\NeedsTeXFormat{LaTeX2e}[1994/06/01]
\ProvidesPackage{kinematikz}[2021/12/21 kinematikz definitions Package]
%--------------------------
% Vitor Santos
%--------------------------
\RequirePackage{tikz}
\RequirePackage{graphicx}
\RequirePackage{tikz-3dplot}
\RequirePackage{xstring}
\RequirePackage{ifthen}
\RequirePackage{listofitems}
\RequirePackage{xpatch}
\usetikzlibrary{backgrounds,matrix,shapes,arrows} %and some special libraries for tikz
\usetikzlibrary{shapes.multipart,shadows}
\usetikzlibrary{calc}
\usetikzlibrary{decorations.pathreplacing}
\usetikzlibrary{decorations.pathmorphing}
\usetikzlibrary{positioning} %for pic
\usetikzlibrary{patterns}
\usetikzlibrary{scopes} %to use shorthands for scopes ;-)
\usetikzlibrary{angles}
\usetikzlibrary{hobby} %to use shorthands for smooth curves ;-) Use many Latex3 stuff... is that recommended...?
\usetikzlibrary{math} %for some more elaborate calculations ;-)
\usetikzlibrary{intersections} %for intersections
\usetikzlibrary{fit} %for fitting nodes after a list of points
\usetikzlibrary{arrows.meta} %for special line endings :-)
%\pgfdeclarelayer{background}
%\pgfdeclarelayer{foreground}
%\pgfsetlayers{background,main,foreground}
%
https://tex.stackexchange.com/questions/86023/tikz-declare-function-and-babel-french-option
%\usetikzlibrary{babel} % For incompatibilities with tikz declarations and babel with french :-((( But it creates other problems :-(((
%Put it locally to test things....
%-----------------------------------
%\newif\iftikziii %create a test of which tikz version we have. NOT YET USED
%\begingroup
%\def\getmainversion#1.#2\getmainversion{#1}
%\ifnum\expandafter\getmainversion\pgfversion\getmainversion=3
%\global\tikziiitrue
%\fi
%\endgroup
%-----------------------------------
%Check the date of tikz (date is approximate - v3.1.5 or later required)
\makeatletter
\@ifpackagelater{tikz}{2020/01/01}{%
% Package is new enough
}{%
\PackageError{kinematikz}{Package tikz is too old for some kinematikz facilities}{Use another version of tikz package (v.3.1.5 or later)}%
}
\makeatother
% file with kinematics chains symbology
% v. santos, v1, apr 2017
% v2, aug 2017
% minor adjustmente in Feb 2018
% v3 - started in Oct 2018 - towards the first fotmal LaTeX package
% v4 - started in Sep 2020 - Changed name into kinematikz using previous stuff
% use prefix (kind of name space) km instead of vs for local defs and commands
% new creations follow that, later on change all existing
% v5 - started on Feb 2021 - pic arguments being managed with package listofitems. (but no all migrate yet)
% v6 - started on Sep 2021 - create pipc synonyms. Inside a tikzset do:
% new synonym/.pic={\pic {existing name={#1}};},
% The previous construction works and the passed argument #1 is actually
% all the arguments regardless of their format. Some may even be
%decomposed in #1/#2/ etc.. or something else in the existing elements defined locally. This was a nice trick to create synonim seemlessly!
%
% v7 - Nov 2021 - prepare version for deployment
% % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % %
% The main ideia is:
% create symbols for:
% 2D and 3D representation
% ISO and non-ISO common
% Geometry must develop around a central point along rectangular bbox
% Expected connection/anchor points:
% east, west, north, south
%
% Symbols must have a central point (or more) that will define them
% Tikz coordinates should be defined (created) to ease the process of placement
% and establishing links. Arbitrary or possibily in a matrix (useful for more complex structures)
%
% TODOs
%
% migrate all vs prefixes to kn prefixes (DONE)
% erase all obsolete pics and styles (DONE)
% erase compulsory arguments in pics that still have it
% global definitions for kinematics chains.
%%==========================================================
% from
https://tex.stackexchange.com/questions/54358/custom-and-built-in-tikz-fill-patterns
% defining the new dimensions and parameters
\newlength{\hatchspread}
\newlength{\hatchthickness}
\newlength{\hatchshift}
\newcommand{\hatchcolor}{}
% declaring the keys in tikz
\tikzset{hatchspread/.code={\setlength{\hatchspread}{#1}},
hatchthickness/.code={\setlength{\hatchthickness}{#1}},
hatchshift/.code={\setlength{\hatchshift}{#1}},% must be >= 0
hatchcolor/.code={\renewcommand{\hatchcolor}{#1}}}
% setting the default values
\tikzset{hatchspread=3pt,
hatchthickness=0.4pt,
hatchshift=0pt,% must be >= 0
hatchcolor=black}
% declaring the pattern
\pgfdeclarepatternformonly[\hatchspread,\hatchthickness,\hatchshift,\hatchcolor]% variables
{custom north west lines}% name
{\pgfqpoint{\dimexpr-2\hatchthickness}{\dimexpr-2\hatchthickness}}% lower left corner
{\pgfqpoint{\dimexpr\hatchspread+2\hatchthickness}{\dimexpr\hatchspread+2\hatchthickness}}% upper right corner
{\pgfqpoint{\dimexpr\hatchspread}{\dimexpr\hatchspread}}% tile size
{% shape description
\pgfsetlinewidth{\hatchthickness}
\pgfpathmoveto{\pgfqpoint{0pt}{\dimexpr\hatchspread+\hatchshift}}
\pgfpathlineto{\pgfqpoint{\dimexpr\hatchspread+0.15pt+\hatchshift}{-0.15pt}}
\ifdim \hatchshift > 0pt
\pgfpathmoveto{\pgfqpoint{0pt}{\hatchshift}}
\pgfpathlineto{\pgfqpoint{\dimexpr0.15pt+\hatchshift}{-0.15pt}}
\fi
\pgfsetstrokecolor{\hatchcolor}
% \pgfsetdash{{1pt}{1pt}}{0pt}% dashing cannot work correctly in all situation this way
\pgfusepath{stroke}
}
\pgfdeclarepatternformonly[\hatchspread,\hatchthickness,\hatchshift,\hatchcolor]% variables
{custom north east lines}% name
{\pgfqpoint{\dimexpr-2\hatchthickness}{\dimexpr-2\hatchthickness}}% lower left corner
{\pgfqpoint{\dimexpr\hatchspread+2\hatchthickness}{\dimexpr\hatchspread+2\hatchthickness}}% upper right corner
{\pgfqpoint{\dimexpr\hatchspread}{\dimexpr\hatchspread}}% tile size
{% shape description
\pgfsetlinewidth{\hatchthickness}
\pgfpathmoveto{\pgfqpoint{\dimexpr\hatchshift-0.15pt}{-0.15pt}}
\pgfpathlineto{\pgfqpoint{\dimexpr\hatchspread+0.15pt}{\dimexpr\hatchspread-\hatchshift+0.15pt}}
\ifdim \hatchshift > 0pt
\pgfpathmoveto{\pgfqpoint{-0.15pt}{\dimexpr\hatchspread-\hatchshift-0.15pt}}
\pgfpathlineto{\pgfqpoint{\dimexpr\hatchshift+0.15pt}{\dimexpr\hatchspread+0.15pt}}
\fi
\pgfsetstrokecolor{\hatchcolor}
% \pgfsetdash{{1pt}{1pt}}{0pt}% dashing cannot work correctly in all situation this way
\pgfusepath{stroke}
}
%%==========================================================
\def\TikZ{Ti\emph{k}Z}
\def\Kinematikz{Kinema\TikZ}
\def\kinematikz{\Kinematikz}
\newcommand{\knKinematikz}{ %A logo for the package still in development
\pic [scale=0.3,transform shape] (F) {frame=7cm};
\pic [scale=0.3,transform shape,xshift=-3.2cm] (L1) at (F-end) {link bar generic={90:2/0/0/0//1}};
\coordinate (tt) at ($(L1-start)!0.9!(L1-center)$);
\pic [scale=0.3,transform shape](L2) at (tt) {link bar generic={50:1.2/0//1//1}};
\pic [scale=0.3,transform shape](L3) at (tt) {link bar generic={-38:1.1/0//1//1}};
\node [at=(L3-end),xshift=-1pt, yshift=2.5pt,anchor=west,TSF] {inema\TikZ};
\pic[scale=0.3,transform shape] (F) {frame=7cm}; %Just to cover if exposed...
}
\makeatletter
\newcommand\currentcoordinate{\the\tikz@lastxsaved,\the\tikz@lastysaved}
\makeatother
\def\pivotRadius{3pt} %radius of pivot elements
\def\linkWidth{6.42pt} %width of links for vsCustomLinks
\def\linkWidth{1pt} %width of links for vsCustomLinks
\def\gapGround{0.04} %separation of moving ground contact (unit is default -- cm)
\def\lAng{90} %default angle for link arms (can override locally)
\def\lLenA{0.5} %default length for link arm A (can override locally)
\def\lLenB{0.5} %default length for link arm B (can override locally)
\def\COMradius{0.4em} %radius of center of mass (because of "em" can scale with font size modifyers :-)
\def\LinkFillColor{gray!50} %default color of planar 2D links
\def\SubLinkFillColor{gray!30} %default color of planar 2D sublinks (like pistons in 2D)
\def\lockRadius{1.25*\pivotRadius} % to define the size of locks in ISO symbols
\tikzset{TSF/.style={transform shape=false}}
% The "transform shape" is necessarry to also scale pic in case of scaling tikzpictures
%becase the global option scale=..., does not affect nodes or pics. But the problem
%is that it scales fonts as well.. so you can use a smaller font like \footnotesize which is OK for scales of 1.25 except minor issue in kerning. But, it's better to use
%an independnet solution which is to use "transform shape=false" locally on the node to avoid font scaling. So this is useful to keep nodes without drawn shapes with normal
%font sizes...
%So it is recomended to use the TSF style created above in nodes with only text and
%no shape to be drawn to keep text the default size
\newcommand{\lineTip}[1]{\fill #1 circle (0.6pt)} %was 0.4 pt, but 0.6 is adequate for "thick" lines. command to append small termination to some tips of lines to cover for poorer line joining :-( Accepts one argument which is the point where to put the terminations
%NOTE - in many cases the previous was replaced by [line cap=round] which is more automatic, but applies to both ends of line and that can be undesired in certain cases; actually a style knLineCap was created for that :-)
%\draw [options] (center) +(start ang:radius) arc (start ang:end ang:radius); %technique to draw an arc with a center, radius, start and end angle
%---Code to allow callout overlay-----------
%code from:
https://tex.stackexchange.com/questions/187165/callout-with-multiple-pointers-how-to-design-it
% The goal is to translate
% \overlaynode<red,blue>{hallo};
% into
% \node[red]{hallo};
% \node[blue]{hallo};
\makeatletter
\def\overlaynode<#1>#2;{
\gdef\stacknodecommonpart{#2}
\pgfkeys{/typeset node/.list={#1}}
}
\pgfkeys{
/typeset node/.code={
\edef\pgf@marshal{\noexpand\node[#1]\stacknodecommonpart;}
\pgf@marshal
}
}
\def\overlaynodedrawfill{\pgfutil@ifnextchar[{\overlaynodedrawfill@opt}{\overlaynodedrawfill@opt[]}}
\def\overlaynodedrawfill@opt[#1]<#2>#3;{
\begin{scope}[transparency group,draw=black,fill=white,line cap=round,line join=round,#1]
\pgfmathsetmacro\pgflinewidthdouble{2\pgflinewidth}
\overlaynode<#2>[draw=pgfstrokecolor,line width=\pgflinewidthdouble]#3;
\overlaynode<#2>[fill=pgffillcolor]#3;
\end{scope}
}
\makeatother
%----------------------------------
%----------------------------------
%% Command to draw a coordinate system in 2D with 3rd axis (z) in perspective
% Accepts an optional argument which if the orientation of the system
% The second argument is the index of the coordinate system,
% and the thrid is the point where to draw that is:
% \knAddCoordFrame[ang]{num}{point}
% \knAddCoordFrame{num}{point}
% A special index should also be allowed (R,H, etc...)
\def\knCoordScale{1} %Global scale for Coordinate frame sizes. Can be adjusted
\newcommand{\knAddCoordFrameZout}[3][0]{ %#1 - optional: angle; #2 - mandatory: suffix; #3 startingpoint
\ifthenelse{ \equal{#3}{} }
{
\def\cAng{0}
\def\cSuff{#1}
\def\cOrigin{#2}
}
{
\def\cAng{#1}
\def\cSuff{#2}
\def\cOrigin{#3}
}
\tikzmath{
int \drawTheta;
\drawTheta=0;
if ( \cSuff >= 0 ) then
{
\drawTheta=1;
} else
{
\cSuff = int(-\cSuff);
};
}
\pgfmathparse{int(\cSuff+1)} %had to use int to avoid decimal places
\edef\idxAng{\pgfmathresult}
\draw[robot coord system,rotate=\cAng] \cOrigin -- ++({\knCoordScale*0.5},0) node[above,TSF] {$\hat x_{\cSuff}$};
\draw[robot coord system,rotate=\cAng] \cOrigin -- ++(0,{\knCoordScale*0.75}) node[left,TSF] {$\hat y_{\cSuff}$};
\draw[robot coord system] \cOrigin -- ++({-\knCoordScale*0.5},{-\knCoordScale*0.5}) node[right,TSF] {$\hat z_{\cSuff}$};
%\draw [options] (center) +(start ang:radius) arc (start ang:end ang:radius);
\ifthenelse{ \equal{\drawTheta}{1} }
{
\draw [angular lines no limits] \cOrigin ++(-135:{\knCoordScale*0.4}) +(-30:0.2) arc (-30:+150:0.2) node [left,xshift=3pt,TSF] {$ \theta_{\idxAng} $};
}
{}
\draw [fill] \cOrigin circle (1pt);
}
%-------
\newcommand{\knAddCoordFrameZoutB}[4][0]{ %#1 - optional: tikz options; #2 rotation angle except for one axis; #3 - mandatory: suffix; #4 startingpoint
\ifthenelse{ \equal{#4}{} } %Only has 3 parameters
{
\def\cOptions{}
\def\cAng{#1}
\def\cSuff{#2}
\def\cOrigin{#3}
}
{ %Has the 4 parameters
\def\cOptions{#1}
\def\cAng{#2} %This angle overrides angle potentially included in the general options
\def\cSuff{#3}
\def\cOrigin{#4}
}
\tikzmath{
int \drawTheta;
\drawTheta=0;
%Comment next since this is now for special cases
% if ( \cSuff >= 0 ) then
% {
% \drawTheta=1;
% } else
% {
% \cSuff = int(-\cSuff);
% };
}
%\pgfmathparse{int(\cSuff+1)} %had to use int to avoid decimal places
\edef\idxAng{\pgfmathresult} \edef\idxAng{-}
\draw[robot coord system,\cOptions,rotate=\cAng] \cOrigin -- ++({\knCoordScale*0.5},0) node[above,TSF] {$\hat x_{\cSuff}$};
\draw[robot coord system,\cOptions,rotate=\cAng] \cOrigin -- ++(0,{\knCoordScale*0.75}) node[left,TSF] {$\hat y_{\cSuff}$};
\draw[robot coord system,\cOptions] \cOrigin -- ++({-\knCoordScale*0.5},{-\knCoordScale*0.5}) node[right,TSF] {$\hat z_{\cSuff}$};
%\draw [options] (center) +(start ang:radius) arc (start ang:end ang:radius);
\ifthenelse{ \equal{\drawTheta}{1} }
{
\draw [angular lines no limits] \cOrigin ++(-135:{\knCoordScale*0.4}) +(-30:0.2) arc (-30:+150:0.2) node [left,xshift=3pt,TSF] {$ \theta_{\idxAng} $};
}
{}
\draw [fill] \cOrigin circle (1pt);
}
%-------
\newcommand{\knAddCoordFrameZup}[3][0]{ %#1 - optional: angle; #2 - mandatory: suffix; #3 startingpoint
\ifthenelse{ \equal{#3}{} }
{
\def\cAng{0}
\def\cSuff{#1}
\def\cOrigin{#2}
}
{
\def\cAng{#1}
\def\cSuff{#2}
\def\cOrigin{#3}
}
\tikzmath{
int \drawTheta;
\drawTheta=0; %by default does not draw
if ( \cSuff >= 0 ) then
{
\drawTheta=1;
}
else
{
\cSuff = int(-\cSuff);
};
}
\pgfmathparse{int(\cSuff+1)} %had to use int to avoid decimal places
\edef\idxAng{\pgfmathresult}
\draw[robot coord system,rotate=\cAng] \cOrigin -- ++({\knCoordScale*0.5},0) node[anchor=south west,inner sep=1pt,TSF] {$\hat x_{\cSuff}$};
\draw[robot coord system,rotate=\cAng] \cOrigin -- ++(0,{\knCoordScale*0.75}) node[anchor=south east,inner sep=1pt,TSF] {$\hat z_{\cSuff}$};
\draw[robot coord system] \cOrigin -- ++({\knCoordScale*0.5},{\knCoordScale*0.5}) node[anchor=south east,inner sep=1pt,TSF] {$\hat y_{\cSuff}$};
\ifthenelse{ \equal{\drawTheta}{1} }
{
\draw[angular lines no limits,rotate=\cAng] \cOrigin ++(90:{\knCoordScale*0.4}) node [left,xshift=-3pt,TSF] {$ \theta_{\idxAng} $} [partial ellipse=-250:60:0.25cm and 0.1cm];
}{}
\draw[fill] \cOrigin circle (1pt);
}
%------
\newcommand{\knAddCoordFrameZdown}[3][0]{ %#1 - optional: angle; #2 - mandatory: suffix; #3 startingpoint
\ifthenelse{ \equal{#3}{} }
{
\def\cAng{0}
\def\cSuff{#1}
\def\cOrigin{#2}
}
{
\def\cAng{#1}
\def\cSuff{#2}
\def\cOrigin{#3}
}
\tikzmath{
int \drawTheta;
\drawTheta=0; %by default does not draw
if ( \cSuff >= 0 ) then
{
\drawTheta=1;
}
else
{
\cSuff = int(-\cSuff);
};
}
\pgfmathparse{int(\cSuff+1)} %had to use int to avoid decimal places
\edef\idxAng{\pgfmathresult}
\draw[robot coord system,rotate=\cAng] \cOrigin -- ++({\knCoordScale*0.5},0) node[anchor=south east,inner sep=1pt,TSF] {$\hat x_{\cSuff}$};
\draw[robot coord system,rotate=\cAng] \cOrigin -- ++(0,-{\knCoordScale*0.75}) node[anchor=south east,inner sep=1pt,TSF] {$\hat z_{\cSuff}$};
\draw[robot coord system] \cOrigin -- ++(-{\knCoordScale*0.5},{-\knCoordScale*0.5}) node[anchor=south east,inner sep=1pt,TSF] {$\hat y_{\cSuff}$};
\ifthenelse{ \equal{\drawTheta}{1} }
{
\draw[angular lines no limits,rotate=\cAng] \cOrigin ++(-90:{\knCoordScale*0.4}) [partial ellipse=60:-250:0.25cm and 0.1cm] node [right,xshift=2pt,yshift=4pt,TSF] {$ \theta_{\idxAng} $};
}{}
\draw[fill] \cOrigin circle (1pt);
}
%-----
\newcommand{\knAddCoordFrameZupRotX}[3][0]{ %#1 - optional: angle; #2 - mandatory: suffix; #3 startingpoint
\ifthenelse{ \equal{#3}{} }
{
\def\cAng{0}
\def\cSuff{#1}
\def\cOrigin{#2}
}
{
\def\cAng{#1}
\def\cSuff{#2}
\def\cOrigin{#3}
}
\tikzmath{
int \drawTheta;
\drawTheta=0; %by default does not draw
if ( \cSuff >= 0 ) then
{
\drawTheta=1;
}
else
{
\cSuff = int(-\cSuff);
};
}
\pgfmathparse{int(\cSuff+1)} %had to use int to avoid decimal places
\edef\idxAng{\pgfmathresult}
\draw[robot coord system,rotate=\cAng] \cOrigin -- ++({\knCoordScale*0.5},0) node[anchor=south east,inner sep=1pt,TSF] {$\hat y_{\cSuff}$};
\draw[robot coord system,rotate=\cAng] \cOrigin -- ++(0,{\knCoordScale*0.75}) node[anchor=south east,inner sep=1pt,TSF] {$\hat z_{\cSuff}$};
\draw[robot coord system] \cOrigin -- ++({-\knCoordScale*0.5},{-\knCoordScale*0.5}) node[anchor=south east,inner sep=1pt,TSF] {$\hat x_{\cSuff}$};
\ifthenelse{ \equal{\drawTheta}{1} }
{
\draw[angular lines no limits,rotate=\cAng] \cOrigin ++(90:{\knCoordScale*0.4}) node [left,xshift=-3pt,TSF] {$ \theta_{\idxAng} $} [partial ellipse=-250:60:0.25cm and 0.1cm];
}{}
\draw[fill] \cOrigin circle (1pt);
}
%-----
\newcommand{\knAddCoordFrameZright}[3][0]{ %#1 - optional: angle; #2 - mandatory: suffix; #3 startingpoint (if suffix is < 0 does not draw angle :-)
\ifthenelse{ \equal{#3}{} }
{
\def\cAng{0}
\def\cSuff{#1}
\def\cOrigin{#2}
}
{
\def\cAng{#1}
\def\cSuff{#2}
\def\cOrigin{#3}
}
\tikzmath{
int \drawTheta;
\drawTheta=0; %by default does not draw
if ( \cSuff >= 0 ) then
{
\drawTheta=1;
}
else
{
\cSuff = int(-\cSuff);
};
}
\pgfmathparse{int(\cSuff+1)} %had to use int to avoid decimal places
\edef\idxAng{\pgfmathresult}
\draw[robot coord system,rotate=\cAng] \cOrigin -- ++({\knCoordScale*0.5},0) node[above,TSF] {$\hat z_{\cSuff}$};
\draw[robot coord system,rotate=\cAng] \cOrigin -- ++(0,{\knCoordScale*0.75}) node[left,TSF] {$\hat x_{\cSuff}$};
\draw[robot coord system] \cOrigin -- ++({-\knCoordScale*0.5},{-\knCoordScale*0.5}) node[right,TSF] {$\hat y_{\cSuff}$};
\ifthenelse{ \equal{\drawTheta}{1} }
{
\draw[angular lines no limits,rotate=\cAng] \cOrigin ++(0:{\knCoordScale*0.2}) [partial ellipse=60:330:0.1cm and 0.25cm] node [below,anchor=north west,TSF] {$ \theta_{\idxAng} $};
}
{}
\draw[fill] \cOrigin circle (1pt);
}
%===========================================
% Command intended to cover for all the above with flexibility
% The facilities in tikz 3D lib or tikz-3dplot do not help...
% Command must cover generates one of the following options
% System direction (order left to right, d means down)
%
% Y
% |__X (ZdYX) (default)
% /
% Z
%
% X
% |__Z (YdXZ) rotz90 * rotx90 * default
% /
% Y
%
% Z
% |__Y (XdZY)
% /
% X
%
% _X (YdZdX)
% /|
% Y Z
%
% Z Y
% |/__X (ZYX)
%
%
%Implement a switch case in latex
%from
https://tex.stackexchange.com/questions/5116/making-switch-case-with-etoolboxs-ifdefequal/5210
\newcommand{\CheckCase}[1]{%
\par\noindent%What is this for??
\IfEqCase*{#1}{%
{ZdYX}{\def\zDir{-135:{\knCoordScale*0.4}} \def\yDir{90:{\knCoordScale*1}} \def\xDir{0:{\knCoordScale*1}} }%
{YdXZ}{}%
{XdZY}{}%
{YdZdX}{}%
{ZYX}{}%
}[Did not match any given case!]%Put the default here
}%
\newcommand{\knAddCoordFrame}[5][0]{
% #1 - optional rotation angle in plane (default 0)
% #2 - suffix for system naming (0,1,2,..., H, R, ... other)
% #3 - starting point Where to draw origin in current picture
% #4 - type of system (ZdYX,YdXZ,XdZY,YdZdX,ZYX)
% #5 - draw joint around z , or along z; (0 - no drawing, 1 - circular, 2 - linear )
%\def\zDir{-135:{\knCoordScale*0.4}} \def\yDir{90:{\knCoordScale*1}} \def\xDir{0:{\knCoordScale*1}}
\ifthenelse{\equal{#5}{} } %if not 5 params passed...
{
\def\cAng{0}
\def\cSuff{#1}
\def\cOrigin{#2}
\def\cType{#3}
\def\cJoint{#4}
}
{
\def\cAng{#1}
\def\cSuff{#2}
\def\cOrigin{#3}
\def\cType{#4}
\def\cJoint{#5}
}
\tikzmath{
int \drawTheta;
\drawTheta=0;
if ( \cSuff >= 1 ) then
{
\drawTheta=1;
} else
{
\cSuff = int(-\cSuff);
};
}
\pgfmathparse{int(\cSuff+1)} %had to use int to avoid decimal places
\edef\idxAng{\pgfmathresult}
% \CheckCase{\cType}%Extract type of coord system and adjust some macros accordingly
\draw[robot coord system,rotate=\cAng] \cOrigin -- ++(\xDir) node[TSF] {$\hat x_{\cSuff}$};
\draw[robot coord system,rotate=\cAng] \cOrigin -- ++(\yDir) node[TSF] {$\hat y_{\cSuff}$};
\draw[robot coord system,rotate=\cAng] \cOrigin -- ++(\zdir) node[TSF] {$\hat z_{\cSuff}$};
%\draw [options] (center) +(start ang:radius) arc (start ang:end ang:radius);
\ifthenelse{ \equal{\drawTheta}{1} }
{
% \draw [angular lines no limits] \cOrigin ++(-135:{\knCoordScale*0.4}) +(-30:0.2) arc (-30:+150:0.2) node [left,xshift=3pt,TSF] {$ \theta_{\idxAng} $};
}
{}
\draw [fill] \cOrigin circle (1pt);
}
%===========================================
%-----------------------------------
\tikzset{
%
https://tex.stackexchange.com/questions/23453/symbol-center-of-mass-dowelpin
pics/center of mass/.style={ %
code={
\begin{scope}[radius=\COMradius] %use the same radius for all operations in scope
\fill (0,0) -- ++(\COMradius,0) arc [start angle=0,end angle=90] -- ++(0,-2*\COMradius) arc [start angle=270, end angle=180];%
\draw (0,0) circle;%
\end{scope}
}%
}
}
\newcommand{\addCOM}[1][black] %alternative to "center of mass" pic. Accepts one argument which are the parameters to fill and draw operations.
%Valid only when there is a (-center) node defined, so most useful inside other figures (pic or other)...
{
\begin{scope}[radius=\COMradius] %use the same radius for all operations in scope
\fill [#1] (-center) -- ++(\COMradius,0) arc [start angle=0,end angle=90] -- ++(0,-2*\COMradius) arc [start angle=270, end angle=180];%
\draw [#1] (-center) circle;%
\end{scope}
}
%after
https://tex.stackexchange.com/questions/39293/coordinates-a-b-compute-b-a-and-angle-between-x-and-b-a
\newcommand{\kmpgfextractangle}[2]
{
\pgfmathanglebetweenpoints{\pgfpointorigin}{\pgfpointanchor{#2}{center}}
\global\let#1\pgfmathresult
}
%after
https://tex.stackexchange.com/questions/98924/transform-defined-coordinates-in-tikz
\makeatletter
\newcommand{\gettikzxy}[3]{%
\tikz@scan@one@point\pgfutil@firstofone#1\relax
\edef#2{\the\pgf@x}%
\edef#3{\the\pgf@y}%
}
\makeatother
%Next definitions inspired from
%
https://tex.stackexchange.com/questions/411726/how-to-connect-nodes-with-45-degree-and-0-degree-lines-possibly-via-style/411734
\tikzset{
45-/.style={
to path={
let \p{start}=(\tikztostart),
\p{target}=(\tikztotarget),
\p{diff}=({\x{target}-\x{start}}, {\y{target}-\y{start}}),
\p{absdiff}=({abs(\x{diff})}, {abs(\y{diff})}),
\n{mindiff}={min(\x{absdiff}, \y{absdiff})},
\p{inter}=(
{sign(\x{diff}) * \n{mindiff}},
{sign(\y{diff}) * \n{mindiff}}
)
in
\ifnum \ifdim\x{target}=\x{start} 1
\else \ifdim\y{target}=\y{start} 1
\else \ifdim\x{absdiff}=\y{absdiff} 1
\else 0\fi\fi\fi=1 %primitive tex or condition
-- (\tikztotarget)
\else
--++ (\p{inter}) -- (\tikztotarget)
\fi
},
},
}
%THIS STARTS WITH THE DIAGONAL PART AND ADDS THE VERTICAL/HORIZONTAL PART AFTER
%SWAP POINTS IF YOU WANT THE REVERSE.
\tikzset{
-45/.style={
to path={
let \p{start}=(\tikztostart),
\p{target}=(\tikztotarget),
\p{diff}=({\x{target}-\x{start}}, {\y{target}-\y{start}}),
\p{absdiff}=({abs(\x{diff})}, {abs(\y{diff})}),
\n{mindiff}={min(\x{absdiff}, \y{absdiff})},
\p{inter}=(
{sign(\x{diff}) * \n{mindiff}},
{sign(\y{diff}) * \n{mindiff}}
),
\p{inter}=(
\x{target},
{sign(\y{diff}) * \n{mindiff}}
)
in
\ifnum
\ifdim\x{target}=\x{start} 1 % points in horizontal?
\else \ifdim\y{target}=\y{start} 1 % points in vertical?
\else \ifdim\x{absdiff}=\y{absdiff} 1 % points in45º diagonal?
\else 0 % not any of those
\fi
\fi
\fi=1 %primitive tex or condition
-- (\tikztotarget) %single horizontal/vertical/diagonal line
\else
-- (\p{inter}) -- (\tikztotarget) %two steps: to intermediate and to target
\fi
},
},
}
%%===============================================================
\tikzset{ %definitions for some filling and line styles
ground/.style={ %style for a decoration (of a line)
% The border decoration is a path replacing decorator.
% For the ground style we want to draw the original path.
% The postaction option is therefore used to ensure that the
% border decoration is drawn *after* the original path.
% postaction={ %uncomment to also draw the path, but attention to the xshift
draw,
very thin,
decorate,
decoration={
border,
angle=120,
mirror=true,
amplitude=0.2cm,
transform={xshift=2.5pt},
% pre=lineto, pre length=3pt, post=border, %post length=2pt,
segment length=2pt,
},
% } %uncomment to also draw the path
},
%------------------------------------------
ground2 texture/.style={
pattern=custom north east lines,
hatchspread=2.5pt,
% hatchcolor=green!65!black,
% hatchcolor=black,
hatchshift=0pt,
hatchthickness=0.3pt,
% pattern=north east lines, pattern color=black,
},
ground2/.style={ %style for a node (rectangle) - good only for multiple of 90º orientations
rectangle,
line width=0,
ground2 texture,
minimum height=5pt,
anchor=north west,
inner sep=0,
transform shape, %to rotate rectangle (but not pattern)
},
%------------------------------------------
knLinkStyle/.style={% main style for links - namely type of line
thick, %was very thick
% line join=round, %curved connections? May be yes to match line caps...
miter limit=5, %avoid long sharp corners in special edges
},
knLineCap/.style={ %additional option for line cap in some drawings
line cap=round,
},
knJointStyle/.style={ %Style for drawing joint parts - not the link parts, like ends or arms!
knLinkStyle, %similar to knLinkStyle. But can be adjusted if needed
line join=miter, %Reinforce the default, unless you want soft corners in rectangles.
},
%-------------------------------------------
cube face 1/.style={
knJointStyle,
line join=bevel,
fill=white, %to allow hidding lines in drawing
},
gripper 1/.style={
line join=bevel,
knJointStyle, %was very thick
},
%% SEVERAL LINE STYLES
auxiliary lines/.style={
very thin,
blue,
},
symmetry lines/.style={ %to indicate symmetric longitudinal rotational axle
auxiliary lines,
line width=0.5pt,
densely dash dot,
},
dimension lines no limits/.style={
auxiliary lines,
red,
>=stealth,
<->,
},
dimension lines/.style={
dimension lines no limits,
|<->|,
},
angular lines no limits/.style={
dimension lines no limits,
red,
>=stealth,
->,
},
angular lines/.style={
angular lines no limits,
->|, %possibly |->| ?
},
joint axis/.style={
symmetry lines,
black,
},
%%OTHER USEFUL STYLES
robot coord system/.style={
thick,
->,
>=stealth,
blue,
},
partial ellipse/.style args={#1:#2:#3}{
insert path={+ (#1:#3) arc (#1:#2:#3)}
},
%------------------------------------------
}
% Check also
https://tex.stackexchange.com/questions/463370/pass-an-argument-for-a-pic
% for how to pass arguments to pics
% And this
https://tex.stackexchange.com/questions/250728/tikz-pics-with-optional-default-parameters
% to specify default arguments
%%===============================================================
\tikzset{
%===================================================
pics/frame/.default=1cm, %default argument - base width
pics/frame/.style args={#1}{ %ISO frame 3952-1-3.1 % OK in man (passed to the manual)
% Arg 1 - dimension - base width [1cm]
code={
% \pgfmathsetmacro\myW{#1/2}; %in case you need maths
\coordinate (-left) at (-#1/2,0);
\coordinate (-right) at (#1/2,0);
\coordinate (-center) at (0,0);
\coordinate (-centerTan) at (0,0.175); %This point of for tangency of a link polygon there
\coordinate (-north) at (0,0);
\coordinate (-in) at (0,0);
\coordinate (-out) at (-in);
\coordinate (-end) at (-out);
\coordinate (-south) at (-north);
\coordinate (-start) at (-in);
\node [ground2,minimum width=#1] at (-left) {}; % \draw [ground] (0,0) -- (2,0);
\draw [knJointStyle] (-left) -- ++(#1,0);
} %end of code for this particular pic
},
%------------------------------------------
pics/frame 3D/.default=1cm, %default argument - base width
pics/frame 3D/.style args={#1}{ %Frame 3D
% Arg 1 - dimension - base width [1cm]
code={
% \pgfmathsetmacro\myW{#1/2}; %in case you need maths
\coordinate (-west) at (-#1/2,0);
\coordinate (-east) at (#1/2,0);
\coordinate (-center) at (0,0);
\coordinate (-south) at (-135:#1/4);
\coordinate (-north) at (45:#1/4);
\coordinate (-south west) at ($(-south)-(#1/2,0)$);
\coordinate (-south east) at ($(-south)+(#1/2,0)$);
\coordinate (-north west) at ($(-north)-(#1/2,0)$);
\coordinate (-north east) at ($(-north)+(#1/2,0)$);
\coordinate (-in) at (0,0);
\coordinate (-out) at (-in);
\coordinate (-end) at (-out);
\coordinate (-start) at (-in);
\coordinate (-left) at (-west);
\coordinate (-right) at (-east);
\node [ground2,minimum width=#1] at (-south west) {};
\draw [ground2 texture,draw=none, pattern=custom north west lines,] (-south east) -- (-north east) -- ++(0,-5pt) -- ($(-south east)-(0,5pt)$ ) --cycle ;
\draw [knJointStyle] (-south west) -- (-south east) -- (-north east) -- (-north west) -- cycle;
} %end of code for this particular pic
},
%===================================================
pics/base flat pivot/.style={ %simple flat ground with a pivot
code={
\coordinate (-left) at (-1,0);
\coordinate (-right) at (1,0);
\coordinate (-center) at (0,0.175); %why this and not (0,0)?
\coordinate (-north) at (0,0);
\node [ground2,minimum width=2cm] at (-left) {}; % \draw [ground] (0,0) -- (2,0);
\draw [knJointStyle] (-left) -- ($(-north)+(-\pivotRadius-1.5pt,0)$) arc (180:0:\pivotRadius+1.5pt) -- (-right);
\draw [fill=white] (-north) circle (\pivotRadius);
} %end of code for this particular pic
},
%------------------------------------------
pics/frame pivot flat/.default=1cm, %simple flat frame with a pivot
pics/frame pivot flat/.style={ %simple flat ground with a pivot % OKinman
code={
\coordinate (-left) at (-#1/2,0);
\coordinate (-right) at (#1/2,0);
% \coordinate (-center) at (0,0.175); %why this and not (0,0)?
\coordinate (-center) at (0,0);
\coordinate (-north) at (0,0);
\coordinate (-out) at (0,0);
\coordinate (-end) at (-out);
\coordinate (-in) at (0,0);
\coordinate (-start) at (-in);
\coordinate (-south) at (0,-\pivotRadius/2);
\node [ground2,minimum width=#1] at (-left) {}; % \draw [ground] (0,0) -- (2,0);
\draw [knJointStyle] (-left) -- ($(-north)+(-\pivotRadius-1.5pt,0)$) arc (180:0:\pivotRadius+1.5pt) -- (-right);
\draw [fill=white] (-north) circle (\pivotRadius);
} %end of code for this particular pic
},
%===================================================
pics/frame pivot trapezium/.default=0.8cm, %trapezium frame with a pivot
pics/frame pivot trapezium/.style={ %OKinman
code={
\coordinate (-left) at (-#1/2,-#1/4);
\coordinate (-right) at (#1/2,-#1/4);
\coordinate (-center) at (0,0);
\coordinate (-north) at ($(-center)+(90:#1*0.355)$);
\coordinate (-in) at (-center);
\coordinate (-start) at (-center);
\coordinate (-out) at (-center);
\coordinate (-end) at (-center);
\coordinate (-south) at ($(-left)!0.5!(-right)$);
\draw [knJointStyle, line join=round] (-left) -- ++(0:#1) -- ++(120:#1*0.7) -- ++(180:#1*0.3) -- cycle;
\node at (-left) [ground2,minimum width=#1] {}; % \draw [ground] (0,0) -- (1,0);
\draw [] (-center) circle (\pivotRadius);
} %end of code for this particular pic
},
%===================================================
pics/frame pivot rounded/.default=0.5cm, %rounded frame with a pivot
pics/frame pivot rounded/.style={ %OKinman
code={
\coordinate (-left) at (-#1/2,-#1/2);
\coordinate (-right) at ( #1/2,-#1/2);
\coordinate (-center) at (0,0);
\coordinate (-in) at (-center);
\coordinate (-out) at (-center);
\coordinate (-end) at (-out);
\coordinate (-start) at (-center);
\coordinate (-south) at ($(-left)!0.5!(-right)$);
\draw [knJointStyle, line join=round] (-left) -- ++(0:#1) -- ++(90:#1/2) arc (0:180:#1/2) node [midway,inner sep=0] (-north){} -- cycle;
\node at (-left) [ground2,minimum width=#1] {}; %\draw [ground] (0,0) -- (0.5,0);
\draw [] (-center) circle (\pivotRadius);
} %end of code for this particular pic
},
%===================================================
pics/frame pivot triangle/.default=0.7cm, %triangle frame with a pivot
pics/frame pivot triangle/.style={ %OKinman
code={
% \pgfmathsetmacro\myH{2*sin(60)}
\pgfmathsetmacro\myH{1.3}
\coordinate (-left) at (-#1/2,-#1/\myH);
\coordinate (-right) at ( #1/2,-#1/\myH);
\coordinate (-center) at (0,0);
\coordinate (-north) at (-center);
\coordinate (-in) at (-center);
\coordinate (-end) at (-in);
\coordinate (-start) at (-in);
\coordinate (-out) at (-center);
% \coordinate (-south) at ($(-left)!0.5!(-right)$); %This is failing in the book!!! Problem was babel package with french option!
\coordinate (-south) at ($0.5*(-left)+0.5*(-right)$); %so use this... :-(
\draw [knJointStyle, line join=round] (-center) -- (-left) -- (-right) -- cycle;
\node at (-left) [ground2,minimum width=#1] {};% \draw [ground] (0,0) -- (0.5,0);
\draw [fill=white] (-center) circle (\pivotRadius);
} %end of code for this particular pic
},
%===================================================
pics/frame dual pivot slide/.style={ %OKinman
%Arg 1 -> width [2cm]
%Arg 2 -> fraction of placement from -0.25 to +0.25 [0] %default is in the center
%Arg 3 -> fraction size of cursor of frame [0.5] %But there sre max and min absolute sizes
code={
% ----START ANALYSE ARGUMENTS AND SET DEFAULTS --------------------------
\ifthenelse{ \equal{#1}{}} {\def\allArgs{/}} {\def\allArgs{#1}}
\setsepchar[.]{/} % "/" is the separator "." is the second level separator
\readlist\myArgs{\allArgs}
\ifthenelse{ \myArgslen > 0} {\itemtomacro\myArgs[1]\fLength} {\def\fLength{}}
\ifthenelse{ \myArgslen > 1} {\itemtomacro\myArgs[2]\fFraction}{\def\fFraction{}}
\ifthenelse{ \myArgslen > 2} {\itemtomacro\myArgs[3]\fCursor}{\def\fCursor{}}
%Test if any parameter is blank and put the default in that case
\ifthenelse{ \equal{\fLength}{} }{\def\fLength{2cm}} {}
\ifthenelse{ \equal{\fFraction}{}}{\def\fFraction{0}} {}
\ifthenelse{ \equal{\fCursor}{}}{\def\fCursor{0.5}} {}
%-----------------------END ANALYSE ARGUMENTS AND SET DEFAULTS -------------------
\dimendef\myL=0 %first create a dimension register...
% \pgfmathsetlength\myL{max(2*\pivotRadius,\fCursor*\fLength)} %min size
% \pgfmathsetlength\myL{min(1cm,\fCursor*\fLength)} %max size
\pgfmathsetlength\myL{max(2*\pivotRadius,min(1cm,\fCursor*\fLength)} %min/max size
%limit excursion of cursor
\pgfmathsetmacro\fFraction{min(0.25,\fFraction)}
\pgfmathsetmacro\fFraction{max(-0.25,\fFraction)}
\coordinate (-left) at (-\fLength/2,0);
\coordinate (-right) at (\fLength/2,0);
\coordinate (-center) at ($(-left)!0.5!(-right)$);
\coordinate (-in) at (\fFraction*\fLength,0); %proportion of displacement
\coordinate (-north) at ($(-left)!0.5!(-right)+(0,0.25)$);
\coordinate (-start) at (-in);
\coordinate (-out) at (-in);
\coordinate (-end) at (-out);
\coordinate (-south) at ($(-left)!0.5!(-right)-(0,0.25)$);
\draw [line width=1pt,fill=\LinkFillColor] ($(-in)+(-\myL/2,\gapGround-0.25)$) rectangle ++(\myL,0.5-2*\gapGround);
\node [ground2,minimum width=\fLength] at (-\fLength/2,-0.25) {}; % \draw [ground] (0,0) -- (2,0);
\node [ground2,minimum width=\fLength,anchor=south west] at (-\fLength/2,0.25) {}; %\draw [ground] (2,0.5) -- (0,0.5);
\draw [knJointStyle] (-\fLength/2,0.25) -- (\fLength/2,0.25);
\draw [knJointStyle] (-\fLength/2,-0.25) -- (\fLength/2,-0.25);
% \coordinate (-center) at (1,0.25);
\draw [fill=white] (-in) circle (\pivotRadius);
} %end of code for this particular pic
},
%----------------------------------------------------------
} % end of base/frame styles
\tikzset{ %definitions/pics for SYMBOLS INSPIRED FROM ISO 3952-1
%===============================================================
pics/revolute pair planar/.style={ % ISO
%Arg 1 -> destination point
%Arg 2 -> boolean: add or not COM (discarded -1 in legacy for a special case... :-( )
%Arg 3 -> boolean: add or not pivot in destination (default is 1 yes)
code={
% ----START ANALYSE ARGUMENTS AND SET DEFAULTS --------------------------
\ifthenelse{ \equal{#1}{}} {\def\allArgs{/} \def\noArgs{1} \def\addStartPivot{0} } {\def\allArgs{#1} \def\noArgs{0} \def\addStartPivot{1}}
\setsepchar[.]{/} % "/" is the separator "." is the second level separator
\readlist\myArgs{\allArgs}
\ifthenelse{ \myArgslen > 0} {\itemtomacro\myArgs[1]\endPoint} {\def\endPoint{}}
\ifthenelse{ \myArgslen > 1} {\itemtomacro\myArgs[2]\dCOM} {\def\dCOM{} }
\ifthenelse{ \myArgslen > 2} {\itemtomacro\myArgs[3]\addEndPivot}{\def\addEndPivot{} }
%Test if any parameter is blank and put the default in that case
\ifthenelse{ \equal{\endPoint}{} }{\def\endPoint{15:1}}{}
\ifthenelse{ \equal{\dCOM}{} }{\def\dCOM{0}} {}
\ifthenelse{ \equal{\addEndPivot}{}}{\def\addEndPivot{1}} {}
%-----------------------END ANALYSE ARGUMENTS AND SET DEFAULTS -------------------
\coordinate (-in) at (0,0);
\coordinate (-start) at (-in);
\coordinate (-end) at (\endPoint);
\coordinate (-out) at (-end);
% \coordinate (-center) at ($(-start)!0.5!(-end)$); %This is failing... :-(
\coordinate (-center) at ($0.5*(-start)+0.5*(-end)$); %... so use this
\draw [knLinkStyle] (-in) -- (-end);
%Test for a special case when no params are passed and append a second arm
\ifnum \noArgs=1
\draw [knLinkStyle] (-end) -- ++(-10:0.7) coordinate (-end2);
\fi
\ifthenelse{\addStartPivot=1}{
\draw [knLinkStyle,fill=white] (-start) circle (\pivotRadius);
}{}
\ifthenelse{\addEndPivot=1}{
\draw [knLinkStyle,fill=white] (-end) circle (\pivotRadius);
}{}
\ifthenelse{\dCOM=1}{ \addCOM }{}
} %end of code for this particular pic
},
%===============================================================
%
pics/revolute pair spatial/.default={45:1cm/0/0}, %ISO revolute pair - 3D %FOR CONSISTENCY PASSED POINT SHOULD NOT BE IN () CORRECT THAT IN CALLER
%param: point for link end (default: (45:1cm));
%param: direction of end arm: 0 top, 1 bottom (default: 0);
%param: axle fixed to some frame: 0 not fixed, 1 fixed (default: 0)
pics/revolute pair spatial/.style args={#1/#2/#3}{ % ISO
% TODO: should accept partial parameters
code={
\def\invGap{3pt} %inner separation of body 2 from limits of body 1
\def\outvGap{6pt} %outer gap of axle (can be zero in fexed variant)
\def\argA{#1}
\def\argB{#2} \def\armTop {0}
\def\argC{#3} \def\fFixed {1}
\coordinate (-center) at (\currentcoordinate);
\def\rectW{0.6cm}
\def\rectH{0.4cm}
\if\argC\fFixed
\def\outvGap{0pt}
\fi
%NB. If param 1 is passed as literal its effect is local, if by a node name, global!
%That is why default parameter always has local referencing
%SO FOR EASIER LOCAL REPRESENTATIONS CENTER THE pic AROUND (0,0)
%But that may complicate anchoring....
\coordinate (-in) at ($(-center) - (0:\rectW/2+\outvGap+\invGap)$);
\coordinate (-in2) at ($(-center) + (0:\rectW/2+\outvGap+\invGap)$);
\coordinate (-start) at (-in);
\coordinate (-start2) at (-in2);
\coordinate (-end) at (#1); %Note that this is an absolute point, not relative to -center
\coordinate (-out) at (-end);
\coordinate (-north) at ($(-center) + (0,\rectH/2)$);
\coordinate (-south) at ($(-center) - (0,\rectH/2)$);
\coordinate (-east) at ($(-center) + (0:\rectW/2+\invGap)$);
\coordinate (-west) at ($(-center) - (0:\rectW/2+\invGap)$);
\if\argC\fFixed %expected to have a frame in one end - so shift all coordinate names
\coordinate (-in) at ($(-in) + (0:\rectW/2+\outvGap+\invGap)$);
\coordinate (-in2) at ($(-in2) + (0:\rectW/2+\outvGap+\invGap)$);
\coordinate (-start) at (-in);
\coordinate (-start2) at (-in2);
\coordinate (-end) at ($(-end) + (0:\rectW/2+\outvGap+\invGap)$);
\coordinate (-out) at (-end);
\coordinate (-north) at ($(-north) + (0:\rectW/2+\outvGap+\invGap)$);
\coordinate (-south) at ($(-south) + (0:\rectW/2+\outvGap+\invGap)$);
\coordinate (-east) at ($(-east) + (0:\rectW/2+\outvGap+\invGap)$);
\coordinate (-west) at ($(-west) + (0:\rectW/2+\outvGap+\invGap)$);
\fi
%\node[inner sep=0, minimum width=\rectW+2*\outvGap+2*\invGap,circle,opacity=0.5] (-bbox) at (0,0) {};
% previous node created to attempt anchoring pic by any of it internal nodes
% but it only works if not defined after other internal coordinates. Only explicit
% measumrents, otherwise the anchor is always at (0,0) and
% you need shift to anchor the pic :-( Moreover, only the node is relocated by anchoring
% and not the other drawings :-(((( Check more at
%
https://tex.stackexchange.com/questions/185279/anchoring-tikz-pics
% \kmpgfextractangle{\nAng}{-end} %not #1, needs to be a node name :-(
% There is problem when pic is named because then -end is not found :-((
% So I need to do the calculation myself
\newdimen\XCoord
\newdimen\YCoord
\newdimen\XCoordN
\newdimen\YCoordN
\newdimen\XCoordS
\newdimen\YCoordS
\newdimen\XCoordiN
\newdimen\YCoordiN
% \path ($#1-(-north) - (-in)$); \pgfgetlastxy{\XCoord}{\YCoord};
% \pgfmathparse{atan2(\YCoord,\XCoord)}
% \edef\nAng{\pgfmathresult}%
%
% \path ($#1-(-south) - (-in)$); \pgfgetlastxy{\XCoord}{\YCoord};
% \pgfmathparse{atan2(\YCoord,\XCoord)}
% \edef\sAng{\pgfmathresult}%
%But that is a problem because \pgfgetlastxy works with absolute coordinates in the figure, which is a problem when there are transformations on parts of the image :-(
%So we need another trick to calculate the angles:
% \path (-in); \pgfgetlastxy{\XCoord} {\YCoord};
% \path (-north); \pgfgetlastxy{\XCoordN} {\YCoordN};
% \path (-south); \pgfgetlastxy{\XCoordS} {\YCoordS};
% \path #1; \pgfgetlastxy{\XCoordiN}{\YCoordiN};
%But this previous solution works for only translations (but not all rotations)
%So there is this one using the custom \gettikzxy:
% \gettikzxy{(-in)} {\XCoord} {\YCoord}
\path (-in); \pgfgetlastxy{\XCoord} {\YCoord};
\gettikzxy{(-north)} {\XCoordN} {\YCoordN}
\gettikzxy{(-south)} {\XCoordS} {\YCoordS}
\gettikzxy{(-end)} {\XCoordiN}{\YCoordiN}
\pgfmathparse{atan2(\YCoordiN-\YCoordN,\XCoordiN-\XCoordN)}
\edef\nAng{\pgfmathresult}%
\pgfmathparse{atan2(\YCoordiN-\YCoordS,\XCoordiN-\XCoordS)}
\edef\sAng{\pgfmathresult}%
% In case I wanted the vector length
% \pgfmathparse{veclen(\XCoord...,\YCoord...)}
% \edef\lRadius{\pgfmathresult}%
\draw [knLineCap,knLinkStyle] (-in) -- (-in2); % horiz axis. Round line extremities for better connection
\draw [knJointStyle] ($(-in)+(\outvGap,-\rectH/2-1pt)$) -- ++(90:\rectH+2pt); %vert bar left
\draw [knJointStyle] ($(-in2)+(-\outvGap,-\rectH/2-1pt)$) -- ++(90:\rectH+2pt); %vert bar right
\if\argC\fFixed % two lines
\draw [knJointStyle] ($(-in)+(\outvGap, \rectH/2)+(\invGap,0)$) -- ++(\rectW,0);
\draw [knJointStyle] ($(-in)+(\outvGap,-\rectH/2)+(\invGap,0)$) -- ++(\rectW,0);
\else % a full rectangle
\draw [knJointStyle] ($(-in)+(\outvGap,-\rectH/2)+(\invGap,0)$) rectangle ++(\rectW,\rectH); %rectangle
\fi
\if\argB\armTop
\draw [knLineCap,knLinkStyle] (-north) -- (-end); %arm
\fill [] (-north) -- ++(\lockRadius,0) arc (0:\nAng:\lockRadius) -- cycle; %lock, as arc
\else
\draw [knLineCap,knLinkStyle] (-south) -- (-end); %arm
\fill [] (-south) -- ++(\lockRadius,0) arc (0:\sAng:\lockRadius) -- cycle; %lock, as arc
\fi
} %end of code for this particular pic
},
%-----------------------------------
linear pair/.pic={\pic {prismatic pair={#1}};}, %a synonym for prismatic pair. %always use #1 independetly of the number or arguments!
pics/prismatic pair/.default={45:1cm/0}, %ISO linear pair %FOR CONSISTENCY PASSED POINT SHOULD NOT BE IN () CHECK THAT IN CALLER
%param: point for link end (default: (45:1cm));
%param: direction of end arm: 0 top, 1 bottom (default: 0);
pics/prismatic pair/.style args={#1/#2}{ % ISO
code={
\def\argA{(#1)}
\def\argB{#2} \def\armTop {0}
\def\endGap{8pt}
\def\rectW{0.6cm}
\def\rectH{0.4cm}
%NB. If param 1 is passed as literal its effect is local, if by a node name, global!
%That is why default parameter always has local referencing
%SO FOR EASIER LOCAL REPRESENTATIONS CENTER THE pic AROUND (0,0)
%But that may complicate anchoring....
% \coordinate (-center) at (\currentcoordinate);
\coordinate (-center) at (0,0);
\coordinate (-east) at ($(-center) + (0:\rectW/2)$);
\coordinate (-west) at ($(-center) - (0:\rectW/2)$);
\coordinate (-in) at ($(-west) - (0:\endGap)$);
\coordinate (-in2) at ($(-east) + (0:\endGap)$);
\coordinate (-start) at (-in);
\coordinate (-start2) at (-in2);
\coordinate (-end) at (#1);
\coordinate (-out) at (-end);
\coordinate (-north) at ($(-center) + (0,\rectH/2)$);
\coordinate (-south) at ($(-center) - (0,\rectH/2)$);
%\node[inner sep=0, minimum width=\rectW,circle,opacity=0.5] (-bbox) at (0,0) {};
% previous node created to attempt anchoring pic by any of it internal nodes
% but it only works if not defined after other internal coordinates. Only explicit
% measumrents, otherwise the anchor is always at (0,0) and
% you need shift to anchor the pic :-( Moreover, only the node is relocated by anchoring
% and not the other drawings :-(((( Check more at
%
https://tex.stackexchange.com/questions/185279/anchoring-tikz-pics
% \kmpgfextractangle{\nAng}{-end} %not #1, needs to be a node name :-(
% There is problem when pic is named because then -end is not found :-((
% So I need to do the calculation myself
\newdimen\XCoord
\newdimen\YCoord
\newdimen\XCoordN
\newdimen\YCoordN
\newdimen\XCoordS
\newdimen\YCoordS
\newdimen\XCoordiN
\newdimen\YCoordiN
% \gettikzxy{(-in)} {\XCoord} {\YCoord}
\path (-in); \pgfgetlastxy{\XCoord} {\YCoord};
\gettikzxy{(-north)} {\XCoordN} {\YCoordN}
\gettikzxy{(-south)} {\XCoordS} {\YCoordS}
\gettikzxy{(#1)} {\XCoordiN}{\YCoordiN}
\pgfmathparse{atan2(\YCoordiN-\YCoordN,\XCoordiN-\XCoordN)}
\edef\nAng{\pgfmathresult}%
\pgfmathparse{atan2(\YCoordiN-\YCoordS,\XCoordiN-\XCoordS)}
\edef\sAng{\pgfmathresult}%
% In case I wanted the vector length
% \pgfmathparse{veclen(\XCoord...,\YCoord...)}
% \edef\lRadius{\pgfmathresult}%
\coordinate (llCorner) at ($(-center) - (\rectW/2,\rectH/2)$);
\draw [knJointStyle] (llCorner) rectangle ++(\rectW, \rectH);
\draw [knLinkStyle] (-in) -- (-west) (-in2) -- (-east);
\if\argB\armTop
\draw [knLineCap,knLinkStyle] (-north) -- (-end);%arm
\fill [] (-north) -- ++(\lockRadius,0) arc (0:\nAng:\lockRadius) -- cycle; %lock, as arc
\else
\draw [knLineCap,knLinkStyle] (-south) -- (-end);%arm
\fill [] (-south) -- ++(\lockRadius,0) arc (0:\sAng:\lockRadius) -- cycle; %lock, as arc
\fi
} %end of code for this particular pic
},
%===============================================================
pics/spherical pair/.style={ % 2d socket and ball pair ISO
code={
% ----START ANALYSE ARGUMENTS AND SET DEFAULTS --------------------------
\ifthenelse{ \equal{#1}{}} {\def\allArgs{/}} {\def\allArgs{#1}}
\setsepchar[.]{/} % "/" is the separator "." is the second level separator
\readlist\myArgs{\allArgs}
\ifthenelse{ \myArgslen > 0} {\itemtomacro\myArgs[1]\angR} {\def\angR{}}
\ifthenelse{ \myArgslen > 1} {\itemtomacro\myArgs[2]\rFactor} {\def\rFactor{}}
\ifthenelse{ \myArgslen > 2} {\itemtomacro\myArgs[3]\lLenA} {\def\lLenA{}}
\ifthenelse{ \myArgslen > 3} {\itemtomacro\myArgs[4]\lLenB} {\def\lLenB{}}
\ifthenelse{ \myArgslen > 4} {\itemtomacro\myArgs[5]\atIn} {\def\atIn{}}
%Test if any parameter is blank and put the default in that case
\ifthenelse{ \equal{\angR}{}} {\def\angR{15}} {} %default angle of end arm
\ifthenelse{ \equal{\rFactor}{}} {\def\rFactor{1}} {} %default scale factor for ball
\ifthenelse{ \equal{\lLenA}{}} {\def\lLenA{0.8}} {} %default left arm length
\ifthenelse{ \equal{\lLenB}{}} {\def\lLenB{0.8}} {} %default right arm length
\ifthenelse{ \equal{\atIn}{}} {\def\atIn{0}} {} %1 to attach to -in instead of -center
%-----------------------END ANALYSE ARGUMENTS AND SET DEFAULTS -------------------
\def\gapBS{1.5pt} %gap between ball and socket
\def\ballRadius{\rFactor*\pivotRadius}
\def\tmpIn{(\lLenA,0)} %The temporary in for a shift if required
\def\inShift{(0,0)} %Default internal shift (null)
\ifthenelse{ \equal{\atIn}{1}} {\def\inShift{\tmpIn}} {} %new internal shift if attaching to -in
% TODO this next option should also be available in other pics
\begin{scope}[shift={\inShift}] % to adjust the anchoring point as needed
\coordinate (-center) at (0,0);
\draw [knLinkStyle] (-center) -- ++(-\lLenA,0) coordinate (-in);
\fill [] ($(-center)-(\ballRadius+\gapBS,0)$) -- ++(-\ballRadius,0) arc (180:30:\ballRadius) -- cycle; %lock left
% \draw [vsISOLinkStyle,fill=white] (-center) arc (90:270:0.2); %socket
\draw [knLinkStyle,fill=white] ([shift=(60:\ballRadius+\gapBS)]-center) arc (60:300:\ballRadius+\gapBS); %This is way too smart: check
https://tex.stackexchange.com/questions/66216/draw-arc-in-tikz-when-center-of-circle-is-specified
\draw [knLinkStyle] (-center) -- ++(\angR:\lLenB) coordinate (-end); %right arm
\fill [] ($ (-center) + (\angR:\ballRadius) $) -- ++(\angR:\ballRadius) arc (\angR:-120:\ballRadius) -- cycle; %lock right
\draw [knLinkStyle,fill=white] (-center) circle (\ballRadius); %ball
\coordinate (-start) at (-in);
\coordinate (-out) at (-end);
\end{scope}
} %end of code for this particular pic
},
%------------------------------------------
%%%% I AM HERE ... DURING THE MIGRATION TO ISO
%===============================================================
%
pics/helical pair/.default={45:1cm/0}, %
%param: point for link end (default: (45:1cm));
%param: direction of end arm: 0 top, 1 bottom (default: 0);
pics/helical pair/.style args={#1/#2}{ %
code={
\def\argA{(#1)}
\def\argB{#2} \def\armTop {0}
\def\endGap{8pt}
\def\rectW{0.6cm}
\def\rectH{0.4cm}
%NB. If param 1 is passed as literal its effect is local, if by a node name, global!
%That is why default parameter always has local referencing
%SO FOR EASIER LOCAL REPRESENTATIONS CENTER THE pic AROUND (0,0)
%But that may complicate anchoring....
% \coordinate (-center) at (\currentcoordinate);
\coordinate (-center) at (0,0);
\coordinate (-east) at ($(-center) + (0:\rectW/2)$);
\coordinate (-west) at ($(-center) - (0:\rectW/2)$);
\coordinate (-in) at ($(-west) - (0:\endGap)$);
\coordinate (-in2) at ($(-east) + (0:\endGap)$);
\coordinate (-start) at (-in);
\coordinate (-start2) at (-in2);
\coordinate (-end) at (#1);
\coordinate (-out) at (-end);
\coordinate (-north) at ($(-center) + (0,\rectH/2)$);
\coordinate (-south) at ($(-center) - (0,\rectH/2)$);
\node[inner sep=0, minimum width=\rectW,circle,opacity=0.5] (-bbox) at (0,0) {};
% previous node created to attempt anchoring pic by any of it internal nodes
% but it only works if not defined after other internal coordinates. Only explicit
% measumrents, otherwise the anchor is always at (0,0) and
% you need shift to anchor the pic :-( Moreover, only the node is relocated by anchoring
% and not the other drawings :-(((( Check more at
%
https://tex.stackexchange.com/questions/185279/anchoring-tikz-pics
% \kmpgfextractangle{\nAng}{-end} %not #1, needs to be a node name :-(
% There is problem when pic is named because then -end is not found :-((
% So I need to do the calculation myself
\newdimen\XCoord
\newdimen\YCoord
\newdimen\XCoordN
\newdimen\YCoordN
\newdimen\XCoordS
\newdimen\YCoordS
\newdimen\XCoordiN
\newdimen\YCoordiN
% \gettikzxy{(-in)} {\XCoord} {\YCoord}
\path (-in); \pgfgetlastxy{\XCoord} {\YCoord};
\gettikzxy{(-north)} {\XCoordN} {\YCoordN}
\gettikzxy{(-south)} {\XCoordS} {\YCoordS}
\gettikzxy{(#1)} {\XCoordiN}{\YCoordiN}
\pgfmathparse{atan2(\YCoordiN-\YCoordN,\XCoordiN-\XCoordN)}
\edef\nAng{\pgfmathresult}%
\pgfmathparse{atan2(\YCoordiN-\YCoordS,\XCoordiN-\XCoordS)}
\edef\sAng{\pgfmathresult}%
% In case I wanted the vector length
% \pgfmathparse{veclen(\XCoord...,\YCoord...)}
% \edef\lRadius{\pgfmathresult}%
\coordinate (llCorner) at ($(-center) - (\rectW/2,\rectH/2)$);
\draw [knJointStyle] (llCorner) rectangle ++(\rectW, \rectH);
\draw [knLinkStyle] (-in) -- (-west) (-in2) -- (-east);
% \draw [knLinkStyle, decoration={snake,segment length=\rectW/2.75,amplitude=\rectH/3.5}] (-west) decorate {--(-east)};
%The previous decoration is not adjusting to scale so using a compopund of sin/cos :-(
\draw [knLinkStyle] (-west) sin
($(-west)+(\rectW/12,\rectH/4)$) cos
($(-west)+(2*\rectW/12,0)$) sin
($(-west)+(3*\rectW/12,-\rectH/4)$) cos
($(-west)+(4*\rectW/12,0)$) sin
($(-west)+(5*\rectW/12,\rectH/4)$) cos
($(-west)+(6*\rectW/12,0)$) sin
($(-west)+(7*\rectW/12,-\rectH/4)$) cos
($(-west)+(8*\rectW/12,0)$) sin
($(-west)+(9*\rectW/12,\rectH/4)$) cos
($(-west)+(10*\rectW/12,0)$) sin
($(-west)+(11*\rectW/12,-\rectH/4)$) cos
(-east);
\if\argB\armTop
\draw [knLineCap,knLinkStyle] (-north) -- (-end); %arm
\fill [] (-north) -- ++(\lockRadius,0) arc (0:\nAng:\lockRadius) -- cycle; %lock, as arc
\else\
\draw [knLineCap,knLinkStyle] (-south) -- (-end); %arm
\fill [] (-south) -- ++(\lockRadius,0) arc (0:\sAng:\lockRadius) -- cycle; %lock, as arc
\fi
} %end of code for this particular pic
},
%------------------------------------------
pics/cylindrical pair/.default={45:1cm/0},%
%param: point for link end (default: (45:1cm));
%param: direction of end arm: 0 top, 1 bottom (default: 0);
pics/cylindrical pair/.style args={#1/#2}{ % cylindrical link ISO
code={
\def\argA{(#1)}
\def\argB{#2} \def\armTop {0}
\def\endGap{0.7cm} %Extension of axis for each side
\def\rectW{0.6cm} %width
\def\rectH{0.4cm} %height
\coordinate (-center) at (0,0);
\coordinate (-in) at ($(-center) - (0:\endGap)$);
\coordinate (-in2) at ($(-center) + (0:\endGap)$);
\coordinate (-start) at (-in);
\coordinate (-start2) at (-in2);
\coordinate (-end) at (#1);
\coordinate (-out) at (-end);
\coordinate (-east) at (-in2);
\coordinate (-west) at (-in);
\coordinate (-north) at ($(-center) + (0,\rectH/2)$);
\coordinate (-south) at ($(-center) - (0,\rectH/2)$);
% \kmpgfextractangle{\nAng}{-end} %not #1, needs to be a node name :-(
% There is problem when pic is named because then -end is not found :-((
% So I need to do the calculation myself
\newdimen\XCoord
\newdimen\YCoord
\newdimen\XCoordN
\newdimen\YCoordN
\newdimen\XCoordS
\newdimen\YCoordS
\newdimen\XCoordiN
\newdimen\YCoordiN
% \gettikzxy{(-in)} {\XCoord} {\YCoord}
\path (-in); \pgfgetlastxy{\XCoord} {\YCoord};
\gettikzxy{(-north)} {\XCoordN} {\YCoordN}
\gettikzxy{(-south)} {\XCoordS} {\YCoordS}
\gettikzxy{(#1)} {\XCoordiN}{\YCoordiN}
\pgfmathparse{atan2(\YCoordiN-\YCoordN,\XCoordiN-\XCoordN)}
\edef\nAng{\pgfmathresult}% angle in north arm
\pgfmathparse{atan2(\YCoordiN-\YCoordS,\XCoordiN-\XCoordS)}
\edef\sAng{\pgfmathresult}% angle in south arm
% In case I wanted the vector length
% \pgfmathparse{veclen(\XCoord...,\YCoord...)}
% \edef\lRadius{\pgfmathresult}%
\coordinate (llCorner) at ($(-center) - (\rectW/2,\rectH/2)$);
%Draw the joint parts
\draw [knJointStyle] (llCorner) -- ++(\rectW, 0);
\draw [knJointStyle] (llCorner) ++(0, \rectH) -- ++(\rectW, 0);
%Draw the link (axis) part
\draw [knLinkStyle] (-in) -- (-in2);
\if\argB\armTop
\draw [knLineCap,knLinkStyle] (-north) -- (-end); %arm
\fill [] (-north) -- ++(\lockRadius,0) arc (0:\nAng:\lockRadius) -- cycle; %lock, as arc
\else\
\draw [knLineCap,knLinkStyle] (-south) -- (-end); %arm
\fill [] (-south) -- ++(\lockRadius,0) arc (0:\sAng:\lockRadius) -- cycle; %lock, as arc
\fi
} %end of code for this particular pic
},
%------------------------------------------
pics/cylindrical pair F/.default={90:0.75cm},%
%param: point for link end (default: (90:0.75cm));
pics/cylindrical pair F/.style args={#1}{ % cylindrical pair in Frontal view ISO
code={
\def\diam{0.2cm} %radius
\coordinate (-center) at (0,0);
\coordinate (-in) at (-center);
\coordinate (-start) at (-in);
\coordinate (-out) at (#1);
\coordinate (-end) at (-out);
\draw [knLinkStyle] (-center) -- (#1);
\draw [knLinkStyle, fill=white] (-center) circle (\diam);
\draw [knLinkStyle, fill=black] (-center) circle (0.01);
} %end of code for this particular pic
},
%------------------------------------------
pics/planar contact pair/.default={60:0.5cm/-120:0.5cm},%
%param: point for upper link end (default: (45:0.5cm));
%param: point for lower link end (default: (-135:0.5cm));
pics/planar contact pair/.style args={#1/#2}{ % plannar link in 2D ISO. Replaces the previous plannarlink2D
code={
\def\rectW{0.9cm} %width
\def\rectH{0.2cm} %height
\draw [knJointStyle] (-0.5*\rectW,-0.5*\rectH) -- ++(0:\rectW); %horiz bottom
\draw [knJointStyle] (-0.5*\rectW, 0.5*\rectH) -- ++(0:\rectW); %horiz top
\coordinate (-north) at (0, 0.5*\rectH);
\coordinate (-south) at (0,-0.5*\rectH);
\coordinate (-center) at (0,0);
\coordinate (-end) at (#1); %top
\coordinate (-end1) at (-end);
\coordinate (-end2) at (#2); %bottom
\coordinate (-in) at (-end2); %bottom
\coordinate (-out) at (-end); %top
\coordinate (-start) at (-in);
\newdimen\XCoord \newdimen\YCoord
\newdimen\XCoordN \newdimen\YCoordN
\newdimen\XCoordS \newdimen\YCoordS
\newdimen\XCoordiN \newdimen\YCoordiN
\newdimen\XCoordiS \newdimen\YCoordiS
% \gettikzxy{(-in)} {\XCoord} {\YCoord}
\path (-in); \pgfgetlastxy{\XCoord} {\YCoord};
\gettikzxy{(-north)} {\XCoordN} {\YCoordN}
\gettikzxy{(-south)} {\XCoordS} {\YCoordS}
\gettikzxy{(#1)} {\XCoordiN}{\YCoordiN}
\gettikzxy{(#2)} {\XCoordiS}{\YCoordiS}
\pgfmathparse{atan2(\YCoordiN-\YCoordN,\XCoordiN-\XCoordN)}
\edef\nAng{\pgfmathresult}% angle in north arm
\pgfmathparse{atan2(\YCoordiS-\YCoordS,\XCoordiS-\XCoordS)}
\edef\sAng{\pgfmathresult}% angle in south arm
\draw [knLineCap,knLinkStyle] (-north) -- (-end); %arm
\fill [] (-north) -- ++(\lockRadius,0) arc (0:\nAng:\lockRadius) -- cycle;
%lock up
\draw [knLineCap,knLinkStyle] (-south) -- (-end2); %arm
\fill [] (-south) -- ++(-\lockRadius,0) arc (0:180+\sAng:-\lockRadius) -- cycle;
} %end of code for this particular pic
},
%------------------------------------------
rotating cam plate/.pic={\pic {camlink=#1};}, %ISO synonym of camlink which is the legacy name
pics/camlink/.default=-30, % default arguments for this pic
pics/camlink/.style args={#1}{ % cam link with triangular pivot ISO
code={
\coordinate (-center) at (0.2,0.33);
{ [shift=(-center),rotate=#1, local bounding box=bb] %translate into center (abbrev. for scope)
\draw [
name path global=vsCurvedLine, %needed the global because of the scope :-(
use Hobby shortcut, closed=true,
scale=-1.75,
fill=\LinkFillColor
]
(0,-0.7) .. (0.2,-0.6) .. (0,0.4) .. (-0.2,-0.6) .. (0,-0.7);
\coordinate (-out) at (0,1); %anchor point in case you need it
\coordinate (-end) at (-out);
%This can be an amuseming alternative
% \node[name path global=vsCurvedLine,
% star,
% draw,
% minimum width=2cm,
% rounded corners=5pt,
% star points=6,
% rotate=#1,
% xshift=10pt,
% yscale=1.2,
%% shading = axis, left color=blue, right color=red!30!white, shading angle=135,
% ] at (-center) {};
}
%State a vertical passing some contact point (for example the (-center))
%and extend it to the limit of the bounding box
\path let \p1=(bb.north), \p2=(-center) in coordinate (-toplimit) at (\x2,\y1);
\path let \p1=(bb.south), \p2=(-center) in coordinate (-bottomlimit) at (\x2,\y1);
\path [name path=vsVerticalLine] (-toplimit) -- (-bottomlimit);
\path [name intersections={of={vsVerticalLine} and {vsCurvedLine}}] ;
% \coordinate (-touchtop) at (intersection-1);
% \coordinate (-touchbottom) at (intersection-2);
% as intesections may change order must do a further text of which point is up...
\path let \p1=(intersection-1),
\p2=(intersection-2) in coordinate (-touchtop) at (\x1,{max(\y1,\y2)});
\path let \p1=(intersection-1),
\p2=(intersection-2) in coordinate (-touchbottom) at (\x1,{min(\y1,\y2)});
%Can do the same in horizontal
\path let \p1=(bb.west), \p2=(-center) in coordinate (-leftlimit) at (\x1,\y2);
\path let \p1=(bb.east), \p2=(-center) in coordinate (-rightlimit) at (\x1,\y2);
\path [name path=vsHorizontalLine] (-leftlimit) -- (-rightlimit);
\path [name intersections={of={vsHorizontalLine} and {vsCurvedLine}}] ;
\path let \p1=(intersection-1),
\p2=(intersection-2) in coordinate (-touchright) at ({max(\x1,\x2)},\y2);
\path let \p1=(intersection-1),
\p2=(intersection-2) in coordinate (-touchleft) at ({min(\x1,\x2)},\y2);
\draw [line join=round,fill=white] (0,0) -- (0.4,0) -- (0.2,0.33) -- cycle;
\node [ground2,minimum width=0.8cm,xshift=-0.2cm] {};% \draw [ground] (0,0) -- (0.5,0);
\draw [thick,xshift=-0.2cm] (0,0) -- (0.8,0);
\draw [fill=white] (-center) circle (\pivotRadius);
} %end of code for this particular pic
}, %end of pic
%------------------------------------------
campin/.pic={\pic {cam follower=4};}, %a way to keep compatibility with the early campin element that can now be emulated as a particular case of cam follower
%------------------------------------------
pics/cam follower/.style={ % The ISO version of campin
code={
%------------------------
\ifthenelse{ \equal{#1}{}} {\def\allArgs{/}} {\def\allArgs{#1}}
\setsepchar[.]{/} % "/" is the separator "." is the second level separator
\readlist\myArgs{\allArgs}
\ifthenelse{ \myArgslen > 0} {\itemtomacro\myArgs[1]\pinType} {\def\pinType{}}
\ifthenelse{ \myArgslen > 1} {\itemtomacro\myArgs[2]\pinDir} {\def\pinDir{}}
%Test if any parameter is blank and put the default in that case
\ifthenelse{ \equal{\pinType}{}} {\def\pinType{0}} {} %default 0 for knifeedhe
\ifthenelse{ \equal{\pinDir}{}} {\def\pinDir{0}} {} %default 0 for vertical
%----------------------
\def\KNIFEEDGE{0}
\def\ARCUATE{1}
\def\ROLLER{2}
\def\FLATFACED{3}
\def\CAMPIN{4} %A special definition for an eralier version non ISO
\def\PINVERT{0}
\def\PINHORIZ{1}
\def\armLen{1cm} %length or arm
\def\tipGap{20pt} % gap from contact to arm
\coordinate (-in) at (0,0);
\if\pinType\KNIFEEDGE %
\def\tipGap{8pt} % gap from contact to arm
\draw [knLinkStyle,line join=round] (-in) -- ++(-4pt,\tipGap) -- ++(8pt,0) -- cycle;
\else
\if\pinType\ARCUATE
\def\tipGap{6pt} % gap from contact to arm
\draw [knLinkStyle] (-6pt,\tipGap) arc (-180:0:\tipGap) -- cycle;
\else
\if\pinType\ROLLER
\def\tipGap{10pt} % gap from contact to arm
\draw [knLinkStyle,fill=white] (0,0.5*\tipGap) circle (0.5*\tipGap);
\draw [knLinkStyle,fill=white] (0,0.5*\tipGap) circle (0.25*\tipGap);
\else
\if\pinType\FLATFACED
\def\tipGap{3pt} % gap from contact to arm
\draw [knLinkStyle] (-5pt,0) rectangle ++(10pt,\tipGap);
\fi
\fi
\fi
\fi
\coordinate (-topin) at (0,\tipGap);
\if\pinDir\PINVERT %
\coordinate (-end) at (0,\armLen);
\else
\coordinate (-end) at (\armLen,\tipGap);
\fi
\draw [knLinkStyle] (-topin) -- (-end);
\coordinate (-out) at (-end);
\coordinate (-center) at (-in);
\coordinate (-start) at (-in);
\if\pinType\CAMPIN %legacy for early campin
\coordinate (-center) at (0,17pt);
\draw [fill=\LinkFillColor] (0,0)--++(2pt,4pt)--++(0,30pt)--++(-2pt,0) coordinate (-end) --++(-2pt,0)--++(0,-30pt) --cycle;
\coordinate (-out) at (-end);
\fi
} %end of code for this particular pic
}, %end of pic
%------------------------------------------
} %end of tikzset
%
%====== OTHER DEFINITIONS vsCustomLinks =================
\tikzset{ % definitions for my definitions of link pics ()
%
% Technique adapted from
https://tex.stackexchange.com/questions/218813/latex-access-every-character-of-an-string-variable using listofitems package
pics/link bar generic/.style=%
%Arg 1 -> point of end [0:30pt] %Point cannot come in ( ) because it gives problems below... :-(
%Arg 2 -> bool include the COM symbol in the geometric center [1]
%Arg 3 -> bool has pivot in -start [1]
%Arg 4 -> bool has pivot in -end [1]
%Arg 5 -> bool draw option crosshairs in extremes [0]
%Arg 6 -> line width undocumented :-) to manipulate line with
{
code={
% ----START ANALYSE ARGUMENTS AND SET DEFAULTS --------------------------
%Split joint argument in several args. If passed, use it, else put blanks.
%But first impose an empty list in case no args are passed to avoid error of readlist
\ifthenelse{ \equal{#1}{}} {\def\allArgs{/}} {\def\allArgs{#1}}
\setsepchar[.]{/} % "/" is the separator "." is the second level separator
\readlist\myArgs{\allArgs}
\ifthenelse{ \myArgslen > 0} {\def\destPoint {\myArgs[1]}} {\def\destPoint{}}
\ifthenelse{ \myArgslen > 1} {\def\hasCOM {\myArgs[2]}} {\def\hasCOM{}}
\ifthenelse{ \myArgslen > 2} {\def\hasStartPivot{\myArgs[3]}} {\def\hasStartPivot{}}
\ifthenelse{ \myArgslen > 3} {\def\hasEndPivot {\myArgs[4]}} {\def\hasEndPivot{}}
\ifthenelse{ \myArgslen > 4} {\def\hasCrossHairs{\myArgs[5]}} {\def\hasCrossHairs{}}
\ifthenelse{ \myArgslen > 5} {\def\hasThinLines {\myArgs[6]}} {\def\hasThinLines{}}
%Test if any parameter is blank and put the default in that case
\ifthenelse{ \equal{\destPoint}{}} {\def\destPoint {0:30pt}}{}
\ifthenelse{ \equal{\hasCOM}{}} {\def\hasCOM {1}} {}
\ifthenelse{ \equal{\hasStartPivot}{}}{\def\hasStartPivot{1}} {}
\ifthenelse{ \equal{\hasEndPivot}{}} {\def\hasEndPivot {1}} {}
\ifthenelse{ \equal{\hasCrossHairs}{}}{\def\hasCrossHairs{0}} {}
\ifthenelse{ \equal{\hasThinLines}{}} {\def\hasThinLines {0}} {}
%-----------------------END ANALYSE ARGUMENTS AND SET DEFAULTS -------------------
\coordinate (-start) at (\currentcoordinate);
\coordinate (-end) at (\destPoint);
\coordinate (-end1) at (-end); %a synonym for compatitility with others
%AUX CALCS
\coordinate (A) at (-start);
\coordinate (B) at ($(A)+(-end)$);
%Calculate angle of point alignment
\gettikzxy{(A)} {\XCoordA} {\YCoordA}
\gettikzxy{(B)} {\XCoordB} {\YCoordB}
\pgfmathparse{atan2(\YCoordB-\YCoordA,\XCoordB-\XCoordA)}
\edef\nAng{\pgfmathresult}%
\def\lWidth{0.75pt} %line width of drawings.
\ifthenelse{\hasThinLines=1}{\def\lWidth{0.2pt}}{}%Very very thin (0 in the limit)
%Calculate base length
\pgfmathparse{veclen(\XCoordB-\XCoordA,\YCoordB-\YCoordA)}
\edef\lRadiusS{\pgfmathresult}%
%Calculate extension factor beyond B and obtain posB
\pgfmathparse{1+5/\lRadiusS} %Extension of 5pt more to draw a pivot
\edef\lFact{\pgfmathresult}%
\coordinate (posB) at ($(A)!\lFact!(B)$); %Full extremity with the pivot point
% \coordinate (posB) at ($\lFact*(A)+(B)$); %Full extremity with the pivot point
%Calculate extension factor beyond A and obtain preA
\pgfmathparse{1+5/\lRadiusS} %Extension of 5pt more to draw a pivot
\edef\lFact{\pgfmathresult}%
\coordinate (preA) at ($(B)!\lFact!(A)$); %Full extremity with the pivot point
% \coordinate (preA) at ($\lFact*(B)+(A)$); %Full extremity with the pivot point
\def\rrWest{none} %ending type for the case in no pivot in West (left or start)
\def\rrEast{none} %ending type for the case in no pivot in East (right or end)
\ifthenelse{\hasStartPivot=1}{\def\rrWest{convex}}{\coordinate (preA) at (A);} % if using pre extension keep the calculations
\ifthenelse{\hasEndPivot=1}{\def\rrEast{convex}}{\coordinate (posB) at (B);} % if using pre extension keep the calculations
%After this point the final extremities are in preA and posB even if no pivots (coincide with A/B)
% \coordinate (-center) at ($(preA)!0.5!(posB)$);
\coordinate (-center) at ($0.5*(preA)+0.5*(posB)$);
\gettikzxy{(preA)} {\XCoordA} {\YCoordA}
\gettikzxy{(posB)} {\XCoordB} {\YCoordB}
\pgfmathparse{veclen(\XCoordB-\XCoordA,\YCoordB-\YCoordA)}
\edef\lRadius{\pgfmathresult}%
\coordinate (ppreA) at ($(preA)-(\nAng:\lWidth/2)$); %recalculate for correct drawing below
\node [rotate=\nAng,
inner sep=0,
rounded rectangle,
draw,
fill=\LinkFillColor,
line width=\lWidth, %controls line width
minimum width=\lRadius, %dimension (actually the longest dim or link length)
minimum height=10pt, %dimension (actually the shortests dim or link thickness)
% at=(-center);
at=(ppreA), %actully preA with a line width correction
anchor=west, %force this anchor to avoid external changes...
rounded rectangle west arc=\rrWest, %none, convex, concave %controls the ending type
rounded rectangle east arc=\rrEast, %none, convex, concave %controls the ending type
] () {};
\coordinate (-in) at (-start);
\coordinate (-out) at (-end);
\coordinate (-south) at ($ (-center) - (90+\nAng:5pt)$);
\coordinate (-north) at ($ (-center) + (90+\nAng:5pt)$);
\ifthenelse{\hasStartPivot=1}{\draw [fill=white] (-start) circle (\pivotRadius);}{} % draw pivot in start
\ifthenelse{\hasEndPivot=1}{\draw [fill=white] (-end) circle (\pivotRadius);}{} % draw pivot in end
\ifthenelse{\hasCOM=1}{
\tiny \addCOM %[blue] or [fill=none,draw=none], etc. %addmits that (-center) is defined
} {}
\ifthenelse{\hasCrossHairs=1}{
\draw (A) -- ++(90+\nAng:4pt) (A) -- ++(-90+\nAng:4pt) (A) -- ++(\nAng:4pt) (A) -- ++(180+\nAng:4pt);
\draw (B) -- ++(90+\nAng:4pt) (B) -- ++(-90+\nAng:4pt)(B) -- ++(\nAng:4pt) (B) -- ++(180+\nAng:4pt);} {}
} %end of code for this particular pic
},
%------------------------------------------
pics/linear joint bar/.style={% 2D linear joint bar
% arg 1 - fraction of insertion (default 0.5) - 0 is no insertion at all, 1 is fully inserted
% arg 2 - lenght of fixed part (default 1cm)
% arg 3 - boolean - has curved base (0 no - default, 1 - yes)
% arg 4 - boolean - has curved tip (0 no, 1 yes (default))
code={
% ----START ANALYSE ARGUMENTS AND SET DEFAULTS --------------------------
\ifthenelse{ \equal{#1}{}} {\def\allArgs{/}} {\def\allArgs{#1}}
\setsepchar[.]{/} % "/" is the separator "." is the second level separator
\readlist\myArgs{\allArgs}
\ifthenelse{ \myArgslen > 0} {\itemtomacro\myArgs[1]\fracDepth} {\def\fracDepth{}}
\ifthenelse{ \myArgslen > 1} {\itemtomacro\myArgs[2]\fixLen} {\def\fixLen{}}
\ifthenelse{ \myArgslen > 2} {\itemtomacro\myArgs[3]\curvBase} {\def\curvBase{}}
\ifthenelse{ \myArgslen > 3} {\itemtomacro\myArgs[4]\curvTip} {\def\curvTip{}}
%Test if any parameter is blank and put the default in that case
\ifthenelse{ \equal{\fracDepth}{}} {\def\fracDepth{0.5}} {} %default 0.5 fraction of insertion
\ifthenelse{ \equal{\fixLen}{}} {\def\fixLen{1cm}} {} %default 1cm length of fixed part
\ifthenelse{ \equal{\curvBase}{}} {\def\curvBase{0}} {} %default is no curved base
\ifthenelse{ \equal{\curvTip}{}} {\def\curvTip{1}} {} %default is to have a curved tip
%-----------------------END ANALYSE ARGUMENTS AND SET DEFAULTS -------------------
\def\iGap{2pt} %inner separation of piston from body
\def\rectH{10pt} %height of outer cyl
\begin{scope}[rotate=0] %No rotation draw it horizontally
\coordinate (-start) at (0,0);
\coordinate (-jpoint) at ($(0,0) + (\fixLen,0) $);
\coordinate (-center) at (-jpoint);
\coordinate (-end) at ($(0,0) + (2*\fixLen-\fracDepth*\fixLen,0) $); %size varies
\coordinate (-in) at (-start);
\coordinate (-out) at (-end);
\coordinate (-topright) at ([yshift=0.5*\rectH]-jpoint);
\coordinate (-topleft) at ([yshift=0.5*\rectH]-start);
\coordinate (-bottomleft) at ([yshift=-0.5*\rectH]-start);
\coordinate (-bottomright) at ([yshift=-0.5*\rectH]-jpoint);
\coordinate (-toprightS) at ([yshift={0.5*\rectH-\iGap}]-end);
\coordinate (-topleftS) at ([yshift={0.5*\rectH-\iGap}]-jpoint);
\coordinate (-bottomleftS) at ([yshift={-0.5*\rectH+\iGap}]-jpoint);
\coordinate (-bottomrightS) at ([yshift={-0.5*\rectH+\iGap}]-end);
\ifthenelse{ \equal{\curvTip}{0} }
{
\fill [\SubLinkFillColor] (-topleftS) -- (-toprightS) -- (-bottomrightS) -- (-bottomleftS) -- cycle;
}
{
\fill [\SubLinkFillColor] (-topleftS) -- (-toprightS) arc (90:-90:0.5*\rectH-\iGap) -- (-bottomleftS) -- cycle;
}
\ifthenelse{ \equal{\curvBase}{0} }
{
\draw [knLinkStyle,fill=\LinkFillColor] (-topright) -- (-topleft) -- (-bottomleft) -- (-bottomright);
}
{
\draw [knLinkStyle,fill=\LinkFillColor] (-topright) -- (-topleft) arc (90:270:0.5*\rectH) -- (-bottomright);
\draw [fill=white] (-start) circle (\pivotRadius);
}
\end{scope}
} %end of code for this particular pic
},
%------------------------------------------
pics/link polygon/.style=%
%Arg 1 -> point of -end1
%Arg 2 -> point of -end2
%...
%Arg n -> point of -endn
{
code={
%Split joint argument in several args. Empty arguments are discarded.
%But first impose a default list with onde point in case no args at all are passed to avoid error of readlist
\ifthenelse{ \equal{#1}{}} {\def\allArgs{0:30pt}} {\def\allArgs{#1}}
\ignoreemptyitems %to discard empty entries in list of arguments
\setsepchar[.]{/} % "/" is the separator; "." is separator of sperators in the separator list
\readlist\myArgs{\allArgs} %separate the argments in their own variable (myArgs[1], myArgs[2], etc...
% studying second level separators to decide which pivot to draw, but it complicates too much the decoding code. So use a defined list (macro) of booleans to decide which pivot points to draw.
%Lame solutions -- limited to a fixed number because could not implement the solution shown
\ifdefined\ListOfPivotPointsToDraw
%do nothing
\else
% \count=\myArgslen \def\ListOfPivotPointsToDraw{\loop \ifnum\count0>0 \advance\count0 by -1 {1,}\repeat}
\def\ListOfPivotPointsToDraw{1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1} %:-((
\fi
\setsepchar{,} % restore the "," separator;
\readlist\dPivots{\ListOfPivotPointsToDraw} %
\coordinate (-start) at (\currentcoordinate);
\coordinate (-in) at (-start);
%Create all -end coordinates
\foreachitem\pPoint\in\myArgs{\coordinate [at=(\pPoint),name=-end\pPointcnt] ; \coordinate [at=(\pPoint),name=-out\pPointcnt] ;}
\coordinate (-centerS) at (-start); %init this accumulator
\foreachitem\pPoint\in\myArgs{\coordinate [at=($(\pPoint)+(-centerS)$),name=-centerS] ;} %add allpoints
\coordinate (-out) at (-out1);
\coordinate (-end) at (-out);
\xdef\AllPoints{(-in)} %start with -in
\foreach \n in {1,...,\myArgslen} {\xdef\AllPoints{\AllPoints(-end\n)} } %add all -ends
\node[fit=\AllPoints] (-box){}; %create a fit box
\pgfmathsetmacro\vsWeight{1/(\myArgslen+1)} %because you cannot apply division in nodes :-(( and do not forget starting points
\coordinate (-center) at ($\vsWeight*(-centerS)$);
%Trick draw a wide line first
%%OPTION A - The best except if you want a fill pattern
\draw [line join=round, line width=10pt,rounded corners=0pt, fill=\LinkFillColor]
(-start) \foreach \n in {1,...,\myArgslen} {-- (-end\n)} -- cycle;
%... and then the same with a thinner line with the same color as fill color
\draw [\LinkFillColor, line join=round, line width=8.25pt,rounded corners=0pt, fill=\LinkFillColor]
(-start) \foreach \n in {1,...,\myArgslen} {-- (-end\n)} -- cycle;
%%OPTION B - The simplest and best for patterns but not the best for the geometry contour :-(
% \draw [line join=round, line width=0.75pt,rounded corners=0pt, pattern=north east lines]
% (-start) \foreach \n in {1,...,\myArgslen} {-- (-end\n)} -- cycle;
%%OPTION C
% %This Alternative is more elegant but not faithfull geometrically and poorer for 2 points only :-(
% \def\exFact{1.15}
% \draw [line join=round,
% line width=0.75pt,
% rounded corners=5pt,
%% fill=\LinkFillColor,
% pattern=north east lines
% ]
% ($(-center)!\exFact!(-start)$) \foreach \n in {1,...,\myArgslen} {-- ($(-center)!\exFact!(-end\n)$)} -- cycle;
%%OPTION D - Inspired in A and uses pattersn but leaves a white border. May confuse. Perhaps avoid
% \draw [line join=round, line width=10pt,rounded corners=0pt] %, fill=\LinkFillColor]
% (-start) \foreach \n in {1,...,\myArgslen} {-- (-end\n)} -- cycle;
%% %... and then the same with a thinner line with the same color as fill color
% \draw [white, line join=round, line width=8.25pt,rounded corners=0pt,fill=white]
% (-start) \foreach \n in {1,...,\myArgslen} {-- (-end\n)} -- cycle;
% \draw [draw=none,line join=round, line width=0pt,rounded corners=0pt, pattern=north east lines]
% (-start) \foreach \n in {1,...,\myArgslen} {-- (-end\n)} -- cycle;
%
%%OPTION E
%% This would be a trick with clip but not very useful since line options cannot be passed to clip :-(
% \begin{scope}
% %Sets the clipping areas and also the limits to use as bounding box of polygon
% \clip [ use as bounding box ]
% (-start) \foreach \n in {1,...,\myArgslen} {-- (-end\n)} -- cycle;
% %Draw a rectangle filled with the correct pattern
% \draw [draw=none,pattern=north east lines] (current bounding box.south west) rectangle (current bounding box.north east);
% \end{scope}
\draw [fill=white] (-start) circle (\pivotRadius); %pivot at -start
%Draw remainder pivots
\foreach \n in {1,...,\myArgslen}
{
\ifthenelse{ \dPivots[\n] = 1}
{
\draw [fill=white] (-end\n) circle (\pivotRadius); %pivot at -end\n
}{}
}
\pic at (-center) {center of mass};
} %end of code for this particular pic
},
%------------------------------------------
pics/linear piston/.style={% 2D linear piston-like pair. Replaces the previous 2
% arg 1 - fraction of insertion (default 0.5)
% arg 2 - width of inner piston plate (default 5pt)
code={
% ----START ANALYSE ARGUMENTS AND SET DEFAULTS --------------------------
% TODO Should be extended to all pics with params. Only some have it------ :-)
\ifthenelse{ \equal{#1}{}} {\def\allArgs{/}} {\def\allArgs{#1}}
\setsepchar[.]{/} % "/" is the separator "." is the second level separator
\readlist\myArgs{\allArgs}
\ifthenelse{ \myArgslen > 0} {\itemtomacro\myArgs[1]\fracDepth} {\def\fracDepth{}}
\ifthenelse{ \myArgslen > 1} {\itemtomacro\myArgs[2]\pWidth} {\def\pWidth{}}
%Test if any parameter is blank and put the default in that case
\ifthenelse{ \equal{\fracDepth}{}} {\def\fracDepth{0.5}} {} %default 0.5 fraction of insertion
\ifthenelse{ \equal{\pWidth}{}} {\def\pWidth{10pt}} {} %default 5pt width
%-----------------------END ANALYSE ARGUMENTS AND SET DEFAULTS -------------------
\def\iGap{2pt} %inner separation of piston plate from body
\def\rectH{0.5cm} %height of outer cyl
\edef\rectW{2*\iGap+\pWidth} %width of outer cyl
\def\armLen{0.4cm} %arm length
\begin{scope}[rotate=90]
\coordinate (-center) at (0,0);
\coordinate (-innerend) at ($(-center) - (0, \fracDepth*\rectH) $);
\coordinate (-start) at (0,\armLen);
% \coordinate (-start) at ($(-innerend) - (0,\rectH-\fracDepth*\rectH+\armLen) $); %Keep size
\coordinate (-end) at ($(-innerend) - (0,0.5*\rectH+\armLen) $); %size varies
\coordinate (-in) at (-start);
\coordinate (-out) at (-end);
\coordinate (-iend) at (-innerend);
\draw [knJointStyle] (-\iGap-0.5*\pWidth,-\rectH) -- ++(0,\rectH) -- ++(\rectW,0) -- ++(0, -\rectH);
\draw [knJointStyle, ultra thick] (-innerend) -- ++(-0.5*\pWidth,0)(-innerend)--++(0.5*\pWidth,0);
\draw [knLinkStyle] (-center) -- (-start) (-innerend) -- (-end);
\end{scope}
} %end of code for this particular pic
},
%------------------------------------------
}
%=========== ALTERNATIVES TO ISO =================================
\tikzset{ %definitions/pics for link symbols alternatives to ISO
%------------------------------------------
pics/rotational colinear/.style={ %~ alternative rotational joint with axis colinear with link
code={
\def\vsLen{0.6}
\def\vsAng{30}
\coordinate (-center) at (0,0);
\coordinate (BP) at ($(-center)-(0,{\vsLen*sin(\vsAng)})$); %low point
\draw [knJointStyle] (BP) -- ++(\vsAng:\vsLen) coordinate[name=RP] -- ++(180-\vsAng:\vsLen) coordinate[name=TP] -- ++(180+\vsAng:\vsLen) coordinate[name=LP] -- cycle (LP) -- (RP);
\draw [knLinkStyle] (TP) --++(0, 0.25) coordinate[name=-end];
\draw [knLinkStyle] (BP) --++(0,-0.25) coordinate[name=-start];
\coordinate (-in) at (-start);
\coordinate (-out) at (-end);
}
},
%------------------------------------------
}
%%=============== the default XYZ convention in tikz
%
% YY
% ^
% |
% |
% +-----> XX
% /
% /
% ZZ
%
%%======== ELEMENTS TO DRAW FULL CHAINS WITH 3D EQUIVALENTS =====
\tikzset{
%-----------------------------------------------------------------------
pics/linear 3D/.style={ % linear link in 3D generic that accepts one argument and no terminal lines
% Arg 1 -> direction of motion
% Meanings:
%Absent: defaults to the right (5) with simple ends drawn (for illustration)
%The remainder options do not draw end segments and add a plane for thr direction of motion:
%1 top
%2 bottom
%3 near (front/closer)
%4 far (back of page)
%5 right
%6 left
code={
\def\cubedge{0.75}% cube edge
\def\plangap{0.15}% gap of extra plane for motion indication
%0.353553=cos(45)/2
%some points below seem not perfect at larger vlues of cube size :-(
\def\halfEdge{\cubedge*0.512} %should be 0.5 but tikz is not using perfect ortogonal perspective and this is relevant for occluding cases.. :-(
\coordinate (-center) at (0,0,0); %The usual default
\coordinate (-refstart) at ($(-center)+(-\cubedge/2,-\cubedge/2,-\cubedge/2)$); %easier to start in the back left lower vertex :-)
\coordinate (-label) at ($(-refstart)+(\cubedge/4,\cubedge/4,\cubedge/4)$); %central place for a label
%Command to draw the main cube. Invoke below in the right order
\newcommand{\knDrawMainCube}{
\draw [cube face 1] (-refstart) -- ++(0,\cubedge,0) -- ++(\cubedge,0,0) -- ++(0,-\cubedge,0) -- cycle; %back
\draw [cube face 1] (-refstart) -- ++(0,0,\cubedge) -- ++(0,\cubedge,0) -- ++(0,0,-\cubedge) -- cycle; %left
\draw [cube face 1] (-refstart) -- ++(0,0,\cubedge) -- ++(\cubedge,0,0) -- ++(0,0,-\cubedge) -- cycle; %bottom
\draw [cube face 1] (-refstart) ++(0,\cubedge,0) -- ++(0,0,\cubedge) -- ++(\cubedge,0,0) -- ++(0,0,-\cubedge) -- cycle; %top
\draw [cube face 1] (-refstart) ++(\cubedge,0,0) -- ++(0,0,\cubedge) -- ++(0,\cubedge,0) -- ++(0,0,-\cubedge) -- cycle; %right
\draw [cube face 1] (-refstart) ++(0,0,\cubedge) -- ++(0,\cubedge,0) -- ++(\cubedge,0,0) -- ++(0,-\cubedge,0) -- cycle; %frontal
}
\def\arg{#1} %if absent, a default to the right with simple ends drawn (for illustration)
\def\TTT {1} %no ends extra plane to top
\def\BBB {2} %no ends extra plane to bottom
\def\NNN {3} %no ends extra plane to near (front/closer)
\def\FFF {4} %no ends extra plane to far (back of page)
\def\RRR {5} %no ends extra plane to right
\def\LLL {6} %no ends extra plane to left
%Adapt behavior depending on argument
\if\arg\TTT %1 is to draw plane on the top
\knDrawMainCube
\draw [cube face 1] (-refstart) ++(0,{\cubedge+\plangap},0) -- ++(0,0,\cubedge) -- ++(\cubedge,0,0) -- ++(0,0,-\cubedge) -- cycle; %after top
\coordinate (-east) at ($(-center)+(\cubedge/2,0,0)$);
\coordinate (-west) at ($(-center)+(-\halfEdge*1.353553,0,0)$); %adjust X for hidden line effect
\coordinate (-south) at ($(-center)+(0,-\halfEdge*1.353553,0)$); %adjust Y for hidden line effect
\coordinate (-north) at ($(-center)+(0,{\cubedge/2+\plangap},0)$);
\coordinate (-front) at ($(-center)+(-\halfEdge*0.353553,-\halfEdge*0.353553,0)$);
\coordinate (-back) at ($(-center)+(\halfEdge*1.353553,\halfEdge*1.353553,0)$);
\coordinate (-out) at (-north);
\coordinate (-in) at (-south);
\else
\if\arg\BBB %2 is to draw plane below
% \begin{pgfonlayer}{background}
\draw [cube face 1] (-refstart) ++(0,-\plangap,0) -- ++(0,0,\cubedge) -- ++(\cubedge,0,0) -- ++(0,0,-\cubedge) -- cycle; %after down
% \end{pgfonlayer}{background}
\knDrawMainCube
\coordinate (-east) at ($(-center)+(\cubedge/2,0,0)$);
\coordinate (-west) at ($(-center)+(-\halfEdge*1.353553,0,0)$); %adjust X for hidden line effect
\coordinate (-south) at ($(-center)+(0,-\halfEdge*1.353553-\plangap,0)$); %adjust Y for hidden line effect
\coordinate (-north) at ($(-center)+(0,\cubedge/2,0)$);
\coordinate (-front) at ($(-center)+(-\halfEdge*0.353553,-\halfEdge*0.353553,0)$);
\coordinate (-back) at ($(-center)+(\halfEdge*1.353553,\halfEdge*1.353553,0)$);
\coordinate (-out) at (-south);
\coordinate (-in) at (-north);
\else
\if\arg\NNN %3 is to draw plane on the front (near) far)
\knDrawMainCube
\draw [cube face 1] (-refstart) ++(0,0,\cubedge+\plangap) -- ++(\cubedge,0,0) -- ++(0,\cubedge,0) -- ++(-\cubedge,0,0) -- cycle; %afterfront
\coordinate (-east) at ($(-center)+(\cubedge/2,0,0)$);
\coordinate (-west) at ($(-center)+(-\halfEdge*1.353553-1.353553*\plangap*0.28,0,0)$); %adjust X for hidden line effect. Formula is approx but irregularities found in defining it
\coordinate (-south) at ($(-center)+(0,-\halfEdge*1.3536-1.353553*\plangap*0.28,0)$); %adjust Y for hidden line effect. Formula is approx but irregularities found in defining it
\coordinate (-north) at ($(-center)+(0,\cubedge/2,0)$);
\coordinate (-front) at ($(-center)+(-\halfEdge*0.353553-\plangap/2*0.353553,-\halfEdge*0.353553-\plangap/2*0.353553,0)$);
\coordinate (-back) at ($(-center)+(\halfEdge*1.353553,\halfEdge*1.353553,0)$);
\coordinate (-in) at (-back);
\coordinate (-out) at (-front);
\else
\if\arg\FFF %4 is to draw plane on the back far)
% \begin{pgfonlayer}{background}
\draw [cube face 1] (-refstart) ++(0,0,-\plangap) -- ++(\cubedge,0,0) -- ++(0,\cubedge,0) -- ++(-\cubedge,0,0) -- cycle;
%afterback
% \end{pgfonlayer}{background}
\knDrawMainCube
\coordinate (-east) at ($(-center)+(\cubedge/2,0,0)$);
\coordinate (-west) at ($(-center)+(-\halfEdge*1.353553,0,0)$); %adjust X for hidden line effect
\coordinate (-south) at ($(-center)+(0,-\halfEdge*1.353553,0)$); %adjust Y for hidden line effect
\coordinate (-north) at ($(-center)+(0,\cubedge/2,0)$);
\coordinate (-front) at ($(-center)+(-\halfEdge*0.353553-\plangap/2*0.353553,-\halfEdge*0.353553-\plangap/2*0.353553,0)$);
\coordinate (-back) at ($(-center)+(\halfEdge*1.353553+\plangap*0.353553,\halfEdge*1.353553+\plangap*0.353553,0)$);
\coordinate (-out) at (-back);
\coordinate (-in) at (-front);
\else
\if\arg\RRR %5 is to draw plane on the right
\knDrawMainCube
\draw [cube face 1] (-refstart) ++({\cubedge+\plangap},0,0) -- ++(0,0,\cubedge) -- ++(0,\cubedge,0) -- ++(0,0,-\cubedge) -- cycle; %afterright
\coordinate (-east) at ($(-center)+({\cubedge/2+\plangap},0,0)$);
\coordinate (-west) at ($(-center)+(-\halfEdge*1.353553,0,0)$); %adjust X for hidden line effect
\coordinate (-south) at ($(-center)+(0,-\halfEdge2*1.353553,0)$); %adjust Y for hidden line effect
\coordinate (-north) at ($(-center)+(0,\cubedge/2,0)$);
\coordinate (-front) at ($(-center)+(-\halfEdge*0.353553-\plangap/2*0.353553,-\halfEdge*0.353553-\plangap/2*0.353553,0)$);
\coordinate (-back) at ($(-center)+(\halfEdge*1.353553,\halfEdge*1.353553,0)$);
\coordinate (-out) at (-east);
\coordinate (-in) at (-west);
\else
\if\arg\LLL %6 is to draw plane on the left
% \begin{pgfonlayer}{background}
\draw [cube face 1] (-refstart) ++(-\plangap,0,0) -- ++(0,0,\cubedge) -- ++(0,\cubedge,0) -- ++(0,0,-\cubedge) -- cycle; %afterleft
% \end{pgfonlayer}
\knDrawMainCube
\coordinate (-east) at ($(-center)+(\cubedge/2,0,0)$);
\coordinate (-west) at ($(-center)+(-\halfEdge*1.353553-\plangap,0,0)$); %adjust X for hidden line effect
\coordinate (-south) at ($(-center)+(0,-\halfEdge*1.353553,0)$); %adjust Y for hidden line effect
\coordinate (-north) at ($(-center)+(0,\cubedge/2,0)$);
\coordinate (-front) at ($(-center)+(-\halfEdge*0.353553,-\halfEdge*0.353553,0)$);
\coordinate (-back) at ($(-center)+(\halfEdge*1.353553,\halfEdge*1.353553,0)$);
\coordinate (-out) at (-west);
\coordinate (-in) at (-east);
\else %other values (or none) is to draw a right and plane and simple pins right/left
\knDrawMainCube
\draw [cube face 1] (-refstart) ++({\cubedge+\plangap},0,0) -- ++(0,0,\cubedge) -- ++(0,\cubedge,0) -- ++(0,0,-\cubedge) -- cycle; %afterright
\coordinate (-east) at ($(-center)+({\cubedge/2+\plangap},0,0)$);
\coordinate (-west) at ($(-center)+(-\halfEdge*1.353553,0,0)$); %adjust X for hidden line effect
\coordinate (-south) at ($(-center)+(0,-\halfEdge2*1.353553,0)$); %adjust Y for hidden line effect
\coordinate (-north) at ($(-center)+(0,\cubedge/2,0)$);
\coordinate (-front) at ($(-center)+(-\halfEdge*0.353553-\plangap/2*0.353553,-\halfEdge*0.353553-\plangap/2*0.353553,0)$);
\coordinate (-back) at ($(-center)+(\halfEdge*1.353553,\halfEdge*1.353553,0)$);
\coordinate (-out) at (-east);
\coordinate (-in) at (-west);
\draw [knLinkStyle] (-out) -- ++(0.5cm,0) node [inner sep=0] (-neweast) {};
\draw [knLinkStyle] (-in) -- ++(-0.5cm,0) node [inner sep=0] (-newwest) {};
\coordinate (-east) at (-neweast);
\coordinate (-west) at (-newwest);
\coordinate (-out) at (-east);
\coordinate (-in) at (-west);
\fi %of LLL
\fi %RRR
\fi %of FFF
\fi %of NNN
\fi %of BBB
\fi %of TTT
\coordinate (-top) at (-north);
\coordinate (-bottom) at (-south);
\coordinate (-end) at (-out);
\coordinate (-start) at (-in);
% For illustration purposed only...
%\draw [red](-center) -- ++(3,0,0)
% (-center) -- ++(0,3,0)
% (-center) -- ++(0,0,6)
% ;
%\draw [dashed] (-center) -- ++(-3,0,0)
% (-center) -- ++(0,-3,0)
% (-center) -- ++(0,0,-6)
% ;
% \foreach \n in {A,B,C,D,E,F,G,H,J,K,O}
% \foreach \n in {in,out} %
% \foreach \n in {start,end} %
% \foreach \n in {center,east,west,north,south,front,back,in,out}%
% \fill (-\n) circle (0.5pt) node [inner sep=0,anchor=south,yshift=1pt,font={\tiny\sffamily}] {\n};
} %end of code for this particular pic
},
%-----------------------------------------------------------------------
%Generic gripper with two fingers with variable orientation
pics/gripper/.style={ %
%Arg 1 -> direction (times 90º) to orient starting with 0 to the right [0]
%Arg 2 -> bool draw in pespective[0]
code={
% ----START ANALYSE ARGUMENTS AND SET DEFAULTS --------------------------
\ifthenelse{ \equal{#1}{}} {\def\allArgs{/}} {\def\allArgs{#1}}
\setsepchar[.]{/} % "/" is the separator "." is the second level separator
\readlist\myArgs{\allArgs}
\ifthenelse{ \myArgslen > 0} {\itemtomacro\myArgs[1]\fDir} {\def\fDir{}}
\ifthenelse{ \myArgslen > 1} {\itemtomacro\myArgs[2]\fPerspective}{\def\fPerspective{}}
%Test if any parameter is blank and put the default in that case
\ifthenelse{ \equal{\fDir}{} } {\def\fDir{0}} {} %default 0 - to the right
\ifthenelse{ \equal{\fPerspective}{}}{\def\fPerspective{0}} {} %default 0 - no perspective
%-----------------------END ANALYSE ARGUMENTS AND SET DEFAULTS -------------------
\coordinate (-center) at (0,0);
\def\knxSLANT{0} %default: no slant
\def\knySCALE{1} %default: no change in y scale
\def\knYES{1}
\if\fPerspective\knYES
\def\knySCALE{0.5}
\ifodd\fDir %1,3
\def\knxSLANT{-1}
\else %even: 0,2
\def\knxSLANT{1}
\fi
\fi
%Details: if perspective is 0
% simple rotation
% if perspective is 1:
% yscale=0.5 (diagonal lengths are half in perspective)
% xslant= 1 if dir is even
% xslant=-1 if dir is odd
\begin{scope}[rotate={90*\fDir},xslant=\knxSLANT]
\coordinate (-fingertip1) at (0.5,\knySCALE*0.5);
\draw [gripper 1] (-fingertip1) -- ++(-0.5,0) -- ++(0,-1*\knySCALE) -- ++(0.5,0) coordinate (-fingertip2);
\coordinate (-in) at (0,0);
\coordinate (-start) at (-in); \coordinate (-out) at (-in); \coordinate (-end) at (-out);
\end{scope}
} %end of code for this particular pic
},
%
}
%Configurations for rotational 3D joints. Edit at will :-)
\def\Lcyl{1} %Cylinder length (1.75) %was 1.5 %was 1.25
\def\Hcyl{0.75} %Cylinder height (diameter) (1) %was 0.75
\def\Wcyl{0.15} %Ellipse minor semi-axis (valid for H and V versions) (0.2)
\def\armRight{0.3} %Arm on the right (0.4)
\def\armLeft{\armRight} %Arm on the left (similar to right)
\def\armGap{0.45} %Gap between cylinder and arm bar (0.7)
%==================== NEW VARIANTS OF NON ISO ===================
\tikzset{
%This pic can be rotated (and What about a V version to have node names consistent with actual position? Being built below)
pics/rotational 3D H/.style={ %rotational joint in 3D in Horizontal position
% Arg 1 %if absent a default with simple ends
% 0: no ends. A simple cylinder
% 1: arm at top
% 2: arm at bottom
% 3: arm at near (front/closer)
% 4: arm at far (back of page)
code={
%Draw the horizontal cylinder with visible face on the right
\draw [knJointStyle] (\Lcyl/2,0) ellipse ({\Wcyl} and \Hcyl/2); %right ellipse
\draw [knJointStyle,fill=white] (\Lcyl/2,\Hcyl/2) -- ++(-\Lcyl,0) arc (90:270:{\Wcyl} and \Hcyl/2) -- ++(\Lcyl,0) arc (270:90:{\Wcyl} and \Hcyl/2) ; %Remainder
%Create auxiliary points
\coordinate (-center) at (0,0); %center point
\coordinate (-O) at (-center); %center point
\coordinate (-A) at (\Lcyl/2,0); %right center point
\coordinate (-C) at ($(-A) + (\armRight,0)$); %east extremity
\coordinate (-B) at (-\Lcyl/2-\Wcyl,0); %right center point
\coordinate (-D) at ($(-A) - (\Lcyl,0) - (\armLeft,0)$); %west extremity
\coordinate (-E) at (0,\Hcyl/2); %top point on surface
\coordinate (-F) at (0,-\Hcyl/2); %bottom point on surface
\coordinate (-G) at ($(-E) + (0,\armGap)$); %top arm center
\coordinate (-H) at ($(-F) - (0,\armGap)$); %bottom arm center
\coordinate (-J) at ($(0,0) + (45:{\armGap+\Hcyl/4})$); %back arm center
\coordinate (-K) at ($(0,0) + (-135:{\armGap+\Hcyl/4})$); %front arm center
\coordinate (-east) at (-C);
\coordinate (-west) at (-D);
\coordinate (-label) at ($(-center)-(\Hcyl/6,0pt)$); %adjusted a bit to the left
%Define some macros to test argument
\def\arg{#1} %if absent a default with simple ends
\edef\NOENDS{0}% no ends. A simple cylinder
\def\TTT {1} %top
\def\BBB {2} %bottom
\def\NNN {3} %near (front/closer)
\def\FFF {4} %far (back of page)
%Adapt behavior depending on argument
\if\arg\TTT %1 is to draw arm on the top (use \if not \ifx !!!)
\coordinate (-south) at (-F); \coordinate (-start) at (-south); \coordinate (-in) at (-south);
\coordinate (-north) at (-G); \coordinate (-end) at (-north); \coordinate (-out) at (-north);
\draw [knLinkStyle] (-A) -- (-C) |- (-G); %upper arm
\begin{pgfonlayer}{background}
\draw [knLinkStyle] (-G) -| (-D) -- (-B); %upper arm
\end{pgfonlayer}{background}
\else
\if\arg\BBB %2 is to draw arm on the bottom
\coordinate (-south) at (-H); \coordinate (-end) at (-south); \coordinate (-out) at (-south);
\coordinate (-north) at (-E); \coordinate (-in) at (-north); \coordinate (-start) at (-north);
\draw [knLinkStyle] (-A) -- (-C) |- (-H);
\begin{pgfonlayer}{background}
\draw [knLinkStyle] (-H) -| (-D) -- (-B); %lower arm
\end{pgfonlayer}{background}
\else
\if\arg\NNN %3 is to draw arm on the front ()near)
\coordinate (-south) at (-F); \coordinate (-in2) at (-south); \coordinate (-start2) at (-south);
\coordinate (-north) at (-E);
\coordinate (-in) at ($(0,0) + (45:{0.707*\Hcyl})$);
\coordinate (-start) at (-in);
\coordinate (-out) at (-K); \coordinate (-end) at (-out);
% \draw [knJointStyle] (-A) -- (-C) to [45-] (-K) -- ++(-\Lcyl/2-\armRight,0) -- (-D) -- (-B); %front arm
\draw [knLinkStyle] (-A) -- (-C) to [45-] (-K);
\begin{pgfonlayer}{background}
\draw [knLinkStyle] (-K) -- ++(-\Lcyl/2-\armRight,0) -- (-D) -- (-B); %front arm
\end{pgfonlayer}{background}
\else
\if\arg\FFF %4 is to draw arm on the back far)
\coordinate (-south) at (-F);
\coordinate (-in) at ($(0,0) + (-135:{\Hcyl/4})$); \coordinate (-start) at (-in);
\coordinate (-north) at (-J); \coordinate (-out) at (-north); \coordinate (-end) at (-north);
% \draw [knJointStyle] (-B) -- (-D) to [45-] (-J) -- ++(\Lcyl/2+\armRight,0) -- (-C) -- (-A); % back arm
\draw [knLinkStyle] (-A) -- (-C) -- ++(45:{\Hcyl/4+\armGap}) -- (-J);
\begin{pgfonlayer}{background}
\draw [knLinkStyle] (-J) -- ++({-\Lcyl/2-\armLeft},0) -- (-D) -- (-B);
\end{pgfonlayer}
\else
\if\arg\NOENDS %0 is not to draw any ends or arms so adjust
\coordinate (-east) at (-A);
\coordinate (-west) at (-B);
\coordinate (-south) at (-F);
\coordinate (-north) at (-E);
\coordinate (-in) at (-west); \coordinate (-start) at (-in);
\coordinate (-out) at (-east); \coordinate (-end) at (-out);
\else %other values (or none) is not to draw arm only pins
\coordinate (-south) at (-F);
\coordinate (-north) at (-E);
\coordinate (-in) at (-west); \coordinate (-start) at (-in);
\coordinate (-out) at (-east); \coordinate (-end) at (-out);
\draw [knLinkStyle] (-A) -- (-C);
\begin{pgfonlayer}{background}
\draw [knLinkStyle] (-B) -- (-D);
\end{pgfonlayer}
\fi %of NOENDS
\fi %of FFF
\fi %of NNN
\fi %of BBB
\fi %of TTT
% For illustration purposed only...
% \foreach \n in {A,B,C,D,E,F,G,H,J,K,O}
% \foreach \n in {in,out} %
% \foreach \n in {start,end} %
% \foreach \n in {center,east,west,north,south} % north,south coincide with in/out
% \fill (-\n) circle (0.5pt) node [inner sep=0,anchor=south,yshift=1pt,font={\tiny\sffamily}] {\n};
}
},
%-------------------------------------------------
pics/rotational 3D P/.style={ %rotational 3D joint in perspective
% Arg 1 -> direction of the arm coming out of the cylinder
% 1 %arm on right
% 2 %arm on left
% 3 %arm up
% 4 %arm down
% 0 or no argment % raw cylinder with no ends at all
code={
%Create auxiliary points
\coordinate (-center) at (0,0); %center point
\coordinate (-O) at (-center); %center point
\coordinate (-A) at ($(-center) + (-135:{\Lcyl/4})$); %right cyl center, start point of circle
% \coordinate (-B) at ($ (-A) + (45:{\Lcyl/2+\Hcyl/2}) $); %Left cyl center
\coordinate (-B) at ($ (-A) + (45:{\Lcyl/2}) $); %Left cyl center
\coordinate (-C) at ($ (-A) + (-135:{\armRight/2)})$); %right arm extremity
\coordinate (-D) at ($ (-A) + (45:{\Lcyl/2+\armLeft/2)})$); %left arm extremity
\coordinate (-D) at ($ (-B) + (45:{\armLeft/2)})$); %left arm extremity
\coordinate (-E) at (0, \Hcyl/2); %top point of cylinder surface
\coordinate (-G) at (0, {\Hcyl/2+\armGap}); % arm center top
\coordinate (-H) at (0, {-\Hcyl/2-\armGap}); %Arm center bottom
\coordinate (-J) at ({\Hcyl/2+\armGap},0); %Arm center right
\coordinate (-K) at ({-\Hcyl/2-\armGap},0); %Arm center left
\coordinate (-L) at (\Hcyl/2,0,0); % right side of cylinder surface
\path [name path=vsLocalCirc] (-A) ellipse ({\Hcyl/2} and {\Hcyl/2});
\path [name path=vsHorizLine] (-center) -- ++(-\Hcyl,0);
\path [name path=vsVertiLine] (-center) -- ++(0,-\Hcyl);
\path [name intersections={of={vsHorizLine} and {vsLocalCirc}}] ;
\coordinate (-M) at (intersection-1); % left point of cylinder surface
\path [name intersections={of={vsVertiLine} and {vsLocalCirc}}] ;
\coordinate (-F) at (intersection-1); % Bottom point of cylinder surface
\path [name path=vsDiagLine] (-B) -- ++(45:\Hcyl);
\path [name path=vsRestOfCyl] ($(-A)+(135:{\Hcyl/2})$) --
++(45:\Lcyl/2) arc (135:-45:{\Hcyl/2} and {\Hcyl/2}) --
++(-135:\Lcyl/2) arc (-45:135:{\Hcyl/2} and {\Hcyl/2});
\path [name intersections={of={vsDiagLine} and {vsRestOfCyl}}] ;
\coordinate (-N) at (intersection-1); % far point of cylinder in diag
\coordinate (-southwest) at (-C);
\coordinate (-northeast) at (-D);
\coordinate (-label) at ($(-center)!0.7!(-D)$); %some point to place label with enough clearance
\coordinate (-near) at (-C);
\coordinate (-far) at (-D);
\coordinate (-west) at (-M); %default for simple cylinder
\coordinate (-east) at (-L); %default for simple cylinder
%Draw the perspective cylinder with visible face on the right (facing out)
%Actually it is a circle in ortogonal projection... anyway...
\draw [knJointStyle] (-A) ellipse ({\Hcyl/2} and {\Hcyl/2}); %front ellipse
\newcommand{\knDrawCylinderLateral}{
\draw [knJointStyle,fill=white] ($(-A)+(135:{\Hcyl/2})$) --
++(45:\Lcyl/2) arc (135:-45:{\Hcyl/2} and {\Hcyl/2}) --
++(-135:\Lcyl/2) arc (-45:135:{\Hcyl/2} and {\Hcyl/2}); %rest of cylinder filled with white
}
\def\arg{#1}
\def\RRR {1} %arm on right
\def\LLL {2} %arm on left
\def\UUU {3} %arm up
\def\DDD {4} %arm down
\def\NOENDS{0} %no ends at all
% \begin{pgfonlayer}{background} %Needed to take advantage of hidden lines in some arms...)
\if\arg\RRR %1 is to draw arm on the right
\coordinate (-south) at (-F); \coordinate (-start bottom) at (-south); \coordinate (-in bottom) at (-south);
\coordinate (-east) at (-J); \coordinate (-end) at (-east); \coordinate (-out) at (-east);
\coordinate (-north) at (-E); \coordinate (-in top) at (-north); \coordinate (-start top) at (-north);
\coordinate (-west) at (-M); \coordinate (-in left) at (-west); \coordinate (-start left) at (-west);
\coordinate (-in) at (-in left); \coordinate (-start) at (-start left);
%Right
%Some tricks because to [45-] forces some specific path :-(
% \draw [knLinkStyle](-A) -- (-C)(-J) to[45-] (-C)(-J) -- ++(45:{\Lcyl/4+\armLeft/2}) -- (-D) -- (-B);
% \begin{pgfonlayer}{background}
\draw [knLinkStyle] (-J) -- ++(45:{\Lcyl/4+\armLeft/2}) -- (-D) -- (-B); %back part of arm
\knDrawCylinderLateral
\draw [knLinkStyle] (-A) -- (-C) -- ++({\Hcyl/2+\armGap},0) -- (-J); %front part of arm
% \end{pgfonlayer}
\else
\if\arg\LLL %2 is to draw arm on the left
\coordinate (-south) at (-F); \coordinate (-start bottom) at (-south); \coordinate (-in bottom) at (-south);
\coordinate (-east) at (-L); \coordinate (-in right) at (-east); \coordinate (-start right) at (-east);
\coordinate (-north) at (-E); \coordinate (-in top) at (-north); \coordinate (-start top) at (-north);
\coordinate (-west) at (-K); \coordinate (-out) at (-west); \coordinate (-end) at (-west);
\coordinate (-in) at (-in right); \coordinate (-start) at (-start right);
%Left
%\draw [knJointStyle](-A) -- (-C) -- ++(180:{\Hcyl/2+\armGap}) -- (-K) to[45-] (-D) -- (-B);
% \begin{pgfonlayer}{background}
\draw [knLinkStyle](-K) to[45-] (-D) -- (-B);
% \end{pgfonlayer}
\knDrawCylinderLateral
\draw [knLinkStyle](-A) -- (-C) -- ++(180:{\Hcyl/2+\armGap}) -- (-K);
\else
\if\arg\UUU %3 is to draw arm on the upper part
\coordinate (-south) at (-F); \coordinate (-start bottom) at (-south); \coordinate (-in bottom) at (-south);
\coordinate (-east) at (-L); \coordinate (-in right) at (-east); \coordinate (-start right) at (-east);
\coordinate (-north) at (-G); \coordinate (-out) at (-north); \coordinate (-end) at (-north);
\coordinate (-west) at (-M); \coordinate (-in left) at (-west); \coordinate (-start left) at (-west);
\coordinate (-in) at (-in bottom); \coordinate (-start) at (-start bottom);
%Up
% \draw [knJointStyle](-A) -- (-C)(-G) to[45-] (-C)(-G) -- ++(45:{\Lcyl/4+\armLeft/2}) -- (-D) -- (-B);
% \begin{pgfonlayer}{background}
\draw [knLinkStyle] (-G) -- ++(45:{\Lcyl/4+\armLeft/2}) -- (-D) -- (-B); ;
% \end{pgfonlayer}
\knDrawCylinderLateral
\draw [knLinkStyle](-A) -- (-C) -- ++(0,\Hcyl/2+\armGap) -- (-G);
\else
\if\arg\DDD %4 is to draw arm on the lower part)
\coordinate (-south) at (-H); \coordinate (-end) at (-south); \coordinate (-out) at (-south);
\coordinate (-east) at (-L); \coordinate (-in right) at (-east); \coordinate (-start right) at (-east);
\coordinate (-north) at (-E); \coordinate (-in top) at (-north); \coordinate (-start top) at (-north);
\coordinate (-west) at (-M); \coordinate (-in left) at (-west); \coordinate (-start left) at (-west);
\coordinate (-in) at (-in top); \coordinate (-start) at (-start top);
%Down
%\draw [knJointStyle](-A) -- (-C) -- ++(-90:{\Hcyl/2+\armGap}) -- (-H) to[45-] (-D) -- (-B);
% \begin{pgfonlayer}{background}
\draw [knLinkStyle] (-H)to[45-] (-D) -- (-B);
% \end{pgfonlayer}
\knDrawCylinderLateral
\draw [knLinkStyle](-A) -- (-C) -- ++(-90:{\Hcyl/2+\armGap}) -- (-H);
\else
\if\arg\NOENDS %0 is to draw no extremities or arm
\coordinate (-south) at (-F);
\coordinate (-north) at (-E);
\coordinate (-southwest) at (-A);
\coordinate (-northeast) at (-B);
\coordinate (-in near) at (-A);
\coordinate (-in left) at (-M); \coordinate (-start left) at (-in left);
\coordinate (-in bottom) at (-south); \coordinate (-start bottom) at (-in bottom);
\coordinate (-in top) at (-north); \coordinate (-start top) at (-in top);
\coordinate (-out far) at (-N); \coordinate (-out right) at (-east);
\coordinate (-in) at (-in left); \coordinate (-start) at (-in);
\coordinate (-out) at (-out right); \coordinate (-end) at (-out);
\knDrawCylinderLateral
\else %other values (or none) is not to draw arm; only pins
\coordinate (-south) at (-F);
\coordinate (-north) at (-E);
\coordinate (-in) at (-near); \coordinate (-start) at (-in);
\coordinate (-out) at (-N); \coordinate (-end) at (-out);
% \begin{pgfonlayer}{background}
\draw [knLinkStyle] (-B) -- (-D);
% \end{pgfonlayer}
\knDrawCylinderLateral
\draw [knLinkStyle] (-A) -- (-C);
\fi %of NOENDS
\fi %of DDD
\fi %of UUU
\fi %of LLL
\fi %of RRR
% \end{pgfonlayer}
% For illustration purposed only...
% \foreach \n in {A,B,C,D,E,F,G,H,J,K,L,M}
% \foreach \n in {in,out} %
% \foreach \n in {start,end} %
% \foreach \n in {center,east,west,north,south} % north,south coincide with in/out
% \fill (-\n) circle (0.5pt) node [inner sep=0,anchor=south,yshift=1pt,font={\tiny\sffamily}] {\n};
}
},
%-------------------------------------------------
pics/rotational 3D V/.style={ %rotational joint in 3D in Vertical position
% Arg 1 %if absent a default with simple ends
% 0: no ends. A simple cylinder
% 1: arm at left
% 2: arm at right
% 3: arm at near (front/closer)
% 4: arm at far (back of page)
code={ %copied code orinally from the horizontal and rotated it :-)
\begin{scope}[rotate=90,yscale=-1] %use yscale -1 to have arm=1 on the right and the perspective variants in the right direction
%Draw the horizontal cylinder with visible face on the right
\draw [knJointStyle] (\Lcyl/2,0) ellipse ({\Wcyl} and \Hcyl/2); %right (top) ellipse
\draw [knJointStyle,fill=white] (\Lcyl/2,\Hcyl/2) -- ++(-\Lcyl,0) arc (90:270:{\Wcyl} and \Hcyl/2) --
++(\Lcyl,0) arc (270:90:{\Wcyl} and \Hcyl/2) ; %Remainder
%%%
\path [name path=vsDiagLine] (0,0) -- ++(45:\Hcyl);
\path [name path=vsRestOfCyl] (\Lcyl/2,\Hcyl/2) -- ++(-\Lcyl,0) arc (90:270:{\Wcyl} and \Hcyl/2) --
++(\Lcyl,0) arc (270:90:{\Wcyl} and \Hcyl/2) ;
\path [name intersections={of={vsDiagLine} and {vsRestOfCyl}}] ;
\coordinate (-N) at (intersection-1); % lateral far point of cylinder in diag
%Create auxiliary points
\coordinate (-center) at (0,0); %center point
\coordinate (-O) at (-center); %center point
\coordinate (-A) at (\Lcyl/2,0); %right center point
\coordinate (-C) at ($(-A) + (\armRight,0)$); %east extremity
\coordinate (-B) at (-\Lcyl/2-\Wcyl,0); %right center point
\coordinate (-D) at ($(-A) - (\Lcyl,0) - (\armLeft,0)$); %west extremity
\coordinate (-E) at (0,\Hcyl/2); %top point on surface
\coordinate (-F) at (0,-\Hcyl/2); %bottom point on surface
\coordinate (-G) at ($(-E) + (0,\armGap)$); %top arm center
\coordinate (-H) at ($(-F) - (0,\armGap)$); %bottom arm center
\coordinate (-J) at ($(0,0) + (45:{\armGap+\Hcyl/4})$); %back arm center
\coordinate (-K) at ($(0,0) + (-135:{\armGap+\Hcyl/4})$); %front arm center
\coordinate (-east) at (-E);
\coordinate (-west) at (-F);
\coordinate (-label) at ($(-center)-(\Hcyl/6,0pt)$); %adjusted a bit to the bottom
%Define some macros to test argument
\def\arg{#1} %if absent a default with simple ends
\edef\NOENDS{0}% no ends. A simple cylinder
\def\TTT {1} %top (when rotated - left)
\def\BBB {2} %bottom (when rotated - right)
\def\NNN {3} %near (front/closer)
\def\FFF {4} %far (back of page)
%Adapt behavior depending on argument
\if\arg\TTT %1 is to draw arm on the top (right) (use \if not \ifx !!!)
\coordinate (-south) at (-D); \coordinate (-start) at (-F); \coordinate (-in) at (-start);
\coordinate (-north) at (-C); \coordinate (-end) at (-G); \coordinate (-out) at (-end);
% \draw [knLinkStyle] (-A) -- (-C) |- (-G) -| (-D) -- (-B); %upper arm
\draw [knLinkStyle] (-A) -- (-C) |- (-G); %upper half arm
% \begin{pgfonlayer}{background} %not needed (and does not inherit all passed options :-(! )
\draw [knLinkStyle] (-G) -| (-D) -- (-B); %lower half arm
% \end{pgfonlayer}{background}
\else
\if\arg\BBB %2 is to draw arm on the bottom (left)
\coordinate (-south) at (-D); \coordinate (-end) at (-H); \coordinate (-out) at (-end);
\coordinate (-west) at (-end);
\coordinate (-north) at (-C); \coordinate (-in) at (-E); \coordinate (-start) at (-in);
% \draw [knLinkStyle] (-A) -- (-C) |- (-H) -| (-D) -- (-B); %lower arm
\draw [knLinkStyle] (-A) -- (-C) |- (-H);
% \begin{pgfonlayer}{background}
\draw [knLinkStyle] (-H) -| (-D) -- (-B); %lower arm
% \end{pgfonlayer}{background}
\else
\if\arg\NNN %3 is to draw arm on the front (near)
\coordinate (-south) at (-D); \coordinate (-in2) at (-south); \coordinate (-start2) at (-south);
\coordinate (-north) at (-C); \coordinate (-in) at (-N); \coordinate (-start) at (-in);
\coordinate (-out) at (-K); \coordinate (-end) at (-out);
% \draw [knLinkStyle] (-A) -- (-C) to [45-] (-K) -- ++(-\Lcyl/2-\armRight,0) -- (-D) -- (-B); %front arm
\draw [knLinkStyle] (-A) -- (-C) to [45-] (-K);
% \begin{pgfonlayer}{background}
\draw [knLinkStyle] (-K) -- ++(-\Lcyl/2-\armRight,0) -- (-D) -- (-B); %front arm
% \end{pgfonlayer}{background}
\else
\if\arg\FFF %4 is to draw arm on the back far)
\coordinate (-south) at (-D); \coordinate (-in) at ($(-center)+(-135:\Hcyl/4)$); \coordinate (-start) at (-in);
\coordinate (-north) at (-C); \coordinate (-out) at (-J); \coordinate (-end) at (-out);
% \draw [knLinkStyle] (-B) -- (-D) to [45-] (-J) -- ++(\Lcyl/2+\armRight,0) -- (-C) -- (-A); % back arm
\draw [knLinkStyle] (-A) -- (-C) -- ++(45:{\Hcyl/4+\armGap}) -- (-J);
\begin{pgfonlayer}{background}
\draw [knLinkStyle] (-J) -- ++({-\Lcyl/2-\armLeft},0) -- (-D) -- (-B);
\end{pgfonlayer}
\else
\if\arg\NOENDS %0 is not to draw any ends or arms so adjust
\coordinate (-east) at (-F);
\coordinate (-west) at (-E);
\coordinate (-south) at (-B);
\coordinate (-north) at (-A);
\coordinate (-in) at (-south); \coordinate (-start) at (-in);
\coordinate (-out) at (-north); \coordinate (-end) at (-out);
\else %other values (or none) is not to draw arm only pins
\coordinate (-south) at (-D);
\coordinate (-north) at (-C);
\coordinate (-in) at (-south); \coordinate (-start) at (-in);
\coordinate (-out) at (-north); \coordinate (-end) at (-out);
\draw [knLinkStyle] (-A) -- (-C);
\begin{pgfonlayer}{background}
\draw [knLinkStyle] (-B) -- (-D);
\end{pgfonlayer}
\fi %of NOENDS
\fi %of FFF
\fi %of NNN
\fi %of BBB
\fi %of TTT
% For illustration purposed only...
% \foreach \n in {A,B,C,D,E,F,G,H,J,K,O}
% \foreach \n in {in,out} %
% \foreach \n in {start,end} %
% \foreach \n in {center,east,west,north,south} % north,south coincide with in/out
% \fill (-\n) circle (0.5pt) node [inner sep=0,anchor=south,yshift=1pt,font={\tiny\sffamily}] {\n};
\end{scope}
}
},
%-------------------------------------------------
%
} %end of tikzset
%------------------------------------------------
\endinput
