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Ball socket exporting, running into local to world space issues
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@HunterBarclay
HunterBarclay committed Aug 1, 2024
1 parent 7ed733e commit 762c0b7
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Showing 4 changed files with 277 additions and 44 deletions.
163 changes: 121 additions & 42 deletions exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Joints.py
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Original file line number Diff line number Diff line change
Expand Up @@ -40,6 +40,11 @@

logger = getLogger()

AcceptedJointTypes = [
adsk.fusion.JointTypes.RevoluteJointType,
adsk.fusion.JointTypes.SliderJointType,
adsk.fusion.JointTypes.BallJointType,
]

# Need to take in a graphcontainer
# Need to create a new base node for each Joint Instance
Expand Down Expand Up @@ -97,57 +102,56 @@ def populateJoints(
_addRigidGroup(joint, assembly)
continue

# for now if it's not a revolute or slider joint ignore it
if joint.jointMotion.jointType != 1 and joint.jointMotion.jointType != 2:
continue
if joint.jointMotion.jointType in AcceptedJointTypes:
try:
# Fusion has no instances of joints but lets roll with it anyway

try:
# Fusion has no instances of joints but lets roll with it anyway
# progressDialog.message = f"Exporting Joint configuration {joint.name}"
progressDialog.addJoint(joint.name)

# progressDialog.message = f"Exporting Joint configuration {joint.name}"
progressDialog.addJoint(joint.name)
# create the definition
joint_definition = joints.joint_definitions[joint.entityToken]
_addJoint(joint, joint_definition)

# create the definition
joint_definition = joints.joint_definitions[joint.entityToken]
_addJoint(joint, joint_definition)
# create the instance of the single definition
joint_instance = joints.joint_instances[joint.entityToken]

# create the instance of the single definition
joint_instance = joints.joint_instances[joint.entityToken]
for parse_joints in options.joints:
if parse_joints.jointToken == joint.entityToken:
guid = str(uuid.uuid4())
signal = signals.signal_map[guid]
construct_info(joint.name, signal, GUID=guid)
signal.io = signal_pb2.IOType.OUTPUT

for parse_joints in options.joints:
if parse_joints.jointToken == joint.entityToken:
guid = str(uuid.uuid4())
signal = signals.signal_map[guid]
construct_info(joint.name, signal, GUID=guid)
signal.io = signal_pb2.IOType.OUTPUT
# really could just map the enum to a friggin string
if parse_joints.signalType != SignalType.PASSIVE and assembly.dynamic:
if parse_joints.signalType == SignalType.CAN:
signal.device_type = signal_pb2.DeviceType.CANBUS
elif parse_joints.signalType == SignalType.PWM:
signal.device_type = signal_pb2.DeviceType.PWM

# really could just map the enum to a friggin string
if parse_joints.signalType != SignalType.PASSIVE and assembly.dynamic:
if parse_joints.signalType == SignalType.CAN:
signal.device_type = signal_pb2.DeviceType.CANBUS
elif parse_joints.signalType == SignalType.PWM:
signal.device_type = signal_pb2.DeviceType.PWM
motor = joints.motor_definitions[joint.entityToken]
fill_info(motor, joint)
simple_motor = motor.simple_motor
simple_motor.stall_torque = parse_joints.force
simple_motor.max_velocity = parse_joints.speed
simple_motor.braking_constant = 0.8 # Default for now
joint_definition.motor_reference = joint.entityToken

motor = joints.motor_definitions[joint.entityToken]
fill_info(motor, joint)
simple_motor = motor.simple_motor
simple_motor.stall_torque = parse_joints.force
simple_motor.max_velocity = parse_joints.speed
simple_motor.braking_constant = 0.8 # Default for now
joint_definition.motor_reference = joint.entityToken
joint_instance.signal_reference = signal.info.GUID
# else:
# signals.signal_map.remove(guid)

joint_instance.signal_reference = signal.info.GUID
# else:
# signals.signal_map.remove(guid)
_addJointInstance(joint, joint_instance, joint_definition, signals, options)

_addJointInstance(joint, joint_instance, joint_definition, signals, options)
# adds information for joint motion and limits
_motionFromJoint(joint.jointMotion, joint_definition)

except:
logger.error("Failed:\n{}".format(traceback.format_exc()))
continue

# adds information for joint motion and limits
_motionFromJoint(joint.jointMotion, joint_definition)

except:
logger.error("Failed:\n{}".format(traceback.format_exc()))
continue


def _addJoint(joint: adsk.fusion.Joint, joint_definition: joint_pb2.Joint):
Expand Down Expand Up @@ -251,10 +255,10 @@ def _motionFromJoint(fusionMotionDefinition: adsk.fusion.JointMotion, proto_join
0: noop, # this should be ignored
1: fillRevoluteJointMotion,
2: fillSliderJointMotion,
3: noop, # TODO: Implement - Ball Joint at least
3: noop,
4: noop, # TODO: Implement
5: noop, # TODO: Implement
6: noop, # TODO: Implement
6: fillBallJointMotion, # TODO: Implement
}

fillJointMotionFunc = fillJointMotionFuncSwitcher.get(fusionMotionDefinition.jointType, lambda: None)
Expand Down Expand Up @@ -335,6 +339,81 @@ def fillSliderJointMotion(sliderMotion: adsk.fusion.SliderJointMotion, proto_joi

dof.value = sliderMotion.slideValue

def fillBallJointMotion(ballMotion: adsk.fusion.BallJointMotion, proto_joint: joint_pb2.Joint):
"""#### Fill Protobuf ball joint motion data
Args:
ballMotion (adsk.fusion.BallJointMotion): Fusion Ball Joint Data
protoJoint (joint_pb2.Joint): Protobuf joint that is being modified
"""

# proto_joint.joint_motion_type = joint_pb2.JointMotion.REVOLUTE
proto_joint.joint_motion_type = joint_pb2.JointMotion.CUSTOM
customDofs = proto_joint.custom

pitchDof = joint_pb2.DOF()
pitchDof.name = "pitch"
pitchDof.axis.x = ballMotion.pitchDirectionVector.x
pitchDof.axis.y = ballMotion.pitchDirectionVector.y
pitchDof.axis.z = ballMotion.pitchDirectionVector.z
if ballMotion.pitchLimits.isMaximumValueEnabled or ballMotion.pitchLimits.isMinimumValueEnabled:
pitchDof.limits.lower = ballMotion.pitchLimits.minimumValue
pitchDof.limits.upper = ballMotion.pitchLimits.maximumValue
pitchDof.value = ballMotion.pitchValue
customDofs.dofs.append(pitchDof)

yawDof = joint_pb2.DOF()
yawDof.name = "yaw"
yawDof.axis.x = ballMotion.yawDirectionVector.x
yawDof.axis.y = ballMotion.yawDirectionVector.y
yawDof.axis.z = ballMotion.yawDirectionVector.z
if ballMotion.yawLimits.isMaximumValueEnabled or ballMotion.yawLimits.isMinimumValueEnabled:
yawDof.limits.lower = ballMotion.yawLimits.minimumValue
yawDof.limits.upper = ballMotion.yawLimits.maximumValue
yawDof.value = ballMotion.yawValue
customDofs.dofs.append(yawDof)

rollDof = joint_pb2.DOF()
rollDof.name = "roll"
rollDof.axis.x = ballMotion.rollDirectionVector.x
rollDof.axis.y = ballMotion.rollDirectionVector.y
rollDof.axis.z = ballMotion.rollDirectionVector.z
if ballMotion.rollLimits.isMaximumValueEnabled or ballMotion.rollLimits.isMinimumValueEnabled:
rollDof.limits.lower = ballMotion.rollLimits.minimumValue
rollDof.limits.upper = ballMotion.rollLimits.maximumValue
rollDof.value = ballMotion.rollValue
customDofs.dofs.append(rollDof)

# ballMotion.

# dof = proto_joint.rotational.rotational_freedom

# # name
# # axis
# # pivot
# # dynamics
# # limits
# # current value

# dof.name = "Rotational Joint"

# dof.value = revoluteMotion.rotationValue

# if revoluteMotion.rotationLimits:
# dof.limits.lower = revoluteMotion.rotationLimits.minimumValue
# dof.limits.upper = revoluteMotion.rotationLimits.maximumValue

# rotationAxisVector = revoluteMotion.rotationAxisVector
# if rotationAxisVector:
#
# else:
# rotationAxis = revoluteMotion.rotationAxis
# # don't handle 4 for now
# # There is a bug here https://jira.autodesk.com/browse/FUS-80533
# # I have 0 memory of why this is necessary
# dof.axis.x = int(rotationAxis == 0)
# dof.axis.y = int(rotationAxis == 2)
# dof.axis.z = int(rotationAxis == 1)

def noop(*argv):
"""Easy way to keep track of no-op code that required function pointers"""
Expand Down
2 changes: 1 addition & 1 deletion exporter/SynthesisFusionAddin/src/UI/ConfigCommand.py
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Original file line number Diff line number Diff line change
Expand Up @@ -143,7 +143,7 @@ def notify(self, args):
*gm.app.activeDocument.design.rootComponent.allAsBuiltJoints,
]:
if (
joint.jointMotion.jointType in (JointMotions.REVOLUTE.value, JointMotions.SLIDER.value)
joint.jointMotion.jointType in (JointMotions.REVOLUTE.value, JointMotions.SLIDER.value, JointMotions.BALL.value)
and not joint.isSuppressed
):
jointConfigTab.addJoint(joint)
Expand Down
13 changes: 12 additions & 1 deletion exporter/SynthesisFusionAddin/src/UI/JointConfigTab.py
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Original file line number Diff line number Diff line change
Expand Up @@ -14,6 +14,7 @@
createTextBoxInput,
)

from ..Parser.SynthesisParser.Joints import AcceptedJointTypes

class JointConfigTab:
selectedJointList: list[adsk.fusion.Joint] = []
Expand Down Expand Up @@ -232,6 +233,16 @@ def addJoint(self, fusionJoint: adsk.fusion.Joint, synJoint: Joint | None = None
jointSpeed.tooltip = "Meters per second"
self.jointConfigTable.addCommandInput(jointSpeed, row, 4)

else:
jointSpeed = commandInputs.addValueInput(
"jointSpeed",
"Speed",
"m",
adsk.core.ValueInput.createByReal(0),
)
jointSpeed.tooltip = "Unavailable"
self.jointConfigTable.addCommandInput(jointSpeed, row, 4)

if synJoint:
jointForceValue = synJoint.force * 100 # Currently a factor of 100 - Should be investigated
else:
Expand Down Expand Up @@ -486,7 +497,7 @@ def handleInputChanged(
def handleSelectionEvent(self, args: adsk.core.SelectionEventArgs, selectedJoint: adsk.fusion.Joint) -> None:
selectionInput = args.activeInput
jointType = selectedJoint.jointMotion.jointType
if jointType == adsk.fusion.JointTypes.RevoluteJointType or jointType == adsk.fusion.JointTypes.SliderJointType:
if jointType in AcceptedJointTypes:
if not self.addJoint(selectedJoint):
ui = adsk.core.Application.get().userInterface
result = ui.messageBox(
Expand Down
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