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main.go
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main.go
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package main
import (
"flag"
"image"
"image/color"
"image/gif"
"log"
"math"
"os"
"path/filepath"
"github.com/unixpickle/model3d/render3d"
"github.com/unixpickle/essentials"
"github.com/unixpickle/model3d/model3d"
"github.com/unixpickle/model3d/model2d"
)
type Spec struct {
DrivenRadius float64
CenterDistance float64
PinRadius float64
Slack float64
SharpEdgeCutoff float64
DrivenSupportRadius float64
BottomThickness float64
Thickness float64
BoardThickness float64
ScrewRadius float64
ScrewSlack float64
ScrewGroove float64
ScrewCapHeight float64
ScrewCapRadius float64
}
func (s *Spec) DriveRadius() float64 {
return math.Sqrt2 * s.CenterDistance / 2
}
func main() {
var spec Spec
flag.Float64Var(&spec.DrivenRadius, "driven-radius", 1.0, "radius of driven disk")
flag.Float64Var(&spec.CenterDistance, "center-distance", 1.8, "distance between disk centers")
flag.Float64Var(&spec.PinRadius, "pin-radius", 0.1, "radius of driving pin")
flag.Float64Var(&spec.Slack, "slack", 0.015, "extra space between parts")
flag.Float64Var(&spec.SharpEdgeCutoff, "sharp-edge-cutoff", 0.02,
"driven gear cutoff to prevent sharp features")
flag.Float64Var(&spec.DrivenSupportRadius, "driven-support-radius", 0.3,
"radius of cylinder supporting the driven gear")
flag.Float64Var(&spec.BottomThickness, "bottom-thickness", 0.2,
"thickness of bottom half of gears")
flag.Float64Var(&spec.Thickness, "thickness", 0.3, "thickness of engaged part of gears")
flag.Float64Var(&spec.BoardThickness, "board-thickness", 0.4, "thickness of board")
flag.Float64Var(&spec.ScrewRadius, "screw-radius", 0.2, "radius of screws")
flag.Float64Var(&spec.ScrewSlack, "screw-slack", 0.02, "slack for screws in holes")
flag.Float64Var(&spec.ScrewGroove, "screw-groove", 0.05, "groove size of screws")
flag.Float64Var(&spec.ScrewCapHeight, "screw-cap-height", 0.3, "height of screw heads")
flag.Float64Var(&spec.ScrewCapRadius, "screw-cap-radius", 0.3, "radius of screw heads")
flag.Parse()
log.Println("Creating profiles ...")
driven := DrivenProfile(&spec)
drive := DriveProfile(&spec, driven)
RenderEngagedProfiles(&spec, driven, drive)
if _, err := os.Stat("models"); os.IsNotExist(err) {
essentials.Must(os.Mkdir("models", 0755))
}
CreateModel("drive", DriveBody(&spec, drive))
CreateModel("driven", DrivenBody(&spec, driven))
CreateModel("board", BoardSolid(&spec))
CreateModel("screw", BoardScrewSolid(&spec))
CreateRendering(&spec)
CreateAnimation(&spec)
}
func CreateModel(name string, solid model3d.Solid) {
outPath := filepath.Join("models", name+".stl")
if _, err := os.Stat(outPath); err == nil {
log.Println("Skipping existing model:", name)
return
}
log.Println("Creating model:", name, "...")
mesh := model3d.MarchingCubesSearch(solid, 0.01, 8)
mesh = mesh.EliminateCoplanar(1e-5)
essentials.Must(mesh.SaveGroupedSTL(outPath))
}
func RenderEngagedProfiles(spec *Spec, driven, drive model2d.Solid) {
driveMesh := model2d.MarchingSquaresSearch(drive, 0.01, 8)
drivenMesh := model2d.MarchingSquaresSearch(driven, 0.01, 8)
drivenMesh = drivenMesh.Rotate(math.Pi / 4).Translate(model2d.X(spec.CenterDistance))
mesh := model2d.NewMesh()
mesh.AddMesh(driveMesh)
mesh.AddMesh(drivenMesh)
mesh.Scale(200).SaveSVG("rendering_profiles.svg")
}
func CreateRendering(spec *Spec) {
driveTransform := model3d.JoinedTransform{
model3d.Rotation(model3d.Z(1), math.Pi/2),
&model3d.Translate{
Offset: model3d.Coord3D{X: spec.DriveRadius(), Z: spec.BoardThickness},
},
}
drivenTransform := &model3d.Translate{
Offset: model3d.Coord3D{
X: spec.DriveRadius() + spec.CenterDistance,
Z: spec.BoardThickness,
},
}
mesh := LoadModel("board")
mesh.AddMesh(LoadModel("drive").MapCoords(driveTransform.Apply))
mesh.AddMesh(LoadModel("driven").MapCoords(drivenTransform.Apply))
render3d.SaveRandomGrid("rendering.png", mesh, 3, 3, 300, nil)
}
func CreateAnimation(spec *Spec) {
boardMesh := LoadModel("board")
driveMesh := LoadModel("drive")
drivenMesh := LoadModel("driven")
cameraOrigin := model3d.Coord3D{
X: boardMesh.Max().Mid(boardMesh.Min()).X,
Y: boardMesh.Min().Y * 4,
Z: boardMesh.Max().Y * 4,
}
cameraTarget := model3d.XYZ(cameraOrigin.X, 0, 0)
renderer := render3d.RayCaster{
Camera: render3d.NewCameraAt(cameraOrigin, cameraTarget, math.Pi/3.6),
Lights: []*render3d.PointLight{
{
Origin: cameraTarget.Add(cameraOrigin.Sub(cameraTarget).Scale(10)),
Color: render3d.NewColor(1.0),
},
},
}
drivenCollider := model3d.MeshToCollider(drivenMesh)
checkDrivenAngle := func(driveTransform model3d.Transform, angle float64) model3d.Transform {
pinCenter := model3d.Coord3D{
X: spec.DriveRadius() + spec.Slack,
// We use a sphere to simulate collisions with the pin, so we want
// it as high as possible so that it doesn't accidentally collide
// with the bottom of the gear.
// Ideally, we'd use a profile here instead, but alas.
Z: spec.Thickness + spec.BottomThickness,
}
pinLoc := driveTransform.Apply(pinCenter)
drivenTransform := model3d.JoinedTransform{
model3d.Rotation(model3d.Z(1), angle),
&model3d.Translate{
Offset: model3d.Coord3D{
X: spec.DriveRadius() + spec.CenterDistance,
Z: spec.BoardThickness,
},
},
}
localLoc := drivenTransform.Inverse().Apply(pinLoc)
if !drivenCollider.SphereCollision(localLoc, spec.PinRadius-spec.Slack) {
return drivenTransform
}
return nil
}
// This is what the angle ends at the end, since
// there's a bit of slack.
drivenAngle := -1.5337695312500002
adjustDriven := func(driveTransform model3d.Transform) model3d.Transform {
for offset := 0.0; offset < 0.3; offset += 0.01 {
if dt := checkDrivenAngle(driveTransform, drivenAngle-offset); dt != nil {
if offset == 0 {
return dt
}
minAngle := offset - 0.01
maxAngle := offset
for i := 0; i < 10; i++ {
mid := (minAngle + maxAngle) / 2
if checkDrivenAngle(driveTransform, drivenAngle-mid) != nil {
maxAngle = mid
} else {
minAngle = mid
}
}
drivenAngle -= maxAngle
return checkDrivenAngle(driveTransform, drivenAngle)
}
}
panic("no rotation found to avoid collisions")
}
var g gif.GIF
for driveAngle := math.Pi / 2; driveAngle < math.Pi/2+math.Pi*2; driveAngle += 0.05 {
log.Println("Rendering drive angle", driveAngle, "...")
driveTransform := model3d.JoinedTransform{
model3d.Rotation(model3d.Z(1), driveAngle),
&model3d.Translate{
Offset: model3d.Coord3D{X: spec.DriveRadius(), Z: spec.BoardThickness},
},
}
drivenTransform := adjustDriven(driveTransform)
mesh := model3d.NewMesh()
mesh.AddMesh(boardMesh)
mesh.AddMesh(driveMesh.MapCoords(driveTransform.Apply))
mesh.AddMesh(drivenMesh.MapCoords(drivenTransform.Apply))
img := render3d.NewImage(200, 200)
renderer.Render(img, render3d.Objectify(mesh, nil))
grayImg := img.Gray()
var palette []color.Color
for i := 0; i < 256; i++ {
palette = append(palette, color.Gray{Y: uint8(i)})
}
outImg := image.NewPaletted(image.Rect(0, 0, img.Width, img.Height), palette)
for y := 0; y < img.Height; y++ {
for x := 0; x < img.Width; x++ {
outImg.Set(x, y, grayImg.At(x, y))
}
}
g.Image = append(g.Image, outImg)
g.Delay = append(g.Delay, 3)
}
w, err := os.Create("output.gif")
essentials.Must(err)
defer w.Close()
essentials.Must(gif.EncodeAll(w, &g))
}
func LoadModel(name string) *model3d.Mesh {
path := filepath.Join("models", name+".stl")
r, err := os.Open(path)
essentials.Must(err)
defer r.Close()
tris, err := model3d.ReadSTL(r)
essentials.Must(err)
return model3d.NewMeshTriangles(tris)
}