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def O (0,0,0)
def I [1,0,0]
def J [0,1,0]
def K [0,0,1]
def cornerRad 0.1
def tireRad 0.5
def wheelWidth .4
def nArcSegs 3
def nTireSegs 20
def nAxleSegs 6
def axleRad .05
def robotWidth 1.5
def robotLength 2.5
def bodyWidth .5
def bodyHeight .4
def steeringGamma .2
def leftSteeringAngle atan2(2 * robotLength * steeringGamma, 2 - robotWidth * steeringGamma)
def rightSteeringAngle atan2(2 * robotLength * steeringGamma, 2 + robotWidth * steeringGamma)
def wheelRad tireRad - cornerRad
def wheelXofs wheelWidth/2 - cornerRad
def rightArc put {
translate([ wheelXofs, wheelRad, 0])
} sweep { nArcSegs, rotate(90 / nArcSegs) } (cornerRad,0)
def leftArc put {
translate([-wheelXofs, wheelRad, 0])
} sweep { nArcSegs, rotate(90 / nArcSegs) } (0,cornerRad)
def tread line(wheelXofs, tireRad)(-wheelXofs, tireRad)
def hubPlate sweep[fillcolor=lightgray] { nTireSegs<>, rotate(-360 / nTireSegs, (O), [I]) } (0,wheelRad)
def tire sweep[fillcolor=lightgray]{ nTireSegs, rotate(360 / nTireSegs, (O), -[I]) } {
{leftArc}
{rightArc}
{tread}
}
def wheel {
def leftHubPlate put { translate( [-wheelWidth/2, 0, 0] ) } {hubPlate}
def rightHubPlate put { rotate(180, (O), [K]) } {leftHubPlate}
{rightHubPlate}
{leftHubPlate}
{tire}
}
def axle sweep[fillcolor=darkgray]{ nAxleSegs, rotate(360 / nAxleSegs, (O), -[I]) }
line (robotWidth/2, axleRad)(-robotWidth/2, axleRad)
def leftSteerableWheel put {
rotate(leftSteeringAngle, (O), [J]) then
translate( [-robotWidth/2, 0, 0] )
} {wheel}
def rightSteerableWheel put {
rotate(rightSteeringAngle, (O), [J]) then
translate( [robotWidth/2, 0, 0] )
} {wheel}
def steerableAxleAssembly {
{leftSteerableWheel}
{rightSteerableWheel}
{axle}
}
def fixedAxleAssembly {
put { translate( [-robotWidth/2, 0, 0] ) } {wheel}
put { translate( [ robotWidth/2, 0, 0] ) } {wheel}
{axle}
}
def bodyopts [fillcolor=white]
def bodyCorner # first octant "rounded corner"
sweep [bodyopts]{ nArcSegs, rotate(90 / nArcSegs, (O), [I]) }
sweep { nArcSegs, rotate(90 / nArcSegs, (O),-[K]) } (0,cornerRad)
def zBodyEdge
sweep [bodyopts] { 1, translate([K]) }
sweep { nArcSegs, rotate(90 / nArcSegs, (O), -[K]) } (0,cornerRad,0)
def xBodyEdge # positive y-z quadrant about x axis quarter-pipe of unit length
sweep [bodyopts] { 1, translate([I]) }
sweep { nArcSegs, rotate(90 / nArcSegs, (O), -[I]) } (0,0,cornerRad)
def body {
def xOfs bodyWidth/2 - cornerRad
def yOfs bodyHeight/2 - cornerRad
def zOfs robotLength/2 + cornerRad
def posZend {
# 4 corners
put { translate([ xOfs, yOfs, zOfs]) } {bodyCorner}
put { rotate(90, (O), [K]) then
translate([-xOfs, yOfs, zOfs]) } {bodyCorner}
put { rotate(180, (O), [K]) then
translate([-xOfs, -yOfs, zOfs]) } {bodyCorner}
put { rotate(270, (O), [K]) then
translate([ xOfs, -yOfs, zOfs]) } {bodyCorner}
# 4 edges
put { scale([2*xOfs, 1, 1]) then
translate([-xOfs, yOfs, zOfs]) } {xBodyEdge}
put { scale([2*yOfs, 1, 1]) then
rotate(90, (O), [K]) then
translate([-xOfs,-yOfs, zOfs]) } {xBodyEdge}
put { scale([2*xOfs, 1, 1]) then
rotate(180, (O), [K]) then
translate([ xOfs,-yOfs, zOfs]) } {xBodyEdge}
put { scale([2*yOfs, 1, 1]) then
rotate(270, (O), [K]) then
translate([ xOfs, yOfs, zOfs]) } {xBodyEdge}
def z zOfs + cornerRad
polygon[bodyopts](xOfs,yOfs,z)(-xOfs,yOfs,z)(-xOfs,-yOfs,z)(xOfs,-yOfs,z)
}
def top {
put { scale([1,1,2*zOfs]) then
translate([xOfs, yOfs, -zOfs]) } {zBodyEdge}
put { scale([1,1,2*zOfs]) then
rotate(90) then
translate([-xOfs, yOfs, -zOfs]) } {zBodyEdge}
def y bodyHeight/2
polygon[bodyopts](xOfs,y,zOfs)(xOfs,y,-zOfs)(-xOfs,y,-zOfs)(-xOfs,y,zOfs)
}
def posXside {
def x bodyWidth/2
polygon[bodyopts](x,yOfs,zOfs)(x,-yOfs,zOfs)(x,-yOfs,-zOfs)(x,yOfs,-zOfs)
}
# ends of the body
{posZend}
put { rotate(180, (O), [I]) } {posZend}
{top}
{posXside}
# bottom and negative X side
put { rotate(180) } {
{top}
{posXside}
}
}
def robot {
{fixedAxleAssembly}
put { translate([0, 0, -robotLength]) } {steerableAxleAssembly}
put { translate([0, 0, -robotLength/2]) } {body}
}
def centerXform
translate(robotLength/2 * [K])
then rotate(90, (O), [J])
def winWidth
<zoomed_in> 0.6
<zoomed_out> 1.5
<> 1
def foreshorteningFactor
<fish_eye> .3
<parallel> 30
<> 1 # base
def pai 8
def panAngle
<vai> -pai
<vaii> -pai
<vaiii> -pai
<vaiv> pai
<vav> 0
<vavi> -pai
<vavii> pai
<vaviii> pai
<vaix> pai
<> 0
def panAxis
<vai> [-1,-1,0]
<vaii> [-1,0,0]
<vaiii> [-1,1,0]
<vaiv> [0,1,0]
<vav> [0,1,0]
<vavi> [0,1,0]
<vavii> [-1,1,0]
<vaviii> [-1,0,0]
<vaix> [-1,-1,0]
<> [0,1,0]
def eyeAxis [10,7,10]
def eyeI (O) + .5 * foreshorteningFactor * [eyeAxis]
def dvI (O) - (eyeI)
def upRot
<tilt_left> -20
<tilt_right> 20
<> 0
def up [0,1,0] then rotate(upRot, (O), -[eyeAxis])
def viewXformI
<parallel>
view ((eyeI), [dvI], [up])
then rotate(-panAngle, (O), [panAxis])
then perspective(|[dvI]|)
then scale(1.5/winWidth)
then scale([1,1,1000])
<> view ((eyeI), [dvI], [up])
then rotate(-panAngle, (O), [panAxis])
then perspective(|[dvI]|)
then scale(1.5/winWidth)
def dashframe {
line[linestyle=dashed](-1,-1, 1)( 1,-1, 1)(1,1, 1)(-1,1, 1)(-1,-1, 1)
line[linestyle=dashed](-1,-1,-1)( 1,-1,-1)(1,1,-1)(-1,1,-1)(-1,-1,-1)
line[linestyle=dashed](-1,-1, 1)(-1,-1,-1)
line[linestyle=dashed]( 1,-1, 1)( 1,-1,-1)
line[linestyle=dashed]( 1, 1, 1)( 1, 1,-1)
line[linestyle=dashed](-1, 1, 1)(-1, 1,-1)
}
def floor_grid {
def opts [linewidth=.2pt]
def nX 7
def nZ 5
def dx (robotLength+tireRad*2) + 2
def dz (robotWidth+wheelWidth) + 2
def y -tireRad-.001
repeat { nX+1, translate([dx/nX,0,0]) } line[opts](-dx/2,y,-dz/2)(-dx/2,y,dz/2)
repeat { nZ+1, translate([0,0,dz/nZ]) } line[opts](-dx/2,y,-dz/2)(dx/2,y,-dz/2)
}
put { [[viewXformI]] } {
put { [[centerXform]] } {robot}
{floor_grid}
# put { scale([(robotLength+tireRad*2)/2, tireRad, (robotWidth+wheelWidth)/2]) } {dashframe}
}
#def frameOfs 2
#put { [[viewXformI]] then translate(-frameOfs * [I]) } {robot}
#put { [[viewXformI]] then translate(frameOfs * [I]) } {robot}
#put { [[simpleViewXform]] then translate(2*frameOfs * [I]) } {robot}
global {
set [linewidth=.3pt]
% set up a bounding box
def w 3
def ar 3/2.2
def cbp1 (-w,-w/ar,0)
def cbp2 (w,w/ar,0)
picturebox [.5] (cbp1)(cbp2)
frame
}
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