nhf/touhou/houjuu_nue/electronics.py

@@ -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)

nhf/touhou/houjuu_nue/joints.py

@@ -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)
@@ -223,6 +224,10 @@ class RootJoint(Model):
             .addS(self.child(), name="child",
                   material=Material.PLASTIC_PLA,
                   role=Role.CHILD)
+        )
+        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)))
@@ -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
@@ -547,6 +553,10 @@ class ShoulderJoint(Model):
             .addS(self.parent_bot(),
                   name="parent_bot",
                   role=Role.PARENT, material=mat)
+        )
+        if not ignore_fasteners:
+            (
+                result
                 # Fasteners
                 .addS(self.bolt.assembly(), name="bolt_top",
                       loc=Cq.Location((0, 0, bolt_z)))
@@ -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:
+            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",
             )

nhf/touhou/houjuu_nue/wing.py

@@ -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()