Base

Base is MachineModeling.Components.Composite.Base:
    .doc: """
    Base model for a double-linkage assembly.

    The linkage connects a guide-side connector to a drive-side connector with
    one guide link and one drive link.

    The guide connector is the guide-link pivot on the grounded side.
    The drive connector is the drive-link pivot on the driven side.

    Concrete variants provide either singular links or link pairs and map their
    link-specific connectors onto the abstract connector references used here.

    It is usually important that the linkage never rotates near the parallel state.
    Therefore the link_connection has a range defining valid solutions.
    By default the valid range is 0-180 degrees. By changing the sign of the
    valid_link_sign, the range of -180 - 0 degrees is valid.

    The `guide_connector` and `drive_connector` refers to the external connectors
    acting on the linkage system.

    The numbered connectors `drive_connector_#` and `guide_connector_#` refers to
    connectors internal to the linkage system.

    """
    local_transform.position: {0,0,0}

    valid_link_sign is Real: 1

    guide_connector is Physics3D.Interactions.MateConnector reference
    drive_connector is Physics3D.Interactions.MateConnector reference

    drive_connector_1 is Physics3D.Interactions.MateConnector reference
    drive_connector_2 is Physics3D.Interactions.MateConnector reference

    guide_connector_1 is Physics3D.Interactions.MateConnector reference
    guide_connector_2 is Physics3D.Interactions.MateConnector reference

    guide_link_connection is MachineModeling.Connections.Base with MachineModeling.Connections.Interfaces.FromTo:
        from: guide_connector
        to: guide_connector_1

    drive_connection is MachineModeling.Connections.Base with MachineModeling.Connections.Interfaces.FromTo:
        from: drive_connector_2
        to: drive_connector

    link_connection is MachineModeling.Connections.Base with MachineModeling.Connections.Interfaces.FromTo:
        from: guide_connector_2
        to: drive_connector_1
        valid_range is Physics3D.Interactions.RotationalRange:
            connectors: [link_connection.from, link_connection.to]
            enabled: false
            start: -0.5 * Math.PI + valid_link_sign * 0.5 * Math.PI
            end: 0.5 * Math.PI + valid_link_sign * 0.5 * Math.PI