nhf/materials.py

@@ -14,10 +14,15 @@ class Role(Flag):
     Describes the role of a part
     """
 
+    # Externally supplied object
+    FIXTURE = auto()
+    # Parent and child sides of joints
     PARENT = auto()
     CHILD = auto()
     CASING = auto()
+    # Springs, cushions
     DAMPING = auto()
+    # Main structural support
     STRUCTURE = auto()
     DECORATION = auto()
     ELECTRONIC = auto()
@@ -38,8 +43,10 @@ class Role(Flag):
         head = next(iter(self))
         return ROLE_COLOR_MAP[head]
 
+
 # Maps roles to their colours
 ROLE_COLOR_MAP = {
+    Role.FIXTURE:    _color('black', 0.2),
     Role.PARENT:     _color('blue4', 0.6),
     Role.CASING:     _color('dodgerblue3', 0.6),
     Role.CHILD:      _color('darkorange2', 0.6),

nhf/touhou/houjuu_nue/harness.py

@@ -5,7 +5,46 @@ from nhf import Material, Role
 from nhf.build import Model, TargetKind, target, assembly
 import nhf.utils
 
-@dataclass
+@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))
+
+@dataclass(kw_only=True)
 class Harness(Model):
     thickness: float = 25.4 / 8
     width: float = 200.0
@@ -42,6 +81,8 @@ class Harness(Model):
     hs_joint_axis_cbore_diam: float = 20
     hs_joint_axis_cbore_depth: float = 3
 
+    mannequin: Mannequin = Mannequin()
+
     def __post_init__(self):
         super().__init__(name="harness")
 
@@ -164,22 +205,27 @@ class Harness(Model):
     @assembly()
     def assembly(self) -> Cq.Assembly:
         harness = self.surface()
+        mannequin_z = self.mannequin.shoulder_to_waist * 0.6
         result = (
             Cq.Assembly()
-            .addS(harness, name="base",
+            .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")
         )
         for name in ["l1", "l2", "l3", "r1", "r2", "r3"]:
             j = self.hs_joint_parent()
-            (
+            result.addS(
-                result
+                j, name=name,
-                .addS(j, name=name,
                 role=Role.PARENT,
                 material=Material.PLASTIC_PLA)
-                #.constrain("base?mount", f"{name}?base", "Axis")
-            )
             for i in range(4):
                 result.constrain(f"base?{name}_{i}", f"{name}?h{i}", "Point")
         result.solve()