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