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feat: Shoulder joint follow wing direction

This commit is contained in:
Leni Aniva 2024-07-17 01:06:52 -07:00
parent 572c39d31f
commit 53b3a2bd34
Signed by: aniva
GPG Key ID: 4D9B1C8D10EA4C50
2 changed files with 24 additions and 3 deletions
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5
nhf/touhou/houjuu_nue/joints.py
View File

@ -63,6 +63,7 @@ class ShoulderJoint(Model):
axis_rotate_top: float = -225.0
directrix_id: int = 0
angle_neutral: float = 10.0
def __post_init__(self):
assert self.parent_lip_length * 2 < self.height
@ -189,8 +190,8 @@ class ShoulderJoint(Model):
)
theta = self.torsion_joint.spring.angle_neutral - self.torsion_joint.rider_slot_span
loc_rotate = Cq.Location((0, 0, 0), (1, 0, 0), 180)
loc_axis_rotate_bot = Cq.Location((0, 0, 0), (0, 0, 1), self.axis_rotate_bot)
loc_axis_rotate_top = Cq.Location((0, 0, 0), (0, 0, 1), self.axis_rotate_top)
loc_axis_rotate_bot = Cq.Location((0, 0, 0), (0, 0, 1), self.axis_rotate_bot + self.angle_neutral)
loc_axis_rotate_top = Cq.Location((0, 0, 0), (0, 0, 1), self.axis_rotate_top + self.angle_neutral)
result = (
Cq.Assembly()
.add(core, name="core", loc=Cq.Location())

22
nhf/touhou/houjuu_nue/wing.py
View File

@ -93,6 +93,8 @@ class WingProfile(Model):
self.wrist_s = math.sin(self.wrist_theta)
self.wrist_top_x, self.wrist_top_y = self.wrist_to_abs(0, self.wrist_height)
self.shoulder_joint.angle_neutral = -self.shoulder_angle_neutral
@submodel(name="shoulder-joint")
def submodel_shoulder_joint(self) -> Model:
return self.shoulder_joint
@ -180,6 +182,17 @@ class WingProfile(Model):
#)
)
@property
def shoulder_angle_neutral(self) -> float:
"""
Returns the neutral angle of the shoulder
"""
dx = self.shoulder_mid_x - self.shoulder_tip_x
dy = -(self.shoulder_mid_y - (self.shoulder_tip_y - self.shoulder_width))
result = math.degrees(math.atan2(dy, dx))
assert result >= 0
return result
@target(name="profile-s0", kind=TargetKind.DXF)
def profile_s0(self) -> Cq.Sketch:
tip_x = self.shoulder_tip_x
@ -270,10 +283,17 @@ class WingProfile(Model):
def surface_s0(self, top: bool = False) -> Cq.Workplane:
base_dx = -(self.base_width - self.base_plate_width) / 2
base_dy = self.base_joint.joint_height
sw = self.shoulder_width
axle_dist = self.shoulder_joint.parent_lip_ext
theta = math.radians(self.shoulder_joint.angle_neutral)
c, s = math.cos(-theta), math.sin(-theta)
tags = [
("shoulder", (self.shoulder_tip_x + axle_dist, self.shoulder_tip_y - self.shoulder_width), 0),
# transforms [axle_dist, -sw/2] about the centre (tip_x, tip_y - sw/2)
("shoulder", (
self.shoulder_tip_x + axle_dist * c + (-sw/2) * s,
self.shoulder_tip_y - sw / 2 - axle_dist * s + (-sw/2) * c),
self.shoulder_joint.angle_neutral),
("base", (base_dx, base_dy), 90),
]
result = nhf.utils.extrude_with_markers(