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fix: Ambiguous rotation in Hirth Joint

This commit is contained in:
Leni Aniva 2024-07-16 12:03:51 -07:00
parent c73675bbe3
commit cdb46263f8
Signed by: aniva
GPG Key ID: 4D9B1C8D10EA4C50
3 changed files with 32 additions and 24 deletions
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28
nhf/parts/joints.py
View File

@ -101,7 +101,12 @@ class HirthJoint:
(
result
.polyline([(0, 0, 0), (1, 0, 0)], forConstruction=True)
.tag("dir")
.tag("dirX")
)
(
result
.polyline([(0, 0, 0), (0, 1, 0)], forConstruction=True)
.tag("dirY")
)
return result
@ -109,12 +114,15 @@ class HirthJoint:
assembly: Cq.Assembly,
parent: str,
child: str,
angle: int = 0):
offset: int = 0):
angle = offset * self.tooth_angle
(
assembly
.constrain(f"{parent}?mate", f"{child}?mate", "Plane")
.constrain(f"{parent}?dir", f"{child}?dir",
"Axis", param=angle * self.tooth_angle)
.constrain(f"{parent}?dirX", f"{child}?dirX",
"Axis", param=angle)
.constrain(f"{parent}?dirY", f"{child}?dirX",
"Axis", param=90 - angle)
)
def assembly(self, offset: int = 1):
@ -138,17 +146,17 @@ class HirthJoint:
self.generate(is_mated=True)
.union(tab)
)
angle = offset * self.tooth_angle
result = (
Cq.Assembly()
.addS(obj1, name="obj1", role=Role.PARENT)
.addS(obj2, name="obj2", role=Role.CHILD)
.constrain("obj1", "Fixed")
.constrain("obj1?mate", "obj2?mate", "Plane")
.constrain("obj1?dir", "obj2?dir", "Axis", param=angle)
.solve()
)
return result
self.add_constraints(
result,
parent="obj1",
child="obj2",
offset=offset)
return result.solve()
def comma_joint(radius=30,
shaft_radius=10,

19
nhf/touhou/houjuu_nue/__init__.py
View File

@ -30,6 +30,7 @@ s1, s2, s3. The joints are named (from root to tip)
shoulder, elbow, wrist in analogy with human anatomy.
"""
from dataclasses import dataclass, field
from typing import Optional
import cadquery as Cq
from nhf.build import Model, TargetKind, target, assembly
from nhf.parts.joints import HirthJoint, TorsionJoint
@ -147,11 +148,11 @@ class Parameters(Model):
@assembly()
def wing_r1_assembly(self) -> Cq.Assembly:
return self.wing_profile.assembly()
def wing_r1_assembly(self, parts: Optional[list[str]] = None) -> Cq.Assembly:
return self.wing_profile.assembly(parts)
@assembly()
def wings_harness_assembly(self) -> Cq.Assembly:
def wings_harness_assembly(self, parts: Optional[list[str]] = None) -> Cq.Assembly:
"""
Assembly of harness with all the wings
"""
@ -160,13 +161,13 @@ class Parameters(Model):
result = (
Cq.Assembly()
.add(self.harness_assembly(), name="harness", loc=Cq.Location((0, 0, 0)))
.add(self.wing_r1_assembly(), name="wing_r1")
.add(self.wing_r1_assembly(), name="wing_r2")
.add(self.wing_r1_assembly(), name="wing_r3")
.add(self.wing_r1_assembly(parts), name="wing_r1")
.add(self.wing_r1_assembly(parts), name="wing_r2")
.add(self.wing_r1_assembly(parts), name="wing_r3")
)
self.hs_hirth_joint.add_constraints(result, "harness/r1", "wing_r1/s0/hs", angle=9)
self.hs_hirth_joint.add_constraints(result, "harness/r2", "wing_r2/s0/hs", angle=8)
self.hs_hirth_joint.add_constraints(result, "harness/r3", "wing_r3/s0/hs", angle=7)
self.hs_hirth_joint.add_constraints(result, "harness/r1", "wing_r1/s0/hs", offset=9)
self.hs_hirth_joint.add_constraints(result, "harness/r2", "wing_r2/s0/hs", offset=8)
self.hs_hirth_joint.add_constraints(result, "harness/r3", "wing_r3/s0/hs", offset=7)
return result.solve()
@assembly(collision_check=False)

9
nhf/touhou/houjuu_nue/wing.py
View File

@ -192,7 +192,7 @@ class WingProfile(Model):
.constrain(f"{tag}?top", f"top?{tag}", "Plane")
.constrain(f"{tag}?dir", f"top?{tag}_dir", "Axis")
)
hirth = self.base_joint.generate()
hirth = self.base_joint.generate(is_mated=True)
(
result
.addS(hirth, name="hs", role=Role.CHILD, material=self.mat_hs_joint)
@ -614,8 +614,7 @@ class WingProfile(Model):
.constrain("s3/wrist_bot?conn0", "wrist/child/bot?conn0", "Plane")
.constrain("s3/wrist_bot?conn1", "wrist/child/bot?conn1", "Plane")
)
if len(parts) > 1:
result.solve()
return result.solve()
return result