From 98a93cc6514dc861ed7fd80c3be887e58f2e45f0 Mon Sep 17 00:00:00 2001
From: Leni Aniva <v@leni.sh>
Date: Wed, 24 Jul 2024 18:03:43 -0700
Subject: [PATCH] feat: Elbow joint connectedness

---
 nhf/touhou/houjuu_nue/joints.py | 21 ++++++++++++++++++---
 nhf/touhou/houjuu_nue/wing.py   | 16 +++++++++++-----
 2 files changed, 29 insertions(+), 8 deletions(-)

diff --git a/nhf/touhou/houjuu_nue/joints.py b/nhf/touhou/houjuu_nue/joints.py
index 05cf0e7..25b0ebc 100644
--- a/nhf/touhou/houjuu_nue/joints.py
+++ b/nhf/touhou/houjuu_nue/joints.py
@@ -1050,6 +1050,8 @@ class ElbowJoint(Model):
     parent_arm_radius: float = 40.0
 
     lip_thickness: float = 5.0
+    # Extra bit on top of the lip to connect to actuator mount
+    child_lip_extra_length: float = 1.0
     lip_length: float = 60.0
     hole_pos: list[float] = field(default_factory=lambda: [15, 25])
     parent_arm_width: float = 10.0
@@ -1069,8 +1071,9 @@ class ElbowJoint(Model):
     flexor: Optional[Flexor] = None
     # Rotates the entire flexor
     flexor_offset_angle: float = 0
-    # Rotates the surface of the mount
-    flexor_mount_rot: float = 0
+    # Rotates the surface of the mount relative to radially inwards
+    flexor_mount_angle_parent: float = 0
+    flexor_mount_angle_child: float = -90
 
     def __post_init__(self):
         assert self.child_arm_radius > self.disk_joint.radius_housing
@@ -1133,7 +1136,8 @@ class ElbowJoint(Model):
     ) -> Cq.Location:
         # Moves the hole so the axle of the mount is perpendicular to it
         loc_mount = Cq.Location.from2d(self.flexor.mount_height, 0) * Cq.Location.rot2d(180)
-        loc_mount_orient = Cq.Location.rot2d(self.flexor_mount_rot * (-1 if child else 1))
+        mount_angle = self.flexor_mount_angle_child if child else self.flexor_mount_angle_parent
+        loc_mount_orient = Cq.Location.rot2d(mount_angle)
         # 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)
@@ -1182,12 +1186,23 @@ class ElbowJoint(Model):
         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)
+        lip_extra = Cq.Solid.makeBox(
+            length=self.child_lip_extra_length,
+            width=self.total_thickness,
+            height=self.lip_thickness,
+        ).located(Cq.Location((
+            self.lip_length / 2,
+            -self.total_thickness / 2,
+            0,
+        )))
         result = (
             Cq.Assembly()
             .add(self.disk_joint.disk(), name="disk",
                  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)
+            .add(lip_extra, name="lip_extra",
+                 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)
diff --git a/nhf/touhou/houjuu_nue/wing.py b/nhf/touhou/houjuu_nue/wing.py
index 985080d..8d4c241 100644
--- a/nhf/touhou/houjuu_nue/wing.py
+++ b/nhf/touhou/houjuu_nue/wing.py
@@ -64,6 +64,7 @@ class WingProfile(Model):
         actuator=LINEAR_ACTUATOR_50,
         flexor_offset_angle=30,
         parent_arm_width=15,
+        child_lip_extra_length=8,
         flip=False,
     ))
     # Distance between the two spacers on the elbow, halved
@@ -99,12 +100,12 @@ class WingProfile(Model):
     wrist_bot_loc: Cq.Location
     wrist_height: float
     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
-    wrist_axle_pos: float = 0.0
+    elbow_axle_pos: float
+    wrist_axle_pos: float
+    elbow_joint_overlap_median: float
+    wrist_joint_overlap_median: float
 
     # False for the right side, True for the left side
     flip: bool
@@ -1089,6 +1090,10 @@ class WingR(WingProfile):
     ring_radius_inner: float = 22.0
 
     flip: bool = False
+    elbow_axle_pos: float = 0.4
+    wrist_axle_pos: float = 0.0
+    elbow_joint_overlap_median: float = 0.35
+    wrist_joint_overlap_median: float = 0.5
 
     def __post_init__(self):
         super().__post_init__()
@@ -1099,6 +1104,8 @@ class WingR(WingProfile):
             * Cq.Location.rot2d(self.arrow_angle) \
             * Cq.Location.from2d(0, self.arrow_height + self.wrist_height)
         self.ring_loc = self.wrist_top_loc * self.ring_rel_loc
+        self.elbow_joint.flexor_offset_angle = 15
+        self.elbow_joint.flexor_mount_angle_child = -75
         assert self.ring_radius > self.ring_radius_inner
 
         assert 0 > self.blade_overlap_angle > self.arrow_angle
@@ -1316,7 +1323,6 @@ class WingL(WingProfile):
     flip: bool = True
     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