Merge branch 'main' into touhou/houjuu-nue

fix: `Cq.Location.to2d_rot()` signature

README.md

@@ -1,7 +1,6 @@
 # Cosplay
 
-This is the design repository for NorCal Hakkero Factory No. 1, where we use
-parametric CAD to make cosplay props.
+This is the design repository for NorCal Hakkero Factory No. 1.
 
 ## Development
 
@@ -16,12 +15,6 @@ and this should succeed
 python3 -c "import nhf"
 ```
 
-To visualize an object, create a file `visualize.py`, and run `cq-editor`:
-
-``` sh
-python3 -m cq_editor visualize.py
-```
-
 ## Testing
 
 Run all tests with

nhf/build.py

@@ -90,7 +90,7 @@ class Target:
                 x = (
                     Cq.Workplane()
                     .add(x._faces)
-                    .add(x.wires)
+                    .add(x._wires)
                     .add(x._edges)
                 )
             assert isinstance(x, Cq.Workplane)
@@ -214,7 +214,7 @@ class Submodel:
     def write_to(self, obj, path: str):
         x = self._method(obj)
         assert isinstance(x, Model), f"Unexpected type: {type(x)}"
-        x.build_all(path, prefix=False)
+        x.build_all(path)
 
     @classmethod
     def methods(cls, subject):
@@ -271,17 +271,11 @@ class Model:
             total += 1
         return total
 
-    def build_all(
-            self,
-            output_dir: Union[Path, str] = "build",
-            prefix: bool = True,
-            verbose=1):
+    def build_all(self, output_dir: Union[Path, str] = "build", verbose=1):
         """
         Build all targets in this model and write the results to file
         """
         output_dir = Path(output_dir)
-        if prefix:
-            output_dir = output_dir / self.name
         targets = Target.methods(self)
         for t in targets.values():
             file_name = t.file_name

nhf/materials.py

@@ -84,7 +84,6 @@ class Material(Enum):
     ACRYLIC_TRANSLUSCENT = 1.18, _color('ivory2', 0.8)
     ACRYLIC_TRANSPARENT = 1.18, _color('ghostwhite', 0.5)
     STEEL_SPRING = 7.8, _color('gray', 0.8)
-    METAL_BRASS = 8.5, _color('gold1', 0.8)
 
     def __init__(self, density: float, color: Cq.Color):
         self.density = density
@@ -117,9 +116,6 @@ def add_with_material_role(
 Cq.Assembly.addS = add_with_material_role
 
 def color_by_material(self: Cq.Assembly) -> Cq.Assembly:
-    """
-    Set colours in an assembly by material
-    """
     for _, a in self.traverse():
         if KEY_MATERIAL not in a.metadata:
             continue
@@ -127,9 +123,6 @@ def color_by_material(self: Cq.Assembly) -> Cq.Assembly:
     return self
 Cq.Assembly.color_by_material = color_by_material
 def color_by_role(self: Cq.Assembly, avg: bool = True) -> Cq.Assembly:
-    """
-    Set colours in an assembly by role
-    """
     for _, a in self.traverse():
         if KEY_ROLE not in a.metadata:
             continue

nhf/primitive.py

@@ -1,12 +0,0 @@
-import cadquery as Cq
-
-def mystery():
-    return (
-        Cq.Workplane("XY")
-        .box(10, 5, 5)
-        .faces(">Z")
-        .workplane()
-        .hole(1)
-        .edges("|Z")
-        .fillet(2)
-    )

nhf/tool/light_panel.py

@@ -1,146 +0,0 @@
-from dataclasses import dataclass
-import cadquery as Cq
-from nhf import Material, Role
-from nhf.build import Model, target, assembly, TargetKind, submodel
-from nhf.parts.box import MountingBox, Hole
-from nhf.parts.electronics import ArduinoUnoR3
-import nhf.utils
-
-@dataclass
-class LightPanel(Model):
-
-    # Dimensions of the base panel
-    length: float = 300.0
-    width: float = 200.0
-
-    attach_height: float = 20.0
-    attach_diam: float = 8.0
-    attach_depth: float = 12.7
-
-    grid_height: float = 20.0
-    grid_top_height: float = 5.0
-    # Distance from grid to edge
-    grid_margin: float = 20.0
-    # Number of holes in each row of the grid
-    grid_holes: int = 9
-    grid_layers: int = 6
-    grid_hole_width: float = 15.0
-
-    base_thickness: float = 25.4/16
-    grid_thickness: float = 25.4/4
-    base_material: Material = Material.WOOD_BIRCH
-    grid_material: Material = Material.ACRYLIC_TRANSPARENT
-
-    controller: ArduinoUnoR3 = ArduinoUnoR3()
-
-    def __post_init__(self):
-        assert self.grid_holes >= 2
-        super().__init__(name="light-panel")
-
-    @property
-    def grid_spacing_y(self) -> float:
-        return (self.width - 2 * self.grid_margin - self.grid_thickness) / (self.grid_layers - 1)
-
-    @target(name="grid", kind=TargetKind.DXF)
-    def grid_profile(self):
-        w = self.length - self.grid_margin * 2
-        h = self.grid_height + self.grid_top_height
-
-        # The width of one hole (w0) satisfies
-        # n * w0 + (n+1) t = w
-        # where t is the thickness of the edge
-        n = self.grid_holes
-        w0 = self.grid_hole_width
-        t = (w - n * w0) / (n + 1)
-        # The spacing is such that the first and last holes are a distance `margin`
-        # away from the edges, so it satisfies
-        # t + w0/2 + (n-1) * s + w0/2 + t = w
-        step = (w - t*2 - w0) / (n - 1)
-        return (
-            Cq.Sketch()
-            .push([(0, h/2)])
-            .rect(w, h)
-            .push([
-                (i * step + t + w0/2 - w/2, self.grid_height/2)
-                for i in range(0, n)
-            ])
-            .rect(w0, self.grid_height, mode='s')
-        )
-
-    def grid(self) -> Cq.Workplane:
-        return (
-            Cq.Workplane('XY')
-            .placeSketch(self.grid_profile())
-            .extrude(self.grid_thickness)
-        )
-
-    @submodel(name="base")
-    def base(self) -> MountingBox:
-        xshift = self.length / 2 - self.controller.length - self.grid_margin / 2
-        yshift = self.grid_margin / 2
-        holes = [
-            Hole(
-                x=x + xshift, y=y + yshift,
-                diam=self.controller.hole_diam,
-                tag=f"controller_conn{i}",
-            )
-            for i, (x, y) in enumerate(self.controller.holes)
-        ]
-        return MountingBox(
-            holes=holes,
-            hole_diam=self.controller.hole_diam,
-            length=self.length,
-            width=self.width,
-            centred=(True, False),
-            thickness=self.base_thickness,
-        )
-
-    @target(name="attachment")
-    def attachment(self) -> Cq.Workplane:
-        l = self.length / 2
-        w = self.width / 2
-        return (
-            Cq.Workplane('XY')
-            .box(
-                l, w, self.attach_height,
-                centered=(True, True, False),
-            )
-            .faces(">Z")
-            .hole(self.attach_diam, self.attach_depth)
-        )
-
-
-    def assembly(self) -> Cq.Assembly:
-        assembly = (
-            Cq.Assembly()
-            .addS(
-                self.base().generate(),
-                name="base",
-                role=Role.STRUCTURE,
-                material=self.base_material,
-            )
-        )
-        # Grid thickness t is fixed, so the spacing of the grid satisfies
-        # margin + t + (n-1) * spacing + margin = width
-        spacing = self.grid_spacing_y
-        shift = self.grid_margin + self.grid_thickness / 2
-        for i in range(self.grid_layers):
-            assembly = assembly.addS(
-                self.grid(),
-                name=f"grid_{i}",
-                role=Role.STRUCTURE,
-                material=self.grid_material,
-                loc=Cq.Location(0, spacing * i + shift, self.base_thickness, 90, 0, 0),
-            )
-        return assembly
-
-
-if __name__ == '__main__':
-    import sys
-
-    p = LightPanel()
-    print(p.grid_spacing_y)
-
-    if len(sys.argv) == 1:
-        p.build_all()
-        sys.exit(0)

nhf/touhou/houjuu_nue/README.org

@@ -0,0 +1,14 @@
+#+title: Cosplay: Houjuu Nue
+
+* Controller
+
+This part describes the electrical connections and the microcontroller code.
+
+* Structure
+
+This part describes the 3d printed and laser cut structures. ~structure.blend~
+is an overall sketch of the shapes and looks of the wing.
+
+* Pattern
+
+This part describes the sewing patterns.

nhf/touhou/houjuu_nue/__init__.py

@@ -0,0 +1,204 @@
+"""
+To build, execute
+```
+python3 nhf/touhou/houjuu_nue/__init__.py
+```
+
+This cosplay consists of 3 components:
+
+## Trident
+
+The trident is composed of individual segments, made of acrylic, and a 3D
+printed head (convention rule prohibits metal) with a metallic paint. To ease
+transportation, the trident handle has individual segments with threads and can
+be assembled on site.
+
+## Snake
+
+A 3D printed snake with a soft material so it can wrap around and bend
+
+## Wings
+
+This is the crux of the cosplay and the most complex component. The wings mount
+on a wearable harness. Each wing consists of 4 segments with 3 joints. Parts of
+the wing which demands transluscency are created from 1/16" acrylic panels.
+These panels serve double duty as the exoskeleton.
+
+The wings are labeled r1,r2,r3,l1,l2,l3. The segments of the wings are labeled
+from root to tip s0 (root),
+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, submodel
+import nhf.touhou.houjuu_nue.wing as MW
+import nhf.touhou.houjuu_nue.trident as MT
+import nhf.touhou.houjuu_nue.joints as MJ
+import nhf.touhou.houjuu_nue.harness as MH
+import nhf.touhou.houjuu_nue.electronics as ME
+from nhf.parts.item import Item
+import nhf.utils
+
+WING_DEFLECT_ODD = 0.0
+WING_DEFLECT_EVEN = 25.0
+@dataclass
+class Parameters(Model):
+    """
+    Defines dimensions for the Houjuu Nue cosplay
+    """
+
+    harness: MH.Harness = field(default_factory=lambda: MH.Harness())
+
+    wing_r1: MW.WingR = field(default_factory=lambda: MW.WingR(
+        name="r1",
+        root_joint=MJ.RootJoint(
+            parent_substrate_cull_corners=(0,1,1,1),
+            parent_substrate_cull_edges=(0,0,1,0),
+        ),
+        shoulder_angle_bias=WING_DEFLECT_ODD,
+        s0_top_hole=False,
+        s0_bot_hole=True,
+        arrow_height=350.0
+    ))
+    wing_r2: MW.WingR = field(default_factory=lambda: MW.WingR(
+        name="r2",
+        root_joint=MJ.RootJoint(
+            parent_substrate_cull_corners=(1,1,1,1),
+            parent_substrate_cull_edges=(0,0,1,0),
+        ),
+        electronic_board=ME.ElectronicBoardControl(),
+        shoulder_angle_bias=WING_DEFLECT_EVEN,
+        s0_top_hole=True,
+        s0_bot_hole=True,
+    ))
+    wing_r3: MW.WingR = field(default_factory=lambda: MW.WingR(
+        name="r3",
+        root_joint=MJ.RootJoint(
+            parent_substrate_cull_corners=(1,1,1,0),
+            parent_substrate_cull_edges=(0,0,1,0),
+        ),
+        shoulder_angle_bias=WING_DEFLECT_ODD,
+        s0_top_hole=True,
+        s0_bot_hole=False,
+    ))
+    wing_l1: MW.WingL = field(default_factory=lambda: MW.WingL(
+        name="l1",
+        root_joint=MJ.RootJoint(
+            parent_substrate_cull_corners=(1,0,1,1),
+            parent_substrate_cull_edges=(1,0,0,0),
+        ),
+        shoulder_angle_bias=WING_DEFLECT_EVEN,
+        wrist_angle=-60.0,
+        s0_top_hole=False,
+        s0_bot_hole=True,
+    ))
+    wing_l2: MW.WingL = field(default_factory=lambda: MW.WingL(
+        name="l2",
+        root_joint=MJ.RootJoint(
+            parent_substrate_cull_corners=(1,1,1,1),
+            parent_substrate_cull_edges=(1,0,0,0),
+        ),
+        wrist_angle=-30.0,
+        shoulder_angle_bias=WING_DEFLECT_ODD,
+        s0_top_hole=True,
+        s0_bot_hole=True,
+    ))
+    wing_l3: MW.WingL = field(default_factory=lambda: MW.WingL(
+        name="l3",
+        root_joint=MJ.RootJoint(
+            parent_substrate_cull_corners=(1,1,0,1),
+            parent_substrate_cull_edges=(1,0,0,0),
+        ),
+        shoulder_angle_bias=WING_DEFLECT_EVEN,
+        wrist_angle=-0.0,
+        s0_top_hole=True,
+        s0_bot_hole=False,
+    ))
+
+    trident: MT.Trident = field(default_factory=lambda: MT.Trident())
+
+    def __post_init__(self):
+        super().__init__(name="houjuu-nue")
+
+    @submodel(name="harness")
+    def submodel_harness(self) -> Model:
+        return self.harness
+
+    @submodel(name="wing-r1")
+    def submodel_wing_r1(self) -> Model:
+        return self.wing_r1
+    @submodel(name="wing-r2")
+    def submodel_wing_r2(self) -> Model:
+        return self.wing_r2
+    @submodel(name="wing-r3")
+    def submodel_wing_r3(self) -> Model:
+        return self.wing_r3
+    @submodel(name="wing-l1")
+    def submodel_wing_l1(self) -> Model:
+        return self.wing_l1
+    @submodel(name="wing-l2")
+    def submodel_wing_l2(self) -> Model:
+        return self.wing_l2
+    @submodel(name="wing-l3")
+    def submodel_wing_l3(self) -> Model:
+        return self.wing_l3
+
+    @assembly()
+    def wings_harness_assembly(self,
+                               parts: Optional[list[str]] = None,
+                               **kwargs) -> Cq.Assembly:
+        """
+        Assembly of harness with all the wings
+        """
+        result = (
+            Cq.Assembly()
+            .add(self.harness.assembly(), name="harness", loc=Cq.Location((0, 0, 0)))
+            .add(self.wing_r1.assembly(parts, root_offset=9, **kwargs), name="wing_r1")
+            .add(self.wing_r2.assembly(parts, root_offset=7, **kwargs), name="wing_r2")
+            .add(self.wing_r3.assembly(parts, root_offset=6, **kwargs), name="wing_r3")
+            .add(self.wing_l1.assembly(parts, root_offset=19, **kwargs), name="wing_l1")
+            .add(self.wing_l2.assembly(parts, root_offset=20, **kwargs), name="wing_l2")
+            .add(self.wing_l3.assembly(parts, root_offset=21, **kwargs), name="wing_l3")
+        )
+        for tag in ["r1", "r2", "r3", "l1", "l2", "l3"]:
+            self.harness.add_root_joint_constraint(
+                result,
+                "harness/base",
+                f"wing_{tag}/root",
+                tag
+            )
+        return result.solve()
+
+    @submodel(name="trident")
+    def submodel_trident(self) -> Model:
+        return self.trident
+
+    def stat(self) -> dict[str, float]:
+        a = self.wings_harness_assembly()
+        bbox = a.toCompound().BoundingBox()
+        return {
+            "wing-span": bbox.xlen,
+            "wing-depth": bbox.ylen,
+            "wing-height": bbox.zlen,
+            "wing-mass": a.total_mass(),
+            "wing-centre-of-mass": a.centre_of_mass().toTuple(),
+            "items": Item.count(a),
+        }
+
+
+if __name__ == '__main__':
+    import sys
+
+    p = Parameters()
+    if len(sys.argv) == 1:
+        p.build_all()
+        sys.exit(0)
+
+    if sys.argv[1] == 'stat':
+        print(p.stat())
+    elif sys.argv[1] == 'model':
+        file_name = sys.argv[2]
+        a = p.wings_harness_assembly()
+        a.save(file_name, exportType='STEP')

nhf/touhou/houjuu_nue/common.py

@@ -0,0 +1,18 @@
+from nhf.parts.fasteners import FlatHeadBolt, HexNut, ThreaddedKnob
+
+NUT_COMMON = HexNut(
+    # FIXME: measure
+    mass=0.0,
+    diam_thread=4.0,
+    pitch=0.7,
+    thickness=3.2,
+    width=7.0,
+)
+BOLT_COMMON = FlatHeadBolt(
+    # FIXME: measure
+    mass=0.0,
+    diam_head=8.0,
+    height_head=2.0,
+    diam_thread=4.0,
+    height_thread=20.0,
+)

nhf/touhou/houjuu_nue/controller/controller.ino

@@ -0,0 +1,68 @@
+#include <FastLED.h>
+
+// Main LED strip setup
+#define LED_PIN 5
+#define NUM_LEDS 100
+#define LED_PART 50
+#define BRIGHTNESS 250
+#define LED_TYPE WS2811
+CRGB leds[NUM_LEDS];
+
+CRGB color_red;
+CRGB color_blue;
+CRGB color_green;
+
+#define DIAG_PIN 6
+
+
+void setup() {
+  // Calculate colors
+  hsv2rgb_spectrum(CHSV(4, 255, 100), color_red);
+  hsv2rgb_spectrum(CHSV(170, 255, 100), color_blue);
+  hsv2rgb_spectrum(CHSV(90, 255, 100), color_green);
+  pinMode(LED_BUILTIN, OUTPUT);
+  pinMode(LED_PIN, OUTPUT);
+  pinMode(DIAG_PIN, OUTPUT);
+  
+  // Main LED strip
+  FastLED.addLeds<LED_TYPE, LED_PIN, RGB>(leds, NUM_LEDS);
+}
+
+void loop() {
+  fill_segmented(CRGB::Green, CRGB::Orange);
+  delay(500);
+
+  flash(leds, NUM_LEDS, color_red, 10, 20);
+  delay(500);
+  flash(leds, NUM_LEDS, color_blue, 10, 20);
+  delay(500);
+}
+
+void fill_segmented(CRGB c1, CRGB c2)
+{
+  //fill_solid(leds, LED_PART, c1);
+  fill_gradient_RGB(leds, LED_PART, CRGB::Black ,c1);
+  fill_gradient_RGB(leds + LED_PART, NUM_LEDS - LED_PART, CRGB::Black, c2);
+  FastLED.show(); 
+}
+void flash(CRGB *ptr, uint16_t num, CRGB const& lead, int steps, int step_time)
+{
+  digitalWrite(LED_BUILTIN, LOW);
+
+  //fill_solid(leds, NUM_LEDS, CRGB::Black);
+  for (int i = 0; i < steps; ++i)
+  {
+    uint8_t factor = 255 * i / steps;
+    analogWrite(DIAG_PIN, factor);
+    CRGB tail = blend(lead, CRGB::Black, factor);
+    uint16_t front = factor * (int) num / 255;
+    fill_solid(ptr, front, tail);
+    //fill_gradient_RGB(ptr, front, tail, lead);
+    //fill_solid(leds + front, NUM_LEDS - front, CRGB::Black);
+    FastLED.show(); 
+    delay(step_time);
+  }
+  fill_gradient_RGB(ptr, num, CRGB::Black, lead);
+  FastLED.show(); 
+  analogWrite(DIAG_PIN, LOW);
+}

nhf/touhou/houjuu_nue/electronics.py

@@ -0,0 +1,540 @@
+"""
+Electronic components
+"""
+from dataclasses import dataclass, field
+from typing import Optional, Tuple
+import math
+import cadquery as Cq
+from nhf.build import Model, TargetKind, target, assembly, submodel
+from nhf.materials import Role, Material
+from nhf.parts.box import MountingBox, Hole
+from nhf.parts.fibre import tension_fibre
+from nhf.parts.item import Item
+from nhf.parts.fasteners import FlatHeadBolt, HexNut
+from nhf.parts.electronics import ArduinoUnoR3, BatteryBox18650
+from nhf.touhou.houjuu_nue.common import NUT_COMMON, BOLT_COMMON
+import nhf.utils
+
+@dataclass(frozen=True)
+class LinearActuator(Item):
+    stroke_length: float
+    shaft_diam: float = 9.04
+
+    front_hole_ext: float = 4.41
+    front_hole_diam: float = 4.41
+    front_length: float = 9.55
+    front_width: float = 9.24
+    front_height: float = 5.98
+
+    segment1_length: float = 37.54
+    segment1_width: float = 15.95
+    segment1_height: float = 11.94
+
+    segment2_length: float = 37.37
+    segment2_width: float = 20.03
+    segment2_height: float = 15.03
+
+    back_hole_ext: float = 4.58
+    back_hole_diam: float = 4.18
+    back_length: float = 9.27
+    back_width: float = 10.16
+    back_height: float = 8.12
+
+    @property
+    def name(self) -> str:
+        return f"LinearActuator {self.stroke_length}mm"
+
+    @property
+    def role(self) -> Role:
+        return Role.MOTION
+
+    @property
+    def conn_length(self):
+        return self.segment1_length + self.segment2_length + self.front_hole_ext + self.back_hole_ext
+
+    def generate(self, pos: float=0) -> Cq.Assembly:
+        assert -1e-6 <= pos <= 1 + 1e-6, f"Illegal position: {pos}"
+        stroke_x = pos * self.stroke_length
+        front = (
+            Cq.Workplane('XZ')
+            .cylinder(
+                radius=self.front_width / 2,
+                height=self.front_height,
+                centered=True,
+            )
+            .box(
+                length=self.front_hole_ext,
+                width=self.front_width,
+                height=self.front_height,
+                combine=True,
+                centered=(False, True, True)
+            )
+            .copyWorkplane(Cq.Workplane('XZ'))
+            .cylinder(
+                radius=self.front_hole_diam / 2,
+                height=self.front_height,
+                centered=True,
+                combine='cut',
+            )
+        )
+        front.copyWorkplane(Cq.Workplane('XZ')).tagPlane('conn')
+        if stroke_x > 0:
+            shaft = (
+                Cq.Workplane('YZ')
+                .cylinder(
+                    radius=self.shaft_diam / 2,
+                    height=stroke_x,
+                    centered=(True, True, False)
+                )
+            )
+        else:
+            shaft = None
+        segment1 = (
+            Cq.Workplane()
+            .box(
+                length=self.segment1_length,
+                height=self.segment1_width,
+                width=self.segment1_height,
+                centered=(False, True, True),
+            )
+        )
+        segment2 = (
+            Cq.Workplane()
+            .box(
+                length=self.segment2_length,
+                height=self.segment2_width,
+                width=self.segment2_height,
+                centered=(False, True, True),
+            )
+        )
+        back = (
+            Cq.Workplane('XZ')
+            .cylinder(
+                radius=self.back_width / 2,
+                height=self.back_height,
+                centered=True,
+            )
+            .box(
+                length=self.back_hole_ext,
+                width=self.back_width,
+                height=self.back_height,
+                combine=True,
+                centered=(False, True, True)
+            )
+            .copyWorkplane(Cq.Workplane('XZ'))
+            .cylinder(
+                radius=self.back_hole_diam / 2,
+                height=self.back_height,
+                centered=True,
+                combine='cut',
+            )
+        )
+        back.faces(">X").tag("dir")
+        back.copyWorkplane(Cq.Workplane('XZ')).tagPlane('conn')
+        result = (
+            Cq.Assembly()
+            .add(front, name="front",
+                 loc=Cq.Location((-self.front_hole_ext, 0, 0)))
+            .add(segment1, name="segment1",
+                 loc=Cq.Location((stroke_x, 0, 0)))
+            .add(segment2, name="segment2",
+                 loc=Cq.Location((stroke_x + self.segment1_length, 0, 0)))
+            .add(back, name="back",
+                 loc=Cq.Location((stroke_x + self.segment1_length + self.segment2_length + self.back_hole_ext, 0, 0), (0, 1, 0), 180))
+        )
+        if shaft:
+            result.add(shaft, name="shaft")
+        return result
+
+@dataclass(frozen=True)
+class MountingBracket(Item):
+    """
+    Mounting bracket for a linear actuator
+    """
+    mass: float = 1.6
+    hole_diam: float = 4.0
+    width: float = 8.0
+    height: float = 12.20
+    thickness: float = 0.98
+    length: float = 13.00
+    hole_to_side_ext: float = 8.25
+
+    def __post_init__(self):
+        assert self.hole_to_side_ext - self.hole_diam / 2 > 0
+
+    @property
+    def name(self) -> str:
+        return f"MountingBracket M{int(self.hole_diam)}"
+
+    @property
+    def role(self) -> Role:
+        return Role.MOTION
+
+    def generate(self) -> Cq.Workplane:
+        result = (
+            Cq.Workplane('XY')
+            .box(
+                length=self.hole_to_side_ext,
+                width=self.width,
+                height=self.height,
+                centered=(False, True, True)
+            )
+            .copyWorkplane(Cq.Workplane('XY'))
+            .cylinder(
+                height=self.height,
+                radius=self.width / 2,
+                combine=True,
+            )
+            .copyWorkplane(Cq.Workplane('XY'))
+            .box(
+                length=2 * (self.hole_to_side_ext - self.thickness),
+                width=self.width,
+                height=self.height - self.thickness * 2,
+                combine='cut',
+            )
+            .copyWorkplane(Cq.Workplane('XY'))
+            .cylinder(
+                height=self.height,
+                radius=self.hole_diam / 2,
+                combine='cut'
+            )
+            .copyWorkplane(Cq.Workplane('YZ'))
+            .cylinder(
+                height=self.hole_to_side_ext * 2,
+                radius=self.hole_diam / 2,
+                combine='cut'
+            )
+        )
+        result.copyWorkplane(Cq.Workplane('YZ', origin=(self.hole_to_side_ext, 0, 0))).tagPlane("conn_side")
+        result.copyWorkplane(Cq.Workplane('XY', origin=(0, 0, self.height/2))).tagPlane("conn_top")
+        result.copyWorkplane(Cq.Workplane('YX', origin=(0, 0, -self.height/2))).tagPlane("conn_bot")
+        result.copyWorkplane(Cq.Workplane('XY')).tagPlane("conn_mid")
+        return result
+
+
+LINEAR_ACTUATOR_50 = LinearActuator(
+    mass=40.8,
+    stroke_length=50,
+    shaft_diam=9.05,
+    front_hole_ext=4.32,
+    back_hole_ext=4.54,
+    segment1_length=57.35,
+    segment1_width=15.97,
+    segment1_height=11.95,
+    segment2_length=37.69,
+    segment2_width=19.97,
+    segment2_height=14.96,
+
+    front_length=9.40,
+    front_width=9.17,
+    front_height=6.12,
+    back_length=9.18,
+    back_width=10.07,
+    back_height=8.06,
+)
+LINEAR_ACTUATOR_30 = LinearActuator(
+    mass=34.0,
+    stroke_length=30,
+)
+LINEAR_ACTUATOR_21 = LinearActuator(
+    # FIXME: Measure
+    mass=0.0,
+    stroke_length=21,
+    front_hole_ext=4,
+    back_hole_ext=4,
+    segment1_length=34,
+    segment2_length=34,
+)
+LINEAR_ACTUATOR_10 = LinearActuator(
+    mass=41.3,
+    stroke_length=10,
+    front_hole_ext=4.02,
+    back_hole_ext=4.67,
+    segment1_length=13.29,
+    segment1_width=15.88,
+    segment1_height=12.07,
+    segment2_length=42.52,
+    segment2_width=20.98,
+    segment2_height=14.84,
+)
+LINEAR_ACTUATOR_HEX_NUT = HexNut(
+    mass=0.8,
+    diam_thread=4,
+    pitch=0.7,
+    thickness=4.16,
+    width=6.79,
+)
+LINEAR_ACTUATOR_BOLT = FlatHeadBolt(
+    mass=1.7,
+    diam_head=6.68,
+    height_head=2.98,
+    diam_thread=4.0,
+    height_thread=15.83,
+)
+LINEAR_ACTUATOR_BRACKET = MountingBracket()
+
+BATTERY_BOX = BatteryBox18650()
+
+# Acrylic hex nut
+ELECTRONIC_MOUNT_HEXNUT = HexNut(
+    mass=0.8,
+    diam_thread=4,
+    pitch=0.7,
+    thickness=3.57,
+    width=6.81,
+)
+
+@dataclass(kw_only=True, frozen=True)
+class Winch:
+    linear_motion_span: float
+
+    actuator: LinearActuator = LINEAR_ACTUATOR_21
+    nut: HexNut = LINEAR_ACTUATOR_HEX_NUT
+    bolt: FlatHeadBolt = LINEAR_ACTUATOR_BOLT
+    bracket: MountingBracket = LINEAR_ACTUATOR_BRACKET
+
+@dataclass(kw_only=True)
+class Flexor:
+    """
+    Actuator assembly which flexes, similar to biceps
+    """
+    motion_span: float
+    arm_radius: Optional[float] = None
+    pos_smaller: bool = True
+
+    actuator: LinearActuator = LINEAR_ACTUATOR_50
+    nut: HexNut = LINEAR_ACTUATOR_HEX_NUT
+    bolt: FlatHeadBolt = LINEAR_ACTUATOR_BOLT
+    bracket: MountingBracket = LINEAR_ACTUATOR_BRACKET
+    # Length of line attached to the flexor
+    line_length: float = 0.0
+    line_thickness: float = 0.5
+    # By how much is the line permitted to slack. This reduces the effective stroke length
+    line_slack: float = 0.0
+
+    def __post_init__(self):
+        assert self.line_slack <= self.line_length, f"Insufficient length: {self.line_slack} >= {self.line_length}"
+        assert self.line_slack < self.actuator.stroke_length
+
+    @property
+    def mount_height(self):
+        return self.bracket.hole_to_side_ext
+
+    @property
+    def d_open(self):
+        return self.actuator.conn_length + self.actuator.stroke_length + self.line_length - self.line_slack
+    @property
+    def d_closed(self):
+        return self.actuator.conn_length + self.line_length
+
+    def open_pos(self) -> Tuple[float, float, float]:
+        r, phi, r_ = nhf.geometry.contraction_span_pos_from_radius(
+            d_open=self.d_open,
+            d_closed=self.d_closed,
+            theta=math.radians(self.motion_span),
+            r=self.arm_radius,
+            smaller=self.pos_smaller,
+        )
+        return r, math.degrees(phi), r_
+
+    def target_length_at_angle(
+            self,
+            angle: float = 0.0
+        ) -> float:
+        """
+        Length of the actuator at some angle
+        """
+        assert 0 <= angle <= self.motion_span
+        r, phi, rp = self.open_pos()
+        th = math.radians(phi - angle)
+
+        result = math.sqrt(r * r + rp * rp - 2 * r * rp * math.cos(th))
+        #result = math.sqrt((r * math.cos(th) - rp) ** 2 + (r * math.sin(th)) ** 2)
+        assert self.d_closed -1e-6 <= result <= self.d_open + 1e-6,\
+            f"Illegal length: {result} not in [{self.d_closed}, {self.d_open}]"
+        return result
+
+
+    def add_to(
+            self,
+            a: Cq.Assembly,
+            target_length: float,
+            tag_prefix: Optional[str] = None,
+            tag_hole_front: Optional[str] = None,
+            tag_hole_back: Optional[str] = None,
+            tag_dir: Optional[str] = None):
+        """
+        Adds the necessary mechanical components to this assembly. Does not
+        invoke `a.solve()`.
+        """
+        draft = max(0, target_length - self.d_closed - self.line_length)
+        pos = draft / self.actuator.stroke_length
+        line_l = target_length - draft - self.actuator.conn_length
+        if tag_prefix:
+            tag_prefix = tag_prefix + "_"
+        else:
+            tag_prefix = ""
+        name_actuator = f"{tag_prefix}actuator"
+        name_bracket_front = f"{tag_prefix}bracket_front"
+        name_bracket_back = f"{tag_prefix}bracket_back"
+        name_bolt_front = f"{tag_prefix}front_bolt"
+        name_bolt_back = f"{tag_prefix}back_bolt"
+        name_nut_front = f"{tag_prefix}front_nut"
+        name_nut_back = f"{tag_prefix}back_nut"
+        (
+            a
+            .add(self.actuator.assembly(pos=pos), name=name_actuator)
+            .add(self.bracket.assembly(), name=name_bracket_front)
+            .add(self.bolt.assembly(), name=name_bolt_front)
+            .add(self.nut.assembly(), name=name_nut_front)
+            .constrain(f"{name_bolt_front}?root", f"{name_bracket_front}?conn_top",
+                       "Plane", param=0)
+            .constrain(f"{name_nut_front}?bot", f"{name_bracket_front}?conn_bot",
+                       "Plane")
+            .add(self.bracket.assembly(), name=name_bracket_back)
+            .add(self.bolt.assembly(), name=name_bolt_back)
+            .add(self.nut.assembly(), name=name_nut_back)
+            .constrain(f"{name_actuator}/back?conn", f"{name_bracket_back}?conn_mid",
+                       "Plane", param=0)
+            .constrain(f"{name_bolt_back}?root", f"{name_bracket_back}?conn_top",
+                       "Plane", param=0)
+            .constrain(f"{name_nut_back}?bot", f"{name_bracket_back}?conn_bot",
+                       "Plane")
+        )
+        if self.line_length == 0.0:
+            a.constrain(
+                f"{name_actuator}/front?conn",
+                f"{name_bracket_front}?conn_mid",
+                "Plane", param=0)
+        else:
+            (
+                a
+                .addS(tension_fibre(
+                    length=line_l,
+                    hole_diam=self.nut.diam_thread,
+                    thickness=self.line_thickness,
+                ), name="fibre", role=Role.CONNECTION)
+                .constrain(
+                    f"{name_actuator}/front?conn",
+                    "fibre?male",
+                    "Plane"
+                )
+                .constrain(
+                    f"{name_bracket_front}?conn_mid",
+                    "fibre?female",
+                    "Plane"
+                )
+            )
+        if tag_hole_front:
+            a.constrain(tag_hole_front, f"{name_bracket_front}?conn_side", "Plane")
+        if tag_hole_back:
+            a.constrain(tag_hole_back, f"{name_bracket_back}?conn_side", "Plane")
+        if tag_dir:
+            a.constrain(tag_dir, f"{name_bracket_front}?conn_mid", "Axis", param=0)
+
+
+@dataclass
+class ElectronicBoard(Model):
+
+    name: str = "electronic-board"
+    nut: HexNut = NUT_COMMON
+    bolt: FlatHeadBolt = BOLT_COMMON
+    length: float = 70.0
+    width: float = 170.0
+    mount_holes: list[Hole] = field(default_factory=lambda: [
+        Hole(x=25, y=75),
+        Hole(x=25, y=-75),
+        Hole(x=-25, y=75),
+        Hole(x=-25, y=-75),
+    ])
+    panel_thickness: float = 25.4 / 16
+    mount_panel_thickness: float = 25.4 / 4
+    material: Material = Material.WOOD_BIRCH
+
+    @property
+    def mount_hole_diam(self) -> float:
+        return self.bolt.diam_thread
+
+    def __post_init__(self):
+        super().__init__(name=self.name)
+
+    def panel(self) -> MountingBox:
+        return MountingBox(
+            holes=self.mount_holes,
+            hole_diam=self.mount_hole_diam,
+            length=self.length,
+            width=self.width,
+            centred=(True, True),
+            thickness=self.panel_thickness,
+            generate_reverse_tags=True,
+        )
+
+    def assembly(self) -> Cq.Assembly:
+        panel = self.panel()
+        result = (
+            Cq.Assembly()
+            .addS(panel.generate(), name="panel",
+                  role=Role.ELECTRONIC | Role.STRUCTURE, material=self.material)
+        )
+        for hole in self.mount_holes:
+            bolt_name = f"{hole.tag}_bolt"
+            (
+                result
+                .add(self.bolt.assembly(), name=bolt_name)
+                .constrain(
+                    f"{bolt_name}?root",
+                    f"panel?{hole.tag}",
+                    "Plane", param=0
+                )
+            )
+        return result.solve()
+
+@dataclass
+class ElectronicBoardBattery(ElectronicBoard):
+    name: str = "electronic-board-battery"
+    battery_box: BatteryBox18650 = BATTERY_BOX
+
+    @submodel(name="panel")
+    def panel_out(self) -> MountingBox:
+        return self.panel()
+
+@dataclass
+class ElectronicBoardControl(ElectronicBoard):
+    name: str = "electronic-board-control"
+
+    controller_datum: Cq.Location = Cq.Location.from2d(-25, 23, -90)
+
+    controller: ArduinoUnoR3 = ArduinoUnoR3()
+
+    def panel(self) -> MountingBox:
+        box = super().panel()
+        def transform(i, x, y):
+            pos = self.controller_datum * Cq.Location.from2d(x, self.controller.width - y)
+            x, y = pos.to2d_pos()
+            return Hole(
+                x=x, y=y,
+                diam=self.controller.hole_diam,
+                tag=f"controller_conn{i}",
+            )
+        box.holes = box.holes.copy() + [
+            transform(i, x, y)
+            for i, (x, y) in enumerate(self.controller.holes)
+        ]
+        return box
+
+    @submodel(name="panel")
+    def panel_out(self) -> MountingBox:
+        return self.panel()
+
+    def assembly(self) -> Cq.Assembly:
+        result = super().assembly()
+        result.add(self.controller.assembly(), name="controller")
+        for i in range(len(self.controller.holes)):
+            result.constrain(f"controller?conn{i}", f"panel?controller_conn{i}", "Plane")
+        return result.solve()
+
+@dataclass(frozen=True)
+class LightStrip:
+
+    width: float = 10.0
+    height: float = 4.5

nhf/touhou/houjuu_nue/harness.py

@@ -0,0 +1,204 @@
+from dataclasses import dataclass, field
+import cadquery as Cq
+from nhf.parts.joints import HirthJoint
+from nhf import Material, Role
+from nhf.build import Model, TargetKind, target, assembly, submodel
+from nhf.touhou.houjuu_nue.joints import RootJoint
+from nhf.parts.box import MountingBox
+import nhf.utils
+
+@dataclass(frozen=True, kw_only=True)
+class Mannequin:
+    """
+    A mannequin for calibration
+    """
+
+    shoulder_width: float = 400
+    shoulder_to_waist: float = 440
+    waist_width: float = 250
+    head_height: float = 220.0
+    neck_height: float = 105.0
+    neck_diam: float = 140
+    head_diam: float = 210
+    torso_thickness: float = 150
+
+    def generate(self) -> Cq.Workplane:
+        head_neck = (
+            Cq.Workplane("XY")
+            .cylinder(
+                radius=self.neck_diam/2,
+                height=self.neck_height,
+                centered=(True, True, False))
+            .faces(">Z")
+            .workplane()
+            .cylinder(
+                radius=self.head_diam/2,
+                height=self.head_height,
+                combine=True, centered=(True, True, False))
+        )
+        result = (
+            Cq.Workplane("XY")
+            .rect(self.waist_width, self.torso_thickness)
+            .workplane(offset=self.shoulder_to_waist)
+            .rect(self.shoulder_width, self.torso_thickness)
+            .loft(combine=True)
+            .union(head_neck.translate((0, 0, self.shoulder_to_waist)))
+        )
+        return result.translate((0, self.torso_thickness / 2, 0))
+
+
+BASE_POS_X = 70.0
+BASE_POS_Y = 100.0
+
+@dataclass(kw_only=True)
+class Harness(Model):
+    thickness: float = 25.4 / 8
+    width: float = 200.0
+    height: float = 304.8
+    fillet: float = 10.0
+
+    wing_base_pos: list[tuple[str, float, float]] = field(default_factory=lambda: [
+        ("r1", BASE_POS_X, BASE_POS_Y),
+        ("l1", -BASE_POS_X, BASE_POS_Y),
+        ("r2", BASE_POS_X, 0),
+        ("l2", -BASE_POS_X, 0),
+        ("r3", BASE_POS_X, -BASE_POS_Y),
+        ("l3", -BASE_POS_X, -BASE_POS_Y),
+    ])
+
+    root_joint: RootJoint = field(default_factory=lambda: RootJoint())
+
+    mannequin: Mannequin = Mannequin()
+
+    def __post_init__(self):
+        super().__init__(name="harness")
+
+    @submodel(name="bridge-pair-horizontal")
+    def bridge_pair_horizontal(self) -> MountingBox:
+        return self.root_joint.bridge_pair_horizontal(centre_dx=BASE_POS_X * 2)
+    @submodel(name="bridge-pair-vertical")
+    def bridge_pair_vertical(self) -> MountingBox:
+        return self.root_joint.bridge_pair_vertical(centre_dy=BASE_POS_Y)
+
+    @target(name="profile", kind=TargetKind.DXF)
+    def profile(self) -> Cq.Sketch:
+        """
+        Creates the harness shape
+        """
+        w, h = self.width / 2, self.height / 2
+        sketch = (
+            Cq.Sketch()
+            .polygon([
+                (w, h),
+                (w, -h),
+                (-w, -h),
+                (-w, h),
+                #(0.7 * w, h),
+                #(w, 0),
+                #(0.7 * w, -h),
+                #(0.7 * -w, -h),
+                #(-w, 0),
+                #(0.7 * -w, h),
+            ])
+            #.rect(self.harness_width, self.harness_height)
+            .vertices()
+            .fillet(self.fillet)
+        )
+        for tag, x, y in self.wing_base_pos:
+            conn = [(px + x, py + y) for px, py in self.root_joint.corner_pos()]
+            sketch = (
+                sketch
+                .push(conn)
+                .tag(tag)
+                .circle(self.root_joint.corner_hole_diam / 2, mode='s')
+                .reset()
+            )
+        return sketch
+
+    def surface(self) -> Cq.Workplane:
+        """
+        Creates the harness shape
+        """
+        result = (
+            Cq.Workplane('XZ')
+            .placeSketch(self.profile())
+            .extrude(self.thickness)
+        )
+        result.faces(">Y").tag("mount")
+        plane = result.faces(">Y").workplane()
+        for tag, x, y in self.wing_base_pos:
+            conn = [(px + x, py + y) for px, py
+                    in self.root_joint.corner_pos()]
+            for i, (px, py) in enumerate(conn):
+                plane.moveTo(px, py).tagPlane(f"{tag}_{i}")
+        return result
+
+    def add_root_joint_constraint(
+            self,
+            a: Cq.Assembly,
+            harness_tag: str,
+            joint_tag: str,
+            mount_tag: str):
+        for i in range(4):
+            a.constrain(f"{harness_tag}?{mount_tag}_{i}", f"{joint_tag}/parent?h{i}", "Point")
+
+
+    @assembly()
+    def assembly(self, with_root_joint: bool = False) -> Cq.Assembly:
+        harness = self.surface()
+        mannequin_z = self.mannequin.shoulder_to_waist * 0.6
+
+        result = (
+            Cq.Assembly()
+            .addS(
+                harness, name="base",
+                material=Material.WOOD_BIRCH,
+                role=Role.STRUCTURE)
+            .constrain("base", "Fixed")
+            .addS(
+                self.mannequin.generate(),
+                name="mannequin",
+                role=Role.FIXTURE,
+                loc=Cq.Location((0, -self.thickness, -mannequin_z), (0, 0, 1), 180))
+            .constrain("mannequin", "Fixed")
+        )
+        bridge_h = self.bridge_pair_horizontal().generate()
+        for i in [1,2,3]:
+            name = f"r{i}l{i}_bridge"
+            (
+                result
+                .addS(
+                    bridge_h, name=name,
+                    role=Role.FIXTURE,
+                    material=Material.WOOD_BIRCH,
+                )
+                .constrain(f"{name}?conn0_rev", f"base?r{i}_1", "Point")
+                .constrain(f"{name}?conn1_rev", f"base?l{i}_0", "Point")
+                .constrain(f"{name}?conn2_rev", f"base?l{i}_3", "Point")
+                .constrain(f"{name}?conn3_rev", f"base?r{i}_2", "Point")
+            )
+        bridge_v = self.bridge_pair_vertical().generate()
+        (
+            result
+            .addS(bridge_v, name="r1_bridge", role=Role.FIXTURE, material=Material.WOOD_BIRCH)
+            .constrain("r1_bridge?conn0_rev", "base?r1_3", 'Plane')
+            .constrain("r1_bridge?conn1_rev", "base?r2_0", 'Plane')
+            .addS(bridge_v, name="r2_bridge", role=Role.FIXTURE, material=Material.WOOD_BIRCH)
+            .constrain("r2_bridge?conn0_rev", "base?r2_3", 'Plane')
+            .constrain("r2_bridge?conn1_rev", "base?r3_0", 'Plane')
+            .addS(bridge_v, name="l1_bridge", role=Role.FIXTURE, material=Material.WOOD_BIRCH)
+            .constrain("l1_bridge?conn0_rev", "base?l1_2", 'Plane')
+            .constrain("l1_bridge?conn1_rev", "base?l2_1", 'Plane')
+            .addS(bridge_v, name="l2_bridge", role=Role.FIXTURE, material=Material.WOOD_BIRCH)
+            .constrain("l2_bridge?conn0_rev", "base?l2_2", 'Plane')
+            .constrain("l2_bridge?conn1_rev", "base?l3_1", 'Plane')
+        )
+        if with_root_joint:
+            for name in ["l1", "l2", "l3", "r1", "r2", "r3"]:
+                result.addS(
+                    self.root_joint.assembly(), name=name,
+                    role=Role.PARENT,
+                    material=Material.PLASTIC_PLA)
+                self.add_root_joint_constraint(result, "base", name, name)
+        result.solve()
+        return result

nhf/touhou/houjuu_nue/test.py

@@ -0,0 +1,130 @@
+import unittest
+import cadquery as Cq
+import nhf.touhou.houjuu_nue as M
+import nhf.touhou.houjuu_nue.joints as MJ
+import nhf.touhou.houjuu_nue.electronics as ME
+from nhf.checks import pairwise_intersection
+
+class TestElectronics(unittest.TestCase):
+
+    def test_actuator_length(self):
+        self.assertAlmostEqual(
+            ME.LINEAR_ACTUATOR_50.conn_length, 103.9
+        )
+        self.assertAlmostEqual(
+            ME.LINEAR_ACTUATOR_30.conn_length, 83.9
+        )
+        self.assertAlmostEqual(
+            ME.LINEAR_ACTUATOR_10.conn_length, 64.5
+        )
+        self.assertAlmostEqual(
+            ME.LINEAR_ACTUATOR_21.conn_length, 76.0
+        )
+
+    def test_flexor(self):
+        flexor = ME.Flexor(
+            motion_span=60,
+        )
+        self.assertAlmostEqual(
+            flexor.target_length_at_angle(0),
+            flexor.actuator.stroke_length + flexor.actuator.conn_length)
+        self.assertAlmostEqual(
+            flexor.target_length_at_angle(flexor.motion_span),
+            flexor.actuator.conn_length)
+
+
+class TestJoints(unittest.TestCase):
+
+    def test_shoulder_collision_of_torsion_joint(self):
+        j = MJ.ShoulderJoint()
+        assembly = j.torsion_joint.rider_track_assembly()
+        self.assertEqual(pairwise_intersection(assembly), [])
+
+    def test_shoulder_collision_0(self):
+        j = MJ.ShoulderJoint()
+        assembly = j.assembly()
+        self.assertEqual(pairwise_intersection(assembly), [])
+
+    def test_shoulder_align(self):
+        j = MJ.ShoulderJoint()
+        a = j.assembly()
+        l_t_c0 = a.get_abs_location("parent_top/lip?conn0")
+        l_b_c0 = a.get_abs_location("parent_bot/lip?conn0")
+        v = l_t_c0 - l_b_c0
+        self.assertAlmostEqual(v.x, 0)
+        self.assertAlmostEqual(v.y, 0)
+
+    def test_shoulder_joint_dist(self):
+        """
+        Tests the arm radius
+        """
+        j = MJ.ShoulderJoint()
+        for deflection in [0, 40, j.angle_max_deflection]:
+            with self.subTest(deflection=deflection):
+                a = j.assembly(deflection=deflection)
+                # Axle
+                o = a.get_abs_location("parent_top/track?spring")
+                l_c1 = a.get_abs_location("parent_top/lip?conn0")
+                l_c2= a.get_abs_location("parent_top/lip?conn1")
+                v_c = 0.5 * ((l_c1 - o) + (l_c2 - o))
+                v_c.z = 0
+                self.assertAlmostEqual(v_c.Length, j.parent_lip_ext)
+
+    def test_disk_collision_0(self):
+        j = MJ.DiskJoint()
+        assembly = j.assembly(angle=0)
+        self.assertEqual(pairwise_intersection(assembly), [])
+    def test_disk_collision_mid(self):
+        j = MJ.DiskJoint()
+        assembly = j.assembly(angle=j.movement_angle / 2)
+        self.assertEqual(pairwise_intersection(assembly), [])
+    def test_disk_collision_max(self):
+        j = MJ.DiskJoint()
+        assembly = j.assembly(angle=j.movement_angle)
+        self.assertEqual(pairwise_intersection(assembly), [])
+
+    def test_elbow_joint_dist(self):
+        """
+        Tests the arm radius
+        """
+        j = MJ.ElbowJoint()
+        for angle in [0, 10, 20, j.disk_joint.movement_angle]:
+            with self.subTest(angle=angle):
+                a = j.assembly(angle=angle)
+                o = a.get_abs_location("child/disk?mate_bot")
+                l_c1 = a.get_abs_location("child/lip?conn_top0")
+                l_c2 = a.get_abs_location("child/lip?conn_bot0")
+                v_c = 0.5 * ((l_c1 - o) + (l_c2 - o))
+                v_c.z = 0
+                self.assertAlmostEqual(v_c.Length, j.child_arm_radius)
+
+                l_p1 = a.get_abs_location("parent_upper/lip?conn_top0")
+                l_p2 = a.get_abs_location("parent_upper/lip?conn_bot0")
+                v_p = 0.5 * ((l_p1 - o) + (l_p2 - o))
+                v_p.z = 0
+                self.assertAlmostEqual(v_p.Length, j.parent_arm_radius)
+
+
+class Test(unittest.TestCase):
+
+    def test_hs_joint_parent(self):
+        p = M.Parameters()
+        obj = p.harness.hs_joint_parent()
+        self.assertIsInstance(obj.val().solids(), Cq.Solid, msg="H-S joint must be in one piece")
+
+    def test_wings_assembly(self):
+        p = M.Parameters()
+        p.wings_harness_assembly()
+    def test_trident_assembly(self):
+        p = M.Parameters()
+        assembly = p.trident.assembly()
+        bbox = assembly.toCompound().BoundingBox()
+        length = bbox.zlen
+        self.assertGreater(length, 1300)
+        self.assertLess(length, 1700)
+    #def test_assemblies(self):
+    #    p = M.Parameters()
+    #    p.check_all()
+
+if __name__ == '__main__':
+    unittest.main()

nhf/touhou/houjuu_nue/trident.py

@@ -0,0 +1,88 @@
+import math
+from dataclasses import dataclass, field
+import cadquery as Cq
+from nhf import Material, Role
+from nhf.parts.handle import Handle, BayonetMount
+from nhf.build import Model, target, assembly
+import nhf.utils
+
+@dataclass
+class Trident(Model):
+    handle: Handle = field(default_factory=lambda: Handle(
+        diam=38,
+        diam_inner=38-2 * 25.4/8,
+        diam_connector_internal=18,
+        simplify_geometry=False,
+        mount=BayonetMount(n_pin=3),
+    ))
+    terminal_height: float = 80
+    terminal_hole_diam: float = 24
+    terminal_bottom_thickness: float = 10
+    segment_length: float = 24 * 25.4
+
+    @target(name="handle-connector")
+    def handle_connector(self):
+        return self.handle.connector()
+    @target(name="handle-insertion")
+    def handle_insertion(self):
+        return self.handle.insertion()
+    @target(name="proto-handle-terminal-connector", prototype=True)
+    def proto_handle_connector(self):
+        return self.handle.one_side_connector(height=15)
+
+    @target(name="handle-terminal-connector")
+    def handle_terminal_connector(self):
+        result = self.handle.one_side_connector(height=self.terminal_height)
+        #result.faces("<Z").circle(radius=25/2).cutThruAll()
+        h = self.terminal_height + self.handle.insertion_length - self.terminal_bottom_thickness
+        result = result.faces(">Z").hole(self.terminal_hole_diam, depth=h)
+        return result
+
+    @assembly()
+    def assembly(self):
+        def segment():
+            return self.handle.segment(self.segment_length)
+
+        terminal = (
+            self.handle
+            .one_side_connector(height=self.terminal_height)
+            .faces(">Z")
+            .hole(15, self.terminal_height + self.handle.insertion_length - 10)
+        )
+        mat_c = Material.PLASTIC_PLA
+        mat_i = Material.RESIN_TOUGH_1500
+        mat_s = Material.ACRYLIC_BLACK
+        role_i = Role.CONNECTION
+        role_c = Role.CONNECTION
+        role_s = Role.STRUCTURE
+        a = (
+            Cq.Assembly()
+            .addS(self.handle.insertion(), name="i0",
+                  material=mat_i, role=role_i)
+            .constrain("i0", "Fixed")
+            .addS(segment(), name="s1",
+                  material=mat_s, role=role_s)
+            .constrain("i0?rim", "s1?mate1", "Plane", param=0)
+            .addS(self.handle.insertion(), name="i1",
+                  material=mat_i, role=role_i)
+            .addS(self.handle.connector(), name="c1",
+                  material=mat_c, role=role_c)
+            .addS(self.handle.insertion(), name="i2",
+                  material=mat_i, role=role_i)
+            .constrain("s1?mate2", "i1?rim", "Plane", param=0)
+            .constrain("i1?mate", "c1?mate1", "Plane")
+            .constrain("i2?mate", "c1?mate2", "Plane")
+            .addS(segment(), name="s2",
+                  material=mat_s, role=role_s)
+            .constrain("i2?rim", "s2?mate1", "Plane", param=0)
+            .addS(self.handle.insertion(), name="i3",
+                  material=mat_i, role=role_i)
+            .constrain("s2?mate2", "i3?rim", "Plane", param=0)
+            .addS(self.handle.one_side_connector(), name="head",
+                  material=mat_c, role=role_c)
+            .constrain("i3?mate", "head?mate", "Plane")
+            .addS(terminal, name="terminal",
+                  material=mat_c, role=role_c)
+            .constrain("i0?mate", "terminal?mate", "Plane")
+        )
+        return a.solve()

nhf/touhou/shiki_eiki/__init__.py

@@ -1,40 +0,0 @@
-from dataclasses import dataclass, field
-import cadquery as Cq
-from nhf.build import Model, TargetKind, target, assembly, submodel
-import nhf.touhou.shiki_eiki.rod as MR
-import nhf.touhou.shiki_eiki.crown as MC
-import nhf.touhou.shiki_eiki.epaulette as ME
-import nhf.utils
-
-@dataclass
-class Parameters(Model):
-
-    rod: MR.Rod = field(default_factory=lambda: MR.Rod())
-    crown: MC.Crown = field(default_factory=lambda: MC.Crown())
-    epaulette_ze: ME.Epaulette = field(default_factory=lambda: ME.Epaulette(side="ze"))
-    epaulette_hi: ME.Epaulette = field(default_factory=lambda: ME.Epaulette(side="hi"))
-
-    def __post_init__(self):
-        super().__init__(name="shiki-eiki")
-
-    @submodel(name="rod")
-    def submodel_rod(self) -> Model:
-        return self.rod
-    @submodel(name="crown")
-    def submodel_crown(self) -> Model:
-        return self.crown
-    @submodel(name="epaulette_ze")
-    def submodel_epaulette_ze(self) -> Model:
-        return self.epaulette_ze
-    @submodel(name="epaulette_hi")
-    def submodel_epaulette_hi(self) -> Model:
-        return self.epaulette_hi
-
-
-if __name__ == '__main__':
-    import sys
-
-    p = Parameters()
-    if len(sys.argv) == 1:
-        p.build_all()
-        sys.exit(0)

nhf/touhou/shiki_eiki/crown.py

@@ -1,758 +0,0 @@
-from nhf import Material, Role
-from nhf.build import Model, target, assembly, TargetKind
-import nhf.utils
-
-import math
-from typing import Optional
-from dataclasses import dataclass, field
-from enum import Enum
-import cadquery as Cq
-
-class AttachPoint(Enum):
-    DOVETAIL_IN = 1
-    DOVETAIL_OUT = 2
-    NONE = 3
-    # Inset slot for front surface attachment       j
-    SLOT = 4
-
-@dataclass
-class Crown(Model):
-
-    facets: int = 5
-    # Lower circumference
-    base_circ: float = 538.0
-    # Upper circumference, at the middle
-    tilt_circ: float = 640.0
-    front_base_circ: float = (640.0 + 538.0) / 2
-    # Total height
-    height: float = 120.0
-
-    # Front guard has a wing that inserts into the side guards.
-    front_wing_angle: float = 9.0
-    front_wing_dh: float = 40.0
-    front_wing_height: float = 20.0
-
-    margin: float = 10.0
-
-    thickness: float = 0.4 # 26 Gauge
-    side_guard_thickness: float = 15.0
-    side_guard_channel_radius: float = 90
-    side_guard_channel_height: float = 10
-    side_guard_hole_height: float = 15.0
-    side_guard_hole_diam: float = 1.5
-    side_guard_dovetail_height: float = 30.0
-
-    side_guard_slot_width: float = 22.0
-    side_guard_slot_angle: float = 18.0
-    # brass insert thickness
-    slot_thickness: float = 2.0
-    slot_width: float = 20.0
-    slot_tilt: float = 60
-
-    material: Material = Material.METAL_BRASS
-    material_side: Material = Material.PLASTIC_PLA
-
-    def __post_init__(self):
-        super().__init__(name="crown")
-
-        assert self.tilt_circ > self.base_circ
-        assert self.facet_width_upper / 2 > self.height / 2, "Top angle must be > 90 degrees"
-        assert self.side_guard_channel_radius > self.radius_lower
-
-        assert self.front_wing_angle < 180 / self.facets
-        assert self.front_wing_dh + self.front_wing_height < self.height
-        assert self.slot_phi < 2 * math.pi / self.facets
-
-    @property
-    def facet_width_lower(self):
-        return self.base_circ / self.facets
-    @property
-    def facet_width_upper(self):
-        return self.tilt_circ / self.facets
-    @property
-    def radius_lower(self):
-        return self.base_circ / (2 * math.pi)
-    @property
-    def radius_middle(self):
-        return self.tilt_circ / (2 * math.pi)
-    @property
-    def radius_upper(self):
-        return (self.tilt_circ + (self.tilt_circ - self.base_circ)) / (2 * math.pi)
-
-    @property
-    def radius_lower_front(self):
-        return self.front_base_circ / (2 * math.pi)
-    @property
-    def radius_middle_front(self):
-        return self.radius_lower_front + (self.radius_middle - self.radius_lower)
-    @property
-    def radius_upper_front(self):
-        return self.radius_lower_front + (self.radius_upper - self.radius_lower)
-
-    @property
-    def slot_r0(self):
-        return self.radius_lower + self.thickness / 2
-    @property
-    def slot_r1(self):
-        return self.radius_upper + self.thickness / 2
-
-    @property
-    def slot_h0(self) -> float:
-        """
-        Phantom height formed by similar triangle, i.e. h0 in
-
-        (h0 + h) / r2 = h0 / r1
-        """
-        rat = self.slot_r0  / (self.slot_r1 - self.slot_r0)
-        return self.height * rat
-    @property
-    def slot_outer_h0(self):
-        rat = (self.slot_r0 + self.side_guard_thickness) / (self.slot_r1 - self.slot_r0)
-        return self.height * rat
-    @property
-    def slot_theta(self) -> float:
-        """
-        Cone tilt, related to other quantities by
-        h0 = r1 * cot theta
-        """
-        h = self.height
-        return math.atan(self.slot_r0 / (self.height + self.slot_h0))
-    @property
-    def slot_phi(self) -> float:
-        """
-        When a slice of the crown is expanded (via Gauss's Theorema Egregium),
-        it does not form a full circle. phi is the angle of one of the slices.
-
-        Note that on the cone itself, the angular slice is `2 pi / n` which `n`
-        is the number of sides.
-        """
-        arc = self.slot_r0 * math.pi * 2 / self.facets
-        rho = self.slot_h0 / math.cos(self.slot_theta)
-        return arc / rho
-
-
-    def profile_base(self) -> Cq.Sketch:
-        # Generate a conical pentagonal shape
-
-        y0 = self.slot_h0 / math.cos(self.slot_theta)
-        yh = (self.height/2 + self.slot_h0) / math.cos(self.slot_theta)
-        yq = (self.height*3/4 + self.slot_h0) / math.cos(self.slot_theta)
-        y1 = (self.height + self.slot_h0) / math.cos(self.slot_theta)
-        phi2 = self.slot_phi / 2
-
-        return (
-            Cq.Sketch()
-            .segment(
-                (y0 * math.sin(phi2), y0 * (-1 + math.cos(phi2))),
-                (yh * math.sin(phi2), -y0 + yh * math.cos(phi2)),
-            )
-            .arc(
-                (yh * math.sin(phi2), -y0 + yh * math.cos(phi2)),
-                (yq * math.sin(phi2/2), -y0 + yq * math.cos(phi2/2)),
-                (0, y1 - y0),
-            )
-            .arc(
-                (-yh * math.sin(phi2), -y0 + yh * math.cos(phi2)),
-                (-yq * math.sin(phi2/2), -y0 + yq * math.cos(phi2/2)),
-                (0, y1 - y0),
-            )
-            .segment(
-                (-y0 * math.sin(phi2), y0 * (-1 + math.cos(phi2))),
-                (-yh * math.sin(phi2), -y0 + yh * math.cos(phi2)),
-            )
-            .arc(
-                (y0 * math.sin(phi2), -y0 + y0 * math.cos(phi2)),
-                (0, 0),
-                (-y0 * math.sin(phi2), y0 * (-1 + math.cos(phi2))),
-            )
-            .assemble()
-        )
-
-    @target(name="eye", kind=TargetKind.DXF)
-    def profile_eye(self) -> Cq.Sketch:
-        """
-        deprecated
-        """
-        dy = self.facet_width_upper * 0.1
-        y_tip = self.height - self.margin
-
-        eye = (
-            Cq.Sketch()
-            .segment(
-                (0, y_tip),
-                (dy, y_tip - dy),
-            )
-            .segment(
-                (0, y_tip),
-                (-dy, y_tip - dy),
-            )
-            .bezier([
-                (dy, y_tip - dy),
-                (dy/2, y_tip - dy*.6),
-                (dy/4, y_tip - dy/2),
-                (0, y_tip - dy/2),
-            ])
-            .bezier([
-                (0, y_tip - dy/2),
-                (-dy/4, y_tip - dy/2),
-                (-dy/2, y_tip - dy*.6),
-                (-dy, y_tip - dy),
-            ])
-            .assemble()
-        )
-        return eye
-
-    @target(name="dot", kind=TargetKind.DXF)
-    def profile_dot(self) -> Cq.Sketch:
-        return (
-            Cq.Sketch()
-            .circle(self.margin / 2)
-        )
-
-    def profile_front_wing(self, mirror: bool) -> Cq.Sketch:
-        """
-        These two wings help the front profile attach
-        """
-        hw = self.front_wing_height / math.cos(self.slot_theta)
-        hw0 = (self.front_wing_dh + self.slot_h0) / math.cos(self.slot_theta)
-        hw1 = hw0 + hw
-        y0 = self.slot_h0 / math.cos(self.slot_theta)
-        # Calculate angle of wing analogously to `this.slot_phi`. This arc's
-        # radius is hw0.
-        wing_arc = self.slot_r0 * math.radians(self.front_wing_angle)
-        phi_w = wing_arc / hw0
-        sign = -1 if mirror else 1
-        phi2 = self.slot_phi / 2
-        return (
-            Cq.Sketch()
-            .segment(
-                (sign * hw0 * math.sin(phi2), -y0 + hw0 * math.cos(phi2)),
-                (sign * hw1 * math.sin(phi2), -y0 + hw1 * math.cos(phi2)),
-            )
-            .segment(
-                (sign * hw0 * math.sin(phi2+phi_w), -y0 + hw0 * math.cos(phi2+phi_w)),
-                (sign * hw1 * math.sin(phi2+phi_w), -y0 + hw1 * math.cos(phi2+phi_w)),
-            )
-            .arc(
-                (sign * hw0 * math.sin(phi2), -y0 + hw0 * math.cos(phi2)),
-                (sign * hw0 * math.sin(phi2+phi_w/2), -y0 + hw0 * math.cos(phi2+phi_w/2)),
-                (sign * hw0 * math.sin(phi2+phi_w), -y0 + hw0 * math.cos(phi2+phi_w)),
-            )
-            .arc(
-                (sign * hw1 * math.sin(phi2),         -y0 + hw1 * math.cos(phi2)),
-                (sign * hw1 * math.sin(phi2+phi_w/2), -y0 + hw1 * math.cos(phi2+phi_w/2)),
-                (sign * hw1 * math.sin(phi2+phi_w),   -y0 + hw1 * math.cos(phi2+phi_w)),
-            )
-            .assemble()
-        )
-
-
-    @target(name="front", kind=TargetKind.DXF)
-    def profile_front(self) -> Cq.Sketch:
-        """
-        Front profile slots into holes on the side guards
-        """
-        profile_base = (
-            self.profile_base()
-            .boolean(self.profile_front_wing(False), mode='a')
-            .boolean(self.profile_front_wing(True), mode='a')
-        )
-
-
-        dx_l = self.facet_width_lower
-        dx_u = self.facet_width_upper
-        dy = self.height
-
-        window_length = dy / 5
-        window_height = self.margin / 2
-        window = (
-            Cq.Sketch()
-            .rect(window_length, window_height)
-        )
-        window_p1 = Cq.Location.from2d(
-            dx_u/2 - self.margin - window_length * 0.4,
-            dy/2 + self.margin/2,
-            math.degrees(math.atan2(dy/2, -dx_u/2) * 0.95),
-        )
-        window_p2 = Cq.Location.from2d(
-            dx_l/2 - self.margin + window_length * 0.15,
-            window_length/2 + self.margin,
-            math.degrees(math.atan2(dy/2, (dx_u-dx_l)/2)),
-        )
-
-        # Carve the scale
-        z = dy * 1/32 # "Pen" Thickness
-        scale_pan_x = dx_l / 2 * 0.6
-        scale_pan_y = dy / 2 * 0.7
-        pan_dx = dx_l * 1/4
-        pan_dy = dy * 1/16
-
-        scale_pan = (
-            Cq.Sketch()
-            .arc(
-                (- pan_dx/2, pan_dy),
-                (0, 0),
-                (+ pan_dx/2, pan_dy),
-            )
-            .segment(
-                (+pan_dx/2, pan_dy),
-                (+pan_dx/2 - z, pan_dy),
-            )
-            .arc(
-                (-pan_dx/2 + z, pan_dy),
-                (0, z),
-                (+pan_dx/2 - z, pan_dy),
-            )
-            .segment(
-                (-pan_dx/2, pan_dy),
-                (-pan_dx/2 + z, pan_dy),
-            )
-            .assemble()
-        )
-        loc_scale_pan = Cq.Location.from2d(scale_pan_x, scale_pan_y)
-        loc_scale_pan2 = Cq.Location.from2d(-scale_pan_x, scale_pan_y)
-
-        scale_base_y = dy / 2 * 0.36
-        scale_base_x = dx_l / 10
-        assert scale_base_y < scale_pan_y
-        assert scale_base_x < scale_pan_x
-
-        scale_body = (
-            Cq.Sketch()
-            .arc(
-                (scale_pan_x, scale_pan_y),
-                (0, scale_base_y),
-                (-scale_pan_x, scale_pan_y),
-            )
-            .segment(
-                (-scale_pan_x, scale_pan_y),
-                (-scale_pan_x+z, scale_pan_y+z),
-            )
-            .arc(
-                (scale_pan_x - z, scale_pan_y+z),
-                (0, scale_base_y + z),
-                (-scale_pan_x + z, scale_pan_y+z),
-            )
-            .segment(
-                (scale_pan_x, scale_pan_y),
-                (scale_pan_x-z, scale_pan_y+z),
-            )
-            .assemble()
-            .polygon([
-                (scale_base_x, scale_base_y + z/2),
-                (scale_base_x, self.margin),
-                (scale_base_x-z, self.margin),
-                (scale_base_x-z, scale_base_y-z),
-
-                (-scale_base_x+z, scale_base_y-z),
-                (-scale_base_x+z, self.margin),
-                (-scale_base_x, self.margin),
-                (-scale_base_x, scale_base_y + z/2),
-            ], mode='a')
-        )
-
-        # Needle
-        needle_y_top = dy - self.margin
-        needle_y_mid = dy * 0.7
-        needle_dx = scale_base_x * 2
-        y_shoulder = needle_y_mid - z * 2
-        needle = (
-            Cq.Sketch()
-            .segment(
-                (0, needle_y_mid),
-                (z, y_shoulder),
-            )
-            .segment(
-                (z, y_shoulder),
-                (z, scale_base_y),
-            )
-            .segment(
-                (z, scale_base_y),
-                (-z, scale_base_y),
-            )
-            .segment(
-                (-z, y_shoulder),
-                (-z, scale_base_y),
-            )
-            .segment(
-                (-z, y_shoulder),
-                (0, needle_y_mid),
-            )
-            .assemble()
-        )
-        z2 = z * 2
-        y1 = needle_y_mid + z2
-        needle_head = (
-            Cq.Sketch()
-            .segment(
-                (z, needle_y_mid),
-                (z, y1),
-            )
-            .segment(
-                (-z, needle_y_mid),
-                (-z, y1),
-            )
-            # Outer edge
-            .bezier([
-                (0, needle_y_top),
-                (0, (needle_y_top + needle_y_mid)/2),
-                (needle_dx, (needle_y_top + needle_y_mid)/2),
-                (z, needle_y_mid),
-            ])
-            .bezier([
-                (0, needle_y_top),
-                (0, (needle_y_top + needle_y_mid)/2),
-                (-needle_dx, (needle_y_top + needle_y_mid)/2),
-                (-z, needle_y_mid),
-            ])
-            # Inner edge
-            .bezier([
-                (0, needle_y_top - z2),
-                (0, (needle_y_top + needle_y_mid)/2),
-                (needle_dx-z2*2, (needle_y_top + needle_y_mid)/2),
-                (z, y1),
-            ])
-            .bezier([
-                (0, needle_y_top - z2),
-                (0, (needle_y_top + needle_y_mid)/2),
-                (-needle_dx+z2*2, (needle_y_top + needle_y_mid)/2),
-                (-z, y1),
-            ])
-            .assemble()
-        )
-
-        return (
-            profile_base
-            .boolean(window.moved(window_p1), mode='s')
-            .boolean(window.moved(window_p1.flip_x()), mode='s')
-            .boolean(window.moved(window_p2), mode='s')
-            .boolean(window.moved(window_p2.flip_x()), mode='s')
-            .boolean(scale_pan.moved(loc_scale_pan), mode='s')
-            .boolean(scale_pan.moved(loc_scale_pan2), mode='s')
-            .boolean(scale_body, mode='s')
-            .boolean(needle, mode='s')
-            .boolean(needle_head, mode='s')
-            .clean()
-        )
-
-    @target(name="side-guard", kind=TargetKind.DXF)
-    def profile_side_guard(self) -> Cq.Sketch:
-        dx = self.facet_width_lower / 2
-        dy = self.height
-
-        # Main control points
-        p_mid = Cq.Location.from2d(0, 0.5 * dy)
-        p_mid_v = Cq.Location.from2d(10/57 * dx, 0)
-        p_top1 = Cq.Location.from2d(0.408 * dx, 5/24 * dy)
-        p_top1_v = Cq.Location.from2d(0.13 * dx, 0)
-        p_top2 = Cq.Location.from2d(0.737 * dx, 0.255 * dy)
-        p_top2_c1 = p_top2 * Cq.Location.from2d(-0.105 * dx, 0.033 * dy)
-        p_top2_c2 = p_top2 * Cq.Location.from2d(-0.053 * dx, -0.09 * dy)
-        p_top3 = Cq.Location.from2d(0.929 * dx, 0.145 * dy)
-        p_top3_v = Cq.Location.from2d(0.066 * dx, 0.033 * dy)
-        p_top4 = Cq.Location.from2d(0.85 * dx, 0.374 * dy)
-        p_top4_v = Cq.Location.from2d(-0.053 * dx, 0.008 * dy)
-        p_top5 = Cq.Location.from2d(0.54 * dx, 0.349 * dy)
-        p_top5_c1 = p_top5 * Cq.Location.from2d(0.103 * dx, 0.017 * dy)
-        p_top5_c2 = p_top5 * Cq.Location.from2d(0.158 * dx, 0.034 * dy)
-        p_base_c = Cq.Location.from2d(1.5 * dx, 0.55 * dy)
-
-        y0 = self.slot_outer_h0 / math.cos(self.slot_theta)
-        phi2 = self.slot_phi / 2
-        p_base = Cq.Location.from2d(y0 * math.sin(phi2), -y0 + y0 * math.cos(phi2))
-
-        bezier_groups = [
-            [
-                p_base,
-                p_base_c,
-                p_top5_c2,
-                p_top5,
-            ],
-            [
-                p_top5,
-                p_top5_c1,
-                p_top4 * p_top4_v,
-                p_top4,
-            ],
-            [
-                p_top4,
-                p_top4 * p_top4_v.inverse.scale(4),
-                p_top3 * p_top3_v,
-                p_top3,
-            ],
-            [
-                p_top3,
-                p_top3 * p_top3_v.inverse,
-                p_top2_c2,
-                p_top2,
-            ],
-            [
-                p_top2,
-                p_top2_c1,
-                p_top1 * p_top1_v,
-                p_top1,
-            ],
-            [
-                p_top1,
-                p_top1 * p_top1_v.inverse,
-                p_mid * p_mid_v,
-                p_mid,
-            ],
-        ]
-        sketch = (
-            Cq.Sketch()
-            .arc(
-                p_base.to2d_pos(),
-                (0, 0),
-                p_base.flip_x().to2d_pos(),
-            )
-        )
-        for bezier_group in bezier_groups:
-            sketch = (
-                sketch
-                .bezier([p.to2d_pos() for p in bezier_group])
-                .bezier([p.flip_x().to2d_pos() for p in bezier_group])
-            )
-        return sketch.assemble()
-
-    def side_guard_dovetail(self) -> Cq.Solid:
-        """
-        Generates a dovetail coupling for the side guard
-        """
-        dx = self.side_guard_thickness / 2
-        wire = Cq.Wire.makePolygon([
-            (dx * 0.5, 0),
-            (dx * 0.7, dx),
-            (-dx * 0.7, dx),
-            (-dx * 0.5, 0),
-        ], close=True)
-        return Cq.Solid.extrudeLinear(
-            wire,
-            [],
-            (0,0,dx + self.side_guard_dovetail_height),
-        ).moved((0, 0, -dx))
-
-    def side_guard_frontal_slot(self) -> Cq.Workplane:
-        angle = 360 / self.facets
-        inner_d = self.thickness / 2 - self.slot_thickness / 2
-        outer_d = self.thickness / 2 + self.slot_thickness / 2
-        outer = Cq.Solid.makeCone(
-            radius1=self.radius_lower_front + outer_d,
-            radius2=self.radius_upper_front + outer_d,
-            height=self.height,
-            angleDegrees=angle,
-        )
-        inner = Cq.Solid.makeCone(
-            radius1=self.radius_lower_front + inner_d,
-            radius2=self.radius_upper_front + inner_d,
-            height=self.height,
-            angleDegrees=angle,
-        )
-        shell = (
-            outer.cut(inner)
-            .rotate((0,0,0), (0,0,1), -angle/2)
-        )
-        # Generate the sector intersector
-        intersector = Cq.Solid.makeCylinder(
-            radius=self.radius_upper + self.side_guard_thickness,
-            height=self.front_wing_height,
-            angleDegrees=self.front_wing_angle,
-        ).moved(Cq.Location(0,0,self.front_wing_dh,0,0,-self.front_wing_angle/2))
-        return shell * intersector
-
-    def side_guard(
-            self,
-            attach_left: AttachPoint,
-            attach_right: AttachPoint,
-        ) -> Cq.Workplane:
-        """
-        Constructs the side guard using a cone. Via Gauss's Theorema Egregium,
-        the surface of the cone can be deformed into a plane.
-        """
-        angle_span = 360 / self.facets
-        outer = Cq.Solid.makeCone(
-            radius1=self.radius_lower + self.side_guard_thickness,
-            radius2=self.radius_upper + self.side_guard_thickness,
-            height=self.height,
-            angleDegrees=angle_span,
-        )
-        inner = Cq.Solid.makeCone(
-            radius1=self.radius_lower,
-            radius2=self.radius_upper,
-            height=self.height,
-            angleDegrees=angle_span,
-        )
-        shell = (outer - inner).rotate((0,0,0), (0,0,1), -angle_span/2)
-        dx = math.sin(math.radians(angle_span / 2)) * (self.radius_middle + self.side_guard_thickness)
-        profile = (
-            Cq.Workplane('YZ')
-            .polyline([
-                (0, self.height),
-                (-dx, self.height / 2),
-                (-dx, 0),
-                (dx, 0),
-                (dx, self.height / 2),
-            ])
-            .close()
-            .extrude(self.radius_upper + self.side_guard_thickness)
-            .val()
-        )
-        #channel = (
-        #    Cq.Solid.makeCylinder(
-        #        radius=self.side_guard_channel_radius + 1.0,
-        #        height=self.side_guard_channel_height,
-        #    ) - Cq.Solid.makeCylinder(
-        #        radius=self.side_guard_channel_radius,
-        #        height=self.side_guard_channel_height,
-        #    )
-        #)
-        result = shell * profile# - channel
-
-        # Create the downward slots
-        for sign in [-1, 1]:
-            slot_box = Cq.Solid.makeBox(
-                length=self.height,
-                width=self.slot_width,
-                height=self.slot_thickness,
-            ).moved(
-                Cq.Location(-self.slot_thickness,-self.slot_width/2, -self.slot_thickness/2)
-            )
-            # keyhole for threads to stay in place
-            slot_cyl = Cq.Solid.makeCylinder(
-                radius=self.slot_thickness/2,
-                height=self.height,
-                pnt=(0,0,self.slot_thickness/2),
-                dir=(1,0,0),
-            )
-            slot = slot_box + slot_cyl
-            slot = slot.moved(
-                Cq.Location.rot2d(sign * self.side_guard_slot_angle) *
-                Cq.Location(self.radius_lower + self.side_guard_thickness/2, 0, 0) *
-                Cq.Location(0,0,0,0,-180 + self.slot_tilt,0)
-            )
-            result = result - slot
-
-        radius_attach = self.radius_lower + self.side_guard_thickness / 2
-        # tilt the dovetail by radius differential
-        angle_tilt = math.degrees(math.atan2(self.radius_middle - self.radius_lower, self.height / 2))
-        dovetail = self.side_guard_dovetail()
-        loc_dovetail_left = Cq.Location.rot2d(angle_span / 2) * Cq.Location(radius_attach, 0, 0, 0, angle_tilt, 0)
-        loc_dovetail_right = Cq.Location.rot2d(-angle_span / 2) * Cq.Location(radius_attach, 0, 0, 0, angle_tilt, 0)
-
-        angle_slot = 180 / self.facets - self.front_wing_angle / 2
-        match attach_left:
-            case AttachPoint.DOVETAIL_IN:
-                loc_dovetail_left *= Cq.Location.rot2d(180)
-                result = result - dovetail.moved(loc_dovetail_left)
-            case AttachPoint.DOVETAIL_OUT:
-                result = result + dovetail.moved(loc_dovetail_left)
-            case AttachPoint.SLOT:
-                result = result - self.side_guard_frontal_slot().moved(Cq.Location.rot2d(angle_slot))
-            case AttachPoint.NONE:
-                pass
-        match attach_right:
-            case AttachPoint.DOVETAIL_IN:
-                result = result - dovetail.moved(loc_dovetail_right)
-            case AttachPoint.DOVETAIL_OUT:
-                loc_dovetail_right *= Cq.Location.rot2d(180)
-                result = result + dovetail.moved(loc_dovetail_right)
-            case AttachPoint.SLOT:
-                result = result - self.side_guard_frontal_slot().moved(Cq.Location.rot2d(-angle_slot))
-            case AttachPoint.NONE:
-                pass
-        # Remove parts below the horizontal
-        cut_h = self.radius_lower
-        result -= Cq.Solid.makeCylinder(
-            radius=self.radius_lower + self.side_guard_thickness,
-            height=cut_h).moved((0,0,-cut_h))
-        return result
-
-    @target(name="side_guard_1", angularTolerance=0.01)
-    def side_guard_1(self) -> Cq.Workplane:
-        return self.side_guard(
-            attach_left=AttachPoint.SLOT,
-            attach_right=AttachPoint.DOVETAIL_IN,
-        )
-    @target(name="side_guard_2", angularTolerance=0.01)
-    def side_guard_2(self) -> Cq.Workplane:
-        return self.side_guard(
-            attach_left=AttachPoint.DOVETAIL_OUT,
-            attach_right=AttachPoint.DOVETAIL_IN,
-        )
-    @target(name="side_guard_3", angularTolerance=0.01)
-    def side_guard_3(self) -> Cq.Workplane:
-        return self.side_guard(
-            attach_left=AttachPoint.DOVETAIL_OUT,
-            attach_right=AttachPoint.DOVETAIL_IN,
-        )
-    @target(name="side_guard_4", angularTolerance=0.01)
-    def side_guard_4(self) -> Cq.Workplane:
-        return self.side_guard(
-            attach_left=AttachPoint.DOVETAIL_OUT,
-            attach_right=AttachPoint.SLOT,
-        )
-
-    def front_surrogate(self) -> Cq.Workplane:
-        """
-        Create a surrogate cylindrical section structure for the front since we
-        cannot bend extrusions
-        """
-        angle = 360 / 5
-        outer = Cq.Solid.makeCone(
-            radius1=self.radius_lower_front + self.thickness,
-            radius2=self.radius_upper_front + self.thickness,
-            height=self.height,
-            angleDegrees=angle,
-        )
-        inner = Cq.Solid.makeCone(
-            radius1=self.radius_lower_front,
-            radius2=self.radius_upper_front,
-            height=self.height,
-            angleDegrees=angle,
-        )
-        shell = (
-            outer.cut(inner)
-            .rotate((0,0,0), (0,0,1), -angle/2)
-        )
-        dx = math.sin(math.radians(angle / 2)) * self.radius_middle_front
-        profile = (
-            Cq.Workplane('YZ')
-            .polyline([
-                (0, self.height),
-                (-dx, self.height / 2),
-                (-dx, 0),
-                (dx, 0),
-                (dx, self.height / 2),
-            ])
-            .close()
-            .extrude(self.radius_upper_front + self.side_guard_thickness)
-            .val()
-        )
-        return shell * profile
-
-    def assembly(self) -> Cq.Assembly:
-        """
-        New assembly using conformal mapping on the cone.
-        """
-        side_guards = [
-            self.side_guard_1(),
-            self.side_guard_2(),
-            self.side_guard_3(),
-            self.side_guard_4(),
-        ]
-        a = Cq.Assembly()
-        for i,side_guard in enumerate(side_guards):
-            angle = -(i+1) * 360 / self.facets
-            a = a.addS(
-                side_guard,
-                name=f"side-{i}",
-                material=self.material_side,
-                loc=Cq.Location(rz=angle)
-            )
-        a.addS(
-            self.front_surrogate(),
-            name="front",
-            material=self.material,
-        )
-        return a
-

nhf/touhou/shiki_eiki/epaulette.py

@@ -1,36 +0,0 @@
-import math
-from dataclasses import dataclass, field
-from pathlib import Path
-import cadquery as Cq
-from nhf import Material, Role
-from nhf.build import Model, target, assembly
-import nhf.utils
-
-@dataclass
-class Epaulette(Model):
-
-    side: str
-    diam: float = 100.0
-    thickness_brass: float = 0.4 # 26 Gauge
-    thickness_fabric: float = 0.3
-    material: Material = Material.METAL_BRASS
-
-    def __post_init__(self):
-        super().__init__(name=f"epaulette-{self.side}")
-
-    def surface(self) -> Cq.Solid:
-        path = Path(__file__).resolve().parent / f"epaulette-{self.side}.dxf"
-        return (
-            Cq.importers.importDXF(path).wires().toPending().extrude(self.thickness_brass)
-        )
-    def assembly(self) -> Cq.Assembly:
-        assembly = (
-            Cq.Assembly()
-            .addS(
-                self.surface(),
-                name="surface",
-                material=self.material,
-                role=Role.DECORATION,
-            )
-        )
-        return assembly

nhf/touhou/shiki_eiki/rod.py

@@ -1,587 +0,0 @@
-import math
-from dataclasses import dataclass, field
-from typing import Tuple
-import cadquery as Cq
-from nhf import Material, Role
-from nhf.build import Model, target, assembly, TargetKind
-import nhf.utils
-
-@dataclass
-class Rod(Model):
-
-    width: float = 120.0
-    length: float = 550.0
-    length_tip: float = 100.0
-    width_tail: float = 60.0
-    margin: float = 10.0
-
-    thickness_top: float = 25.4 / 8
-    # The side which has mounted hinges must be thicker
-    thickness_side: float = 25.4 / 4
-
-    height_internal: float = 30.0
-
-    material_shell: Material = Material.WOOD_BIRCH
-
-    # Considering the glyph on the top ...
-
-    # counted from middle to the bottom
-    fac_bar_top: float = 0.1
-    # counted from bottom to top
-    fac_window_tsumi_bot: float = 0.63
-    fac_window_tsumi_top: float = 0.88
-
-    fac_window_footer_bot: float = 0.36
-    fac_window_footer_top: float = 0.6
-
-    # Considering the side ...
-    hinge_plate_pos: list[float] = field(default_factory=lambda: [0.1, 0.9])
-    hinge_plate_length: float = 30.0
-    hinge_hole_diam: float = 2.5
-    # Hole distance to axis
-    hinge_hole_axis_dist: float = 12.5 / 2
-    # Distance between holes
-    hinge_hole_sep: float = 15.89
-
-    # Consider the reference objects
-    ref_object_width: float = 50.0
-    ref_object_length: float = 50.0
-
-    def __post_init__(self):
-        super().__init__(name="rod")
-        self.loc_core = Cq.Location.from2d(self.length - self.length_tip, 0)
-        assert self.length_tip * 2 < self.length
-        #assert self.fac_bar_top + self.fac_window_tsumi_top < 1
-        assert self.fac_window_tsumi_bot < self.fac_window_tsumi_top
-
-    @property
-    def length_tail(self):
-        return self.length - self.length_tip
-
-    @property
-    def _reduced_tip_x(self):
-        return self.length_tip - self.margin
-    @property
-    def _reduced_y(self):
-        return self.width / 2 - self.margin
-    @property
-    def _reduced_tail_y(self):
-        return self.width_tail / 2 - self.margin
-
-    def profile_points(self) -> list[Tuple[str, Tuple[float, float]]]:
-        """
-        Points in polygon line order, labaled
-        """
-        return [
-            ("tip", (self.length, 0)),
-            ("mid_r", (self.length - self.length_tip, self.width/2)),
-            ("bot_r", (0, self.width_tail / 2)),
-            ("bot_l", (0, -self.width_tail / 2)),
-            ("mid_l", (self.length - self.length_tip, -self.width/2)),
-        ]
-
-    def _window_tip(self) -> Cq.Sketch:
-        dxh = self._reduced_tip_x
-        dy = self._reduced_y
-        return (
-            Cq.Sketch()
-            .segment(
-                (dxh, 0),
-                (dxh / 2, dy / 2),
-            )
-            .bezier([
-                (dxh / 2, dy / 2),
-                (dxh * 0.6, dy * 0.4),
-                (dxh * 0.6, -dy * 0.4),
-                (dxh / 2, -dy / 2),
-            ])
-            .segment(
-                (dxh, 0),
-            )
-            .assemble()
-            .moved(self.loc_core.to2d_pos())
-        )
-    def _window_eye(self, refl: bool = False) -> Cq.Sketch:
-
-        sign = -1 if refl else 1
-        dxh = self._reduced_tip_x
-        xm = dxh * 0.45
-        dy = sign * self._reduced_y
-        fac = 0.05
-
-        p1 = Cq.Location.from2d(xm, sign * self.margin / 2)
-        p2 = Cq.Location.from2d(dxh * 0.1, sign * self.margin / 2)
-        p3 = Cq.Location.from2d(dxh * 0.15, dy * 0.55)
-        p4 = Cq.Location.from2d(dxh * 0.4, dy * 0.45)
-        d4 = Cq.Location.from2d(dxh * fac, -dy * fac)
-
-        return (
-            Cq.Sketch()
-            .segment(
-                p1.to2d_pos(),
-                p2.to2d_pos(),
-            )
-            .bezier([
-                p2.to2d_pos(),
-                (p2 * Cq.Location.from2d(0, dy * fac)).to2d_pos(),
-                (p3 * Cq.Location.from2d(-dxh * fac, -dy * fac)).to2d_pos(),
-                p3.to2d_pos(),
-            ])
-            .bezier([
-                p3.to2d_pos(),
-                (p3 * Cq.Location.from2d(0, dy * fac)).to2d_pos(),
-                (p4 * d4.inverse).to2d_pos(),
-                p4.to2d_pos(),
-            ])
-            .bezier([
-                p4.to2d_pos(),
-                (p4 * d4).to2d_pos(),
-                (p1 * Cq.Location.from2d(0, dy * fac)).to2d_pos(),
-                p1.to2d_pos(),
-            ])
-            .assemble()
-            .moved(self.loc_core.to2d_pos())
-        )
-
-    def _window_bar(self) -> Cq.Sketch():
-        dxh = self._reduced_tip_x
-        dy = self._reduced_y
-        dyt = self._reduced_tail_y
-        dxt = self.length_tail
-
-        ext_fac = self.fac_bar_top
-
-        p_corner = Cq.Location.from2d(0, dy)
-        p_top = Cq.Location.from2d(0.3 * dxh, 0.7 * dy)
-        p_bot = Cq.Location.from2d(-ext_fac * dxt, dy + ext_fac * (dyt - dy))
-        p_top_int = p_corner * Cq.Location.from2d(.05 * dxh, -.2 * dy)
-        p_top_ctrl = Cq.Location.from2d(0, .3 * dy)
-        p_bot_int = p_corner * Cq.Location.from2d(-.15 * dxh, -.2 * dy)
-        p_bot_ctrl = Cq.Location.from2d(-.25 * dxh, .3 * dy)
-
-        return (
-            Cq.Sketch()
-            .segment(
-                p_corner.to2d_pos(),
-                p_top.to2d_pos(),
-            )
-            .segment(p_top_int.to2d_pos())
-            .bezier([
-                p_top_int.to2d_pos(),
-                p_top_ctrl.to2d_pos(),
-                p_top_ctrl.flip_y().to2d_pos(),
-                p_top_int.flip_y().to2d_pos(),
-            ])
-            .segment(p_top.flip_y().to2d_pos())
-            .segment(p_corner.flip_y().to2d_pos())
-            .segment(p_bot.flip_y().to2d_pos())
-            .segment(p_bot_int.flip_y().to2d_pos())
-            .bezier([
-                p_bot_int.flip_y().to2d_pos(),
-                p_bot_ctrl.flip_y().to2d_pos(),
-                p_bot_ctrl.to2d_pos(),
-                p_bot_int.to2d_pos(),
-            ])
-            .segment(p_bot.to2d_pos())
-            .segment(p_corner.to2d_pos())
-            .assemble()
-            .moved(self.loc_core.to2d_pos())
-        )
-
-    def _window_tsumi(self) -> Cq.Sketch:
-        dx = (self.fac_window_tsumi_top - self.fac_window_tsumi_bot) * self.length_tail
-        dy = 2 * self._reduced_y * 0.8
-        loc = Cq.Location(self.fac_window_tsumi_bot * self.length_tail, 0)
-
-        # Construction of the top part of the kanji
-
-        dx_top = dx * 0.3
-        x_top = dx - dx_top / 2
-        dy_top = dy
-        dy_eye = dy * 0.2
-        dy_border = (dy_top - 3 * dy_eye) / 4
-        # The skip must follow 3 * eye + 4 * border = dy_top
-        y_skip = dy_eye + dy_border
-
-        # Construction of the bottom part
-        x_bot = dx * 0.65
-        y3 = dy * 0.4
-        y2 = dy * 0.2
-        y1 = dy * 0.1
-        # x/y-centers of the legs
-        x_leg0 = x_bot / 14
-        dx_leg = x_bot / 7
-        y_leg = (y3 + y1) / 2
-
-        return (
-            Cq.Sketch()
-            .push([(x_top, 0)])
-            .rect(dx_top, dy_top)
-            .push([
-                (x_top, -y_skip),
-                (x_top, 0),
-                (x_top, y_skip),
-            ])
-            .rect(dx_top / 3, dy_eye, mode='s')
-
-            # Construct the two sides
-            .push([
-                (x_bot / 2, (y2 + y1) / 2),
-                (x_bot / 2, -(y2 + y1) / 2),
-            ])
-            .rect(x_bot, y2 - y1, mode='a')
-            .push([
-                (x_leg0 + dx_leg, y_leg),
-                (x_leg0 + 3 * dx_leg, y_leg),
-                (x_leg0 + 5 * dx_leg, y_leg),
-                (x_leg0 + dx_leg, -y_leg),
-                (x_leg0 + 3 * dx_leg, -y_leg),
-                (x_leg0 + 5 * dx_leg, -y_leg),
-            ])
-            .rect(dx_leg, y3 - y1, mode='a')
-
-            .moved(loc)
-        )
-
-    def _window_footer(self) -> Cq.Sketch:
-        x_bot = self.fac_window_footer_bot * self.length_tail
-        dx = (self.fac_window_footer_top - self.fac_window_footer_bot) * self.length_tail
-        loc = Cq.Location(x_bot, 0)
-
-        dy = self._reduced_y * 0.8
-
-        # eyes
-        eye_y2 = dy * .5
-        eye_y1 = dy * .2
-        eye_width = eye_y2 - eye_y1
-        eye_x = dx - eye_width / 2
-
-        # bar polygon
-        bar_x0 = dx * 0.65
-        bar_dx = dx * 0.1
-        bar_x1 = bar_x0 + bar_dx
-        bar_x2 = bar_x0 + bar_dx * 2
-        bar_x3 = bar_x0 + bar_dx * 3
-        bar_y1 = dy * .75
-        assert bar_y1 > eye_y2
-        bar_y2 = dy * .9
-        assert bar_y1 < bar_y2
-
-        # Construction of the cross
-        cross_dx = dx * 0.7 / math.sqrt(2)
-        cross_dy = dy * 0.2
-
-        cross = (
-            Cq.Sketch()
-            .rect(cross_dx, cross_dy)
-            .rect(cross_dy, cross_dx, mode='a')
-            .moved(Cq.Location.from2d(dx * 0.5, 0, 45))
-        )
-        return (
-            Cq.Sketch()
-            # eyes
-            .push([
-                (eye_x,  (eye_y1 + eye_y2)/2),
-                (eye_x, -(eye_y1 + eye_y2)/2),
-            ])
-            .rect(eye_width, eye_width, mode='a')
-            # middle bar
-            .push([(0,0)])
-            .polygon([
-                (bar_x1, bar_y1),
-                (bar_x0, bar_y1),
-                (bar_x0, bar_y2),
-                (bar_x3, bar_y2),
-                (bar_x3, bar_y1),
-                (bar_x2, bar_y1),
-
-                (bar_x2, -bar_y1),
-                (bar_x3, -bar_y1),
-                (bar_x3, -bar_y2),
-                (bar_x0, -bar_y2),
-                (bar_x0, -bar_y1),
-                (bar_x1, -bar_y1),
-            ], mode='a')
-            # cross
-            .boolean(cross, mode='a')
-
-            #.push([(0,0)])
-            #.rect(10, 10)
-
-            .moved(loc)
-        )
-
-    @target(name="bottom", kind=TargetKind.DXF)
-    def profile_bottom(self) -> Cq.Sketch:
-        return (
-            Cq.Sketch()
-            .polygon([p for _, p in self.profile_points()])
-        )
-
-    @target(name="top", kind=TargetKind.DXF)
-    def profile_top(self) -> Cq.Sketch:
-        return (
-            self.profile_bottom()
-            .boolean(self._window_tip(), mode='s')
-            .boolean(self._window_eye(True), mode='s')
-            .boolean(self._window_eye(False), mode='s')
-            .boolean(self._window_bar(), mode='s')
-            .boolean(self._window_tsumi(), mode='s')
-            .boolean(self._window_footer(), mode='s')
-        )
-
-    def surface_top(self) -> Cq.Workplane:
-        return (
-            Cq.Workplane('XY')
-            .placeSketch(self.profile_top())
-            .extrude(self.thickness_top)
-        )
-
-    def surface_bottom(self) -> Cq.Workplane:
-        surface = (
-            Cq.Workplane('XY')
-            .placeSketch(self.profile_bottom())
-            .extrude(self.thickness_top)
-        )
-        plane = surface.faces(">Z").workplane()
-
-        for (name, p) in self.profile_points():
-            plane.moveTo(*p).tagPlane(name)
-
-        return surface
-
-    # Properties of the side surfaces
-
-    @property
-    def length_edge_tip(self):
-        return math.sqrt(self.length_tip ** 2 + (self.width / 2) ** 2)
-    @property
-    def length_edge_tail(self):
-        dw = (self.width - self.width_tail) / 2
-        return math.sqrt(self.length_tail ** 2 + dw ** 2)
-    @property
-    def tip_incident_angle(self):
-        """
-        Angle (measuring from vertical) at which the tip edge pieces must be
-        sanded in order to make them not collide into each other.
-        """
-        return math.atan2(self.length_tip, self.width / 2)
-    @property
-    def shoulder_incident_angle(self) -> float:
-        angle_tip = math.atan2(self.width / 2, self.length_tip)
-        angle_tail = math.atan2((self.width - self.width_tail) / 2, self.length_tail)
-        return (angle_tip + angle_tail) / 2
-
-    @target(name="ref-tip")
-    def ref_tip(self) -> Cq.Workplane:
-        angle = self.tip_incident_angle
-        w = self.ref_object_width
-        drop = math.sin(angle) * w
-        profile = (
-            Cq.Sketch()
-            .polygon([
-                (0, 0),
-                (0, w),
-                (w, w),
-                (w - drop, 0),
-            ])
-        )
-        return (
-            Cq.Workplane()
-            .placeSketch(profile)
-            .extrude(self.ref_object_length)
-        )
-    @target(name="ref-shoulder")
-    def ref_shoulder(self) -> Cq.Workplane:
-        angle = self.shoulder_incident_angle
-        w = self.ref_object_width
-        drop = math.sin(angle) * w
-        profile = (
-            Cq.Sketch()
-            .polygon([
-                (0, 0),
-                (0, w),
-                (w, w),
-                (w - drop, 0),
-            ])
-        )
-        return (
-            Cq.Workplane()
-            .placeSketch(profile)
-            .extrude(self.ref_object_length)
-        )
-
-    @target(name="side-tip-2x", kind=TargetKind.DXF)
-    def profile_side_tip(self):
-        l = self.length_edge_tip
-        w = self.height_internal
-        return (
-            Cq.Sketch()
-            .push([(l/2, w/2)])
-            .rect(l, w)
-        )
-    @target(name="side-tail", kind=TargetKind.DXF)
-    def profile_side_tail(self):
-        """
-        Plain side 2 with no hinge
-        """
-        l = self.length_edge_tail
-        w = self.height_internal
-        return (
-            Cq.Sketch()
-            .push([(l/2, w/2)])
-            .rect(l, w)
-        )
-    @target(name="side-hinge-plate", kind=TargetKind.DXF)
-    def profile_side_hinge_plate(self):
-        l = self.hinge_plate_length
-        w = self.height_internal / 2
-        return (
-            Cq.Sketch()
-            .push([(0, w/2)])
-            .rect(l, w)
-            .push([
-                (self.hinge_hole_sep / 2, self.hinge_hole_axis_dist),
-                (-self.hinge_hole_sep / 2, self.hinge_hole_axis_dist),
-            ])
-            .circle(self.hinge_hole_diam / 2, mode='s')
-        )
-    @target(name="side-tail-hinged", kind=TargetKind.DXF)
-    def profile_side_tail_hinged(self):
-        """
-        Plain side 2 with no hinge
-        """
-        l = self.length_edge_tail
-        w = self.height_internal
-
-        # Holes for hinge
-        plate_pos = [
-            (t * l, w * 3/4) for t in self.hinge_plate_pos
-        ]
-        hole_pos = [
-            (self.hinge_hole_sep / 2, self.hinge_hole_axis_dist),
-            (-self.hinge_hole_sep / 2, self.hinge_hole_axis_dist),
-        ]
-        return (
-            self.profile_side_tail()
-            .push(plate_pos)
-            .rect(self.hinge_plate_length, w/2, mode='s')
-            .push([
-                (hx + px, w/2 - hy)
-                for hx, hy in hole_pos
-                for px, _ in plate_pos
-            ])
-            .circle(self.hinge_hole_diam / 2, mode='s')
-        )
-    @target(name="side-bot", kind=TargetKind.DXF)
-    def profile_side_bot(self):
-        l = self.width_tail - self.thickness_side * 2
-        w = self.height_internal
-        return (
-            Cq.Sketch()
-            .rect(l, w)
-        )
-
-    def surface_side_tip(self):
-        result = (
-            Cq.Workplane('XY')
-            .placeSketch(self.profile_side_tip())
-            .extrude(self.thickness_side)
-        )
-        plane = result.faces(">Y").workplane()
-        plane.moveTo(0, 0).tagPlane("bot")
-        plane.moveTo(-self.length_edge_tip, 0).tagPlane("top")
-        return result
-    def surface_side_tail(self):
-        result = (
-            Cq.Workplane('XY')
-            .placeSketch(self.profile_side_tail())
-            .extrude(self.thickness_side)
-        )
-        plane = result.faces(">Y").workplane()
-        plane.moveTo(0, 0).tagPlane("bot")
-        plane.moveTo(-self.length_edge_tail, 0).tagPlane("top")
-        return result
-    def surface_side_tail_hinged(self):
-        result = (
-            Cq.Workplane('XY')
-            .placeSketch(self.profile_side_tail_hinged())
-            .extrude(self.thickness_side)
-        )
-        plane = result.faces(">Y").workplane()
-        plane.moveTo(0, 0).tagPlane("bot")
-        plane.moveTo(-self.length_edge_tail, 0).tagPlane("top")
-        return result
-    def surface_side_bot(self):
-        result = (
-            Cq.Workplane('XY')
-            .placeSketch(self.profile_side_bot())
-            .extrude(self.thickness_side)
-        )
-        plane = result.faces(">Y").workplane()
-        plane.moveTo(self.width_tail / 2, 0).tagPlane("bot")
-        plane.moveTo(-self.width_tail / 2, 0).tagPlane("top")
-        return result
-
-    @assembly()
-    def assembly(self) -> Cq.Assembly:
-        a = (
-            Cq.Assembly()
-            .addS(
-                self.surface_top(),
-                name="top",
-                material=self.material_shell,
-                role=Role.STRUCTURE | Role.DECORATION
-            )
-            .constrain("top", "Fixed")
-            .addS(
-                self.surface_bottom(),
-                name="bottom",
-                material=self.material_shell,
-                role=Role.STRUCTURE,
-                loc=Cq.Location(0, 0, -self.thickness_top - self.height_internal)
-            )
-            .constrain("bottom", "Fixed")
-            .addS(
-                self.surface_side_tip(),
-                name="side_tip_l",
-                material=self.material_shell,
-                role=Role.STRUCTURE,
-            )
-            .constrain("bottom?tip", "side_tip_l?top", "Plane")
-            .constrain("bottom?mid_l", "side_tip_l?bot", "Plane")
-            .addS(
-                self.surface_side_tip(),
-                name="side_tip_r",
-                material=self.material_shell,
-                role=Role.STRUCTURE,
-            )
-            .constrain("bottom?tip", "side_tip_r?bot", "Plane")
-            .constrain("bottom?mid_r", "side_tip_r?top", "Plane")
-            .addS(
-                self.surface_side_tail(),
-                name="side_tail_l",
-                material=self.material_shell,
-                role=Role.STRUCTURE,
-            )
-            .constrain("bottom?mid_l", "side_tail_l?top", "Plane")
-            .constrain("bottom?bot_l", "side_tail_l?bot", "Plane")
-            .addS(
-                self.surface_side_tail_hinged(),
-                name="side_tail_r",
-                material=self.material_shell,
-                role=Role.STRUCTURE,
-            )
-            .constrain("bottom?mid_r", "side_tail_r?bot", "Plane")
-            .constrain("bottom?bot_r", "side_tail_r?top", "Plane")
-            .addS(
-                self.surface_side_bot(),
-                name="side_bot",
-                material=self.material_shell,
-                role=Role.STRUCTURE,
-            )
-            .constrain("bottom?bot_l", "side_bot?top", "Plane")
-            .constrain("bottom?bot_r", "side_bot?bot", "Plane")
-            .solve()
-        )
-        return a

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-       d="M 45.245359,79.999977 V 20.000022 h -5.213118 v 8.94364 H 20.323366 v 8.280632 h 19.708875 v 8.635131 H 20.323366 v 8.280632 h 19.708875 v 8.635132 H 20.323366 v 8.280631 h 19.708875 v 8.944157 z"
-       inkscape:label="left" />
-  </g>
-</svg>

nhf/utils.py

@@ -1,11 +1,13 @@
 """
 Utility functions for cadquery objects
 """
-import functools, math
-from typing import Optional, Union, Tuple, cast
+import functools
+import math
+from typing import Optional
 import cadquery as Cq
 from cadquery.occ_impl.solver import ConstraintSpec
 from nhf import Role
+from typing import Union, Tuple, cast
 from nhf.materials import KEY_ITEM, KEY_MATERIAL
 
 # Bug fixes
@@ -53,11 +55,6 @@ def is2d(self: Cq.Location) -> bool:
     return z == 0 and rx == 0 and ry == 0
 Cq.Location.is2d = is2d
 
-def scale(self: Cq.Location, fac: float) -> bool:
-    (x, y, z), (rx, ry, rz) = self.toTuple()
-    return Cq.Location(x*fac, y*fac, z*fac, rx, ry, rz)
-Cq.Location.scale = scale
-
 def to2d(self: Cq.Location) -> Tuple[Tuple[float, float], float]:
     """
     Returns position and angle
@@ -96,24 +93,17 @@ Cq.Location.with_angle_2d = with_angle_2d
 
 def flip_x(self: Cq.Location) -> Cq.Location:
     (x, y), a = self.to2d()
-    return Cq.Location.from2d(-x, y, 180 - a)
+    return Cq.Location.from2d(-x, y, 90 - a)
 Cq.Location.flip_x = flip_x
 def flip_y(self: Cq.Location) -> Cq.Location:
     (x, y), a = self.to2d()
     return Cq.Location.from2d(x, -y, -a)
 Cq.Location.flip_y = flip_y
 
-def boolean(
-        self: Cq.Sketch,
-        obj: Union[Cq.Face, Cq.Sketch, Cq.Compound],
-        **kwargs) -> Cq.Sketch:
-    """
-    Performs Boolean operation between a sketch and a sketch-like object
-    """
+def boolean(self: Cq.Sketch, obj, **kwargs) -> Cq.Sketch:
     return (
         self
         .reset()
-        # Has to be 0, 0. Translation doesn't work.
         .push([(0, 0)])
         .each(lambda _: obj, **kwargs)
     )

pyproject.toml

@@ -6,22 +6,15 @@ authors = ["Leni Aniva <v@leni.sh>"]
 readme = "README.md"
 
 [tool.poetry.dependencies]
-python = ">=3.10,<3.13"
-cadquery = "2.5.2"
-numpy = ">=2,<3"
+python = "^3.10"
+cadquery = {git = "https://github.com/CadQuery/cadquery.git"}
+build123d = "^0.5.0"
+numpy = "^1.26.4"
 colorama = "^0.4.6"
 
 # cadquery dependency
 multimethod = "^1.12"
 scipy = "^1.14.0"
-typish = "^1.9.3"
-
-[tool.poetry.group.dev.dependencies]
-cq-editor = {git = "https://github.com/CadQuery/CQ-editor.git"}
-pyqt5 = "^5.15.11"
-logbook = "^1.8.0"
-spyder = "^5"
-pyqtgraph = "^0.13.7"
 
 [build-system]
 requires = ["poetry-core"]