eu.mihosoft.vrl.v3d.samples.QuadrocopterArm Maven / Gradle / Ivy
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package eu.mihosoft.vrl.v3d.samples;
import eu.mihosoft.vrl.v3d.CSG;
import eu.mihosoft.vrl.v3d.Cube;
import eu.mihosoft.vrl.v3d.Cylinder;
import eu.mihosoft.vrl.v3d.FileUtil;
import eu.mihosoft.vrl.v3d.Plane;
import eu.mihosoft.vrl.v3d.RoundedCube;
import eu.mihosoft.vrl.v3d.Sphere;
import eu.mihosoft.vrl.v3d.Transform;
import java.io.IOException;
import java.nio.file.Paths;
import static eu.mihosoft.vrl.v3d.Transform.*;
import eu.mihosoft.vrl.v3d.UnityModifier;
import eu.mihosoft.vrl.v3d.Vector3d;
import eu.mihosoft.vrl.v3d.ZModifier;
/**
*
* @author Michael Hoffer <[email protected]>
*/
public class QuadrocopterArm {
public CSG mainArm(int numInnerStructures, double length, double armThickness, double innerTubeOffset, double armCubeThickness) {
double outerRadius = armThickness / 2.0;
double wallThickness = 0.8;
double structureRadius = 0.4;
double maxXRot = 180;
double maxYRot = 180;
double maxZRot = 180;
double maxXYOffset = outerRadius;
double innerRadius = 5.1;
double innerWallThickness = 0.8;
double numPlates = 0;
double plateThickness = 0.5;
double shrinkFactorX = 0.65;
double sideArmHight = length / 2.0;
double sideArmGroundDist = 30;
double sideArmRadius = armThickness / 6.0;
double sideArmShrinkFactor = 0.6;
CSG innerStructure = null;
for (int i = 0; i < numInnerStructures; i++) {
CSG cyl = new Cylinder(structureRadius, outerRadius * 10, 8).toCSG();
cyl = cyl.transformed(Transform.unity().scale(
Math.max(0.5, Math.random() * 3),
Math.max(0.5, Math.random() * 3), 1));
cyl = cyl.transformed(Transform.unity().
translateX(cyl.getBounds().getBounds().z / 2.0).
rotY(90));
cyl = cyl.transformed(Transform.unity().rot(
Math.random() * maxXRot,
Math.random() * maxYRot,
Math.random() * maxZRot));
cyl = cyl.transformed(Transform.unity().translate(
-maxXYOffset / 2.0 + Math.random() * maxXYOffset,
-maxXYOffset / 2.0 + Math.random() * maxXYOffset,
innerTubeOffset + Math.random() * (length - innerTubeOffset)));
if (innerStructure == null) {
innerStructure = cyl;
} else {
innerStructure = innerStructure.union(cyl);
}
}
if (innerStructure != null) {
innerStructure = innerStructure.intersect(
new Cylinder(outerRadius, length - innerTubeOffset, 16).toCSG().
transformed(unity().scaleX(0.5).translateZ(innerTubeOffset)));
}
CSG outerCyl = outerCyl(outerRadius, length, wallThickness,
shrinkFactorX, shrinkFactorX * 0.95);
if (innerStructure != null) {
outerCyl = outerCyl.union(innerStructure);
}
CSG innerCyl = new Cylinder(innerRadius, length - innerTubeOffset, 16).toCSG().transformed(unity().translateZ(innerTubeOffset));
CSG finalGeometry = outerCyl.union(innerCyl);
CSG plate = new Cylinder(outerRadius, plateThickness, 16).toCSG().
transformed(unity().scaleX(shrinkFactorX));
CSG endPlate = plate.transformed(unity().translateZ(innerTubeOffset));
finalGeometry = finalGeometry.union(endPlate);
CSG plates = null;
if (numPlates > 0) {
double dt = (length - innerTubeOffset) / numPlates;
for (int i = 0; i < numPlates; i++) {
CSG pl = plate.transformed(unity().translateZ(dt * i));
if (plates == null) {
plates = pl;
} else {
plates = plates.union(pl);
}
}
finalGeometry = finalGeometry.union(plates);
}
CSG cube = new Cube(outerRadius * 2, outerRadius * 2, armCubeThickness).
toCSG().difference(innerCyl).
transformed(unity().translateZ(length - armCubeThickness / 2.0));
finalGeometry = finalGeometry.union(cube);
CSG sideArms = sideArms(sideArmGroundDist, sideArmHight, sideArmRadius, sideArmShrinkFactor, length, armCubeThickness, outerRadius);
//finalGeometry = finalGeometry.union(sideArms);
finalGeometry = finalGeometry.difference(
new Cylinder(innerRadius - innerWallThickness,
length, 16).toCSG());
return finalGeometry;
}
public static CSG sideArms(double sideArmGroundDist, double sideArmHight, double sideArmRadius, double sideArmShrinkFactor, double length, double armCubeThickness, double outerRadius) {
double sideArmLength = Math.sqrt(sideArmGroundDist * sideArmGroundDist + sideArmHight * sideArmHight);
double alpha = Math.atan(sideArmGroundDist / sideArmHight) * 180 / Math.PI;
CSG subCylinder = new Cylinder(sideArmRadius, sideArmLength + sideArmRadius, 16).toCSG().transformed(unity().rotY(90).scaleX(sideArmShrinkFactor)).transformed(unity().rotZ(alpha)).transformed(unity().translateX(-length + sideArmHight));
subCylinder = subCylinder.difference(new Cube(new Vector3d(-length - sideArmRadius * 2, sideArmGroundDist), new Vector3d(sideArmRadius * 4, sideArmRadius * 4, sideArmRadius * 4)).toCSG());
subCylinder = subCylinder.union(new Cube(new Vector3d(-length + armCubeThickness / 2.0, sideArmGroundDist, 0), new Vector3d(armCubeThickness, outerRadius * 2, outerRadius * 2)).toCSG());
CSG sideArms = subCylinder.union(subCylinder.transformed(unity().mirror(Plane.XZ_PLANE))).transformed(unity().rotY(90).rotZ(180).rotX(90));
return sideArms;
}
public static CSG sideArms(double sideArmGroundDist, double sideArmHight, double sideArmRadius, double sideArmShrinkFactor, double armCubeThickness, double outerRadius) {
double sideArmLength = Math.sqrt(sideArmGroundDist * sideArmGroundDist + sideArmHight * sideArmHight);
double alpha = Math.atan(sideArmGroundDist / sideArmHight) * 180 / Math.PI;
CSG subCylinder = new Cylinder(sideArmRadius, sideArmLength + sideArmRadius, 16).toCSG().transformed(unity().rotY(90).scaleX(sideArmShrinkFactor)).transformed(unity().rotZ(alpha)).transformed(unity().translateX(sideArmHight));
subCylinder = subCylinder.difference(new Cube(new Vector3d(0 - sideArmRadius * 2, sideArmGroundDist), new Vector3d(sideArmRadius * 4, sideArmRadius * 4, sideArmRadius * 4)).toCSG());
subCylinder = subCylinder.union(new Cube(new Vector3d(0 + armCubeThickness / 2.0, sideArmGroundDist, 0), new Vector3d(armCubeThickness, outerRadius * 2, outerRadius * 2)).toCSG());
CSG sideArms = subCylinder.union(subCylinder.transformed(unity().mirror(Plane.XZ_PLANE)));
return sideArms;
}
public static CSG outerCyl(double outerRadius, double length,
double wallThickness, double scaleOuter, double scaleInner) {
return outerCyl(outerRadius, length, wallThickness, scaleOuter, scaleInner, false);
}
public static CSG outerCyl(double outerRadius, double length,
double wallThickness, double scaleOuter, double scaleInner, boolean filled) {
CSG outerCyl = new Cylinder(outerRadius, length, 32).toCSG().
transformed(unity().scaleX(scaleOuter));
if (!filled) {
CSG outerCylInner = new Cylinder(outerRadius - wallThickness / scaleOuter,
length, 32).toCSG().transformed(unity().scaleX(scaleInner));
outerCyl = outerCyl.difference(outerCylInner);
}
return outerCyl;
}
// private CSG outerCyl(double outerRadius, double length,
// double wallThickness, double scaleOuter, double scaleInner) {
//
// // refine
// double l = length / 10;
//
// CSG protoOuter = new Cylinder(outerRadius, l, 32).toCSG().
// transformed(unity().scaleX(scaleOuter));
// CSG protoInner = new Cylinder(outerRadius - wallThickness / scaleOuter,
// l, 32).toCSG().transformed(unity().scaleX(scaleInner));
//
// CSG outerCylProto = protoOuter.difference(protoInner);
//
// CSG outerCyl = outerCylProto;
//
// for (int i = 1; i < 10; i++) {
// outerCyl = outerCyl.union(protoOuter.transformed(Transform.unity().translateZ(i * l)));
// }
//
// outerCyl = outerCyl.weighted(new ZModifier(true)).transformed(Transform.unity().scale(0.8, 0.8, 1)).weighted(new UnityModifier());
//
// return outerCyl;
// }
public CSG toCSG() {
// optimization seems to cause problems
CSG.setDefaultOptType(CSG.OptType.NONE);
double engineRadius = 14;
double screwDistanceBig = 9.5;
double screwDistanceSmall = 8;
double screwRadius = 1.6;
double enginePlatformThickness = 2.0;
double mainHoleRadius = 4;
double washerWallThickness = 1;
double washerHeight = 2;
double armLength = 150;
int numInnerStructures = 60;
double armThickness = 18;
double armCubeThickness = 4;
double innerTubeOffset = engineRadius * 2 + 5;
CSG mainArm = mainArm(numInnerStructures, armLength, armThickness, innerTubeOffset, armCubeThickness).transformed(unity().rotX(90).rotY(90));
CSG enginePlatformSphere = new Sphere(engineRadius * 1.1, 64, 32).toCSG().transformed(unity().scaleX(2).translateZ(armThickness * 0.5));
Transform engineTransform = unity().translateX(-mainHoleRadius).translateZ(-armThickness * 0.28).translateX(1.2);
CSG mainHole = new Cylinder(mainHoleRadius, enginePlatformThickness, 16).toCSG().transformed(engineTransform);
CSG enginePlatform = enginePlatform(engineRadius, enginePlatformThickness, mainHoleRadius, screwRadius, screwDistanceBig, screwDistanceSmall, washerWallThickness, washerHeight).transformed(engineTransform);
mainArm = mainArm.difference(enginePlatformSphere).union(enginePlatform).difference(mainHole);
//double armHeight = mainArm.getBounds().getBounds().x;
return mainArm.transformed(unity().rotX(90).rotZ(90));
}
private CSG enginePlatform(double engineRadius, double enginePlatformThickness, double mainHoleRadius, double screwRadius, double screwDistanceBig, double screwDistanceSmall, double washerWallThickness, double washerHeight) {
CSG enginePlatform = new Cylinder(engineRadius, enginePlatformThickness, 32).toCSG();
CSG secondCyl = new Cylinder(engineRadius * 0.3, enginePlatformThickness, 3).toCSG().transformed(unity().translateX(-engineRadius * 2.7));
enginePlatform = enginePlatform.union(secondCyl).hull();
CSG mainHole = new Cylinder(mainHoleRadius, enginePlatformThickness * 5, 16).toCSG().transformed(Transform.unity().translateZ(-enginePlatformThickness));
CSG screwHolePrototype = new Cylinder(screwRadius, enginePlatformThickness + washerHeight + 10, 16).toCSG().transformed(Transform.unity().translateZ(-5));
CSG screwHole1 = screwHolePrototype.transformed(unity().translateX(screwDistanceBig)).transformed(unity().rotZ(-45));
CSG screwHole2 = screwHolePrototype.transformed(unity().translateX(screwDistanceBig)).transformed(unity().rotZ(135));
CSG screwHole3 = screwHolePrototype.transformed(unity().translateX(screwDistanceSmall)).transformed(unity().rotZ(45));
CSG screwHole4 = screwHolePrototype.transformed(unity().translateX(screwDistanceSmall)).transformed(unity().rotZ(-135));
CSG washerPrototype = new Cylinder(screwRadius + washerWallThickness, washerHeight, 16).toCSG();
CSG washerHole = washerPrototype.clone();
washerPrototype = washerPrototype.weighted(new ZModifier()).transformed(unity().scale(1.35, 1.35, 1)).weighted(new UnityModifier());
washerPrototype = washerPrototype.
difference(screwHolePrototype).transformed(unity().translateZ(-washerHeight));
CSG washer1 = washerPrototype.transformed(unity().translateX(screwDistanceBig)).transformed(unity().rotZ(-45));
CSG washer2 = washerPrototype.transformed(unity().translateX(screwDistanceBig)).transformed(unity().rotZ(135));
CSG washer3 = washerPrototype.transformed(unity().translateX(screwDistanceSmall)).transformed(unity().rotZ(45));
CSG washer4 = washerPrototype.transformed(unity().translateX(screwDistanceSmall)).transformed(unity().rotZ(-135));
CSG washerHole1 = washerHole.transformed(unity().translateX(screwDistanceBig)).transformed(unity().rotZ(-45)).transformed(Transform.unity().translateZ(-washerHeight * 2));
CSG washerHole2 = washerHole.transformed(unity().translateX(screwDistanceBig)).transformed(unity().rotZ(135)).transformed(Transform.unity().translateZ(-washerHeight * 2));
CSG washerHole3 = washerHole.transformed(unity().translateX(screwDistanceSmall)).transformed(unity().rotZ(45)).transformed(Transform.unity().translateZ(-washerHeight * 2));
CSG washerHole4 = washerHole.transformed(unity().translateX(screwDistanceSmall)).transformed(unity().rotZ(-135)).transformed(Transform.unity().translateZ(-washerHeight * 2));
// CSG hullCube = new RoundedCube(20,5,3.8).cornerRadius(1).toCSG().transformed(Transform.unity().translate(-10,-2.5,-3.8/2.0-enginePlatformThickness));
CSG hullCube = new Cylinder(3, 20, 16).toCSG().transformed(Transform.unity().rotY(90)).transformed(Transform.unity().translate(0, 0, -2));
enginePlatform = enginePlatform.union(hullCube).hull().difference(washerHole1, washerHole2, washerHole3, washerHole4);
enginePlatform = enginePlatform.difference(mainHole, screwHole1, screwHole2, screwHole3, screwHole4).union(washer1, washer2, washer3, washer4);
return enginePlatform;
}
// private CSG enginePlatform(double engineRadius, double enginePlatformThickness, double mainHoleRadius, double screwRadius, double screwDistance) {
// CSG enginePlatform = new Cylinder(engineRadius, enginePlatformThickness, 32).toCSG();
//
// CSG secondCyl = new Cylinder(engineRadius * 0.3, enginePlatformThickness, 3).toCSG().transformed(unity().translateX(-engineRadius * 2));
//
// enginePlatform = enginePlatform.union(secondCyl).hull();
//
// CSG mainHole = new Cylinder(mainHoleRadius, enginePlatformThickness, 16).toCSG();
//
// CSG screwHolePrototype = new Cylinder(screwRadius, enginePlatformThickness, 16).toCSG();
//
// double screwDistFromOrigin = screwDistance / 2.0;
// double upperScrewDistFromOrigin1 = screwDistFromOrigin* 0.9;
// double upperScrewDistFromOrigin2 = screwDistFromOrigin* 0.95;
//
// CSG screwHole1 = screwHolePrototype.transformed(unity().translate(-screwDistFromOrigin, -screwDistFromOrigin, 0));
// CSG screwHole2 = screwHolePrototype.transformed(unity().translate(screwDistFromOrigin, -screwDistFromOrigin, 0));
// CSG screwHole3 = screwHolePrototype.transformed(unity().translate(screwDistFromOrigin, screwDistFromOrigin, 0));
// CSG screwHole4 = screwHolePrototype.transformed(unity().translate(-screwDistFromOrigin, screwDistFromOrigin, 0));
//
// screwHole1 = screwHole1.union(screwHolePrototype.transformed(unity().translate(-upperScrewDistFromOrigin1, -upperScrewDistFromOrigin2, 0))).hull();
// screwHole4 = screwHole4.union(screwHolePrototype.transformed(unity().translate(-upperScrewDistFromOrigin1, upperScrewDistFromOrigin2, 0))).hull();
//
// screwHole2 = screwHole2.union(screwHolePrototype.transformed(unity().translate(upperScrewDistFromOrigin1, -upperScrewDistFromOrigin1, 0))).hull();
// screwHole3 = screwHole3.union(screwHolePrototype.transformed(unity().translate(upperScrewDistFromOrigin1, upperScrewDistFromOrigin1, 0))).hull();
//
// enginePlatform = enginePlatform.difference(mainHole, screwHole1, screwHole2, screwHole3, screwHole4);
//
// return enginePlatform;
// }
public static void main(String[] args) throws IOException {
CSG result = new QuadrocopterArm().toCSG();
FileUtil.write(Paths.get("quadrocopter-arm.stl"), result.toStlString());
result.toObj().toFiles(Paths.get("quadrocopter-arm.obj"));
// CSG resultNoStructure = new QuadrocopterArm().toCSG();
//
// FileUtil.write(Paths.get("quadrocopter-arm-no-structure.stl"), resultNoStructure.toStlString());
// resultNoStructure.toObj().toFiles(Paths.get("quadrocopter-arm-no-structure.obj"));
}
}
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