From a0ae8c91eb8ac86bbca075a4fae00d47c482cd62 Mon Sep 17 00:00:00 2001
From: Leni Aniva <v@leni.sh>
Date: Sat, 13 Jul 2024 16:19:17 -0700
Subject: [PATCH] feat: Remove fixed rotation constraints

There is currently a bug when it comes to solving deeply nested
assemblies. We need to come up with a solution.
---
 nhf/touhou/houjuu_nue/joints.py | 29 ++++++++++++++---------------
 nhf/touhou/houjuu_nue/wing.py   |  8 ++++----
 nhf/utils.py                    |  2 +-
 3 files changed, 19 insertions(+), 20 deletions(-)

diff --git a/nhf/touhou/houjuu_nue/joints.py b/nhf/touhou/houjuu_nue/joints.py
index a2f85a3..dfd5207 100644
--- a/nhf/touhou/houjuu_nue/joints.py
+++ b/nhf/touhou/houjuu_nue/joints.py
@@ -458,7 +458,7 @@ class DiskJoint(Model):
             )
         )
         result.faces("<Z").tag("mate")
-        result.copyWorkplane(Cq.Workplane('XY')).tagPlane("dir", direction="-X")
+        result.copyWorkplane(Cq.Workplane('XY')).tagPlane("dir", direction="+X")
         result = result.faces(">Z").hole(self.radius_axle * 2)
 
         # tube which holds the spring interior
@@ -491,11 +491,11 @@ class DiskJoint(Model):
                         disk: str,
                         angle: float,
                         ) -> Cq.Assembly:
-        (
+        return (
             assembly
             .constrain(f"{disk}?mate_bot", f"{housing_lower}?mate", "Plane")
             .constrain(f"{disk}?mate_top", f"{housing_upper}?mate", "Plane")
-            .constrain(f"{housing_lower}?dirX", f"{housing_upper}?dir", "Axis")
+            .constrain(f"{housing_lower}?dirX", f"{housing_upper}?dir", "Axis", param=0)
             .constrain(f"{housing_lower}?dirX", f"{disk}?dir", "Axis", param=angle)
             .constrain(f"{housing_lower}?dirY", f"{disk}?dir", "Axis", param=angle - 90)
         )
@@ -513,9 +513,9 @@ class DiskJoint(Model):
             .add(self.disk(), name="disk", color=Role.CHILD.color)
             .add(self.housing_lower(), name="housing_lower", color=Role.PARENT.color)
             .add(self.housing_upper(), name="housing_upper", color=Role.CASING.color)
-            .constrain("housing_lower", "Fixed")
+            #.constrain("housing_lower", "Fixed")
         )
-        self.add_constraints(
+        result = self.add_constraints(
             result,
             housing_lower="housing_lower",
             housing_upper="housing_upper",
@@ -574,10 +574,10 @@ class ElbowJoint:
             self.child_beam.beam()
             .add(self.disk_joint.disk(), name="disk",
                  loc=flip * Cq.Location((-self.child_arm_radius, 0, -dz), (0, 0, 1), angle))
-            .constrain("disk", "Fixed")
-            .constrain("top", "Fixed")
-            .constrain("bot", "Fixed")
-            .solve()
+            #.constrain("disk", "Fixed")
+            #.constrain("top", "Fixed")
+            #.constrain("bot", "Fixed")
+            #.solve()
         )
         return result
 
@@ -607,22 +607,21 @@ class ElbowJoint:
                  loc=axial_offset * Cq.Location((0, 0, housing_dz)))
             .add(connector, name="connector",
                  loc=axial_offset)
-            .constrain("housing", "Fixed")
-            .constrain("connector", "Fixed")
-            .solve()
+            #.constrain("housing", "Fixed")
+            #.constrain("connector", "Fixed")
+            #.solve()
         )
         return result
 
     def assembly(self, angle: float = 0) -> Cq.Assembly:
-        da = self.disk_joint.tongue_span / 2 + 180
         result = (
             Cq.Assembly()
             .add(self.child_joint(), name="child", color=Role.CHILD.color)
             .add(self.parent_joint_lower(), name="parent_lower", color=Role.CASING.color)
             .add(self.parent_joint_upper(), name="parent_upper", color=Role.PARENT.color)
-            #.constrain("parent_lower", "Fixed")
+            #.constrain("child/disk?mate_bot", "Fixed")
         )
-        self.disk_joint.add_constraints(
+        result = self.disk_joint.add_constraints(
             result,
             housing_lower="parent_lower",
             housing_upper="parent_upper/housing",
diff --git a/nhf/touhou/houjuu_nue/wing.py b/nhf/touhou/houjuu_nue/wing.py
index b3bc434..da83b90 100644
--- a/nhf/touhou/houjuu_nue/wing.py
+++ b/nhf/touhou/houjuu_nue/wing.py
@@ -364,8 +364,8 @@ class WingProfile:
         abscissa = 200
         return [
             (0, -abscissa),
-            (self.wrist_x - self.wrist_s * abscissa,
-             self.wrist_y - self.wrist_c * abscissa),
+            (self.wrist_x, -abscissa),
+            (self.wrist_x, self.wrist_y),
             (self.wrist_top_x, self.wrist_top_y),
             (0, abscissa),
         ]
@@ -410,9 +410,9 @@ class WingProfile:
         profile = (
             self.profile()
             .reset()
-            .polygon(self._mask_wrist(), mode='i')
-            .reset()
             .polygon(self._mask_elbow(), mode='s')
+            .reset()
+            .polygon(self._mask_wrist(), mode='i')
         )
         return profile
     def surface_s2(self,
diff --git a/nhf/utils.py b/nhf/utils.py
index a834022..b1b92d8 100644
--- a/nhf/utils.py
+++ b/nhf/utils.py
@@ -48,7 +48,7 @@ def tagPlane(self, tag: str,
     else:
         v = Cq.Vector(direction)
     edge = Cq.Edge.makeLine(v * (-1), v)
-    self.eachpoint(edge.moved, useLocalCoordinates=True).tag(tag)
+    return self.eachpoint(edge.located, useLocalCoordinates=True).tag(tag)
 
 Cq.Workplane.tagPlane = tagPlane