Cosplay/nhf/touhou/houjuu_nue/harness.py

from dataclasses import dataclass, field
import cadquery as Cq
from nhf.parts.joints import HirthJoint
from nhf import Material, Role
from nhf.build import Model, TargetKind, target, assembly, submodel
from nhf.touhou.houjuu_nue.joints import RootJoint
from nhf.parts.box import MountingBox
import nhf.utils

@dataclass(frozen=True, kw_only=True)
class Mannequin:
    """
    A mannequin for calibration
    """

    shoulder_width: float = 400
    shoulder_to_waist: float = 440
    waist_width: float = 250
    head_height: float = 220.0
    neck_height: float = 105.0
    neck_diam: float = 140
    head_diam: float = 210
    torso_thickness: float = 150

    def generate(self) -> Cq.Workplane:
        head_neck = (
            Cq.Workplane("XY")
            .cylinder(
                radius=self.neck_diam/2,
                height=self.neck_height,
                centered=(True, True, False))
            .faces(">Z")
            .workplane()
            .cylinder(
                radius=self.head_diam/2,
                height=self.head_height,
                combine=True, centered=(True, True, False))
        )
        result = (
            Cq.Workplane("XY")
            .rect(self.waist_width, self.torso_thickness)
            .workplane(offset=self.shoulder_to_waist)
            .rect(self.shoulder_width, self.torso_thickness)
            .loft(combine=True)
            .union(head_neck.translate((0, 0, self.shoulder_to_waist)))
        )
        return result.translate((0, self.torso_thickness / 2, 0))


BASE_POS_X = 70.0
BASE_POS_Y = 100.0

@dataclass(kw_only=True)
class Harness(Model):
    thickness: float = 25.4 / 8
    width: float = 200.0
    height: float = 304.8
    fillet: float = 10.0

    wing_base_pos: list[tuple[str, float, float]] = field(default_factory=lambda: [
        ("r1", BASE_POS_X, BASE_POS_Y),
        ("l1", -BASE_POS_X, BASE_POS_Y),
        ("r2", BASE_POS_X, 0),
        ("l2", -BASE_POS_X, 0),
        ("r3", BASE_POS_X, -BASE_POS_Y),
        ("l3", -BASE_POS_X, -BASE_POS_Y),
    ])

    root_joint: RootJoint = field(default_factory=lambda: RootJoint())

    mannequin: Mannequin = Mannequin()

    def __post_init__(self):
        super().__init__(name="harness")

    @submodel(name="bridge-pair-horizontal")
    def bridge_pair_horizontal(self) -> MountingBox:
        return self.root_joint.bridge_pair_horizontal(centre_dx=BASE_POS_X * 2)
    @submodel(name="bridge-pair-vertical")
    def bridge_pair_vertical(self) -> MountingBox:
        return self.root_joint.bridge_pair_vertical(centre_dy=BASE_POS_Y)

    @target(name="profile", kind=TargetKind.DXF)
    def profile(self) -> Cq.Sketch:
        """
        Creates the harness shape
        """
        w, h = self.width / 2, self.height / 2
        sketch = (
            Cq.Sketch()
            .polygon([
                (w, h),
                (w, -h),
                (-w, -h),
                (-w, h),
                #(0.7 * w, h),
                #(w, 0),
                #(0.7 * w, -h),
                #(0.7 * -w, -h),
                #(-w, 0),
                #(0.7 * -w, h),
            ])
            #.rect(self.harness_width, self.harness_height)
            .vertices()
            .fillet(self.fillet)
        )
        for tag, x, y in self.wing_base_pos:
            conn = [(px + x, py + y) for px, py in self.root_joint.corner_pos()]
            sketch = (
                sketch
                .push(conn)
                .tag(tag)
                .circle(self.root_joint.corner_hole_diam / 2, mode='s')
                .reset()
            )
        return sketch

    def surface(self) -> Cq.Workplane:
        """
        Creates the harness shape
        """
        result = (
            Cq.Workplane('XZ')
            .placeSketch(self.profile())
            .extrude(self.thickness)
        )
        result.faces(">Y").tag("mount")
        plane = result.faces(">Y").workplane()
        for tag, x, y in self.wing_base_pos:
            conn = [(px + x, py + y) for px, py
                    in self.root_joint.corner_pos()]
            for i, (px, py) in enumerate(conn):
                plane.moveTo(px, py).tagPlane(f"{tag}_{i}")
        return result

    def add_root_joint_constraint(
            self,
            a: Cq.Assembly,
            harness_tag: str,
            joint_tag: str,
            mount_tag: str):
        for i in range(4):
            a.constrain(f"{harness_tag}?{mount_tag}_{i}", f"{joint_tag}/parent?h{i}", "Point")


    @assembly()
    def assembly(self, with_root_joint: bool = False) -> Cq.Assembly:
        harness = self.surface()
        mannequin_z = self.mannequin.shoulder_to_waist * 0.6

        result = (
            Cq.Assembly()
            .addS(
                harness, name="base",
                material=Material.WOOD_BIRCH,
                role=Role.STRUCTURE)
            .constrain("base", "Fixed")
            .addS(
                self.mannequin.generate(),
                name="mannequin",
                role=Role.FIXTURE,
                loc=Cq.Location((0, -self.thickness, -mannequin_z), (0, 0, 1), 180))
            .constrain("mannequin", "Fixed")
        )
        bridge_h = self.bridge_pair_horizontal().generate()
        for i in [1,2,3]:
            name = f"r{i}l{i}_bridge"
            (
                result
                .addS(
                    bridge_h, name=name,
                    role=Role.FIXTURE,
                    material=Material.WOOD_BIRCH,
                )
                .constrain(f"{name}?conn0_rev", f"base?r{i}_1", "Point")
                .constrain(f"{name}?conn1_rev", f"base?l{i}_0", "Point")
                .constrain(f"{name}?conn2_rev", f"base?l{i}_3", "Point")
                .constrain(f"{name}?conn3_rev", f"base?r{i}_2", "Point")
            )
        bridge_v = self.bridge_pair_vertical().generate()
        (
            result
            .addS(bridge_v, name="r1_bridge", role=Role.FIXTURE, material=Material.WOOD_BIRCH)
            .constrain("r1_bridge?conn0_rev", "base?r1_3", 'Plane')
            .constrain("r1_bridge?conn1_rev", "base?r2_0", 'Plane')
            .addS(bridge_v, name="r2_bridge", role=Role.FIXTURE, material=Material.WOOD_BIRCH)
            .constrain("r2_bridge?conn0_rev", "base?r2_3", 'Plane')
            .constrain("r2_bridge?conn1_rev", "base?r3_0", 'Plane')
            .addS(bridge_v, name="l1_bridge", role=Role.FIXTURE, material=Material.WOOD_BIRCH)
            .constrain("l1_bridge?conn0_rev", "base?l1_2", 'Plane')
            .constrain("l1_bridge?conn1_rev", "base?l2_1", 'Plane')
            .addS(bridge_v, name="l2_bridge", role=Role.FIXTURE, material=Material.WOOD_BIRCH)
            .constrain("l2_bridge?conn0_rev", "base?l2_2", 'Plane')
            .constrain("l2_bridge?conn1_rev", "base?l3_1", 'Plane')
        )
        if with_root_joint:
            for name in ["l1", "l2", "l3", "r1", "r2", "r3"]:
                result.addS(
                    self.root_joint.assembly(), name=name,
                    role=Role.PARENT,
                    material=Material.PLASTIC_PLA)
                self.add_root_joint_constraint(result, "base", name, name)
        result.solve()
        return result