2026: OpenSCAD robot and remote, physical joint limits, model in Unity

hardware/openscad/ rebuilds the broken Fusion models as OpenSCAD: body (top/bottom plate, standoffs, battery bay, switch), legs (coxa bracket, femur link, tibia, horn adapters, TPU socks, servo cables), the whole robot, and the remote (shell, lid, Nextion 3.5", JH-D400X-R4 sticks, 18650 UPS board, IMU, Teensy 4.0, USB-C breakout). Every part was checked by slicing against the original STEP solids; the original's bugs are fixed and listed in PLANNING.md. The robot now uses a hexagon leg layout (corner legs 60 deg round from the mid legs; the corner coxa brackets need turning on their splines). Physical limits from a collision sweep of the model are in Config.h: per-leg coxa limits and LEG_CLEARANCE_MM 56 (a leg is 55.2 mm wide at the joints); the sim API exports them (version 7). sim_smoke passes. Unity loads the model (export_unity.py -> Resources/OpenScadModel, OpenScadModel.cs builds a new rig in place of the old scene's robot). The PCB model's mounting holes now use the exact EasyEDA grid. README shows renders of both. Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
2026-11-14 12:14:32 +01:00
1 parent b1c94e4149
commit 91b5b99fd5
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+  externalObjects: {}
+  userData: 
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@@ -0,0 +1,75 @@
+using System.IO;
+using UnityEditor;
+using UnityEditor.SceneManagement;
+using UnityEngine;
+
+namespace HexapodSim
+{
+    // Batch-mode check of the OpenSCAD model in Main.unity, without entering
+    // Play mode: builds the model from the DLL's geometry, poses the legs in
+    // the firmware's standing pose and renders the main camera to PNGs.
+    //   Unity.exe -batchmode -projectPath . -executeMethod HexapodSim.OpenScadModelSnapshot.Run
+    //             -snapshotDir <folder> -quit
+    public static class OpenScadModelSnapshot
+    {
+        public static void Run()
+        {
+            string dir = Arg("-snapshotDir") ?? Path.GetFullPath("Temp/OpenScadSnapshot");
+            Directory.CreateDirectory(dir);
+            EditorSceneManager.OpenScene("Assets/Main.unity");
+
+            Transform chassis = null;
+            foreach (var t in Object.FindObjectsByType<Transform>())
+                if (t.name == "Leg" && t.Find("hip1") != null) { chassis = t.parent; break; }
+            if (chassis == null) { Debug.LogError("[Snapshot] no leg rig in Main.unity"); EditorApplication.Exit(1); return; }
+
+            string dll = Path.GetFullPath(Path.Combine(Application.dataPath, "..", "..", "sim", "build", "hexapod_sim.dll"));
+            HxGeometry g;
+            using (var native = HexapodSimNative.Load(dll)) g = native.Geometry;
+            OpenScadModel.Build(chassis, g, ForwardAxis.NegativeX, 0.1f);
+
+            // Firmware stance: coxa 0, femur -1.2, tibia -98.3 (HexapodSimulation.ApplyJoints).
+            foreach (Transform leg in chassis)
+            {
+                if (leg.name != "Leg" || !leg.gameObject.activeSelf) continue;
+                var hip2 = leg.Find("hip1/Hip2");
+                var knie = leg.Find("hip1/Hip2/Knie");
+                hip2.localRotation = Quaternion.Euler(1.2f, 0, 0);
+                knie.localRotation = Quaternion.Euler(-(-98.3f + 90f), 0, 0);
+            }
+
+            var cam = Camera.main;
+            if (cam == null) cam = new GameObject("SnapshotCamera").AddComponent<Camera>();
+            Vector3 c = chassis.position;
+            Shoot(cam, c + new Vector3(-30, 22, -38), c, Path.Combine(dir, "front_left.png"));
+            Shoot(cam, c + new Vector3(42, 30, 20), c, Path.Combine(dir, "rear_right.png"));
+            Shoot(cam, c + new Vector3(0.01f, 60, 0), c, Path.Combine(dir, "top.png"));
+            Debug.Log("[Snapshot] wrote " + dir);
+            EditorApplication.Exit(0);
+        }
+
+        static void Shoot(Camera cam, Vector3 pos, Vector3 target, string file)
+        {
+            cam.transform.position = pos;
+            cam.transform.LookAt(target);
+            cam.fieldOfView = 45;
+            var rt = new RenderTexture(1280, 900, 24);
+            cam.targetTexture = rt;
+            cam.Render();
+            RenderTexture.active = rt;
+            var tex = new Texture2D(rt.width, rt.height, TextureFormat.RGB24, false);
+            tex.ReadPixels(new Rect(0, 0, rt.width, rt.height), 0, 0);
+            tex.Apply();
+            File.WriteAllBytes(file, tex.EncodeToPNG());
+            cam.targetTexture = null;
+            RenderTexture.active = null;
+        }
+
+        static string Arg(string name)
+        {
+            var a = System.Environment.GetCommandLineArgs();
+            for (int i = 0; i < a.Length - 1; i++) if (a[i] == name) return a[i + 1];
+            return null;
+        }
+    }
+}
@@ -0,0 +1,2 @@
+fileFormatVersion: 2
+guid: 9aa5d204e0b61604b9d0c92405edb7a8
@@ -36,7 +36,9 @@ namespace HexapodSim
        [MarshalAs(UnmanagedType.ByValArray, SizeConst = 6)] public float[] mountAngleDeg;
        public float coxaMm, femurMm, tibiaMm;
        public float stanceRadiusMm, stanceHeightMm;
-        public float coxaMinDeg, coxaMaxDeg, femurMinDeg, femurMaxDeg, tibiaMinDeg, tibiaMaxDeg;
+        [MarshalAs(UnmanagedType.ByValArray, SizeConst = 6)] public float[] coxaMinDeg;
+        [MarshalAs(UnmanagedType.ByValArray, SizeConst = 6)] public float[] coxaMaxDeg;
+        public float femurMinDeg, femurMaxDeg, tibiaMinDeg, tibiaMaxDeg;
        public float controlHz;
        public float legClearanceMm;
        public float stanceHeightRangeMm;
@@ -71,7 +73,7 @@ namespace HexapodSim
    // "Reload firmware" and the new code runs. Each load is a fresh power-on.
    public sealed class HexapodSimNative : IDisposable
    {
-        public const int ExpectedApiVersion = 6;   // HXSIM_API_VERSION
+        public const int ExpectedApiVersion = 7;   // HXSIM_API_VERSION

        [UnmanagedFunctionPointer(CallingConvention.Cdecl)] delegate int IntFn();
        [UnmanagedFunctionPointer(CallingConvention.Cdecl)] delegate void VoidFn();
@@ -32,6 +32,9 @@ namespace HexapodSim
        public float unitsPerMm = 0.1f;
        [Tooltip("Firmware tibia angle when the rig's Knie rotation is 0 (tibia straight down from a horizontal femur).")]
        public float kneeRestDeg = -90f;
+        [Tooltip("Replace the old scene's robot with the OpenSCAD model (hardware/openscad, export_unity.py).")]
+        public bool useOpenScadModel = true;
+        bool openScadBuilt_;

        [Header("World")]
        [Tooltip("Tilts the ground (deg about robot X = roll, Y = pitch) to exercise the robot gyro.")]
@@ -123,6 +126,11 @@ namespace HexapodSim
                Native.SetRadioPresent(radioPresent);
                Native.SetImuPresent(imuPresent);
                Geometry = Native.Geometry;
+                if (useOpenScadModel && !openScadBuilt_ && OpenScadModel.Available)
+                {
+                    OpenScadModel.Build(chassis, Geometry, forwardAxis, unitsPerMm);
+                    openScadBuilt_ = true;
+                }
                BindRig();
                Native.SetGroundTilt(groundTiltDeg.x, groundTiltDeg.y);
                Native.Start();
@@ -0,0 +1,140 @@
+using System.Collections.Generic;
+using System.IO;
+using UnityEngine;
+using UnityEngine.Rendering;
+
+namespace HexapodSim
+{
+    // Swaps the old scene's robot for the OpenSCAD model (hardware/openscad,
+    // exported by export_unity.py into Resources/OpenScadModel). Builds a new
+    // rig under the same chassis with the names HexapodSimulation looks for
+    // (Leg > hip1 > Hip2 > Knie, plus the Point foot marker), with its pivots
+    // exactly at the Config.h geometry, and hides the old visuals. The meshes
+    // are in the rest pose (coxa 0, femur 0, tibia -90), which is the rig's
+    // zero rotation, so the existing joint driving moves them correctly.
+    public static class OpenScadModel
+    {
+        const string Folder = "OpenScadModel/";
+
+        public static bool Available => Resources.Load<TextAsset>(Folder + "body") != null;
+
+        public static void Build(Transform chassis, HxGeometry g, ForwardAxis f, float unitsPerMm)
+        {
+            Material template = null;
+            foreach (var r in chassis.GetComponentsInChildren<Renderer>(true))
+            {
+                if (template == null && r.sharedMaterial) template = r.sharedMaterial;
+                r.enabled = false;
+            }
+            foreach (var t in Object.FindObjectsByType<Transform>())
+                if (t.name == "Leg" && HasChild(t, "hip1")) t.gameObject.SetActive(false);
+
+            var shader = Shader.Find("Standard") ?? (template ? template.shader : null);
+            AddMesh(chassis, "OpenSCAD body", Folder + "body", Quaternion.identity, f, unitsPerMm, shader);
+
+            for (int i = 0; i < g.numLegs; i++)
+            {
+                string side = g.mountAngleDeg[i] > 0 ? "left" : "right";
+                float a = g.mountAngleDeg[i] * Mathf.Deg2Rad;
+                var root = new GameObject("Leg").transform;
+                root.SetParent(chassis, false);
+                root.localPosition = RobotFrame.ToUnity(new Vector3(g.mountXmm[i], g.mountYmm[i], 0), f) * unitsPerMm;
+                root.localRotation = Quaternion.LookRotation(
+                    RobotFrame.ToUnity(new Vector3(Mathf.Cos(a), Mathf.Sin(a), 0), f), Vector3.up);
+                // The meshes are exported as a leg pointing straight sideways (mount
+                // +90 left, -90 right) in chassis axes; in the joint's own frame that
+                // is the same for any mount angle.
+                float refRad = (side == "left" ? 90f : -90f) * Mathf.Deg2Rad;
+                Quaternion toJoint = Quaternion.Inverse(Quaternion.LookRotation(
+                    RobotFrame.ToUnity(new Vector3(Mathf.Cos(refRad), Mathf.Sin(refRad), 0), f), Vector3.up));
+
+                var hip1 = Child(root, "hip1", Vector3.zero);
+                AddMesh(hip1, "coxa", Folder + $"leg_{side}_coxa", toJoint, f, unitsPerMm, shader);
+                var hip2 = Child(hip1, "Hip2", new Vector3(0, 0, g.coxaMm * unitsPerMm));
+                AddMesh(hip2, "femur", Folder + $"leg_{side}_femur", toJoint, f, unitsPerMm, shader);
+                var knie = Child(hip2, "Knie", new Vector3(0, 0, g.femurMm * unitsPerMm));
+                AddMesh(knie, "tibia", Folder + $"leg_{side}_tibia", toJoint, f, unitsPerMm, shader);
+
+                // Where the firmware's FK puts the foot (centre of the foot ball).
+                var marker = GameObject.CreatePrimitive(PrimitiveType.Sphere);
+                var collider = marker.GetComponent<Collider>();
+                if (Application.isPlaying) Object.Destroy(collider); else Object.DestroyImmediate(collider);
+                marker.name = "Point";
+                marker.transform.SetParent(knie, false);
+                marker.transform.localScale = Vector3.one * 4f * unitsPerMm;
+                marker.GetComponent<Renderer>().material = MakeMaterial(shader, new Color(0.9f, 0.1f, 0.1f));
+            }
+        }
+
+        static bool HasChild(Transform t, string name)
+        {
+            foreach (Transform c in t)
+                if (string.Equals(c.name, name, System.StringComparison.OrdinalIgnoreCase) || HasChild(c, name)) return true;
+            return false;
+        }
+
+        static Transform Child(Transform parent, string name, Vector3 localPos)
+        {
+            var t = new GameObject(name).transform;
+            t.SetParent(parent, false);
+            t.localPosition = localPos;
+            return t;
+        }
+
+        static Material MakeMaterial(Shader shader, Color c)
+        {
+            var m = new Material(shader) { color = c };
+            if (m.HasProperty("_Glossiness")) m.SetFloat("_Glossiness", 0.25f);
+            return m;
+        }
+
+        // Reads one export_unity.py file: robot-frame mm, pivot-relative,
+        // counter-clockwise outward winding (right-handed). RobotFrame.ToUnity is a
+        // reflection, so every triangle is flipped to stay front-facing.
+        static void AddMesh(Transform parent, string name, string resource, Quaternion toLocal,
+                            ForwardAxis f, float unitsPerMm, Shader shader)
+        {
+            var asset = Resources.Load<TextAsset>(resource);
+            if (asset == null) { Debug.LogWarning($"[HexapodSim] missing model mesh {resource}"); return; }
+
+            var verts = new List<Vector3>();
+            var groups = new List<int[]>();
+            var mats = new List<Material>();
+            using (var br = new BinaryReader(new MemoryStream(asset.bytes)))
+            {
+                if (new string(br.ReadChars(4)) != "HXM1") { Debug.LogWarning($"[HexapodSim] {resource}: not a model mesh"); return; }
+                int n = br.ReadInt32();
+                for (int k = 0; k < n; k++)
+                {
+                    var col = new Color(br.ReadSingle(), br.ReadSingle(), br.ReadSingle(), br.ReadSingle());
+                    int tris = br.ReadInt32();
+                    var idx = new int[tris * 3];
+                    for (int t = 0; t < tris; t++)
+                    {
+                        int b0 = verts.Count;
+                        for (int v = 0; v < 3; v++)
+                        {
+                            var r = new Vector3(br.ReadSingle(), br.ReadSingle(), br.ReadSingle());
+                            verts.Add(toLocal * (RobotFrame.ToUnity(r, f) * unitsPerMm));
+                        }
+                        idx[t * 3] = b0; idx[t * 3 + 1] = b0 + 2; idx[t * 3 + 2] = b0 + 1;
+                    }
+                    groups.Add(idx);
+                    mats.Add(MakeMaterial(shader, col));
+                }
+            }
+
+            var mesh = new Mesh { name = name, indexFormat = IndexFormat.UInt32 };
+            mesh.SetVertices(verts);
+            mesh.subMeshCount = groups.Count;
+            for (int k = 0; k < groups.Count; k++) mesh.SetTriangles(groups[k], k);
+            mesh.RecalculateNormals();
+            mesh.RecalculateBounds();
+
+            var go = new GameObject(name);
+            go.transform.SetParent(parent, false);
+            go.AddComponent<MeshFilter>().sharedMesh = mesh;
+            go.AddComponent<MeshRenderer>().sharedMaterials = mats.ToArray();
+        }
+    }
+}
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