail. And the user is required to manually reorder constraints and
+        # the elements within to help the solver.
+        #
+        # https://github.com/realthunder/FreeCAD_assembly3/issues/403#issuecomment-757400349
+
+        key = _cstrKey(cstrType,firstPart,secondPart)
+        cstrs = self.cstrMap.setdefault(key, [])
+        cstrs += [item]*increment
         count = len(cstrs)
-            if limit and count>=limit:
+        if increment and count>=limit:
-                self.reportRedundancy(count>limit)
+            self.reportRedundancy(firstPart, secondPart, count, limit, implicit)
         return cstrs
 
-    def countConstraints(self,increment,limit,*names):
+    def _countConstraints(self,increment,limit,cstrType,item=None):
-        count = len(self._countConstraints(increment,limit,*names))
+        first, second = self.firstInfo, self.secondInfo
+        if not first or not second:
+            return []
+
+        firstElement, secondElement = self.firstElement, self.secondElement
+
+        if firstElement == secondElement:
+            return _DummyCstrList
+
+        self.elementMap[firstElement] = first.PartName
+        self.elementMap[secondElement] = second.PartName
+
+        # When counting implicit constraints (see comments in
+        # _populateConstraintMap() above), we must also make sure to count them
+        # if and only if they are originated from the same element, i.e.  both
+        # AB and AC involving the same element of A. This will be ture if the
+        # those constraints are expanded by us, but may not be so if the user
+        # created them.
+        #
+        # self.elementCstrMap is a map keyed using tuple(cstrType, elementName),
+        # with value of a set of all element names that is involved with the the
+        # same type of constraint. This set is shared by all element entries in
+        # the map.
+
+        firstSet = self.elementCstrMap.setdefault((cstrType, firstElement), set())
+        if not firstSet:
+            firstSet.add(firstElement)
+        secondSet = self.elementCstrMap.setdefault((cstrType, secondElement),firstSet)
+
+        res = _DummyCstrList
+
+        if firstSet is not secondSet:
+            # If the secondSet is different, we shall merge them, and count the
+            # implicit constraints between the elements of first and second set.
+            for element in secondSet:
+                self.elementCstrMap[(cstrType, element)] = firstSet
+                is_second = element == secondElement
+                for e in firstSet:
+                    implicit = not is_second or e != firstElement
+                    cstrs = self._populateConstraintMap(
+                        cstrType,e,element,increment,limit,item,implicit)
+                    if not implicit:
+                        # save the result (i.e. the explicit constraint pair of
+                        # the give first and second element) for return
+                        res = cstrs
+            firstSet |= secondSet
+        elif secondElement not in firstSet:
+            # Here means the entry of the secondElement is newly created, count
+            # the implicit constraints between all elements in the set to the
+            # secondElement.
+            for e in firstSet:
+                implicit = e != firstElement
+                cstrs = self._populateConstraintMap(
+                    cstrType,e,secondElement,increment,limit,item,implicit)
+                if not implicit:
+                    res = cstrs
+            firstSet.add(secondElement)
+
+        if res is _DummyCstrList:
+            self.reportRedundancy(count=len(res), limit=limit)
+        return res
+
+    def countConstraints(self,increment,limit,name):
+        count = len(self._countConstraints(increment,limit,name))
         if count>limit:
             return -1
         return count
@@ -189,6 +292,10 @@ class SystemExtension(object):
         if count < 0:
             return
 
+        if count == 1:
+            self.coincidences[(self.firstInfo.Part, self.secondInfo.Part)] = pln1
+            self.coincidences[(self.secondInfo.Part, self.firstInfo.Part)] = pln2
+
         if d or dx or dy:
             dx,dy,d = pln2.normal.rot.multVec(FreeCAD.Vector(dx,dy,d))
             v = pln2.origin.vector+FreeCAD.Vector(dx,dy,d)
@@ -200,23 +307,21 @@ class SystemExtension(object):
 
         if not lockAngle and count==2:
             # if there is already some other plane coincident constraint set for
-            # this pair of parts, we reduce this second constraint to either a
+            # this pair of parts, we reduce this second constraint to a 2D
-            # points horizontal or vertical constraint, i.e. reduce the
+            # PointOnLine. The line is formed by the first part's two elements
-            # constraining DOF down to 1.
+            # in the previous and the current constraint. The point is taken
+            # from the element of the second part of the current constraint.
+            # The projection plane is taken from the element of the first part
+            # of the current constraint.
             #
-            # We project the initial points to the first element plane, and
+            # This 2D PointOnLine effectively reduce the second PlaneCoincidence
-            # check for differences in x and y components of the points to
+            # constraining DOF down to 1.
-            # determine whether to use horizontal or vertical constraint.
+            prev = self.coincidences.get(
-            rot = pln1.normal.pla.Rotation.multiply(pln1.normal.rot)
+                    (self.firstInfo.Part, self.secondInfo.Part))
-            v1 = pln1.normal.pla.multVec(pln1.origin.vector)
+            ln = self.addLineSegment(prev.origin.entity,
-            v2 = pln2.normal.pla.multVec(v)
+                    pln1.origin.entity, group=self.firstInfo.Group)
-            v1,v2 = project2D(rot, v1, v2)
+            h.append(self.addPointOnLine(
-            if abs(v1.x-v2.x) < abs(v1.y-v2.y):
+                pln2.origin.entity, ln, pln1.entity, group=group))
-                h.append(self.addPointsHorizontal(
-                    pln1.origin.entity, e, pln1.entity, group=group))
-            else:
-                h.append(self.addPointsVertical(
-                    pln1.origin.entity, e, pln1.entity, group=group))
             return h
 
         h.append(self.addPointsCoincident(pln1.origin.entity, e, group=group))
@@ -225,7 +330,7 @@ class SystemExtension(object):
                                    pln1.normal, pln2.normal, group)
 
     def addAttachment(self, pln1, pln2, group=0):
-        return self.addPlaneCoincident(0,0,0,False,0,0,0, pln1, pln2, group)
+        return self.addPlaneCoincident(0,0,0,True,0,0,0, pln1, pln2, group)
 
     def addPlaneAlignment(self,d,lockAngle,yaw,pitch,roll,pln1,pln2,group=0):
         if not group:
@@ -233,15 +338,12 @@ class SystemExtension(object):
         h = []
         if self.relax:
             dof = 2 if lockAngle else 1
-            cstrs = self._countConstraints(dof,3,'Alignment')
+            cstrs = self._countConstraints(dof,3,'Alignment',item=pln1.entity)
             count = len(cstrs)
             if count > 3:
                 return
-            if count == 1:
-                cstrs[0] = pln1.entity
         else:
             count = 0
-            cstrs = None
 
         if d:
             h.append(self.addPointPlaneDistance(
@@ -252,7 +354,7 @@ class SystemExtension(object):
         if count<=2:
             n1,n2 = pln1.normal,pln2.normal
             if count==2 and not lockAngle:
-                self.reportRedundancy()
+                self.reportRedundancy(count=count, limit=count)
                 h.append(self.addParallel(n2.entity,n1.entity,cstrs[0],group))
             else:
                 self.setOrientation(h,lockAngle,yaw,pitch,roll,n1,n2,group)

freecad/asm3/utils.py

@@ -77,7 +77,10 @@ def addIconToFCAD(iconFile,path=None):
 
 def objName(obj):
     try:
-        return getattr(obj,'FullName',obj.Name)
+        name = getattr(obj,'FullName',obj.Name)
+        if obj.Label != obj.Name:
+            name = '%s (%s)' % (name, obj.Label)
+        return name
     except Exception:
         return '?'
 
@@ -85,7 +88,7 @@ def isLine(param):
     return isinstance(param,(Part.Line,Part.LineSegment))
 
 def deduceSelectedElement(obj,subname):
-    shape = obj.getSubObject(subname)
+    shape = getElementShape(obj, subname)
     if not shape:
         return
     count = shape.countElement('Face')
@@ -207,6 +210,14 @@ def isElement(obj):
 
 def getElement(shape, element):
     res = None
+    if not isinstance(shape, Part.Shape):
+        try:
+            res = getElementShape(shape, element)
+            if res and not res.isNull():
+                return res
+        except Exception:
+            return
+
     try:
         res = shape.getElement(element, True)
     except TypeError: