fix: Collision of wing geometry

nhf/touhou/houjuu_nue/__init__.py

@@ -41,7 +41,8 @@ import nhf.touhou.houjuu_nue.harness as MH
 from nhf.parts.item import Item
 import nhf.utils
 
-WING_DEFLECT = 10.0
+WING_DEFLECT_ODD = 0.0
+WING_DEFLECT_EVEN = 25.0
 @dataclass
 class Parameters(Model):
     """
@@ -52,23 +53,26 @@ class Parameters(Model):
 
     wing_r1: MW.WingR = field(default_factory=lambda: MW.WingR(
         name="r1",
-        shoulder_angle_bias = WING_DEFLECT,
+        shoulder_angle_bias = WING_DEFLECT_ODD,
         s0_top_hole=False,
         s0_bot_hole=True,
+        arrow_height=350.0
     ))
     wing_r2: MW.WingR = field(default_factory=lambda: MW.WingR(
         name="r2",
+        shoulder_angle_bias = WING_DEFLECT_EVEN,
         s0_top_hole=True,
         s0_bot_hole=True,
     ))
     wing_r3: MW.WingR = field(default_factory=lambda: MW.WingR(
         name="r3",
-        shoulder_angle_bias = WING_DEFLECT,
+        shoulder_angle_bias = WING_DEFLECT_ODD,
         s0_top_hole=True,
         s0_bot_hole=False,
     ))
     wing_l1: MW.WingL = field(default_factory=lambda: MW.WingL(
         name="l1",
+        shoulder_angle_bias = WING_DEFLECT_EVEN,
         wrist_angle=-60.0,
         s0_top_hole=False,
         s0_bot_hole=True,
@@ -76,12 +80,13 @@ class Parameters(Model):
     wing_l2: MW.WingL = field(default_factory=lambda: MW.WingL(
         name="l2",
         wrist_angle=-30.0,
-        shoulder_angle_bias = WING_DEFLECT,
+        shoulder_angle_bias = WING_DEFLECT_ODD,
         s0_top_hole=True,
         s0_bot_hole=True,
     ))
     wing_l3: MW.WingL = field(default_factory=lambda: MW.WingL(
         name="l3",
+        shoulder_angle_bias = WING_DEFLECT_EVEN,
         wrist_angle=-0.0,
         s0_top_hole=True,
         s0_bot_hole=False,

nhf/touhou/houjuu_nue/joints.py

@@ -303,7 +303,7 @@ class ShoulderJoint(Model):
 
     directrix_id: int = 0
     angle_neutral: float = -15.0
-    angle_max_deflection: float = 90.0
+    angle_max_deflection: float = 65.0
 
     def __post_init__(self):
         assert self.parent_lip_length * 2 < self.height
@@ -1022,8 +1022,8 @@ class ElbowJoint(Model):
         # Moves the hole to be some distance apart from 0
         mount_r, mount_loc_angle, mount_parent_r = self.flexor.open_pos()
         loc_span = Cq.Location.from2d(mount_r if child else mount_parent_r, 0)
-        r = (-mount_loc_angle - self.angle_neutral if child else 0) + 180 + self.flexor_offset_angle
+        alpha = (-mount_loc_angle if child else 0) + 180 - self.flexor_offset_angle
-        loc_rot = Cq.Location.rot2d(r)
+        loc_rot = Cq.Location.rot2d(alpha)
         loc = loc_rot * loc_span * loc_mount_orient * loc_mount
         return loc.flip_y() if self.flip and not child and not unflip else loc
 
@@ -1062,14 +1062,17 @@ class ElbowJoint(Model):
             Cq.Location((-lip_dz, 0, 0), (1, 0, 0), 90) *
             Cq.Location((0, 0, 0), (0, 1, 0), 90)
         )
+        loc_rot_neutral = Cq.Location.rot2d(self.angle_neutral)
         loc_disk = flip_x * flip_z * Cq.Location((-self.child_arm_radius, 0, 0))
         loc_cut_rel = Cq.Location((0, self.disk_joint.spring.radius_inner, -self.disk_joint.disk_bot_thickness))
         disk_cut = self.disk_joint._disk_cut().located(
             loc_lip.inverse * loc_cut_rel * loc_disk)
         result = (
             Cq.Assembly()
-            .add(self.disk_joint.disk(), name="disk", loc=Cq.Location((0, 0, -dz), (0,0,1), angle))
+            .add(self.disk_joint.disk(), name="disk",
-            .add(self.lip().cut(disk_cut), name="lip", loc=loc_disk.inverse * loc_lip)
+                 loc=loc_rot_neutral * Cq.Location((0, 0, -dz), (0,0,1), angle))
+            .add(self.lip().cut(disk_cut), name="lip",
+                 loc=loc_rot_neutral * loc_disk.inverse * loc_lip)
         )
         # Orientes the hole surface so it faces +X
         loc_thickness = Cq.Location((-self.lip_thickness, 0, 0), (0, 1, 0), 90)
@@ -1136,12 +1139,12 @@ class ElbowJoint(Model):
                 result.add(
                     self.actuator_mount(),
                     name="act",
-                    loc=self.actuator_mount_loc(child=False) * loc_thickness)
+                    loc=self.actuator_mount_loc(child=False, unflip=True) * loc_thickness)
             else:
                 result.add(
                     Cq.Edge.makeLine((-1,0,0), (1,0,0)),
                     name="act",
-                    loc=self.actuator_mount_loc(child=False))
+                    loc=self.actuator_mount_loc(child=False, unflip=True))
         return result
 
     @assembly()

nhf/touhou/houjuu_nue/wing.py

@@ -14,7 +14,12 @@ from nhf.parts.box import box_with_centre_holes, MountingBox, Hole
 from nhf.parts.joints import HirthJoint
 from nhf.parts.planar import extrude_with_markers
 from nhf.touhou.houjuu_nue.joints import RootJoint, ShoulderJoint, ElbowJoint, DiskJoint
-from nhf.touhou.houjuu_nue.electronics import LINEAR_ACTUATOR_21, LINEAR_ACTUATOR_50, ElectronicBoard
+from nhf.touhou.houjuu_nue.electronics import (
+    LINEAR_ACTUATOR_10,
+    LINEAR_ACTUATOR_21,
+    LINEAR_ACTUATOR_50,
+    ElectronicBoard
+)
 import nhf.utils
 
 @dataclass(kw_only=True)
@@ -55,9 +60,9 @@ class WingProfile(Model):
             movement_angle=55,
         ),
         hole_diam=4.0,
-        angle_neutral=30.0,
+        angle_neutral=10.0,
         actuator=LINEAR_ACTUATOR_50,
-        flexor_offset_angle=0,
+        flexor_offset_angle=30,
         flip=False,
     ))
     # Distance between the two spacers on the elbow, halved
@@ -74,9 +79,9 @@ class WingProfile(Model):
         child_arm_radius=23.0,
         parent_arm_radius=30.0,
         hole_diam=4.0,
-        angle_neutral=-30.0,
+        angle_neutral=0.0,
-        actuator=LINEAR_ACTUATOR_21,
+        actuator=LINEAR_ACTUATOR_10,
-        flexor_offset_angle=0,
+        flexor_offset_angle=30.0,
         flip=True,
     ))
     # Distance between the two spacers on the elbow, halved