texlive[61392] Master: kinematikz (23dec21)
commits+karl at tug.org
commits+karl at tug.org
Thu Dec 23 22:36:25 CET 2021
Revision: 61392
http://tug.org/svn/texlive?view=revision&revision=61392
Author: karl
Date: 2021-12-23 22:36:24 +0100 (Thu, 23 Dec 2021)
Log Message:
-----------
kinematikz (23dec21)
Modified Paths:
--------------
trunk/Master/tlpkg/bin/tlpkg-ctan-check
trunk/Master/tlpkg/libexec/ctan2tds
trunk/Master/tlpkg/tlpsrc/collection-pictures.tlpsrc
Added Paths:
-----------
trunk/Master/texmf-dist/doc/latex/kinematikz/
trunk/Master/texmf-dist/doc/latex/kinematikz/README
trunk/Master/texmf-dist/doc/latex/kinematikz/README.TEXLIVE
trunk/Master/texmf-dist/tex/latex/kinematikz/
trunk/Master/texmf-dist/tex/latex/kinematikz/kinematikz.sty
trunk/Master/tlpkg/tlpsrc/kinematikz.tlpsrc
Added: trunk/Master/texmf-dist/doc/latex/kinematikz/README
===================================================================
--- trunk/Master/texmf-dist/doc/latex/kinematikz/README (rev 0)
+++ trunk/Master/texmf-dist/doc/latex/kinematikz/README 2021-12-23 21:36:24 UTC (rev 61392)
@@ -0,0 +1,28 @@
+kinematikz package by Vitor Santos (vitor at ua.pt)
+Version 1.0 dated 21/Dec/2021
+
+This package provides functionalities to draw kinematic diagrams
+for mechanisms using dedicate symbols (some inspired on the ISO standard and others).
+The intention is not to represent CAD mechanical drawings of mechanisms and
+robots, but only to represent 2D and 3D kinematic chains. The package provides
+links, joints and other symbols, mostly in the form of TikZ pic objects.
+These pics can be placed in the canvas either by a central point for joints,
+and start and end points for some links.
+
+The documentation consists of a PDF manual that describes the principles with the
+syntax, examples and a reference listing of all the objects and their parameters.
+
+The package is author-maintained.
+Permission is granted to copy, distribute and/or modify this
+software under the terms of the LATEX Project Public License,
+version 1.3.1, or the GNU Public License. This software is
+provided ‘as is’, without warranty of any kind, either expressed
+or implied, including, but not limited to, the implied warranties
+of merchantability and fitness for a particular purpose.
+
+FILES:
+
+README
+kinematikz.sty
+kinematikzmanual.pdf
+
Property changes on: trunk/Master/texmf-dist/doc/latex/kinematikz/README
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Added: svn:eol-style
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Added: trunk/Master/texmf-dist/doc/latex/kinematikz/README.TEXLIVE
===================================================================
--- trunk/Master/texmf-dist/doc/latex/kinematikz/README.TEXLIVE (rev 0)
+++ trunk/Master/texmf-dist/doc/latex/kinematikz/README.TEXLIVE 2021-12-23 21:36:24 UTC (rev 61392)
@@ -0,0 +1,9 @@
+The files below have been removed in the TeX Live installation of
+the current package, possibly because of missing source (e.g., a
+PDF with no source), possibly because their only purpose is to support
+nonfree fonts or other software, possibly for other reasons.
+More info: https://tug.org/texlive/pkgcontrib.html#requirements
+
+If this is a concern, please contact the package maintainer.
+
+ kinematikzmanual.pdf
Property changes on: trunk/Master/texmf-dist/doc/latex/kinematikz/README.TEXLIVE
___________________________________________________________________
Added: svn:eol-style
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Added: trunk/Master/texmf-dist/tex/latex/kinematikz/kinematikz.sty
===================================================================
--- trunk/Master/texmf-dist/tex/latex/kinematikz/kinematikz.sty (rev 0)
+++ trunk/Master/texmf-dist/tex/latex/kinematikz/kinematikz.sty 2021-12-23 21:36:24 UTC (rev 61392)
@@ -0,0 +1,2633 @@
+\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 at lastxsaved,\the\tikz at 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 at marshal{\noexpand\node[#1]\stacknodecommonpart;}
+ \pgf at marshal
+ }
+}
+\def\overlaynodedrawfill{\pgfutil at ifnextchar[{\overlaynodedrawfill at opt}{\overlaynodedrawfill at opt[]}}
+\def\overlaynodedrawfill at 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 at scan@one at point\pgfutil at firstofone#1\relax
+ \edef#2{\the\pgf at x}%
+ \edef#3{\the\pgf at 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
Property changes on: trunk/Master/texmf-dist/tex/latex/kinematikz/kinematikz.sty
___________________________________________________________________
Added: svn:eol-style
## -0,0 +1 ##
+native
\ No newline at end of property
Modified: trunk/Master/tlpkg/bin/tlpkg-ctan-check
===================================================================
--- trunk/Master/tlpkg/bin/tlpkg-ctan-check 2021-12-23 21:34:53 UTC (rev 61391)
+++ trunk/Master/tlpkg/bin/tlpkg-ctan-check 2021-12-23 21:36:24 UTC (rev 61392)
@@ -427,7 +427,7 @@
kalendarium kanaparser kantlipsum karnaugh karnaugh-map karnaughmap kastrup
kblocks kdgdocs kdpcover kerkis kerntest ketcindy
keycommand keyfloat keyindex keyparse keyreader keystroke
- keyval2e keyvaltable kix kixfont
+ keyval2e keyvaltable kinematikz kix kixfont
knitting knittingpattern knowledge
knuth-errata knuth-lib knuth-local knuth-pdf
koma-moderncvclassic koma-script koma-script-examples koma-script-sfs
Modified: trunk/Master/tlpkg/libexec/ctan2tds
===================================================================
--- trunk/Master/tlpkg/libexec/ctan2tds 2021-12-23 21:34:53 UTC (rev 61391)
+++ trunk/Master/tlpkg/libexec/ctan2tds 2021-12-23 21:36:24 UTC (rev 61392)
@@ -3680,6 +3680,7 @@
'ieeetran' => 'IEEEtran.*HOWTO.pdf',
'jknapltx' => 'ubbold.fd', # clash bbold's Ubbold.fd; sauter bbold fails
'junicode' => '.pdf', # no source
+ 'kinematikz' => '.pdf', # no source
'latexmk' => '(sweave_|tex4ht-)latexmkrc', # case-folding clash
'maker' => 'maker_manual.pdf', # no source
'math-into-latex-4' => 'video.*zip|S.*\.pdf', # nonfree
Modified: trunk/Master/tlpkg/tlpsrc/collection-pictures.tlpsrc
===================================================================
--- trunk/Master/tlpkg/tlpsrc/collection-pictures.tlpsrc 2021-12-23 21:34:53 UTC (rev 61391)
+++ trunk/Master/tlpkg/tlpsrc/collection-pictures.tlpsrc 2021-12-23 21:36:24 UTC (rev 61392)
@@ -75,6 +75,7 @@
depend hvfloat
depend istgame
depend kblocks
+depend kinematikz
depend knitting
depend knittingpattern
depend ladder
Added: trunk/Master/tlpkg/tlpsrc/kinematikz.tlpsrc
===================================================================
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