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feat: Use simple joint overlaps, not bridges

This commit is contained in:
Leni Aniva 2024-07-23 22:12:46 -07:00
parent 656a2ae5bb
commit 4e04d30ee2
Signed by: aniva
GPG Key ID: 4D9B1C8D10EA4C50
2 changed files with 201 additions and 103 deletions
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283
nhf/touhou/houjuu_nue/wing.py
View File

@ -55,7 +55,7 @@ class WingProfile(Model):
movement_angle=55,
),
hole_diam=4.0,
angle_neutral=15.0,
angle_neutral=30.0,
actuator=LINEAR_ACTUATOR_50,
flexor_offset_angle=0,
flip=False,
@ -92,7 +92,9 @@ class WingProfile(Model):
elbow_height: float
wrist_bot_loc: Cq.Location
wrist_height: float
elbow_rotate: float = -5.0
elbow_rotate: float = 10.0
elbow_joint_overlap_median: float = 0.3
wrist_joint_overlap_median: float = 0.5
wrist_rotate: float = -30.0
# Position of the elbow axle with 0 being bottom and 1 being top (flipped on the left side)
elbow_axle_pos: float = 0.5
@ -428,6 +430,9 @@ class WingProfile(Model):
"""
Generates profile from shoulder and above. Subclass should implement
"""
@target(name="profile-s2-bridge", kind=TargetKind.DXF)
def profile_s2_bridge(self) -> Optional[Cq.Sketch]:
return None
@target(name="profile-s3-extra", kind=TargetKind.DXF)
def profile_s3_extra(self) -> Optional[Cq.Sketch]:
"""
@ -460,73 +465,44 @@ class WingProfile(Model):
for p in points
])
)
def _child_joint_extension_profile(
self,
axle_loc: Cq.Location,
radius: float,
angle_span: float,
bot: bool = False) -> Cq.Sketch:
"""
Creates a sector profile which accomodates extension
"""
sign = -1 if bot else 1
axle_loc = axle_loc * Cq.Location.rot2d(-90 if bot else 90)
loc_h = Cq.Location.from2d(radius, 0)
start = axle_loc * loc_h
mid = axle_loc * Cq.Location.rot2d(-sign * angle_span/2) * loc_h
end = axle_loc * Cq.Location.rot2d(-sign * angle_span) * loc_h
return (
Cq.Sketch()
.segment(
axle_loc.to2d_pos(),
start.to2d_pos(),
)
.arc(
start.to2d_pos(),
mid.to2d_pos(),
end.to2d_pos(),
)
.segment(
end.to2d_pos(),
axle_loc.to2d_pos(),
)
.assemble()
)
def _parent_joint_extension_profile(
def _joint_extension_cut_polygon(
self,
loc_axle: Cq.Location,
loc_bot: Cq.Location,
loc_top: Cq.Location,
height: float,
angle_span: float,
bot: bool = True
axle_pos: float,
bot: bool = True,
child: bool = False,
overestimate: float = 1.2,
median: float = 0.5,
) -> Cq.Sketch:
"""
Generates a sector-like profile on the child side of a panel to
accomodate for joint rotation
A cut polygon to accomodate for joint extensions
"""
sign = -1 if bot else 1
loc_ext = loc_bot if bot else loc_top
loc_tip = loc_top if bot else loc_bot
loc_arc_right = loc_bot if bot else loc_top
loc_rel_arc_right = loc_axle.inverse * loc_arc_right
loc_arc_left = loc_axle * Cq.Location.rot2d(sign * angle_span) * loc_rel_arc_right
loc_arc_middle = loc_axle * Cq.Location.rot2d(sign * angle_span / 2) * loc_rel_arc_right
theta = math.radians(angle_span * (median if child else 1 - median))
y_sign = -1 if bot else 1
sign = -1 if child else 1
dh = axle_pos * height * (overestimate - 1)
loc_left = loc_ext * Cq.Location.from2d(0, y_sign * dh)
loc_right = loc_left * Cq.Location.from2d(sign * height * overestimate * axle_pos * math.tan(theta), 0)
return (
Cq.Sketch()
.segment(
loc_tip.to2d_pos(),
loc_arc_right.to2d_pos(),
)
.arc(
loc_arc_right.to2d_pos(),
loc_arc_middle.to2d_pos(),
loc_arc_left.to2d_pos(),
loc_left.to2d_pos(),
)
.segment(
loc_left.to2d_pos(),
loc_right.to2d_pos(),
)
.segment(
loc_right.to2d_pos(),
loc_tip.to2d_pos(),
loc_arc_left.to2d_pos(),
)
.assemble()
)
@ -597,10 +573,22 @@ class WingProfile(Model):
@target(name="profile-s1", kind=TargetKind.DXF)
def profile_s1(self) -> Cq.Sketch:
cut_poly = self._joint_extension_cut_polygon(
loc_bot=self.elbow_bot_loc,
loc_top=self.elbow_top_loc,
height=self.elbow_height,
angle_span=self.elbow_joint.motion_span,
axle_pos=self.elbow_axle_pos,
bot=not self.elbow_joint.flip,
median=self.elbow_joint_overlap_median,
child=False,
).reset().polygon(self._mask_elbow(), mode='a')
profile = (
self.profile()
.reset()
.polygon(self._mask_elbow(), mode='i')
.push([self.elbow_axle_loc.to2d_pos()])
.each(lambda _: cut_poly, mode='i')
#.polygon(self._mask_elbow(), mode='i')
)
return profile
def surface_s1(self, front: bool = True) -> Cq.Workplane:
@ -686,21 +674,47 @@ class WingProfile(Model):
@target(name="profile-s2", kind=TargetKind.DXF)
def profile_s2(self) -> Cq.Sketch:
# Calculates `(profile - (E - JE)) * (W + JW)`
cut_elbow = (
Cq.Sketch()
.polygon(self._mask_elbow())
.reset()
.boolean(self._joint_extension_cut_polygon(
loc_bot=self.elbow_bot_loc,
loc_top=self.elbow_top_loc,
height=self.elbow_height,
angle_span=self.elbow_joint.motion_span,
axle_pos=self.elbow_axle_pos,
bot=not self.elbow_joint.flip,
median=self.elbow_joint_overlap_median,
child=True,
), mode='s')
)
cut_wrist = (
Cq.Sketch()
.polygon(self._mask_wrist())
)
if self.flip:
poly = self._joint_extension_cut_polygon(
loc_bot=self.wrist_bot_loc,
loc_top=self.wrist_top_loc,
height=self.wrist_height,
angle_span=self.wrist_joint.motion_span,
axle_pos=self.wrist_axle_pos,
bot=not self.wrist_joint.flip,
median=self.wrist_joint_overlap_median,
child=False,
)
cut_wrist = (
cut_wrist
.reset()
.boolean(poly, mode='a')
)
profile = (
self.profile()
.reset()
.polygon(self._mask_elbow(), mode='s')
.reset()
.polygon(self._mask_wrist(), mode='i')
.reset()
.push([self.elbow_axle_loc])
.each(lambda loc: self._parent_joint_extension_profile(
loc,
self.elbow_bot_loc,
self.elbow_top_loc,
self.elbow_joint.motion_span,
bot=not self.flip,
), mode='a')
.boolean(cut_elbow, mode='s')
.boolean(cut_wrist, mode='i')
)
return profile
def surface_s2(self, front: bool = True) -> Cq.Workplane:
@ -724,33 +738,10 @@ class WingProfile(Model):
profile = self.profile_s2()
tags = tags_elbow + tags_wrist
return extrude_with_markers(profile, self.panel_thickness, tags, reverse=front)
@target(name="profile-s2-bridge", kind=TargetKind.DXF)
def profile_s2_bridge(self) -> Cq.Workplane:
# FIXME: Leave some margin here so we can glue the panels
# Generates the extension profile, which is required on both sides
profile = self._child_joint_extension_profile(
axle_loc=self.wrist_axle_loc,
radius=self.wrist_height * (0.5 if self.flip else 1),
angle_span=self.wrist_joint.motion_span,
bot=self.flip,
)
# Generates the contraction (cut) profile. only required on the left
if self.flip:
extra = (
self.profile()
.reset()
.push([self.wrist_axle_loc])
.each(self._wrist_joint_retract_cut_polygon, mode='i')
)
profile = (
profile
.push([self.wrist_axle_loc])
.each(lambda _: extra, mode='a')
)
return profile
def surface_s2_bridge(self, front: bool = True) -> Cq.Workplane:
def surface_s2_bridge(self, front: bool = True) -> Optional[Cq.Workplane]:
profile = self.profile_s2_bridge()
if profile is None:
return None
loc_wrist = Cq.Location.rot2d(self.wrist_rotate) * self.wrist_joint.parent_arm_loc()
tags = [
("wrist_bot", self.wrist_axle_loc * loc_wrist *
@ -796,11 +787,21 @@ class WingProfile(Model):
material=self.mat_panel, role=self.role_panel)
.constrain("front@faces@>Z", "back@faces@<Z", "Point",
param=self.s1_thickness)
.addS(self.surface_s2_bridge(front=True), name="bridge_front",
)
bridge_front = self.surface_s2_bridge(front=True)
bridge_back = self.surface_s2_bridge(front=False)
if bridge_front:
(
result
.addS(bridge_front, name="bridge_front",
material=self.mat_panel, role=self.role_panel)
.constrain("front?wrist_bot", "bridge_front?wrist_bot", "Plane")
.constrain("front?wrist_top", "bridge_front?wrist_top", "Plane")
.addS(self.surface_s2_bridge(front=False), name="bridge_back",
)
if bridge_back:
(
result
.addS(bridge_back, name="bridge_back",
material=self.mat_panel, role=self.role_panel)
.constrain("back?wrist_bot", "bridge_back?wrist_bot", "Plane")
.constrain("back?wrist_top", "bridge_back?wrist_top", "Plane")
@ -825,10 +826,28 @@ class WingProfile(Model):
@target(name="profile-s3", kind=TargetKind.DXF)
def profile_s3(self) -> Cq.Sketch:
cut_wrist = (
Cq.Sketch()
.polygon(self._mask_wrist())
)
if self.flip:
poly = self._joint_extension_cut_polygon(
loc_bot=self.wrist_bot_loc,
loc_top=self.wrist_top_loc,
height=self.wrist_height,
angle_span=self.wrist_joint.motion_span,
axle_pos=self.wrist_axle_pos,
bot=not self.wrist_joint.flip,
median=self.wrist_joint_overlap_median,
child=True,
)
cut_wrist = (
cut_wrist
.boolean(poly, mode='s')
)
profile = (
self.profile()
.reset()
.polygon(self._mask_wrist(), mode='s')
.boolean(cut_wrist, mode='s')
)
return profile
def surface_s3(self,
@ -1029,7 +1048,6 @@ class WingR(WingProfile):
# Underapproximate the wrist tangent angle to leave no gaps on the blade
blade_wrist_approx_tangent_angle: float = 40.0
blade_overlap_arrow_height: float = 5.0
# Some overlap needed to glue the two sides
blade_overlap_angle: float = -1
blade_hole_angle: float = 3
@ -1116,6 +1134,74 @@ class WingR(WingProfile):
)
return result
def _child_joint_extension_profile(
self,
axle_loc: Cq.Location,
radius: float,
angle_span: float,
bot: bool = False) -> Cq.Sketch:
"""
Creates a sector profile which accomodates extension
"""
# leave some margin for gluing
margin = 5
sign = -1 if bot else 1
axle_loc = axle_loc * Cq.Location.rot2d(-90 if bot else 90)
loc_h = Cq.Location.from2d(radius, 0)
loc_offset = axle_loc * Cq.Location.from2d(0, margin)
start = axle_loc * loc_h
mid = axle_loc * Cq.Location.rot2d(-sign * angle_span/2) * loc_h
end = axle_loc * Cq.Location.rot2d(-sign * angle_span) * loc_h
return (
Cq.Sketch()
.segment(
loc_offset.to2d_pos(),
start.to2d_pos(),
)
.arc(
start.to2d_pos(),
mid.to2d_pos(),
end.to2d_pos(),
)
.segment(
end.to2d_pos(),
axle_loc.to2d_pos(),
)
.segment(
axle_loc.to2d_pos(),
loc_offset.to2d_pos(),
)
.assemble()
)
@target(name="profile-s2-bridge", kind=TargetKind.DXF)
def profile_s2_bridge(self) -> Cq.Sketch:
"""
This extension profile is required to accomodate the awkward shaped
joint next to the scythe
"""
# Generates the extension profile, which is required on both sides
profile = self._child_joint_extension_profile(
axle_loc=self.wrist_axle_loc,
radius=self.wrist_height,
angle_span=self.wrist_joint.motion_span,
bot=self.flip,
)
# Generates the contraction (cut) profile. only required on the left
if self.flip:
extra = (
self.profile()
.reset()
.push([self.wrist_axle_loc])
.each(self._wrist_joint_retract_cut_polygon, mode='i')
)
profile = (
profile
.push([self.wrist_axle_loc])
.each(lambda _: extra, mode='a')
)
return profile
def profile_s3_extra(self) -> Cq.Sketch:
"""
Implements the blade part on Nue's wing
@ -1123,7 +1209,7 @@ class WingR(WingProfile):
left_bot_loc = self.arrow_bot_loc * Cq.Location.rot2d(-1)
hole_bot_loc = self.arrow_bot_loc * Cq.Location.rot2d(self.blade_hole_angle)
right_bot_loc = self.arrow_bot_loc * Cq.Location.rot2d(self.blade_angle)
h_loc = Cq.Location.from2d(0, self.arrow_height + self.blade_overlap_arrow_height)
h_loc = Cq.Location.from2d(0, self.arrow_height)
# Law of sines, uses the triangle of (wrist_bot_loc, arrow_bot_loc, ?)
theta_wp = math.radians(90 - self.blade_wrist_approx_tangent_angle)
@ -1202,6 +1288,9 @@ class WingL(WingProfile):
elbow_axle_pos: float = 0.4
wrist_axle_pos: float = 0.5
elbow_joint_overlap_median: float = 0.5
wrist_joint_overlap_median: float = 0.5
def __post_init__(self):
assert self.wrist_height <= self.shoulder_joint.height
self.wrist_bot_loc = self.wrist_bot_loc.with_angle_2d(self.wrist_angle)

9
nhf/utils.py
View File

@ -100,6 +100,15 @@ def flip_y(self: Cq.Location) -> Cq.Location:
return Cq.Location.from2d(x, -y, -a)
Cq.Location.flip_y = flip_y
def boolean(self: Cq.Sketch, obj, **kwargs) -> Cq.Sketch:
return (
self
.reset()
.push([(0, 0)])
.each(lambda _: obj, **kwargs)
)
Cq.Sketch.boolean = boolean
### Tags
def tagPoint(self, tag: str):