mangavalkandClaude Opus 5.5
91b5b99fd5
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>
76 lines
3.3 KiB
C#
76 lines
3.3 KiB
C#
using System.IO;
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using UnityEditor;
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using UnityEditor.SceneManagement;
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using UnityEngine;
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namespace HexapodSim
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{
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// Batch-mode check of the OpenSCAD model in Main.unity, without entering
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// Play mode: builds the model from the DLL's geometry, poses the legs in
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// the firmware's standing pose and renders the main camera to PNGs.
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// Unity.exe -batchmode -projectPath . -executeMethod HexapodSim.OpenScadModelSnapshot.Run
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// -snapshotDir <folder> -quit
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public static class OpenScadModelSnapshot
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{
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public static void Run()
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{
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string dir = Arg("-snapshotDir") ?? Path.GetFullPath("Temp/OpenScadSnapshot");
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Directory.CreateDirectory(dir);
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EditorSceneManager.OpenScene("Assets/Main.unity");
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Transform chassis = null;
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foreach (var t in Object.FindObjectsByType<Transform>())
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if (t.name == "Leg" && t.Find("hip1") != null) { chassis = t.parent; break; }
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if (chassis == null) { Debug.LogError("[Snapshot] no leg rig in Main.unity"); EditorApplication.Exit(1); return; }
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string dll = Path.GetFullPath(Path.Combine(Application.dataPath, "..", "..", "sim", "build", "hexapod_sim.dll"));
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HxGeometry g;
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using (var native = HexapodSimNative.Load(dll)) g = native.Geometry;
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OpenScadModel.Build(chassis, g, ForwardAxis.NegativeX, 0.1f);
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// Firmware stance: coxa 0, femur -1.2, tibia -98.3 (HexapodSimulation.ApplyJoints).
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foreach (Transform leg in chassis)
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{
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if (leg.name != "Leg" || !leg.gameObject.activeSelf) continue;
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var hip2 = leg.Find("hip1/Hip2");
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var knie = leg.Find("hip1/Hip2/Knie");
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hip2.localRotation = Quaternion.Euler(1.2f, 0, 0);
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knie.localRotation = Quaternion.Euler(-(-98.3f + 90f), 0, 0);
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}
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var cam = Camera.main;
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if (cam == null) cam = new GameObject("SnapshotCamera").AddComponent<Camera>();
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Vector3 c = chassis.position;
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Shoot(cam, c + new Vector3(-30, 22, -38), c, Path.Combine(dir, "front_left.png"));
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Shoot(cam, c + new Vector3(42, 30, 20), c, Path.Combine(dir, "rear_right.png"));
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Shoot(cam, c + new Vector3(0.01f, 60, 0), c, Path.Combine(dir, "top.png"));
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Debug.Log("[Snapshot] wrote " + dir);
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EditorApplication.Exit(0);
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}
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static void Shoot(Camera cam, Vector3 pos, Vector3 target, string file)
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{
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cam.transform.position = pos;
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cam.transform.LookAt(target);
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cam.fieldOfView = 45;
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var rt = new RenderTexture(1280, 900, 24);
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cam.targetTexture = rt;
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cam.Render();
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RenderTexture.active = rt;
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var tex = new Texture2D(rt.width, rt.height, TextureFormat.RGB24, false);
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tex.ReadPixels(new Rect(0, 0, rt.width, rt.height), 0, 0);
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tex.Apply();
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File.WriteAllBytes(file, tex.EncodeToPNG());
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cam.targetTexture = null;
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RenderTexture.active = null;
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}
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static string Arg(string name)
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{
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var a = System.Environment.GetCommandLineArgs();
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for (int i = 0; i < a.Length - 1; i++) if (a[i] == name) return a[i + 1];
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return null;
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}
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}
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}
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