aniva
/
Cosplay
1
1
Fork 0
Code Issues 1 Pull Requests 2 Packages Projects Releases Wiki Activity

cosplay: Touhou/Houjuu Nue #4

Open
aniva wants to merge 189 commits from touhou/houjuu-nue into main
pull from: touhou/houjuu-nue
merge into: aniva:main
Conversation 0 Commits 189 Files Changed 12 +76 -32
3 changed files with 76 additions and 32 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files
Showing only changes of commit da58eeafe6 - Show all commits

3
nhf/touhou/houjuu_nue/electronics.py
View File

@ -390,6 +390,8 @@ class Flexor:
pos = (target_length - self.actuator.conn_length) / self.actuator.stroke_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"
@ -397,6 +399,7 @@ class Flexor:
name_bolt_back = f"{tag_prefix}back_bolt"
name_nut_front = f"{tag_prefix}front_nut"
name_nut_back = f"{tag_prefix}back_nut"
print(name_bracket_back)
(
a
.add(self.actuator.assembly(pos=pos), name=name_actuator)

69
nhf/touhou/houjuu_nue/joints.py
View File

@ -208,7 +208,8 @@ class RootJoint(Model):
def assembly(self,
offset: int = 0,
fastener_pos: float = 0) -> Cq.Assembly:
fastener_pos: float = 0,
ignore_fasteners: bool = False) -> Cq.Assembly:
"""
Specify knob position to determine the position of the knob from fully
inserted (0) or fully uninserted (1)
@ -223,13 +224,17 @@ class RootJoint(Model):
.addS(self.child(), name="child",
material=Material.PLASTIC_PLA,
role=Role.CHILD)
.addS(self.hex_nut.assembly(), name="hex_nut")
.addS(self.knob.assembly(), name="knob",
loc=Cq.Location((0, 0, knob_h * fastener_pos)))
.constrain("knob/thread", "Fixed")
.constrain("hex_nut?bot", "parent?base", "Plane", param=0)
.constrain("hex_nut?dirX", "parent@faces@>X", "Axis", param=0)
)
if not ignore_fasteners:
(
result
.addS(self.hex_nut.assembly(), name="hex_nut")
.addS(self.knob.assembly(), name="knob",
loc=Cq.Location((0, 0, knob_h * fastener_pos)))
.constrain("knob/thread", "Fixed")
.constrain("hex_nut?bot", "parent?base", "Plane", param=0)
.constrain("hex_nut?dirX", "parent@faces@>X", "Axis", param=0)
)
self.hirth_joint.add_constraints(
result,
"parent",
@ -526,6 +531,7 @@ class ShoulderJoint(Model):
self,
fastener_pos: float = 0.0,
deflection: float = 0.0,
ignore_fasteners: bool = False,
) -> Cq.Assembly:
assert deflection <= self.angle_max_deflection
directrix = self.directrix_id
@ -547,14 +553,18 @@ class ShoulderJoint(Model):
.addS(self.parent_bot(),
name="parent_bot",
role=Role.PARENT, material=mat)
# Fasteners
.addS(self.bolt.assembly(), name="bolt_top",
loc=Cq.Location((0, 0, bolt_z)))
.constrain("bolt_top?root", 'Fixed')
.addS(self.bolt.assembly(), name="bolt_bot",
loc=Cq.Location((0, 0, -bolt_z), (1,0,0), 180))
.constrain("bolt_bot?root", 'Fixed')
)
if not ignore_fasteners:
(
result
# Fasteners
.addS(self.bolt.assembly(), name="bolt_top",
loc=Cq.Location((0, 0, bolt_z)))
.constrain("bolt_top?root", 'Fixed')
.addS(self.bolt.assembly(), name="bolt_bot",
loc=Cq.Location((0, 0, -bolt_z), (1,0,0), 180))
.constrain("bolt_bot?root", 'Fixed')
)
TorsionJoint.add_constraints(
result,
rider="child/rider_top",
@ -1075,7 +1085,7 @@ class ElbowJoint(Model):
return self.disk_joint.housing_lower()
@target(name="parent-upper")
def parent_joint_upper(self):
def parent_joint_upper(self, generate_mount: bool=False):
axial_offset = Cq.Location((self.parent_arm_radius, 0, 0))
housing_dz = self.disk_joint.housing_upper_dz
conn_h = self.disk_joint.total_thickness
@ -1120,16 +1130,25 @@ class ElbowJoint(Model):
#.solve()
)
if self.flexor:
# Orientes the hole surface so it faces +X
loc_thickness = Cq.Location((-self.lip_thickness, 0, 0), (0, 1, 0), 90)
result.add(
self.actuator_mount(),
name="act",
loc=self.actuator_mount_loc(child=False) * loc_thickness)
if generate_mount:
# Orientes the hole surface so it faces +X
loc_thickness = Cq.Location((-self.lip_thickness, 0, 0), (0, 1, 0), 90)
result.add(
self.actuator_mount(),
name="act",
loc=self.actuator_mount_loc(child=False) * loc_thickness)
else:
result.add(
Cq.Edge.makeLine((-1,0,0), (1,0,0)),
name="act",
loc=self.actuator_mount_loc(child=False))
return result
@assembly()
def assembly(self, angle: float = 0) -> Cq.Assembly:
def assembly(self,
angle: float = 0,
generate_mount: bool = False,
ignore_actuators: bool = False) -> Cq.Assembly:
assert 0 <= angle <= self.motion_span
result = (
Cq.Assembly()
@ -1137,7 +1156,7 @@ class ElbowJoint(Model):
role=Role.CHILD, material=self.material)
.addS(self.parent_joint_lower(), name="parent_lower",
role=Role.CASING, material=self.material)
.addS(self.parent_joint_upper(), name="parent_upper",
.addS(self.parent_joint_upper(generate_mount=generate_mount), name="parent_upper",
role=Role.PARENT, material=self.material)
#.constrain("child/disk?mate_bot", "Fixed")
)
@ -1148,14 +1167,14 @@ class ElbowJoint(Model):
disk="child/disk",
angle=angle,
)
if self.flexor:
if not ignore_actuators and self.flexor:
target_length = self.flexor.target_length_at_angle(
angle=angle,
)
self.flexor.add_to(
result,
target_length=target_length,
tag_hole_back="parent_upper/act?mount",
tag_hole_back="parent_upper/act",
tag_hole_front="child/act?mount",
tag_dir="parent_lower?mate",
)

36
nhf/touhou/houjuu_nue/wing.py
View File

@ -362,7 +362,9 @@ class WingProfile(Model):
return result
@assembly()
def assembly_s0(self, ignore_detail: bool=False) -> Cq.Assembly:
def assembly_s0(
self,
ignore_electronics: bool=False) -> Cq.Assembly:
result = (
Cq.Assembly()
.addS(self.surface_s0(top=True), name="bot",
@ -401,7 +403,7 @@ class WingProfile(Model):
.constrain(f"{tag}?{top_tag}", f"top?{tag}", "Plane")
.constrain(f"{tag}?dir", f"top?{tag}_dir", "Axis")
)
if not ignore_detail:
if not ignore_electronics:
result.add(self.electronic_board.assembly(), name="electronic_board")
for hole in self.electronic_board.mount_holes:
assert hole.tag
@ -923,7 +925,9 @@ class WingProfile(Model):
elbow_wrist_deflection: float = 0.0,
root_offset: int = 5,
fastener_pos: float = 0.0,
ignore_detail: bool = False,
ignore_fasteners: bool = False,
ignore_electronics: bool = False,
ignore_actuators: bool = False,
) -> Cq.Assembly():
if parts is None:
parts = [
@ -944,11 +948,14 @@ class WingProfile(Model):
tag_top, tag_bot = tag_bot, tag_top
if "s0" in parts:
result.add(self.assembly_s0(ignore_detail=ignore_detail), name="s0")
result.add(self.assembly_s0(
ignore_electronics=ignore_electronics
), name="s0")
if "root" in parts:
result.addS(self.root_joint.assembly(
offset=root_offset,
fastener_pos=fastener_pos,
ignore_fasteners=ignore_fasteners,
), name="root")
result.constrain("root/parent", "Fixed")
if "s0" in parts and "root" in parts:
@ -962,7 +969,8 @@ class WingProfile(Model):
angle = shoulder_deflection * self.shoulder_joint.angle_max_deflection
result.add(self.shoulder_joint.assembly(
fastener_pos=fastener_pos,
deflection=angle), name="shoulder")
deflection=angle,
ignore_fasteners=ignore_fasteners), name="shoulder")
if "s0" in parts and "shoulder" in parts:
for i in range(len(self.shoulder_joint.parent_conn_hole_pos)):
(
@ -984,7 +992,9 @@ class WingProfile(Model):
)
if "elbow" in parts:
angle = self.elbow_joint.motion_span * elbow_wrist_deflection
result.add(self.elbow_joint.assembly(angle=angle), name="elbow")
result.add(self.elbow_joint.assembly(
angle=angle,
ignore_actuators=ignore_actuators), name="elbow")
if "s1" in parts and "elbow" in parts:
(
result
@ -993,6 +1003,11 @@ class WingProfile(Model):
.constrain("s1/elbow_bot?conn0", "elbow/parent_upper/lip?conn_bot0", "Plane")
.constrain("s1/elbow_bot?conn1", "elbow/parent_upper/lip?conn_bot1", "Plane")
)
if not ignore_actuators:
(
result
.constrain("elbow/bracket_back?conn_side", "s1/elbow_act?conn0", "Plane")
)
if "s2" in parts:
result.add(self.assembly_s2(), name="s2")
if "s2" in parts and "elbow" in parts:
@ -1005,7 +1020,9 @@ class WingProfile(Model):
)
if "wrist" in parts:
angle = self.wrist_joint.motion_span * elbow_wrist_deflection
result.add(self.wrist_joint.assembly(angle=angle), name="wrist")
result.add(self.wrist_joint.assembly(
angle=angle,
ignore_actuators=ignore_actuators), name="wrist")
wrist_n_holes = len(self.wrist_joint.hole_pos)
if "s2" in parts and "wrist" in parts:
for i in range(wrist_n_holes):
@ -1023,6 +1040,11 @@ class WingProfile(Model):
.constrain(f"s3/wrist_top?conn{i}", f"wrist/child/lip?conn_top{i}", "Plane")
.constrain(f"s3/wrist_bot?conn{i}", f"wrist/child/lip?conn_bot{i}", "Plane")
)
if not ignore_actuators:
(
result
.constrain("wrist/bracket_back?conn_side", "s2/wrist_act?conn0", "Plane")
)
if len(parts) > 1:
result.solve()