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adjust the stand a bit

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This commit is contained in:
Nick Estes
2026-09-08 11:50:32 -07:00
parent 59ab496f17
commit fd03a150ad
12 changed files with 854 additions and 219 deletions
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test/stand_test.rb
+108 -3
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@@ -17,7 +17,9 @@ class StandTest < Minitest::Test
assert_equal "orbital_triskelion_stand", result.mesh.name
assert_equal "orbital_triskelion", stats["style"]
assert_in_delta 0.0, result.mesh.bounds[2][0], 1e-9
assert_operator stats["maximum_underside_slope"], :<=, 1.0
assert_connected_oriented_positive result.mesh
assert_operator stats["measured_noncontact_clearance_mm"], :>=, stats["noncontact_arm_clearance_mm"]
assert_operator stats["overhang_area_above_45_deg_mm2"], :>, 0
assert_operator stats["contact_radius_mm"], :<, diameter / 2.0
assert_operator stats["contact_height_mm"], :>, stats["moon_bottom_clearance_mm"]
assert_in_delta 10.0, stats["guaranteed_hub_clearance_mm"], 1e-9
@@ -40,11 +42,11 @@ class StandTest < Minitest::Test
"maximum_radius_mm" => sizing.maximum_radius_mm)
stats = result.statistics
assert_equal "terrain_envelope_v2", stats["safety_model"]
assert_equal "terrain_envelope_v3", stats["safety_model"]
assert_in_delta 10.0, stats["guaranteed_hub_clearance_mm"], 1e-9
assert_operator stats["guaranteed_moon_bottom_height_mm"], :>=, stats["hub_height_mm"] + 10.0
assert_operator stats["contact_height_mm"], :>, 30.0
assert_operator stats["maximum_underside_slope"], :<=, 1.0
assert_operator stats["measured_noncontact_clearance_mm"], :>=, stats["noncontact_arm_clearance_mm"]
end
def test_custom_clearance_changes_guaranteed_gap
@@ -71,8 +73,111 @@ class StandTest < Minitest::Test
assert_equal 10.0, config["stand"]["base_clearance_mm"]
end
def test_current_eight_inch_moon_has_three_concave_paired_pads
result = MoonModel::Stand.build(@config, "envelope_mm" => 203.659589,
"minimum_radius_mm" => 100.595822,
"maximum_radius_mm" => 102.766127)
stats = result.statistics
assert_equal 6, stats["branch_count"]
assert_equal 3, stats["pad_count"]
assert_nil result.mesh.material
assert_connected_oriented_positive result.mesh
radius = stats["contact_radius_mm"]
sphere = stats["minimum_terrain_radius_mm"]
center_z = stats["moon_center_height_mm"]
3.times do |index|
angle = Math::PI / 3 + index * 2 * Math::PI / 3
dish = result.mesh.vertices.filter_map do |x,y,z|
radial = x*Math.cos(angle) + y*Math.sin(angle) - radius
tangent = -x*Math.sin(angle) + y*Math.cos(angle)
next unless radial.abs < 1e-6 && tangent.abs < 3.0
expected = center_z - Math.sqrt(sphere*sphere - x*x - y*y)
[tangent,z] if (z - expected).abs < 1e-6
end
center = dish.min_by { |t,_| t.abs }
assert_in_delta stats["contact_height_mm"], center[1], 1e-6
[-1,1].each do |side|
contact = dish.select { |t,_| t*side > 0.5 }.max_by { |t,_| t.abs }
refute_nil contact, "dish needs curved surface samples on both sides"
assert_operator contact[1], :>, center[1], "pad must form a bowl, not a planar fan"
end
end
assert_operator stats["measured_noncontact_clearance_mm"], :>=, 1.0
end
def test_curve_sampling_and_round_profile_resolve_below_thirty_microns
mesh = MoonModel::Mesh.new(name: "curve_test")
surface = MoonModel::StandSurface.new(mesh, MoonModel::Stand::CROSS_SECTION_POINTS, 48)
section = ->(_x,_y,q,z) { z + 3*q }
a = { center: [0.0,0.0,4.0], section: section }
b = { center: [100.0,80.0,40.0], section: section }
from = surface.port(a, 0, 0, 10)
to = surface.port(b, Math::PI/2, 0, 10)
rings = surface.rail(from, to, 10, MoonModel::Stand::PATH_STATIONS, section)
centers = rings.map { |ring| 3.times.map { |axis| ring.sum { |id| mesh.vertices[id][axis] } / ring.length } }
handle = Math.hypot(100,80)*0.42
errors = centers.each_cons(2).with_index.map do |(first,last),i|
t = (i+0.5)/(centers.length-1)
xy = surface.bezier(a[:center], [handle,0], [100,80+handle], b[:center], t)
exact = xy + [4+36*surface.smooth(t)]
Math.sqrt(3.times.sum { |axis| (exact[axis] - (first[axis]+last[axis])/2)**2 })
end
assert_operator errors.max, :<, 0.03
assert_operator 5*(1-Math.cos(Math::PI / MoonModel::Stand::CROSS_SECTION_POINTS)), :<, 0.03
assert_operator centers[1][2]-centers[0][2], :<, 0.001
assert_operator centers[-1][2]-centers[-2][2], :<, 0.001
end
def test_rejects_geometry_that_cannot_fit
tiny_bed = MoonModel::Config.new("printer" => { "build_volume_mm" => [20,20,100] })
assert_raises(ArgumentError) { MoonModel::Stand.build(tiny_bed, 203.2) }
assert_raises(ArgumentError) do
MoonModel::Stand.build(@config, "envelope_mm" => 100, "minimum_radius_mm" => 50, "maximum_radius_mm" => 49)
end
end
private
def assert_connected_oriented_positive(mesh)
neighbors = Array.new(mesh.vertices.length) { [] }
directed_edges = Hash.new(0)
area_on_table = 0.0
volume = 0.0
minimum_area = Float::INFINITY
mesh.triangles.each do |tri|
a, b, c = tri.map { |id| mesh.vertices[id] }
u = b.zip(a).map { |x,y| x-y }
v = c.zip(a).map { |x,y| x-y }
normal = [u[1]*v[2]-u[2]*v[1], u[2]*v[0]-u[0]*v[2], u[0]*v[1]-u[1]*v[0]]
area = Math.sqrt(normal.sum { |n| n*n }) / 2
minimum_area = [area, minimum_area].min
area_on_table += area if [a,b,c].all? { |p| p[2].abs < 1e-9 }
volume += a.zip(normal).sum { |x,y| x*y } / 6
3.times do |i|
x, y = tri[i], tri[(i+1)%3]
neighbors[x] << y
neighbors[y] << x
directed_edges[[x,y]] += 1
end
end
seen = { 0 => true }
queue = [0]
cursor = 0
while cursor < queue.length
neighbors[queue[cursor]].each do |id|
next if seen[id]
seen[id] = true
queue << id
end
cursor += 1
end
assert_equal mesh.vertices.length, seen.length, "pads, branches, and hub must share one surface"
assert directed_edges.all? { |(a,b), count| count == 1 && directed_edges[[b,a]] == 1 }
assert_operator volume, :>, 0
assert_operator minimum_area, :>, 1e-10
assert_operator area_on_table, :>, 0
end
def assert_manifold(mesh)
edge_uses = Hash.new(0)
mesh.triangles.each do |triangle|