feat: Shoulder parent joint

nhf/parts/joints.py

@@ -379,7 +379,9 @@ class TorsionJoint:
                         forConstruction=True).tag("directrix")
         return result
 
-    def rider(self):
+    def rider(self, rider_slot_begin=None):
+        if not rider_slot_begin:
+            rider_slot_begin = self.rider_slot_begin
         def slot(loc):
             wire = Cq.Wire.makePolygon(self._slot_polygon(flip=False))
             face = Cq.Face.makeFromWires(wire)

nhf/parts/test.py

@@ -24,6 +24,7 @@ class TestJoints(unittest.TestCase):
         joints.comma_assembly()
 
     def torsion_joint_case(self, joint: joints.TorsionJoint, slot: int):
+        assert 0 <= slot and slot < joint.rider_n_slots
         assembly = joint.rider_track_assembly(slot)
         bbox = assembly.toCompound().BoundingBox()
         self.assertAlmostEqual(bbox.zlen, joint.total_height)
@@ -45,6 +46,11 @@ class TestJoints(unittest.TestCase):
             spring_hole_cover_rider=True,
         )
         self.torsion_joint_case(j, 1)
+    def test_torsion_joint_slot(self):
+        j = joints.TorsionJoint(
+            rider_slot_begin=90,
+        )
+        self.torsion_joint_case(j, 1)
 
 
 

nhf/touhou/houjuu_nue/__init__.py

@@ -92,8 +92,10 @@ class Parameters(Model):
     wing_root_radius: float = 40
     wing_root_wall_thickness: float = 8
 
-    shoulder_joint: TorsionJoint = field(default_factory=lambda: TorsionJoint(
+    shoulder_torsion_joint: TorsionJoint = field(default_factory=lambda: TorsionJoint(
-        radius_axle=8
+        track_disk_height=5.0,
+        rider_disk_height=7.0,
+        radius_axle=8.0,
     ))
 
     # Two holes on each side (top and bottom) are used to attach the shoulder
@@ -104,10 +106,10 @@ class Parameters(Model):
     """
     Heights for various wing joints, where the numbers start from the first joint.
     """
+    wing_s0_thickness: float = 40
+    wing_s0_height: float = 100
     wing_r1_height: float = 100
     wing_r1_width: float = 400
-    wing_r2_height: float = 100
-    wing_r3_height: float = 100
 
     trident_handle: Handle = field(default_factory=lambda: Handle(
         diam=38,
@@ -267,18 +269,20 @@ class Parameters(Model):
             shoulder_attach_dist=self.shoulder_attach_dist,
             shoulder_attach_diam=self.shoulder_attach_diam,
             wall_thickness=self.wing_root_wall_thickness,
+            conn_height=self.wing_s0_height,
+            conn_thickness=self.wing_s0_thickness,
         )
 
-    @target(name="shoulder")
+    @target(name="shoulder_parent")
-    def shoulder_parent_joint(self) -> Cq.Assembly:
+    def shoulder_parent_joint(self) -> Cq.Workplane:
         result = (
-            self.shoulder_joint.rider()
+            self.shoulder_torsion_joint.rider()
             .copyWorkplane(Cq.Workplane(
-                'YZ', origin=Cq.Vector((100, 0, self.wing_root_wall_thickness))))
+                'YZ', origin=Cq.Vector((90, 0, self.wing_root_wall_thickness))))
-            .rect(30, 10, centered=(True, False))
+            .rect(25, 7, centered=(True, False))
             .extrude("next")
             .copyWorkplane(Cq.Workplane(
-                'YX', origin=Cq.Vector((60, 0, self.wing_root_wall_thickness))))
+                'YX', origin=Cq.Vector((55, 0, self.wing_root_wall_thickness))))
             .hole(self.shoulder_attach_diam)
             .moveTo(0, self.shoulder_attach_dist)
             .hole(self.shoulder_attach_diam)
@@ -287,6 +291,27 @@ class Parameters(Model):
         result.moveTo(0, self.shoulder_attach_dist).tagPlane('conn1')
         return result
 
+    @target(name="shoulder_child")
+    def shoulder_child_joint(self) -> Cq.Assembly:
+        # FIXME: half of conn_height
+        h = 100 / 2
+        dh = h - self.shoulder_torsion_joint.total_height
+        core = (
+            Cq.Workplane('XY')
+            .moveTo(0, 15)
+            .box(50, 40, 2 * dh, centered=(True, False, True))
+        )
+        loc_rotate = Cq.Location((0, 0, 0), (1, 0, 0), 180)
+        result = (
+            Cq.Assembly()
+            .add(core, name="core", loc=Cq.Location())
+            .add(self.shoulder_torsion_joint.track(), name="track_top",
+                 loc=Cq.Location((0, 0, dh), (0, 0, 1), -90))
+            .add(self.shoulder_torsion_joint.track(), name="track_bot",
+                 loc=Cq.Location((0, 0, -dh), (0, 0, 1), -90) * loc_rotate)
+        )
+        return result
+
     def wing_r1_profile(self) -> Cq.Sketch:
         """
         Generates the first wing segment profile, with the wing root pointing in
@@ -352,14 +377,44 @@ class Parameters(Model):
         result.solve()
         return result
 
+    def shoulder_assembly(self) -> Cq.Assembly:
+        result = (
+            Cq.Assembly()
+            .add(self.shoulder_child_joint(), name="child",
+                 color=Role.CHILD.color)
+            .constrain("child/core", "Fixed")
+            # Top parent joint
+            .add(self.shoulder_torsion_joint.spring(), name="spring_top",
+                 color=Role.DAMPING.color)
+            .constrain("child/track_top?spring", "spring_top?top", "Plane")
+            .constrain("child/track_top?directrix", "spring_top?directrix_bot", "Axis")
+            .add(self.shoulder_parent_joint(), name="parent_top",
+                 color=Role.PARENT.color)
+            .constrain("parent_top?spring", "spring_top?bot", "Plane")
+            .constrain("parent_top?directrix0", "spring_top?directrix_top", "Axis")
+            # Bottom parent joint
+            .add(self.shoulder_torsion_joint.spring(), name="spring_bot",
+                 color=Role.DAMPING.color)
+            .constrain("child/track_bot?spring", "spring_bot?top", "Plane")
+            .constrain("child/track_bot?directrix", "spring_bot?directrix_bot", "Axis")
+            .add(self.shoulder_parent_joint(), name="parent_bot",
+                 color=Role.PARENT.color)
+            .constrain("parent_bot?spring", "spring_bot?bot", "Plane")
+            .constrain("parent_bot?directrix0", "spring_bot?directrix_top", "Axis")
+            .solve()
+        )
+        return result
+
     def wing_r1_assembly(self) -> Cq.Assembly:
         result = (
             Cq.Assembly()
             .add(self.wing_root(), name="r1")
-            .add(self.shoulder_parent_joint(), name="shoulder_parent_top",
+            .add(self.shoulder_assembly(), name="shoulder")
-                 color=Material.RESIN_TRANSPARENT.color)
+            .constrain("r1/scaffold", "Fixed")
-            .constrain("r1/scaffold?conn_top0", "shoulder_parent_top?conn0", "Plane")
+            .constrain("r1/scaffold?conn_top0", "shoulder/parent_top?conn0", "Plane")
-            .constrain("r1/scaffold?conn_top1", "shoulder_parent_top?conn1", "Plane")
+            .constrain("r1/scaffold?conn_top1", "shoulder/parent_top?conn1", "Plane")
+            .constrain("r1/scaffold?conn_bot0", "shoulder/parent_bot?conn0", "Plane")
+            .constrain("r1/scaffold?conn_bot1", "shoulder/parent_bot?conn1", "Plane")
             .solve()
         )
         return result

nhf/touhou/houjuu_nue/test.py

@@ -1,6 +1,7 @@
 import unittest
 import cadquery as Cq
 import nhf.touhou.houjuu_nue as M
+from nhf.checks import pairwise_intersection
 
 class Test(unittest.TestCase):
 
@@ -8,19 +9,23 @@ class Test(unittest.TestCase):
         p = M.Parameters()
         obj = p.hs_joint_parent()
         self.assertIsInstance(obj.val().solids(), Cq.Solid, msg="H-S joint must be in one piece")
+    def test_shoulder_joint(self):
+        p = M.Parameters()
+        shoulder = p.shoulder_assembly()
+        assert isinstance(shoulder, Cq.Assembly)
+        self.assertEqual(pairwise_intersection(shoulder), [])
+
     def test_wing_root(self):
         p = M.Parameters()
         obj = p.wing_root()
+        assert isinstance(obj, Cq.Assembly)
         #self.assertIsInstance(obj.solids(), Cq.Solid, msg="Wing root must be in one piece")
-        bbox = obj.val().BoundingBox()
+        bbox = obj.toCompound().BoundingBox()
 
         msg = "Must fix 256^3 bbox"
         self.assertLess(bbox.xlen, 255, msg=msg)
         self.assertLess(bbox.ylen, 255, msg=msg)
         self.assertLess(bbox.zlen, 255, msg=msg)
-    def test_wing_root(self):
-        p = M.Parameters()
-        p.wing_root()
     def test_wings_assembly(self):
         p = M.Parameters()
         p.wings_assembly()

nhf/touhou/houjuu_nue/wing.py

@@ -14,7 +14,7 @@ def wing_root_profiles(
         base_radius=40,
         middle_offset=30,
         middle_height=80,
-        conn_width=40,
+        conn_thickness=40,
         conn_height=100) -> tuple[Cq.Wire, Cq.Wire]:
     assert base_sweep < 180
     assert middle_offset > 0
@@ -74,7 +74,7 @@ def wing_root_profiles(
     # If the exterior sweep is theta', it has to satisfy
     #
     # sin(theta) * r2 + wall_thickness = sin(theta') * r1
-    x, y = conn_width / 2, middle_height / 2
+    x, y = conn_thickness / 2, middle_height / 2
     t = wall_thickness
     dx = middle_offset
     middle = (
@@ -109,7 +109,7 @@ def wing_root_profiles(
     )
     assert isinstance(middle, Cq.Wire)
 
-    x, y = conn_width / 2, conn_height / 2
+    x, y = conn_thickness / 2, conn_height / 2
     t = wall_thickness
     tip = (
         Cq.Sketch()
@@ -132,30 +132,32 @@ def wing_root(joint: HirthJoint,
               union_tol=1e-4,
               shoulder_attach_diam=8,
               shoulder_attach_dist=25,
-              conn_width=40,
+              conn_thickness=40,
               conn_height=100,
               wall_thickness=8) -> Cq.Assembly:
     """
     Generate the contiguous components of the root wing segment
     """
     tip_centre = Cq.Vector((-150, 0, -80))
+    attach_theta = math.radians(5)
+    c, s = math.cos(attach_theta), math.sin(attach_theta)
     attach_points = [
-        (15, 0),
+        (15, 4),
-        (15 + shoulder_attach_dist, 0),
+        (15 + shoulder_attach_dist * c, 4 + shoulder_attach_dist * s),
     ]
     root_profile, middle_profile, tip_profile = wing_root_profiles(
-        conn_width=conn_width,
+        conn_thickness=conn_thickness,
         conn_height=conn_height,
         wall_thickness=8,
     )
     middle_profile = middle_profile.located(Cq.Location(
-        (-40, 0, -40), (0, 30, 0)
+        (-40, 0, -40), (0, 1, 0), 30
     ))
     antetip_profile = tip_profile.located(Cq.Location(
-        (-95, 0, -75), (0, 60, 0)
+        (-95, 0, -75), (0, 1, 0), 60
     ))
     tip_profile = tip_profile.located(Cq.Location(
-        tip_centre, (0, 90, 0)
+        tip_centre, (0, 1, 0), 90
     ))
     profiles = [
         root_profile,
@@ -201,9 +203,11 @@ def wing_root(joint: HirthJoint,
                              Cq.Vector((0, y, 0)))
             )
         )
+        if side == "bottom":
+            side = "bot"
         for i, (px, py) in enumerate(attach_points):
             tag = f"conn_{side}{i}"
-            plane.moveTo(px, py).tagPlane(tag)
+            plane.moveTo(px, -py if side == "top" else py).tagPlane(tag)
 
     result.faces("<Z").tag("base")
     result.faces(">X").tag("conn")