aniva
/
Cosplay
1
1
Fork 0
Code Issues 1 Pull Requests 2 Packages Projects Releases Wiki Activity

fix: Elbow joint output problem

This commit is contained in:
Leni Aniva 2024-07-25 13:27:25 -07:00
parent b7ca30bc28
commit 57deefbd5f
Signed by: aniva
GPG Key ID: 4D9B1C8D10EA4C50
1 changed files with 12 additions and 6 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

18
nhf/touhou/houjuu_nue/joints.py
View File

@ -1252,8 +1252,7 @@ class ElbowJoint(Model):
) )
return mbox.generate() return mbox.generate()
@target(name="child") def child_joint(self, generate_mount: bool=False, generate_tags=True) -> Cq.Assembly:
def child_joint(self, generate_mount: bool=False) -> Cq.Assembly:
angle = -self.disk_joint.tongue_span / 2 angle = -self.disk_joint.tongue_span / 2
dz = self.disk_joint.disk_thickness / 2 dz = self.disk_joint.disk_thickness / 2
# We need to ensure the disk is on the "other" side so # We need to ensure the disk is on the "other" side so
@ -1290,7 +1289,7 @@ class ElbowJoint(Model):
) )
# Orientes the hole surface so it faces +X # Orientes the hole surface so it faces +X
loc_thickness = Cq.Location((-self.lip_thickness, 0, 0), (0, 1, 0), 90) loc_thickness = Cq.Location((-self.lip_thickness, 0, 0), (0, 1, 0), 90)
if self.flexor: if self.flexor and generate_tags:
loc_mount = self.actuator_mount_loc(child=True, unflip=True) loc_mount = self.actuator_mount_loc(child=True, unflip=True)
result.add( result.add(
Cq.Edge.makeLine((-1,0,0), (1,0,0)), Cq.Edge.makeLine((-1,0,0), (1,0,0)),
@ -1306,12 +1305,15 @@ class ElbowJoint(Model):
) )
return result return result
@target(name="child")
def target_child(self) -> Cq.Assembly:
return self.child_joint(generate_tags=False)
@target(name="parent-lower") @target(name="parent-lower")
def parent_joint_lower(self) -> Cq.Workplane: def parent_joint_lower(self) -> Cq.Workplane:
return self.disk_joint.housing_lower() return self.disk_joint.housing_lower()
@target(name="parent-upper") def parent_joint_upper(self, generate_mount: bool=False, generate_tags=True):
def parent_joint_upper(self, generate_mount: bool=False):
axial_offset = Cq.Location((self.parent_arm_radius, 0, 0)) axial_offset = Cq.Location((self.parent_arm_radius, 0, 0))
housing_dz = self.disk_joint.housing_upper_dz housing_dz = self.disk_joint.housing_upper_dz
conn_h = self.disk_joint.total_thickness conn_h = self.disk_joint.total_thickness
@ -1355,7 +1357,7 @@ class ElbowJoint(Model):
#.constrain("connector", "Fixed") #.constrain("connector", "Fixed")
#.solve() #.solve()
) )
if self.flexor: if self.flexor and generate_tags:
loc_mount = self.actuator_mount_loc(child=False, unflip=True) loc_mount = self.actuator_mount_loc(child=False, unflip=True)
result.add( result.add(
Cq.Edge.makeLine((-1,0,0), (1,0,0)), Cq.Edge.makeLine((-1,0,0), (1,0,0)),
@ -1371,6 +1373,10 @@ class ElbowJoint(Model):
) )
return result return result
@target(name="parent-upper")
def target_parent_upper(self) -> Cq.Assembly:
return self.parent_joint_upper(generate_tags=False)
@assembly() @assembly()
def assembly(self, def assembly(self,
angle: float = 0, angle: float = 0,