feat: Simplify elbow joint

nhf/touhou/houjuu_nue/joints.py

@@ -593,44 +593,45 @@ class ElbowJoint(Model):
     child_arm_radius: float = 40.0
     parent_arm_radius: float = 40.0
 
-    child_beam: Beam = field(default_factory=lambda: Beam())
+    lip_thickness: float = 5.0
-    parent_beam: Beam = field(default_factory=lambda: Beam(
+    lip_length: float = 60.0
-        spine_thickness=8.0,
+    hole_pos: list[float] = field(default_factory=lambda: [15, 25])
-    ))
+    parent_arm_span: float = 30.0
-    parent_arm_span: float = 40.0
     # Angle of the beginning of the parent arm
     parent_arm_angle: float = 180.0
-    parent_binding_hole_radius: float = 30.0
 
     # Size of the mounting holes
-    hole_diam: float = 8.0
+    hole_diam: float = 6.0
 
     material: Material = Material.RESIN_TRANSPERENT
 
-    # If true, flip the top and bottom tags
+    angle_neutral: float = 20.0
-    flip: bool = False
 
     def __post_init__(self):
         assert self.child_arm_radius > self.disk_joint.radius_housing
         assert self.parent_arm_radius > self.disk_joint.radius_housing
         self.disk_joint.tongue_length = self.child_arm_radius - self.disk_joint.radius_disk
         assert self.disk_joint.movement_angle < self.parent_arm_angle < 360 - self.parent_arm_span
-        assert self.parent_binding_hole_radius - self.hole_diam / 2 > self.disk_joint.radius_housing
 
-    def child_hole_pos(self) -> list[float]:
+    def lip(self) -> Cq.Workplane:
-        """
+        holes = [
-        List of hole positions measured from axle
+            h
-        """
+            for i, x in enumerate(self.hole_pos)
-        dx = self.child_beam.hole_dist / 2
+            for h in [
-        r = self.child_arm_radius
+                    Hole(x=x, tag=f"conn_top{i}"),
-        return [r - dx, r + dx]
+                    Hole(x=-x, tag=f"conn_bot{i}")
-    def parent_hole_pos(self) -> list[float]:
+            ]
-        """
+        ]
-        List of hole positions measured from axle
+        mbox = MountingBox(
-        """
+            length=self.lip_length,
-        dx = self.parent_beam.hole_dist / 2
+            width=self.disk_joint.total_thickness,
-        r = self.parent_arm_radius
+            thickness=self.lip_thickness,
-        return [r - dx, r + dx]
+            holes=holes,
+            hole_diam=self.hole_diam,
+            centred=(True, True),
+            generate_side_tags=False,
+        )
+        return mbox.generate()
 
     @target(name="child")
     def child_joint(self) -> Cq.Assembly:
@@ -639,14 +640,15 @@ class ElbowJoint(Model):
         # We need to ensure the disk is on the "other" side so
         flip_x = Cq.Location((0, 0, 0), (1, 0, 0), 180)
         flip_z = Cq.Location((0, 0, 0), (0, 0, 1), 180)
+        lip_dz = self.lip_thickness / 2
         result = (
-            self.child_beam.generate(flip=self.flip)
+            Cq.Assembly()
+            .add(self.lip(), name="lip", loc=
+                 Cq.Location((0, 0, 0), (0, 1, 0), 180) *
+                 Cq.Location((-lip_dz, 0, 0), (1, 0, 0), 90) *
+                 Cq.Location((0, 0, 0), (0, 1, 0), 90))
             .add(self.disk_joint.disk(), name="disk",
                  loc=flip_x * flip_z * Cq.Location((-self.child_arm_radius, 0, -dz), (0, 0, 1), angle))
-            #.constrain("disk", "Fixed")
-            #.constrain("top", "Fixed")
-            #.constrain("bot", "Fixed")
-            #.solve()
         )
         return result
 
@@ -658,7 +660,7 @@ class ElbowJoint(Model):
     def parent_joint_upper(self):
         axial_offset = Cq.Location((self.parent_arm_radius, 0, 0))
         housing_dz = self.disk_joint.housing_upper_dz
-        conn_h = self.parent_beam.spine_thickness
+        conn_h = self.lip_thickness
         connector = (
             Cq.Solid.makeCylinder(
                 height=conn_h,
@@ -675,10 +677,15 @@ class ElbowJoint(Model):
         housing_loc = Cq.Location(
             (0, 0, housing_dz),
             (0, 0, 1),
-            -self.disk_joint.tongue_span / 2
+            -self.disk_joint.tongue_span / 2 + self.angle_neutral
         )
+        lip_dz = self.lip_thickness / 2
         result = (
-            self.parent_beam.generate(flip=self.flip)
+            Cq.Assembly()
+            .add(self.lip(), name="lip", loc=
+                 Cq.Location((0, 0, 0), (0, 1, 0), 180) *
+                 Cq.Location((-lip_dz, 0, 0), (1, 0, 0), 90) *
+                 Cq.Location((0, 0, 0), (0, 1, 0), 90))
             .add(housing, name="housing",
                  loc=axial_offset * housing_loc)
             .add(connector, name="connector",

nhf/touhou/houjuu_nue/wing.py

@@ -50,8 +50,9 @@ class WingProfile(Model):
         disk_joint=DiskJoint(
             movement_angle=55,
         ),
-        flip=False,
     ))
+    # Distance between the two spacers on the elbow, halved
+    elbow_h2: float = 5.0
 
     s2_thickness: float = 25.0
 
@@ -61,8 +62,9 @@ class WingProfile(Model):
             radius_disk=13.0,
             radius_housing=15.0,
         ),
-        flip=True,
     ))
+    # Distance between the two spacers on the elbow, halved
+    wrist_h2: float = 5.0
 
     s3_thickness: float = 25.0
 
@@ -367,6 +369,7 @@ class WingProfile(Model):
             front_tag: str = "front",
             back_tag: str = "back",
             flipped: bool = False,
+            rotate: bool = False,
             ):
         """
         For a child joint facing up, front panel should be on the right, back
@@ -375,7 +378,7 @@ class WingProfile(Model):
         site_front, site_back = "right", "left"
         if flipped:
             site_front, site_back = site_back, site_front
-        angle = 0
+        angle = 180 if rotate else 0
         (
             a
             .addS(
@@ -410,6 +413,27 @@ class WingProfile(Model):
         Polygon shape to mask wrist
         """
 
+    def spacer_of_joint(
+            self,
+            joint: ElbowJoint,
+            segment_thickness: float,
+            dx: float,
+            bot=False) -> MountingBox:
+        length = joint.lip_length / 2 - dx
+        holes = [
+            Hole(x - dx)
+            for x in joint.hole_pos
+        ]
+        mbox = MountingBox(
+            length=length,
+            width=segment_thickness,
+            thickness=self.spacer_thickness,
+            holes=holes,
+            hole_diam=joint.hole_diam,
+            centred=(False, True),
+        )
+        return mbox
+
 
     @target(name="profile-s1", kind=TargetKind.DXF)
     def profile_s1(self) -> Cq.Sketch:
@@ -429,15 +453,14 @@ class WingProfile(Model):
             ("shoulder_bot", (shoulder_mount_inset, h), 90),
             ("shoulder_top", (shoulder_mount_inset, h + shoulder_h), 270),
         ]
-        elbow_h = self.elbow_joint.parent_beam.total_height
+        h = self.elbow_height / 2
-        h = (self.elbow_height - elbow_h) / 2
         tags_elbow = [
             ("elbow_bot",
-             self.elbow_to_abs(-elbow_mount_inset, h),
+             self.elbow_to_abs(-elbow_mount_inset, h - self.elbow_h2),
-             self.elbow_angle + 90),
+             self.elbow_angle + 0),
             ("elbow_top",
-             self.elbow_to_abs(-elbow_mount_inset, h + elbow_h),
+             self.elbow_to_abs(-elbow_mount_inset, h + self.elbow_h2),
-             self.elbow_angle + 270),
+             self.elbow_angle + 0),
         ]
         profile = self.profile_s1()
         tags = tags_shoulder + tags_elbow
@@ -457,16 +480,10 @@ class WingProfile(Model):
         )
     @submodel(name="spacer-s1-elbow")
     def spacer_s1_elbow(self) -> MountingBox:
-        holes = [
+        return self.spacer_of_joint(
-            Hole(x)
+            joint=self.elbow_joint,
-            for x in self.elbow_joint.parent_hole_pos()
+            segment_thickness=self.s1_thickness,
-        ]
+            dx=self.elbow_h2,
-        return MountingBox(
-            length=70.0, # FIXME: magic
-            width=self.s1_thickness,
-            thickness=self.spacer_thickness,
-            holes=holes,
-            hole_diam=self.elbow_joint.hole_diam,
         )
     @assembly()
     def assembly_s1(self) -> Cq.Assembly:
@@ -488,7 +505,7 @@ class WingProfile(Model):
                 result,
                 o,
                 point_tag=t,
-                flipped=is_top != is_parent,
+                flipped=is_top != True #is_parent,
             )
         return result.solve()
 
@@ -503,58 +520,43 @@ class WingProfile(Model):
         )
         return profile
     def surface_s2(self,
-                   thickness: float = 25.4/16,
                    elbow_mount_inset: float = 0,
                    wrist_mount_inset: float = 0,
                    front: bool = True) -> Cq.Workplane:
-        elbow_h = self.elbow_joint.child_beam.total_height
+        h = self.elbow_height / 2
-        h = (self.elbow_height - elbow_h) / 2
         tags_elbow = [
             ("elbow_bot",
-             self.elbow_to_abs(elbow_mount_inset, h),
+             self.elbow_to_abs(elbow_mount_inset, h - self.elbow_h2),
-             self.elbow_angle + 90),
+             self.elbow_angle),
             ("elbow_top",
-             self.elbow_to_abs(elbow_mount_inset, h + elbow_h),
+             self.elbow_to_abs(elbow_mount_inset, h + self.elbow_h2),
-             self.elbow_angle - 90),
+             self.elbow_angle),
         ]
-        wrist_h = self.wrist_joint.parent_beam.total_height
+        h = self.wrist_height / 2
-        h = (self.wrist_height - wrist_h) / 2
         tags_wrist = [
             ("wrist_bot",
-             self.wrist_to_abs(-wrist_mount_inset, h),
+             self.wrist_to_abs(-wrist_mount_inset, h - self.wrist_h2),
-             self.wrist_angle + 90),
+             self.wrist_angle),
             ("wrist_top",
-             self.wrist_to_abs(-wrist_mount_inset, h + wrist_h),
+             self.wrist_to_abs(-wrist_mount_inset, h + self.wrist_h2),
-             self.wrist_angle - 90),
+             self.wrist_angle),
         ]
         profile = self.profile_s2()
         tags = tags_elbow + tags_wrist
-        return nhf.utils.extrude_with_markers(profile, thickness, tags, reverse=front)
+        return nhf.utils.extrude_with_markers(profile, self.panel_thickness, tags, reverse=front)
     @submodel(name="spacer-s2-elbow")
     def spacer_s2_elbow(self) -> MountingBox:
-        holes = [
+        return self.spacer_of_joint(
-            Hole(x)
+            joint=self.elbow_joint,
-            for x in self.elbow_joint.child_hole_pos()
+            segment_thickness=self.s2_thickness,
-        ]
+            dx=self.elbow_h2,
-        return MountingBox(
-            length=50.0, # FIXME: magic
-            width=self.s2_thickness,
-            thickness=self.spacer_thickness,
-            holes=holes,
-            hole_diam=self.elbow_joint.hole_diam,
         )
     @submodel(name="spacer-s2-wrist")
     def spacer_s2_wrist(self) -> MountingBox:
-        holes = [
+        return self.spacer_of_joint(
-            Hole(x)
+            joint=self.wrist_joint,
-            for x in self.wrist_joint.parent_hole_pos()
+            segment_thickness=self.s2_thickness,
-        ]
+            dx=self.wrist_h2,
-        return MountingBox(
-            length=70.0, # FIXME: magic
-            width=self.s1_thickness,
-            thickness=self.spacer_thickness,
-            holes=holes,
-            hole_diam=self.wrist_joint.hole_diam,
         )
     @assembly()
     def assembly_s2(self) -> Cq.Assembly:
@@ -576,7 +578,8 @@ class WingProfile(Model):
                 result,
                 o.generate(),
                 point_tag=t,
-                flipped=is_top != is_parent,
+                flipped=is_top,# != is_parent,
+                rotate=is_parent,
             )
         return result.solve()
 
@@ -591,30 +594,23 @@ class WingProfile(Model):
     def surface_s3(self,
                    front: bool = True) -> Cq.Workplane:
         wrist_mount_inset = 0
-        wrist_h = self.wrist_joint.child_beam.total_height
+        h = self.wrist_height / 2
-        h = (self.wrist_height - wrist_h) / 2
         tags = [
             ("wrist_bot",
-             self.wrist_to_abs(wrist_mount_inset, h),
+             self.wrist_to_abs(wrist_mount_inset, h - self.wrist_h2),
-             self.wrist_angle + 90),
+             self.wrist_angle),
             ("wrist_top",
-             self.wrist_to_abs(wrist_mount_inset, h + wrist_h),
+             self.wrist_to_abs(wrist_mount_inset, h + self.wrist_h2),
-             self.wrist_angle - 90),
+             self.wrist_angle),
         ]
         profile = self.profile_s3()
         return nhf.utils.extrude_with_markers(profile, self.panel_thickness, tags, reverse=front)
     @submodel(name="spacer-s3-wrist")
     def spacer_s3_wrist(self) -> MountingBox:
-        holes = [
+        return self.spacer_of_joint(
-            Hole(x)
+            joint=self.wrist_joint,
-            for x in self.wrist_joint.child_hole_pos()
+            segment_thickness=self.s3_thickness,
-        ]
+            dx=self.wrist_h2,
-        return MountingBox(
-            length=70.0, # FIXME: magic
-            width=self.s1_thickness,
-            thickness=self.spacer_thickness,
-            holes=holes,
-            hole_diam=self.wrist_joint.hole_diam
         )
     @assembly()
     def assembly_s3(self) -> Cq.Assembly:
@@ -645,8 +641,6 @@ class WingProfile(Model):
                  parts: Optional[list[str]] = None,
                  angle_elbow_wrist: float = 0.0,
                  ) -> Cq.Assembly():
-        assert not self.elbow_joint.flip
-        assert self.wrist_joint.flip
         if parts is None:
             parts = ["s0", "shoulder", "s1", "elbow", "s2", "wrist", "s3"]
         result = (
@@ -683,20 +677,20 @@ class WingProfile(Model):
         if "s1" in parts and "elbow" in parts:
             (
                 result
-                .constrain("s1/elbow_top?conn0", "elbow/parent_upper/top?conn0", "Plane")
+                .constrain("s1/elbow_top?conn0", "elbow/parent_upper/lip?conn_top0", "Plane")
-                .constrain("s1/elbow_top?conn1", "elbow/parent_upper/top?conn1", "Plane")
+                .constrain("s1/elbow_top?conn1", "elbow/parent_upper/lip?conn_top1", "Plane")
-                .constrain("s1/elbow_bot?conn0", "elbow/parent_upper/bot?conn0", "Plane")
+                .constrain("s1/elbow_bot?conn0", "elbow/parent_upper/lip?conn_bot0", "Plane")
-                .constrain("s1/elbow_bot?conn1", "elbow/parent_upper/bot?conn1", "Plane")
+                .constrain("s1/elbow_bot?conn1", "elbow/parent_upper/lip?conn_bot1", "Plane")
             )
         if "s2" in parts:
             result.add(self.assembly_s2(), name="s2")
         if "s2" in parts and "elbow" in parts:
             (
                 result
-                .constrain("s2/elbow_top?conn0", "elbow/child/top?conn0", "Plane")
+                .constrain("s2/elbow_top?conn0", "elbow/child/lip?conn_top0", "Plane")
-                .constrain("s2/elbow_top?conn1", "elbow/child/top?conn1", "Plane")
+                .constrain("s2/elbow_top?conn1", "elbow/child/lip?conn_top1", "Plane")
-                .constrain("s2/elbow_bot?conn0", "elbow/child/bot?conn0", "Plane")
+                .constrain("s2/elbow_bot?conn0", "elbow/child/lip?conn_bot0", "Plane")
-                .constrain("s2/elbow_bot?conn1", "elbow/child/bot?conn1", "Plane")
+                .constrain("s2/elbow_bot?conn1", "elbow/child/lip?conn_bot1", "Plane")
             )
         if "wrist" in parts:
             result.add(self.wrist_joint.assembly(angle=angle_elbow_wrist), name="wrist")
@@ -704,20 +698,20 @@ class WingProfile(Model):
             # Mounted backwards to bend in other direction
             (
                 result
-                .constrain("s2/wrist_top?conn0", "wrist/parent_upper/top?conn0", "Plane")
+                .constrain("s2/wrist_top?conn0", "wrist/parent_upper/bot?conn0", "Plane")
-                .constrain("s2/wrist_top?conn1", "wrist/parent_upper/top?conn1", "Plane")
+                .constrain("s2/wrist_top?conn1", "wrist/parent_upper/bot?conn1", "Plane")
-                .constrain("s2/wrist_bot?conn0", "wrist/parent_upper/bot?conn0", "Plane")
+                .constrain("s2/wrist_bot?conn0", "wrist/parent_upper/top?conn0", "Plane")
-                .constrain("s2/wrist_bot?conn1", "wrist/parent_upper/bot?conn1", "Plane")
+                .constrain("s2/wrist_bot?conn1", "wrist/parent_upper/top?conn1", "Plane")
             )
         if "s3" in parts:
             result.add(self.assembly_s3(), name="s3")
         if "s3" in parts and "wrist" in parts:
             (
                 result
-                .constrain("s3/wrist_top?conn0", "wrist/child/top?conn0", "Plane")
+                .constrain("s3/wrist_top?conn0", "wrist/child/bot?conn0", "Plane")
-                .constrain("s3/wrist_top?conn1", "wrist/child/top?conn1", "Plane")
+                .constrain("s3/wrist_top?conn1", "wrist/child/bot?conn1", "Plane")
-                .constrain("s3/wrist_bot?conn0", "wrist/child/bot?conn0", "Plane")
+                .constrain("s3/wrist_bot?conn0", "wrist/child/top?conn0", "Plane")
-                .constrain("s3/wrist_bot?conn1", "wrist/child/bot?conn1", "Plane")
+                .constrain("s3/wrist_bot?conn1", "wrist/child/top?conn1", "Plane")
             )
         if len(parts) > 1:
             result.solve()