nhf/materials.py

@@ -21,6 +21,7 @@ class Role(Enum):
     STRUCTURE = _color('gray', 0.4)
     DECORATION = _color('lightseagreen', 0.4)
     ELECTRONIC = _color('mediumorchid', 0.5)
+    MARKER = _color('white', 1.0)
 
     def __init__(self, color: Cq.Color):
         self.color = color

nhf/touhou/houjuu_nue/__init__.py

@@ -37,6 +37,7 @@ from nhf.parts.joints import HirthJoint, TorsionJoint
 from nhf.parts.handle import Handle, BayonetMount
 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.utils
 
 @dataclass
@@ -88,33 +89,21 @@ class Parameters(Model):
     hs_joint_axis_cbore_depth: float = 3
 
     wing_profile: MW.WingProfile = field(default_factory=lambda: MW.WingProfile(
-        shoulder_height = 80,
-        elbow_height = 100,
+        shoulder_height=100.0,
+        elbow_height=110.0,
     ))
 
     # Exterior radius of the wing root assembly
     wing_root_radius: float = 40
     wing_root_wall_thickness: float = 8
 
-    shoulder_torsion_joint: TorsionJoint = field(default_factory=lambda: TorsionJoint(
-        radius_track=18,
-        radius_rider=18,
-        groove_radius_outer=16,
-        groove_radius_inner=13,
-        track_disk_height=5.0,
-        rider_disk_height=5.0,
-        # M8 Axle
-        radius_axle=3.0,
-        # inner diameter = 9
-        radius_spring=9/2 + 1.2,
-        spring_thickness=1.3,
-        spring_height=7.5,
+    shoulder_joint: MJ.ShoulderJoint = field(default_factory=lambda: MJ.ShoulderJoint(
+        shoulder_height=100.0,
+    ))
+    elbow_joint: MJ.ElbowJoint = field(default_factory=lambda: MJ.ElbowJoint(
+    ))
+    wrist_joint: MJ.ElbowJoint = field(default_factory=lambda: MJ.ElbowJoint(
     ))
-
-    # Two holes on each side (top and bottom) are used to attach the shoulder
-    # joint. This governs the distance between these two holes
-    shoulder_attach_dist: float = 25
-    shoulder_attach_diam: float = 8
 
     """
     Heights for various wing joints, where the numbers start from the first
@@ -325,8 +314,8 @@ class Parameters(Model):
         """
         return MW.wing_root(
             joint=self.hs_hirth_joint,
-            shoulder_attach_dist=self.shoulder_attach_dist,
-            shoulder_attach_diam=self.shoulder_attach_diam,
+            shoulder_attach_dist=self.shoulder_joint.attach_dist,
+            shoulder_attach_diam=self.shoulder_joint.attach_diam,
             wall_thickness=self.wing_root_wall_thickness,
             conn_height=self.wing_profile.shoulder_height,
             conn_thickness=self.wing_s0_thickness,
@@ -334,169 +323,25 @@ class Parameters(Model):
 
     @target(name="wing/proto-shoulder-joint-parent", prototype=True)
     def proto_shoulder_joint_parent(self):
-        return self.shoulder_torsion_joint.track()
+        return self.shoulder_joint.torsion_joint.track()
     @target(name="wing/proto-shoulder-joint-child", prototype=True)
     def proto_shoulder_joint_child(self):
-        return self.shoulder_torsion_joint.rider()
-
-    @target(name="wing/shoulder_joint_parent")
-    def shoulder_joint_parent(self) -> Cq.Workplane:
-        joint = self.shoulder_torsion_joint
-        # Thickness of the lip connecting this joint to the wing root
-        lip_thickness = 10
-        lip_width = 25
-        lip_guard_ext = 40
-        lip_guard_height = self.wing_root_wall_thickness + lip_thickness
-        assert lip_guard_ext > joint.radius_track
-
-        lip_guard = (
-            Cq.Solid.makeBox(lip_guard_ext, lip_width, lip_guard_height)
-            .located(Cq.Location((0, -lip_width/2 , 0)))
-            .cut(Cq.Solid.makeCylinder(joint.radius_track, lip_guard_height))
-        )
-        result = (
-            joint.track()
-            .union(lip_guard, tol=1e-6)
-
-            # Extrude the handle
-            .copyWorkplane(Cq.Workplane(
-                'YZ', origin=Cq.Vector((88, 0, self.wing_root_wall_thickness))))
-            .rect(lip_width, lip_thickness, centered=(True, False))
-            .extrude("next")
-
-            # Connector holes on the lip
-            .copyWorkplane(Cq.Workplane(
-                'YX', origin=Cq.Vector((57, 0, self.wing_root_wall_thickness))))
-            .hole(self.shoulder_attach_diam)
-            .moveTo(0, self.shoulder_attach_dist)
-            .hole(self.shoulder_attach_diam)
-        )
-        result.moveTo(0, 0).tagPlane('conn0')
-        result.moveTo(0, self.shoulder_attach_dist).tagPlane('conn1')
-        return result
-
-    @property
-    def shoulder_joint_child_height(self) -> float:
-        """
-        Calculates the y distance between two joint surfaces on the child side
-        of the shoulder joint.
-        """
-        joint = self.shoulder_torsion_joint
-        return self.wing_profile.shoulder_height - 2 * joint.total_height + 2 * joint.rider_disk_height
-
-    @target(name="wing/shoulder_joint_child")
-    def shoulder_joint_child(self) -> Cq.Assembly:
-        """
-        Creates the top/bottom shoulder child joint
-        """
-
-        joint = self.shoulder_torsion_joint
-        # Half of the height of the bridging cylinder
-        dh = self.wing_profile.shoulder_height / 2 - joint.total_height
-        core_start_angle = 30
-        core_end_angle1 = 90
-        core_end_angle2 = 180
-        core_thickness = 2
-
-        core_profile1 = (
-            Cq.Sketch()
-            .arc((0, 0), joint.radius_rider, core_start_angle, core_end_angle1-core_start_angle)
-            .segment((0, 0))
-            .close()
-            .assemble()
-            .circle(joint.radius_rider - core_thickness, mode='s')
-        )
-        core_profile2 = (
-            Cq.Sketch()
-            .arc((0, 0), joint.radius_rider, -core_start_angle, -(core_end_angle2-core_start_angle))
-            .segment((0, 0))
-            .close()
-            .assemble()
-            .circle(joint.radius_rider - core_thickness, mode='s')
-        )
-        core = (
-            Cq.Workplane('XY')
-            .placeSketch(core_profile1)
-            .toPending()
-            .extrude(dh * 2)
-            .copyWorkplane(Cq.Workplane('XY'))
-            .placeSketch(core_profile2)
-            .toPending()
-            .extrude(dh * 2)
-            .translate(Cq.Vector(0, 0, -dh))
-        )
-        # Create the upper and lower lips
-        lip_height = self.wing_s1_thickness
-        lip_thickness = joint.rider_disk_height
-        lip_ext = 40 + joint.radius_rider
-        hole_dx = self.wing_s1_shoulder_spacer_hole_dist
-        assert lip_height / 2 <= joint.radius_rider
-        lip = (
-            Cq.Workplane('XY')
-            .box(lip_ext, lip_height, lip_thickness,
-                 centered=(False, True, False))
-            .copyWorkplane(Cq.Workplane('XY'))
-            .cylinder(radius=joint.radius_rider, height=lip_thickness,
-                      centered=(True, True, False),
-                      combine='cut')
-            .faces(">Z")
-            .workplane()
-        )
-        hole_x = lip_ext - hole_dx / 2
-        for i in range(2):
-            x = hole_x - i * hole_dx
-            lip = lip.moveTo(x, 0).hole(self.wing_s1_spacer_hole_diam)
-        for i in range(2):
-            x = hole_x - i * hole_dx
-            (
-                lip
-                .moveTo(x, 0)
-                .tagPlane(f"conn{1 - i}")
-            )
-
-        loc_rotate = Cq.Location((0, 0, 0), (1, 0, 0), 180)
-        result = (
-            Cq.Assembly()
-            .add(core, name="core", loc=Cq.Location())
-            .add(joint.rider(rider_slot_begin=-90, reverse_directrix_label=True), name="rider_top",
-                 loc=Cq.Location((0, 0, dh), (0, 0, 1), -90))
-            .add(joint.rider(rider_slot_begin=180), name="rider_bot",
-                 loc=Cq.Location((0, 0, -dh), (0, 0, 1), -90) * loc_rotate)
-            .add(lip, name="lip_top",
-                 loc=Cq.Location((0, 0, dh)))
-            .add(lip, name="lip_bot",
-                 loc=Cq.Location((0, 0, -dh)) * loc_rotate)
-        )
-        return result
-
+        return self.shoulder_joint.torsion_joint.rider()
     @assembly()
-    def shoulder_assembly(self) -> Cq.Assembly:
-        directrix = 0
-        result = (
-            Cq.Assembly()
-            .add(self.shoulder_joint_child(), name="child",
-                 color=Role.CHILD.color)
-            .constrain("child/core", "Fixed")
-            .add(self.shoulder_torsion_joint.spring(), name="spring_top",
-                 color=Role.DAMPING.color)
-            .add(self.shoulder_joint_parent(), name="parent_top",
-                 color=Role.PARENT.color)
-            .add(self.shoulder_torsion_joint.spring(), name="spring_bot",
-                 color=Role.DAMPING.color)
-            .add(self.shoulder_joint_parent(), name="parent_bot",
-                 color=Role.PARENT.color)
+    def shoulder_assembly(self):
+        return self.shoulder_joint.assembly(
+            wing_root_wall_thickness=self.wing_root_wall_thickness,
+            lip_height=self.wing_s1_thickness,
+            hole_dist=self.wing_s1_shoulder_spacer_hole_dist,
+            spacer_hole_diam=self.wing_s1_spacer_hole_diam,
         )
-        TorsionJoint.add_constraints(result,
-                                     rider="child/rider_top",
-                                     track="parent_top",
-                                     spring="spring_top",
-                                     directrix=directrix)
-        TorsionJoint.add_constraints(result,
-                                     rider="child/rider_bot",
-                                     track="parent_bot",
-                                     spring="spring_bot",
-                                     directrix=directrix)
-        return result.solve()
+    @assembly()
+    def elbow_assembly(self):
+        return self.elbow_joint.assembly()
+    @assembly()
+    def wrist_assembly(self):
+        return self.wrist_joint.assembly()
+
 
     @target(name="wing/s1-spacer", kind=TargetKind.DXF)
     def wing_s1_spacer(self) -> Cq.Workplane:
@@ -515,61 +360,93 @@ class Parameters(Model):
     @target(name="wing/s1-shoulder-spacer", kind=TargetKind.DXF)
     def wing_s1_shoulder_spacer(self) -> Cq.Workplane:
         """
-        The mate tags are on the side closer to the holes.
+        Creates a rectangular spacer. This could be cut from acrylic.
+
+        There are two holes on the top of the spacer. With the holes
         """
         dx = self.wing_s1_shoulder_spacer_hole_dist
         h = self.wing_s1_spacer_thickness
+        length = self.wing_s1_shoulder_spacer_width
+        hole_diam = self.wing_s1_spacer_hole_diam
+        assert dx + hole_diam < length / 2
         result = (
-            Cq.Workplane('XZ')
+            Cq.Workplane('XY')
             .sketch()
-            .rect(self.wing_s1_shoulder_spacer_width,
-                  self.wing_s1_thickness)
+            .rect(length, self.wing_s1_thickness)
             .push([
                 (0, 0),
                 (dx, 0),
             ])
-            .circle(self.wing_s1_spacer_hole_diam / 2, mode='s')
+            .circle(hole_diam / 2, mode='s')
             .finalize()
             .extrude(h)
         )
         # Tag the mating surfaces to be glued
-        result.faces("<Z").workplane().moveTo(0, h).tagPlane("weld1")
-        result.faces(">Z").workplane().moveTo(0, -h).tagPlane("weld2")
+        result.faces("<Y").workplane().moveTo(length / 2, h).tagPlane("left")
+        result.faces(">Y").workplane().moveTo(-length / 2, h).tagPlane("right")
 
         # Tag the directrix
-        result.faces("<Y").tag("dir")
+        result.faces(">Z").tag("dir")
 
         # Tag the holes
-        plane = result.faces(">Y").workplane()
+        plane = result.faces(">Z").workplane()
         # Side closer to the parent is 0
-        plane.moveTo(-dx, 0).tagPlane("conn0")
+        plane.moveTo(dx, 0).tagPlane("conn0")
         plane.tagPlane("conn1")
         return result
+    def assembly_insert_shoulder_spacer(
+            self,
+            assembly,
+            spacer,
+            point_tag: str,
+            front_tag: str = "panel_front",
+            back_tag: str = "panel_back",
+            flipped: bool = False,
+            ):
+        """
+        For a child joint facing up, front panel should be on the right, back
+        panel on the left
+        """
+        site_front, site_back = "right", "left"
+        if flipped:
+            site_front, site_back = site_back, site_front
+        angle = 0
+        (
+            assembly
+            .add(spacer,
+                 name=f"{point_tag}_spacer",
+                 color=self.material_bracket.color)
+            .constrain(f"{front_tag}?{point_tag}",
+                       f"{point_tag}_spacer?{site_front}", "Plane")
+            .constrain(f"{back_tag}?{point_tag}",
+                       f"{point_tag}_spacer?{site_back}", "Plane")
+            .constrain(f"{point_tag}_spacer?dir", f"{front_tag}?{point_tag}_dir",
+                       "Axis", param=angle)
+        )
 
     @target(name="wing/r1s1", kind=TargetKind.DXF)
     def wing_r1s1_profile(self) -> Cq.Sketch:
+        """
+        FIXME: Output individual segment profiles
+        """
         return self.wing_profile.profile()
 
     def wing_r1s1_panel(self, front=True) -> Cq.Workplane:
-        profile = self.wing_r1s1_profile()
-        w = self.wing_s1_shoulder_spacer_width / 2
-        h = (self.wing_profile.shoulder_height - self.shoulder_joint_child_height) / 2
-        anchors = [
-            ("shoulder_top", w, h + self.shoulder_joint_child_height),
-            ("shoulder_bot", w, h),
-            ("middle", 50, -20),
-            ("tip", 270, 50),
-        ]
-        result = (
-            Cq.Workplane("XY")
-            .placeSketch(profile)
-            .extrude(self.panel_thickness)
+        return self.wing_profile.surface_s1(
+            thickness=self.panel_thickness,
+            shoulder_joint_child_height=self.shoulder_joint.child_height,
+            front=front,
+        )
+    def wing_r1s2_panel(self, front=True) -> Cq.Workplane:
+        return self.wing_profile.surface_s2(
+            thickness=self.panel_thickness,
+            front=front,
+        )
+    def wing_r1s3_panel(self, front=True) -> Cq.Workplane:
+        return self.wing_profile.surface_s3(
+            thickness=self.panel_thickness,
+            front=front,
         )
-        plane = result.faces(">Z" if front else "<Z").workplane()
-        sign = 1 if front else -1
-        for name, px, py in anchors:
-            plane.moveTo(px, sign * py).tagPlane(name)
-        return result
 
     @assembly()
     def wing_r1s1_assembly(self) -> Cq.Assembly:
@@ -582,56 +459,86 @@ class Parameters(Model):
                  color=self.material_panel.color)
             .constrain("panel_front@faces@>Z", "panel_back@faces@<Z", "Point",
                        param=self.wing_s1_thickness)
-            .add(self.wing_s1_shoulder_spacer(),
-                 name="shoulder_bot_spacer",
-                 color=self.material_bracket.color)
-            .constrain("panel_front?shoulder_bot", "shoulder_bot_spacer?weld1", "Plane")
-            .constrain("panel_back?shoulder_bot", "shoulder_bot_spacer?weld2", "Plane")
-            .constrain("shoulder_bot_spacer?dir", "FixedAxis", param=(0, 1, 0))
-            .add(self.wing_s1_shoulder_spacer(),
-                 name="shoulder_top_spacer",
-                 color=self.material_bracket.color)
-            .constrain("panel_front?shoulder_top", "shoulder_top_spacer?weld2", "Plane")
-            .constrain("panel_back?shoulder_top", "shoulder_top_spacer?weld1", "Plane")
-            .constrain("shoulder_top_spacer?dir", "FixedAxis", param=(0, -1, 0))
-            # Should be controlled by point value directly
-            #.constrain("shoulder_bot_spacer?dir", "shoulder_top_spacer?dir", "Point",
-            #           self.shoulder_joint_child_height)
         )
-        for tag in ["middle", "tip"]:
-            name = f"{tag}_spacer"
-            (
-                result
-                .add(self.wing_s1_spacer(), name=name,
-                     color=self.material_bracket.color)
-                .constrain(f"panel_front?{tag}", f"{tag}_spacer?weld1", "Plane")
-                .constrain(f"panel_back?{tag}", f"{tag}_spacer?weld2", "Plane")
-                .constrain(f"{name}?dir", "FixedAxis", param=(0, 1, 0))
+        for t in ["shoulder_bot", "shoulder_top", "elbow_bot", "elbow_top"]:
+            is_top = t.endswith("_top")
+            is_parent = t.startswith("shoulder")
+            self.assembly_insert_shoulder_spacer(
+                result,
+                self.wing_s1_shoulder_spacer(),
+                point_tag=t,
+                flipped=is_top == is_parent,
+            )
+        return result.solve()
+    @assembly()
+    def wing_r1s2_assembly(self) -> Cq.Assembly:
+        result = (
+            Cq.Assembly()
+            .add(self.wing_r1s2_panel(front=True), name="panel_front",
+                 color=self.material_panel.color)
+            .constrain("panel_front", "Fixed")
+            .add(self.wing_r1s2_panel(front=False), name="panel_back",
+                 color=self.material_panel.color)
+            # FIXME: Use s2 thickness
+            .constrain("panel_front@faces@>Z", "panel_back@faces@<Z", "Point",
+                       param=self.wing_s1_thickness)
+        )
+        for t in ["elbow_bot", "elbow_top", "wrist_bot", "wrist_top"]:
+            is_top = t.endswith("_top")
+            is_parent = t.startswith("elbow")
+            self.assembly_insert_shoulder_spacer(
+                result,
+                self.wing_s1_shoulder_spacer(),
+                point_tag=t,
+                flipped=is_top == is_parent,
+            )
+        return result.solve()
+    @assembly()
+    def wing_r1s3_assembly(self) -> Cq.Assembly:
+        result = (
+            Cq.Assembly()
+            .add(self.wing_r1s3_panel(front=True), name="panel_front",
+                 color=self.material_panel.color)
+            .constrain("panel_front", "Fixed")
+            .add(self.wing_r1s3_panel(front=False), name="panel_back",
+                 color=self.material_panel.color)
+            # FIXME: Use s2 thickness
+            .constrain("panel_front@faces@>Z", "panel_back@faces@<Z", "Point",
+                       param=self.wing_s1_thickness)
+        )
+        for t in ["wrist_bot", "wrist_top"]:
+            self.assembly_insert_shoulder_spacer(
+                result,
+                self.wing_s1_shoulder_spacer(),
+                point_tag=t
             )
         return result.solve()
 
 
     @assembly()
-    def wing_r1_assembly(self, parts=["root", "shoulder", "s1"]) -> Cq.Assembly:
+    def wing_r1_assembly(
+            self,
+            parts=["s0", "shoulder", "s1", "elbow", "s2", "wrist", "s3"],
+    ) -> Cq.Assembly:
         result = (
             Cq.Assembly()
         )
-        if "root" in parts:
+        if "s0" in parts:
             (
                 result
-                .add(self.wing_root(), name="root")
-                .constrain("root/scaffold", "Fixed")
+                .add(self.wing_root(), name="s0")
+                .constrain("s0/scaffold", "Fixed")
             )
         if "shoulder" in parts:
             result.add(self.shoulder_assembly(), name="shoulder")
 
-        if "root" in parts and "shoulder" in parts:
+        if "s0" in parts and "shoulder" in parts:
             (
                 result
-                .constrain("root/scaffold?conn_top0", "shoulder/parent_top?conn0", "Plane")
-                .constrain("root/scaffold?conn_top1", "shoulder/parent_top?conn1", "Plane")
-                .constrain("root/scaffold?conn_bot0", "shoulder/parent_bot?conn0", "Plane")
-                .constrain("root/scaffold?conn_bot1", "shoulder/parent_bot?conn1", "Plane")
+                .constrain("s0/scaffold?conn_top0", "shoulder/parent_top?conn0", "Plane")
+                .constrain("s0/scaffold?conn_top1", "shoulder/parent_top?conn1", "Plane")
+                .constrain("s0/scaffold?conn_bot0", "shoulder/parent_bot?conn0", "Plane")
+                .constrain("s0/scaffold?conn_bot1", "shoulder/parent_bot?conn1", "Plane")
             )
 
         if "s1" in parts:
@@ -653,6 +560,45 @@ class Parameters(Model):
                            "s1/shoulder_top_spacer?conn1",
                            "Plane")
             )
+        if "elbow" in parts:
+            result.add(self.elbow_assembly(), name="elbow")
+
+        if "s2" in parts:
+            result.add(self.wing_r1s2_assembly(), name="s2")
+
+        if "s1" in parts and "elbow" in parts:
+            (
+                result
+                .constrain("elbow/parent_upper/top?conn1",
+                           "s1/elbow_top_spacer?conn1",
+                           "Plane")
+                .constrain("elbow/parent_upper/top?conn0",
+                           "s1/elbow_top_spacer?conn0",
+                           "Plane")
+                .constrain("elbow/parent_upper/bot?conn1",
+                           "s1/elbow_bot_spacer?conn1",
+                           "Plane")
+                .constrain("elbow/parent_upper/bot?conn0",
+                           "s1/elbow_bot_spacer?conn0",
+                           "Plane")
+            )
+
+        if "s2" in parts and "elbow" in parts:
+            (
+                result
+                .constrain("elbow/child/bot?conn0",
+                           "s2/elbow_bot_spacer?conn0",
+                           "Plane")
+                .constrain("elbow/child/bot?conn1",
+                           "s2/elbow_bot_spacer?conn1",
+                           "Plane")
+                .constrain("elbow/child/top?conn0",
+                           "s2/elbow_top_spacer?conn0",
+                           "Plane")
+                .constrain("elbow/child/top?conn1",
+                           "s2/elbow_top_spacer?conn1",
+                           "Plane")
+            )
         return result.solve()
 
     @assembly()

nhf/touhou/houjuu_nue/joints.py

@@ -2,12 +2,209 @@ from dataclasses import dataclass, field
 from typing import Optional, Tuple
 import cadquery as Cq
 from nhf import Role
-from nhf.build import Model, target
+from nhf.build import Model, target, assembly
 import nhf.parts.springs as springs
+from nhf.parts.joints import TorsionJoint
 import nhf.utils
 
 TOL = 1e-6
 
+@dataclass
+class ShoulderJoint(Model):
+
+    shoulder_height: float = 100.0
+    torsion_joint: TorsionJoint = field(default_factory=lambda: TorsionJoint(
+        radius_track=18,
+        radius_rider=18,
+        groove_radius_outer=16,
+        groove_radius_inner=13,
+        track_disk_height=5.0,
+        rider_disk_height=5.0,
+        # M8 Axle
+        radius_axle=3.0,
+        # inner diameter = 9
+        radius_spring=9/2 + 1.2,
+        spring_thickness=1.3,
+        spring_height=7.5,
+    ))
+    # Two holes on each side (top and bottom) are used to attach the shoulder
+    # joint. This governs the distance between these two holes
+    attach_dist: float = 25
+    attach_diam: float = 8
+
+
+    @target(name="shoulder-joint/parent")
+    def parent(self,
+               wing_root_wall_thickness: float = 5.0) -> Cq.Workplane:
+        joint = self.torsion_joint
+        # Thickness of the lip connecting this joint to the wing root
+        lip_thickness = 10
+        lip_width = 25
+        lip_guard_ext = 40
+        lip_guard_height = wing_root_wall_thickness + lip_thickness
+        assert lip_guard_ext > joint.radius_track
+
+        lip_guard = (
+            Cq.Solid.makeBox(lip_guard_ext, lip_width, lip_guard_height)
+            .located(Cq.Location((0, -lip_width/2 , 0)))
+            .cut(Cq.Solid.makeCylinder(joint.radius_track, lip_guard_height))
+        )
+        result = (
+            joint.track()
+            .union(lip_guard, tol=1e-6)
+
+            # Extrude the handle
+            .copyWorkplane(Cq.Workplane(
+                'YZ', origin=Cq.Vector((88, 0, wing_root_wall_thickness))))
+            .rect(lip_width, lip_thickness, centered=(True, False))
+            .extrude("next")
+
+            # Connector holes on the lip
+            .copyWorkplane(Cq.Workplane(
+                'YX', origin=Cq.Vector((57, 0, wing_root_wall_thickness))))
+            .hole(self.attach_diam)
+            .moveTo(0, self.attach_dist)
+            .hole(self.attach_diam)
+        )
+        result.moveTo(0, 0).tagPlane('conn0')
+        result.moveTo(0, self.attach_dist).tagPlane('conn1')
+        return result
+
+    @property
+    def child_height(self) -> float:
+        """
+        Calculates the y distance between two joint surfaces on the child side
+        of the shoulder joint.
+        """
+        joint = self.torsion_joint
+        return self.shoulder_height - 2 * joint.total_height + 2 * joint.rider_disk_height
+
+    @target(name="shoulder-joint/child")
+    def child(self,
+              lip_height: float = 20.0,
+              hole_dist: float = 10.0,
+              spacer_hole_diam: float = 8.0) -> Cq.Assembly:
+        """
+        Creates the top/bottom shoulder child joint
+        """
+
+        joint = self.torsion_joint
+        # Half of the height of the bridging cylinder
+        dh = self.shoulder_height / 2 - joint.total_height
+        core_start_angle = 30
+        core_end_angle1 = 90
+        core_end_angle2 = 180
+        core_thickness = 2
+
+        core_profile1 = (
+            Cq.Sketch()
+            .arc((0, 0), joint.radius_rider, core_start_angle, core_end_angle1-core_start_angle)
+            .segment((0, 0))
+            .close()
+            .assemble()
+            .circle(joint.radius_rider - core_thickness, mode='s')
+        )
+        core_profile2 = (
+            Cq.Sketch()
+            .arc((0, 0), joint.radius_rider, -core_start_angle, -(core_end_angle2-core_start_angle))
+            .segment((0, 0))
+            .close()
+            .assemble()
+            .circle(joint.radius_rider - core_thickness, mode='s')
+        )
+        core = (
+            Cq.Workplane('XY')
+            .placeSketch(core_profile1)
+            .toPending()
+            .extrude(dh * 2)
+            .copyWorkplane(Cq.Workplane('XY'))
+            .placeSketch(core_profile2)
+            .toPending()
+            .extrude(dh * 2)
+            .translate(Cq.Vector(0, 0, -dh))
+        )
+        # Create the upper and lower lips
+        lip_thickness = joint.rider_disk_height
+        lip_ext = 40 + joint.radius_rider
+        assert lip_height / 2 <= joint.radius_rider
+        lip = (
+            Cq.Workplane('XY')
+            .box(lip_ext, lip_height, lip_thickness,
+                 centered=(False, True, False))
+            .copyWorkplane(Cq.Workplane('XY'))
+            .cylinder(radius=joint.radius_rider, height=lip_thickness,
+                      centered=(True, True, False),
+                      combine='cut')
+            .faces(">Z")
+            .workplane()
+        )
+        hole_x = lip_ext - hole_dist / 2
+        for i in range(2):
+            x = hole_x - i * hole_dist
+            lip = lip.moveTo(x, 0).hole(spacer_hole_diam)
+        for i in range(2):
+            x = hole_x - i * hole_dist
+            (
+                lip
+                .moveTo(x, 0)
+                .tagPlane(f"conn{1 - i}")
+            )
+
+        loc_rotate = Cq.Location((0, 0, 0), (1, 0, 0), 180)
+        result = (
+            Cq.Assembly()
+            .add(core, name="core", loc=Cq.Location())
+            .add(joint.rider(rider_slot_begin=-90, reverse_directrix_label=True), name="rider_top",
+                 loc=Cq.Location((0, 0, dh), (0, 0, 1), -90))
+            .add(joint.rider(rider_slot_begin=180), name="rider_bot",
+                 loc=Cq.Location((0, 0, -dh), (0, 0, 1), -90) * loc_rotate)
+            .add(lip, name="lip_top",
+                 loc=Cq.Location((0, 0, dh)))
+            .add(lip, name="lip_bot",
+                 loc=Cq.Location((0, 0, -dh)) * loc_rotate)
+        )
+        return result
+
+    @assembly()
+    def assembly(self,
+                 wing_root_wall_thickness: float = 5.0,
+                 lip_height: float = 5.0,
+                 hole_dist: float = 10.0,
+                 spacer_hole_diam: float = 8.0
+                 ) -> Cq.Assembly:
+        directrix = 0
+        result = (
+            Cq.Assembly()
+            .add(self.child(lip_height=lip_height,
+                            hole_dist=hole_dist,
+                            spacer_hole_diam=spacer_hole_diam),
+                 name="child",
+                 color=Role.CHILD.color)
+            .constrain("child/core", "Fixed")
+            .add(self.torsion_joint.spring(), name="spring_top",
+                 color=Role.DAMPING.color)
+            .add(self.parent(wing_root_wall_thickness),
+                 name="parent_top",
+                 color=Role.PARENT.color)
+            .add(self.torsion_joint.spring(), name="spring_bot",
+                 color=Role.DAMPING.color)
+            .add(self.parent(wing_root_wall_thickness),
+                 name="parent_bot",
+                 color=Role.PARENT.color)
+        )
+        TorsionJoint.add_constraints(result,
+                                     rider="child/rider_top",
+                                     track="parent_top",
+                                     spring="spring_top",
+                                     directrix=directrix)
+        TorsionJoint.add_constraints(result,
+                                     rider="child/rider_bot",
+                                     track="parent_bot",
+                                     spring="spring_bot",
+                                     directrix=directrix)
+        return result.solve()
+
+
 @dataclass
 class Beam:
     """
@@ -69,6 +266,7 @@ class Beam:
         )
         return result
 
+
 @dataclass
 class DiskJoint(Model):
     """
@@ -325,6 +523,7 @@ class DiskJoint(Model):
         )
         return result.solve()
 
+
 @dataclass
 class ElbowJoint:
     """
@@ -375,10 +574,10 @@ class ElbowJoint:
         )
         return result
 
-    def parent_joint_bot(self) -> Cq.Workplane:
+    def parent_joint_lower(self) -> Cq.Workplane:
         return self.disk_joint.housing_lower()
 
-    def parent_joint_top(self):
+    def parent_joint_upper(self):
         axial_offset = Cq.Location((self.parent_arm_radius, 0, 0))
         housing_dz = self.disk_joint.housing_upper_dz
         conn_h = self.parent_beam.spine_thickness
@@ -396,12 +595,11 @@ class ElbowJoint:
         )
         housing = self.disk_joint.housing_upper()
         result = (
-            Cq.Assembly()
+            self.parent_beam.beam()
             .add(housing, name="housing",
                  loc=axial_offset * Cq.Location((0, 0, housing_dz)))
             .add(connector, name="connector",
                  loc=axial_offset)
-            .add(self.parent_beam.beam(), name="beam")
         )
         return result
 
@@ -410,19 +608,21 @@ class ElbowJoint:
         result = (
             Cq.Assembly()
             .add(self.child_joint(), name="child", color=Role.CHILD.color)
-            .add(self.parent_joint_bot(), name="parent_bot", color=Role.CASING.color)
-            .add(self.parent_joint_top(), name="parent_top", color=Role.PARENT.color)
-            .constrain("parent_bot", "Fixed")
+            .add(self.parent_joint_lower(), name="parent_lower", color=Role.CASING.color)
+            .add(self.parent_joint_upper(), name="parent_upper", color=Role.PARENT.color)
+            .constrain("parent_lower", "Fixed")
         )
         self.disk_joint.add_constraints(
             result,
-            housing_lower="parent_bot",
-            housing_upper="parent_top/housing",
+            housing_lower="parent_lower",
+            housing_upper="parent_upper/housing",
             disk="child/disk",
             angle=(0, 0, angle + da),
         )
         return result.solve()
 
 if __name__ == '__main__':
+    p = ShoulderJoint()
+    p.build_all()
     p = DiskJoint()
     p.build_all()

nhf/touhou/houjuu_nue/test.py

@@ -1,21 +1,25 @@
 import unittest
 import cadquery as Cq
 import nhf.touhou.houjuu_nue as M
-import nhf.touhou.houjuu_nue.parts as MP
+import nhf.touhou.houjuu_nue.joints as MJ
 from nhf.checks import pairwise_intersection
 
-class TestDiskJoint(unittest.TestCase):
+class TestJoints(unittest.TestCase):
 
-    def test_collision_0(self):
-        j = MP.DiskJoint()
+    def test_shoulder_collision_0(self):
+        j = MJ.ShoulderJoint()
+        assembly = j.assembly()
+        self.assertEqual(pairwise_intersection(assembly), [])
+    def test_disk_collision_0(self):
+        j = MJ.DiskJoint()
         assembly = j.assembly(angle=0)
         self.assertEqual(pairwise_intersection(assembly), [])
-    def test_collision_mid(self):
-        j = MP.DiskJoint()
+    def test_disk_collision_mid(self):
+        j = MJ.DiskJoint()
         assembly = j.assembly(angle=j.movement_angle / 2)
         self.assertEqual(pairwise_intersection(assembly), [])
-    def test_collision_max(self):
-        j = MP.DiskJoint()
+    def test_disk_collision_max(self):
+        j = MJ.DiskJoint()
         assembly = j.assembly(angle=j.movement_angle)
         self.assertEqual(pairwise_intersection(assembly), [])
 

nhf/touhou/houjuu_nue/wing.py

@@ -198,7 +198,7 @@ def wing_root(joint: HirthJoint,
     for sign in [False, True]:
         y = conn_height / 2 - wall_thickness
         side = "bottom" if sign else "top"
-        y = y if sign else -y
+        y = -y if sign else y
         plane = (
             result
             # Create connector holes
@@ -211,7 +211,7 @@ def wing_root(joint: HirthJoint,
             side = "bot"
         for i, (px, py) in enumerate(attach_points):
             tag = f"conn_{side}{i}"
-            plane.moveTo(px, -py if side == "top" else py).tagPlane(tag)
+            plane.moveTo(px, -py if side == "top" else py).tagPlane(tag, "-Z")
 
     result.faces("<Z").tag("base")
     result.faces(">X").tag("conn")
@@ -430,7 +430,7 @@ class WingProfile:
              self.elbow_angle + 90),
             ("elbow_top",
              self.elbow_to_abs(elbow_mount_inset, h + elbow_joint_child_height),
-             self.elbow_angle + 270),
+             self.elbow_angle - 90),
         ]
         h = (self.wrist_height - wrist_joint_parent_height) / 2
         tags_wrist = [
@@ -439,7 +439,7 @@ class WingProfile:
              self.wrist_angle + 90),
             ("wrist_top",
              self.wrist_to_abs(-wrist_mount_inset, h + wrist_joint_parent_height),
-             self.wrist_angle + 270),
+             self.wrist_angle - 90),
         ]
         profile = self.profile_s2()
         tags = tags_elbow + tags_wrist
@@ -465,7 +465,7 @@ class WingProfile:
              self.elbow_angle + 90),
             ("wrist_top",
              self.elbow_to_abs(wrist_mount_inset, h + wrist_joint_child_height),
-             self.elbow_angle + 270),
+             self.elbow_angle - 90),
         ]
         profile = self.profile_s3()
         return nhf.utils.extrude_with_markers(profile, thickness, tags, reverse=front)

nhf/utils.py

@@ -7,6 +7,7 @@ Adds the functions to `Cq.Workplane`:
 """
 import math
 import cadquery as Cq
+from nhf import Role
 from typing import Union, Tuple
 
 
@@ -19,7 +20,6 @@ def tagPoint(self, tag: str):
 
 Cq.Workplane.tagPoint = tagPoint
 
-
 def tagPlane(self, tag: str,
              direction: Union[str, Cq.Vector, Tuple[float, float, float]] = '+Z'):
     """
@@ -52,6 +52,57 @@ def tagPlane(self, tag: str,
 
 Cq.Workplane.tagPlane = tagPlane
 
+def make_sphere(r: float = 2) -> Cq.Solid:
+    """
+    Makes a full sphere. The default function makes a hemisphere
+    """
+    return Cq.Solid.makeSphere(r, angleDegrees1=-90)
+def make_arrow(size: float = 2) -> Cq.Workplane:
+    cone = Cq.Solid.makeCone(
+        radius1 = size,
+        radius2 = 0,
+        height=size)
+    result = (
+        Cq.Workplane("XY")
+        .cylinder(radius=size / 2, height=size, centered=(True, True, False))
+        .union(cone.located(Cq.Location((0, 0, size))))
+    )
+    result.faces("<Z").tag("dir_rev")
+    return result
+
+def mark_point(self: Cq.Assembly,
+               tag: str,
+               size: float = 2,
+               color: Cq.Color = Role.MARKER.color) -> Cq.Assembly:
+    """
+    Adds a marker to make a point visible
+    """
+    name = f"{tag}_marker"
+    return (
+        self
+        .add(make_sphere(size), name=name, color=color)
+        .constrain(tag, name, "Point")
+    )
+
+Cq.Assembly.markPoint = mark_point
+
+def mark_plane(self: Cq.Assembly,
+               tag: str,
+               size: float = 2,
+               color: Cq.Color = Role.MARKER.color) -> Cq.Assembly:
+    """
+    Adds a marker to make a plane visible
+    """
+    name = tag.replace("?", "__") + "_marker"
+    return (
+        self
+        .add(make_arrow(size), name=name, color=color)
+        .constrain(tag, f"{name}?dir_rev", "Plane", param=180)
+    )
+
+Cq.Assembly.markPlane = mark_plane
+
+
 def extrude_with_markers(sketch: Cq.Sketch,
                          thickness: float,
                          tags: list[Tuple[str, Tuple[float, float], float]],
@@ -73,7 +124,7 @@ def extrude_with_markers(sketch: Cq.Sketch,
     )
     plane = result.faces("<Z" if reverse else ">Z").workplane()
     sign = -1 if reverse else 1
-    for tag, (px, py), angle in tag:
+    for tag, (px, py), angle in tags:
         theta = sign * math.radians(angle)
         direction = (math.cos(theta), math.sin(theta), 0)
         plane.moveTo(px, sign * py).tagPlane(tag)