^jtdZddlmZddlmZddlmZddlmZddl m Z ddl m Z ddl mZmZmZmZmZmZmZdd lmZmZmZmZGd d eZGd d eZGddeZGddeZGddeZy)a build123d joints name: joints.py by: Gumyr date: August 24, 2023 desc: This python module contains all of the Joint derived classes. license: Copyright 2023 Gumyr Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0 Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License. ) annotations)inf)overload)validate_inputs)Align) BuildPart)AxisLocationPlaneRotation RotationLikeVector VectorLike)CompoundEdgeJointSolidcneZdZdZeddZeddZ d dfd Zedd ddZ eddd dd Z edd dd Z edd dd Z eddZ dfd Z eddddZ eddd ddZ edd ddZ edd ddZ eddZ d dZ xZ S)! RigidJointa]RigidJoint A rigid joint fixes two components to one another. Args: label (str): joint label to_part (Union[Solid, Compound], optional): object to attach joint to joint_location (Location): global location of joint Attributes: relative_location (Location): joint location relative to bound object c|jj |j td|jj|jzSzLocation of jointzJoints are invalidparentlocationrelative_location RuntimeErrorselfs I/opt/ringagent/.cad-venv/lib/python3.12/site-packages/build123d/joints.pyrzRigidJoint.locationDF ;;   '4+A+A+I34 4{{##d&<&<<<c|jjdjdz }tj|j |j S)z-A CAD symbol (XYZ indicator) as bound to partFoptimal ) axes_scale)r bounding_boxdiagonalr make_triadlocater)rsizes rsymbolzRigidJoint.symbolKsF{{'''6??"D""d3::4==IIr!Nc8tj|}t|||||}n td|}| t }|j td|j j |z|_||j|<t|)||yN2Either specify to_part or place in BuildPart scopePart must have a location) r _get_contextr ValueErrorr rinverserjointssuper__init__)rlabelto_partjoint_locationcontextpart_or_builder __class__s rr6zRigidJoint.__init__Qs %.$:$:4$@& ?"") !UVV%O  !%ZN  # # +89 9!0!9!9!A!A!Cn!T(,u% 0r!anglesc y)z Connect RigidJoint and BallJointN)rotherr>kwargss r connect_tozRigidJoint.connect_tojr!positionanglecy)z'Connect RigidJoint and CylindricalJointNr@rrArFrGs rrCzRigidJoint.connect_toprDr!rFcy)z"Connect RigidJoint and LinearJointNr@rrArFs rrCzRigidJoint.connect_tozrDr!rGcy)z$Connect RigidJoint and RevoluteJointNr@rrArGs rrCzRigidJoint.connect_to~rDr!cyz Connect two RigidJoints togetherNr@rrAs rrCzRigidJoint.connect_torDr!c $t||fi|S)aConnect the RigidJoint to another Joint Args: other (Joint): joint to connect to angle (float, optional): angle in degrees. Defaults to range min. angles (RotationLike, optional): angles about axes in degrees. Defaults to range minimums. position (float, optional): linear position. Defaults to linear range min. r5 _connect_torrArBr<s rrCzRigidJoint.connect_tosw"53F33r!cy)z RigidJoint relative to BallJointNr@)rrAr>s r relative_tozRigidJoint.relative_torDr!cy)z'RigidJoint relative to CylindricalJointNr@rIs rrXzRigidJoint.relative_torDr!cy)z"RigidJoint relative to LinearJointNr@rLs rrXzRigidJoint.relative_torDr!cy)z$RigidJoint relative to RevoluteJointNr@rOs rrXzRigidJoint.relative_torDr!cyrQr@rRs rrXzRigidJoint.relative_torDr!c t|tr)|j|jjz}|St|tr2d}|r d|vr|dn|}|j ||j}|St|t r2d}|r d|vr|dn|}|j ||j}|St|trAd\}}|rd|vr|dn|}d|vr|dn|}|j |||j}|St|tr2d}|r d|vr|dn|}|j || j}|Std t|) a0Relative location of RigidJoint to another Joint Args: other (RigidJoint): relative to joint angle (float, optional): angle in degrees. Defaults to range min. angles (RotationLike, optional): angles about axes in degrees. Defaults to range minimums. position (float, optional): linear position. Defaults to linear range min. Raises: TypeError: other must be of a type in: BallJoint, CylindricalJoint, LinearJoint, RevoluteJoint, RigidJoint. NrGrMrFrJNNrEr>r=z_other must one of type BallJoint, CylindricalJoint, LinearJoint, RevoluteJoint, RigidJoint not ) isinstancerrr3 RevoluteJointrX LinearJointCylindricalJoint BallJoint TypeErrortype)rrArBother_locationrGrFr>s rrXzRigidJoint.relative_tos eZ (!33e6M6M6U6U6WWN>=} -E+2f+<w%"..t5.AIIKN43{ +H1;v1E6*-8"..th.GOOQN*)/ 0(OE8+2f+<w%1;v1E6*-8"..xu/gi y )F-5-?)V"..tF.CKKMN E{m% r!returnr rhrr^)r7strr8Solid | Compound | Noner9Location | None)rArcr>RotationLike | None)rArbrF float | NonerGrn)rArarFrn)rAr`rGrn)rArrAr)rArrhr ) __name__ __module__ __qualname____doc__propertyrr,r6rrCrX __classcell__r<s@rrr5s == JJ,0*. 11)1( 12AE//+>//  "&" 66 6  66IM11HL33// 4MQ// "&" 66 6  66JN11IM33///r!rceZdZdZed dZed dZdejddf d fd Z ddd fdZ ddd d Z xZ S)r`a)RevoluteJoint Component rotates around axis like a hinge. Args: label (str): joint label to_part (Union[Solid, Compound], optional): object to attach joint to axis (Axis): axis of rotation angle_reference (VectorLike, optional): direction normal to axis defining where angles will be measured from. Defaults to None. range (tuple[float, float], optional): (min,max) angle of joint. Defaults to (0, 360). Attributes: angle (float): angle of joint angle_reference (Vector): reference for angular positions angular_range (tuple[float,float]): min and max angular position of joint relative_axis (Axis): joint axis relative to bound part Raises: ValueError: angle_reference must be normal to axis c|jj|jj td|jj|jjzSrrr relative_axisrrs rrzRevoluteJoint.locationR ;;   '4+=+=+F+F+N34 4{{##d&8&8&A&AAAr!c *|jjdjdz }tt j ddd|dzft j |t j d|ddfgj|jS)z?A CAD symbol representing the axis of rotation as bound to partFr#rrrr ) rr'r(rr make_line make_circlemoverrradiuss rr,zRevoluteJoint.symbols))%)8AABFy1a"*=>  (y61a.9  $t}}   r!Nrihctj|}t|||||}n td|}||_|r7|j t d|s tdt||_n&td|jj|_d|_ |j td|j|jj|_||j"|<t$|M||yNr/r~z&angle_reference must be normal to axis)originz_dirr0)rr1rr2 angular_range is_normalr rangle_referencer directionx_dir_anglerlocatedr3rzr4r5r6) rr7r8axisrrr:r;r<s rr6zRevoluteJoint.__init__ s%.$:$:4$@& ?"") !UVV%O* >>$y/"BC !IJJ#)/#:D #( #P#V#VD $(  # # +89 9!\\/*B*B*J*J*LM(,u% 0r!rMc&t|||S)a.Connect RevoluteJoint and RigidJoint Args: other (RigidJoint): relative to joint angle (float, optional): angle in degrees. Defaults to range min. Returns: TypeError: other must of type RigidJoint ValueError: angle out of range rMrT)rrArGr<s rrCzRevoluteJoint.connect_to*sw"5"66r!ct|tstdt|||jdn|}||jdks||jdkDrt d|d|j||_|dk(rdn|}|jjtdd|z|jjzS)a9Relative location of RevoluteJoint to RigidJoint Args: other (RigidJoint): relative to joint angle (float, optional): angle in degrees. Defaults to range min. Raises: TypeError: other must of type RigidJoint ValueError: angle out of range "other must of type RigidJoint not rangle () must in range of gv@) r_rrdrerr2rrzrr rr3)rrArG angle_degreess rrXzRevoluteJoint.relative_to7s%,@e NO O16**1-E D..q1 1t11!44-(;D>$y/"BC !IJJ#)/#:D #( #P#V#VD *(  # # +89 9!\\/*B*B*J*J*LM&* #' (,u% 0r!rEc(t||||S)aConnect CylindricalJoint and RigidJoint" Args: other (Joint): joint to connect to position (float, optional): linear position. Defaults to linear range min. angle (float, optional): angle in degrees. Defaults to range min. Raises: TypeError: other must be of type RigidJoint ValueError: position out of range ValueError: angle out of range rErT)rrArFrGr<s rrCzCylindricalJoint.connect_to`s&w"585"IIr!c 4t|tstdt||t |j dz n|}|j d|cxkr|j dksnt d|d|j ||_|t |jdz n|}|jd|cxkr|jdksnt d|d|j||_ t|jj|jj|zz}ttd|jj|j||jj }||z|j j#zS) aRelative location of CylindricalJoint to RigidJoint Args: other (Joint): joint to connect to position (float, optional): linear position. Defaults to linear range min. angle (float, optional): angle in degrees. Defaults to range min. Raises: TypeError: other must be of type RigidJoint ValueError: position out of range ValueError: angle out of range rrrrrrrr~r)r_rrdrerrr2rFrrGr rzrr rrrr3)rrArFrGposition_valuerjoint_rotations rrXzCylindricalJoint.relative_tous&%,@e NO O7?7GT../!3X  #~M9J9J19MM^,,?@Q@Q?RS ' /4}D&&'!+%!!!$F1C1CA1FFwug-@ASAS@TUV V "*    ' '$*<*<*F*F*W W# "  **11$2D2DeL((22   $n 4u7N7N7V7V7X X r!rgri) r7rjr8rkrr rrrrrr)rArrFrnrGrn)rprqrrrsrtrr,r rrr6rCrXrurvs@rrbrbs@BB    ,0VV-1-.H-5#1#1)#1 #1 + #1 * #1+#1R"&" JJ J  J2"&" . .  .  . r!rbceZdZdZed dZed dZdddejf d fd Z ddd fdZ ddd d Z xZ S)rcaBallJoint A component rotates around all 3 axes using a gimbal system (3 nested rotations). Args: label (str): joint label to_part (Union[Solid, Compound], optional): object to attach joint to joint_location (Location): global location of joint angular_range (tuple[ tuple[float, float], tuple[float, float], tuple[float, float] ], optional): X, Y, Z angle (min, max) pairs. Defaults to ((0, 360), (0, 360), (0, 360)). angle_reference (Plane, optional): plane relative to part defining zero degrees of rotation. Defaults to Plane.XY. Attributes: relative_location (Location): joint location relative to bound part angular_range (tuple[ tuple[float, float], tuple[float, float], tuple[float, float] ]): X, Y, Z angle (min, max) pairs. angle_reference (Plane): plane relative to part defining zero degrees of c|jj |j td|jj|jzSrrrs rrzBallJoint.locationr r!c|jjdjdz }tj||j }tj||j j d}tj||j j d}t|||tjd|dz dtjtjf j|jd td d d ztjd |dz dtjtjf j|jdtd d d ztjd|dz dtjtjf j|jd td d d zgj|jS)z0A CAD symbol representing joint as bound to partFr#r})Zrr)rrrX singleline)aligng?rrYg?r)rr'r(rrrrotatedr make_textrCENTERr* location_atr rr)rrcircle_xcircle_ycircle_zs rr,zBallJoint.symbols))%)8AABF##FD,@,@A##FD,@,@,H,H,TU##FD,@,@,H,H,TU""!\%,, 9U&--e4xAq7IIJ""!\%,, 9U&--e4xAq7IIJ""!\%,, 9U&--e4xAq7IIJ   $t}}  r!N)rrrcTtj|}t|||||}n td|}| t }|j td|j j |z|_||j|<||_ ||_ t|1||yr.) rr1rr2r rr3rr4rrr5r6) rr7r8r9rrr:r;r<s rr6zBallJoint.__init__s%.$:$:4$@& ?"") !UVV%O  !%ZN  # # +89 9!0!9!9!A!A!Cn!T(,u%*. 0r!r=c&t|||S)aPConnect BallJoint and RigidJoint Args: other (RigidJoint): joint to connect to angles (RotationLike, optional): angles about axes in degrees. Defaults to range minimums. Raises: TypeError: invalid other joint type ValueError: angles out of range r=rT)rrAr>r<s rrCzBallJoint.connect_tosw"5"88r!ct|tstdt|t|tr|}npt|t r t |}nW|>t |j dd|j dd|j dd}ntdt|||jjz}tgd|jj|jj|jjgD]M\}}|j |d|cxkr|j |dkr2ntd|d|j |j|z|jj!zS) arelative_to - BallJoint Return the relative location from this joint to the RigidJoint of another object Args: other (RigidJoint): joint to connect to angles (RotationLike, optional): angles about axes in degrees. Defaults to range minimums. Raises: TypeError: invalid other joint type ValueError: angles out of range rrrrzangles is of an unknown type )rrrzangles (r)r_rrdrer tuplerrrzip orientationrrrr2rr3)rrAr>angle_rotationri rotationss rrXzBallJoint.relative_to s%,@e NO O fh '#N  &%v.N ^%""1%a(""1%a(""1%a(N ;DL>JK K!D$8$8$A$AA   ! ! # #X%9%9%;%;X=Q=Q=S=S T  LAy%%a(+yTDrm) rprqrrrsrtrr,r XYr6rCrXrurvs@rrcrcs.== 6,0*. +!&11)1( 1  11<NR 9OS)U)Ur!rcN)rs __future__rmathrtypingrbuild123d.build_commonrbuild123d.build_enumsrbuild123d.build_partrbuild123d.geometryr r r r r rrbuild123d.topologyrrrrrr`rarbrcr@r!rrs8#2'*<;ggTu Eu pkK%kK\^ u^ BMUMUr!