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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.
This commit is contained in:
Leni Aniva 2024-07-13 16:19:17 -07:00
parent e744250c6c
commit a0ae8c91eb
Signed by: aniva
GPG Key ID: 4D9B1C8D10EA4C50
3 changed files with 19 additions and 20 deletions
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29
nhf/touhou/houjuu_nue/joints.py
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@ -458,7 +458,7 @@ class DiskJoint(Model):
) )
) )
result.faces("<Z").tag("mate") 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) result = result.faces(">Z").hole(self.radius_axle * 2)
# tube which holds the spring interior # tube which holds the spring interior
@ -491,11 +491,11 @@ class DiskJoint(Model):
disk: str, disk: str,
angle: float, angle: float,
) -> Cq.Assembly: ) -> Cq.Assembly:
( return (
assembly assembly
.constrain(f"{disk}?mate_bot", f"{housing_lower}?mate", "Plane") .constrain(f"{disk}?mate_bot", f"{housing_lower}?mate", "Plane")
.constrain(f"{disk}?mate_top", f"{housing_upper}?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}?dirX", f"{disk}?dir", "Axis", param=angle)
.constrain(f"{housing_lower}?dirY", f"{disk}?dir", "Axis", param=angle - 90) .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.disk(), name="disk", color=Role.CHILD.color)
.add(self.housing_lower(), name="housing_lower", color=Role.PARENT.color) .add(self.housing_lower(), name="housing_lower", color=Role.PARENT.color)
.add(self.housing_upper(), name="housing_upper", color=Role.CASING.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, result,
housing_lower="housing_lower", housing_lower="housing_lower",
housing_upper="housing_upper", housing_upper="housing_upper",
@ -574,10 +574,10 @@ class ElbowJoint:
self.child_beam.beam() self.child_beam.beam()
.add(self.disk_joint.disk(), name="disk", .add(self.disk_joint.disk(), name="disk",
loc=flip * Cq.Location((-self.child_arm_radius, 0, -dz), (0, 0, 1), angle)) loc=flip * Cq.Location((-self.child_arm_radius, 0, -dz), (0, 0, 1), angle))
.constrain("disk", "Fixed") #.constrain("disk", "Fixed")
.constrain("top", "Fixed") #.constrain("top", "Fixed")
.constrain("bot", "Fixed") #.constrain("bot", "Fixed")
.solve() #.solve()
) )
return result return result
@ -607,22 +607,21 @@ class ElbowJoint:
loc=axial_offset * Cq.Location((0, 0, housing_dz))) loc=axial_offset * Cq.Location((0, 0, housing_dz)))
.add(connector, name="connector", .add(connector, name="connector",
loc=axial_offset) loc=axial_offset)
.constrain("housing", "Fixed") #.constrain("housing", "Fixed")
.constrain("connector", "Fixed") #.constrain("connector", "Fixed")
.solve() #.solve()
) )
return result return result
def assembly(self, angle: float = 0) -> Cq.Assembly: def assembly(self, angle: float = 0) -> Cq.Assembly:
da = self.disk_joint.tongue_span / 2 + 180
result = ( result = (
Cq.Assembly() Cq.Assembly()
.add(self.child_joint(), name="child", color=Role.CHILD.color) .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_lower(), name="parent_lower", color=Role.CASING.color)
.add(self.parent_joint_upper(), name="parent_upper", color=Role.PARENT.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, result,
housing_lower="parent_lower", housing_lower="parent_lower",
housing_upper="parent_upper/housing", housing_upper="parent_upper/housing",

8
nhf/touhou/houjuu_nue/wing.py
View File

@ -364,8 +364,8 @@ class WingProfile:
abscissa = 200 abscissa = 200
return [ return [
(0, -abscissa), (0, -abscissa),
(self.wrist_x - self.wrist_s * abscissa, (self.wrist_x, -abscissa),
self.wrist_y - self.wrist_c * abscissa), (self.wrist_x, self.wrist_y),
(self.wrist_top_x, self.wrist_top_y), (self.wrist_top_x, self.wrist_top_y),
(0, abscissa), (0, abscissa),
] ]
@ -410,9 +410,9 @@ class WingProfile:
profile = ( profile = (
self.profile() self.profile()
.reset() .reset()
.polygon(self._mask_wrist(), mode='i')
.reset()
.polygon(self._mask_elbow(), mode='s') .polygon(self._mask_elbow(), mode='s')
.reset()
.polygon(self._mask_wrist(), mode='i')
) )
return profile return profile
def surface_s2(self, def surface_s2(self,

2
nhf/utils.py
View File

@ -48,7 +48,7 @@ def tagPlane(self, tag: str,
else: else:
v = Cq.Vector(direction) v = Cq.Vector(direction)
edge = Cq.Edge.makeLine(v * (-1), v) 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 Cq.Workplane.tagPlane = tagPlane