from koko.lib.shapes import *

def filleted_rectangle(x0,x1,y0,y1,r):
    rect = rectangle(x0,x1,y0,y1)
    rect = rect - (rectangle(x0,x0+r,y0,y0+r) - circle(x0+r,y0+r,r))
    rect =  rect - (rectangle(x0,x0+r,y1-r,y1) - circle(x0+r,y1-r,r))
    rect =  rect - (rectangle(x1-r,x1,y0,y0+r) - circle(x1-r,y0+r,r))
    rect =  rect - (rectangle(x1-r,x1,y1-r,y1) - circle(x1-r,y1-r,r))
    return rect

def dogboned_rectangle(x0,x1,y0,y1,r):
    rect = rectangle(x0,x1,y0,y1)
    db = circle(x0+.66*r,y0+.66*r,r)
    db += reflect_x(db,.5*(x0+x1))
    db += reflect_y(db,.5*(y0+y1))
    return rect+db


bit = .125 #1/8 end mill
mat_thick = .5 #material thickness


#snap params
snap_base_w = .25
snap_cut_w = bit+.005
backcut = .25 #distance to cut back into material to increase flexure
backcut_w = bit+.005 #width of backcut
snap_tooth = .0625
index_w  =.22
snap_index_sep = .3
pull = .03
insert_overshoot = .05
snap_fillet = .125/2
tot_snap_w = index_w + 2*snap_index_sep + 2*snap_base_w + 2*snap_tooth

def snap_female(x,y,r=0): 
    rad = .5*(bit+.005)
    index = dogboned_rectangle(-.5*index_w,.5*index_w,-.5*mat_thick,.5*mat_thick,rad)
    snap_hole = dogboned_rectangle(-snap_tooth,snap_base_w,-.5*mat_thick,.5*mat_thick,rad)
    snap_hole = move(snap_hole,.5*index_w+snap_index_sep,0)
    snap_hole += reflect_x(snap_hole)
    snap_hole = rotate(index+snap_hole,r)
    return move(snap_hole,x,y)

def snap_male(x,y,r=0):
    snap = rectangle(-.5*snap_base_w,.5*snap_base_w,0,mat_thick)
    snap += rectangle(-.5*snap_base_w,.5*snap_base_w+snap_tooth,mat_thick,mat_thick+2*snap_tooth)
    snap -= triangle(.5*snap_base_w-insert_overshoot,mat_thick+2*snap_tooth,.5*snap_base_w+snap_tooth,mat_thick+2*snap_tooth,.5*snap_base_w+snap_tooth,mat_thick+snap_tooth)
    snap += triangle(.5*snap_base_w,mat_thick-pull,.5*snap_base_w,mat_thick,.5*snap_base_w+snap_tooth,mat_thick)
    snap = move(snap,.5*snap_base_w+.5*index_w+snap_index_sep,0)
    snap += reflect_x(snap)
    index = filleted_rectangle(-.5*index_w,.5*index_w,-.0625,mat_thick,snap_fillet)
    snap += index
    snap = move(rotate(snap,r),x,y)

    cut = filleted_rectangle(-.5*snap_cut_w,.5*snap_cut_w,-backcut,mat_thick,snap_fillet)
    cut2 = filleted_rectangle(0,backcut_w,-backcut,.5*mat_thick,snap_fillet)
    cut2 = move(cut2,.5*snap_base_w,0)
    cut2 += reflect_x(cut2)
    cut += cut2
    cut = move(cut,.5*snap_base_w+.5*index_w+snap_index_sep,0)
    cut += circle(.5*index_w+.5*(bit+.005),0,.5*(bit+.005))
    cut += reflect_x(cut)
    cut = move(rotate(cut,r),x,y)
    return (snap,cut)


#stuff for creepy crawler

#gives colors
show_rollers = 0
pack = 1
check_collisions = 0

xx = 11 #length
fabric_y = 3.25 #height of fabric
throat = .5 #height of throat
width = .924 #width between plates
cattle = 3 #cattle gaurd extension

sx = 5.5 
rrd = 45/25.4 - .02 #diameter of rear rollers
sy = fabric_y - .5*rrd #coords of rear shaft
shaft_diam = 1/4.+.001 #naked shaft diam
bd = .696 #bearing diam
clearance = 1/16. #how much clearance for fabric around rear roller

smush = .02 #how much to smush the rollers together

ssx = 8
frd = 1.25 -.01 #diam of front roller
ssy = fabric_y - .5*frd #coords of front shaft


rect = filleted_rectangle(0, xx, 0, 2*fabric_y, 0.125)
rect -= filleted_rectangle(1.5, xx+1, fabric_y - .5*throat, fabric_y+.5*throat, 0.25)
rect += triangle(xx-.25,0,xx,fabric_y-.5*throat,xx+cattle,0)
fil = rectangle(xx-.25,xx,fabric_y-.5*throat-.25,fabric_y-.5*throat) - circle(xx-.25,fabric_y-.5*throat-.25,.25)
fil = reflect_y(fil,fabric_y)
r = .5*(fabric_y)/cattle
fil += rectangle(xx+cattle-.5,xx+cattle,0,r) - circle(xx+cattle-.58,.5*r,.52*r)
rect -= fil

bearing = circle(0,0,.5*bd)
bearing = bearing
bearing = move(bearing,sx,sy+.5*smush)
bearing += reflect_y(bearing,sy+.5*rrd)

stepper_d = 1.69 + .06
stepper = dogboned_rectangle(-.5*stepper_d,.5*stepper_d,-.5*stepper_d,.5*stepper_d,.5*(bit+.005))
stepper -= circle(0,0,.5*.86)
dh = circle(.5*1.22,.5*1.22,.5*bit+.005) #drill holes
dh += reflect_x(dh)
dh += reflect_y(dh)
stepper -= dh
stepper = move(stepper,1.9,1.95)
rect -= stepper

rect = rect - bearing#+housing-beltcut-beltRect-attachBeltTop-arch

rrollers = circle(sx,sy+.5*smush,.5*rrd)
rrollers += reflect_y(rrollers,sy+.5*rrd)
frollers = circle(ssx,ssy+.5*smush,.5*frd)
frollers += reflect_y(frollers,ssy+.5*frd)
rollers = frollers + rrollers


#servo stuff
servo_l = .91
servo_w = .472
servo_h = .79
servo_offset = 1.75
servo_bias = servo_l/2. - .38

#servo
servo = rectangle(-.5*servo_l,.5*servo_l,-.5*servo_h,.5*servo_h)
servo += rectangle(-.5*mat_thick+servo_bias,.5*mat_thick+servo_bias,.5*servo_h,.5*servo_h+servo_offset)
servo = move(servo,ssx-servo_bias,ssy+.5*smush-servo_offset-.5*servo_h)
servo += reflect_y(servo,fabric_y)


cutout = filleted_rectangle(-.5*frd,.5*frd,-servo_offset,4*mat_thick,.25)
cutout = move(cutout,ssx,ssy+2*mat_thick)
cutout += reflect_y(cutout,fabric_y)
rect = rect - cutout


#snaps
cross_back = filleted_rectangle(-.5*width,.5*width,1.85*mat_thick,2*fabric_y-1.85*mat_thick,.125)
cross_back = move(cross_back,-.5*width-2*mat_thick,0)
s = snap_male(-2*mat_thick,2.5*mat_thick+.5*tot_snap_w,-90)
s = map(lambda x: x+reflect_y(x,fabric_y),s)
s = map(lambda x: x+reflect_x(x,-2*mat_thick-.5*width),s)
cross_back = cross_back + s[0] - s[1]

cross_bottom = filleted_rectangle(mat_thick,.9*(xx+cattle)-mat_thick,-width,0,.125)
cross_bottom = move(cross_bottom,0,-2*mat_thick)
s = snap_male(2*mat_thick+.5*tot_snap_w,-2*mat_thick,0)
s = map(lambda x: x+reflect_x(x,.45*(xx+cattle)),s)
s = map(lambda x: x+reflect_y(x,-2*mat_thick-.5*width),s)
servo_cut = dogboned_rectangle(-.5*servo_l,.5*servo_l, -.5*servo_w,.5*servo_w,.5*(bit+.005))
servo_cut = move(servo_cut,ssx-servo_bias,-.5*width-2*mat_thick)
cross_bottom = cross_bottom + s[0] - s[1] - servo_cut


cross_top = filleted_rectangle(.5*mat_thick,xx-.5*mat_thick,-width,0,.125)
cross_top = move(cross_top ,0,-2*mat_thick-width-4*mat_thick)
s = snap_male(1.5*mat_thick+.5*tot_snap_w,-2*mat_thick-width-4*mat_thick,0)
s = map(lambda x: x+reflect_x(x,.5*xx),s)
s = map(lambda x: x+reflect_y(x,-6*mat_thick-1.5*width),s)
servo_cut = dogboned_rectangle(-.5*servo_l,.5*servo_l, -.5*servo_w,.5*servo_w,.5*(bit+.005))
servo_cut = move(servo_cut,ssx-servo_bias,-1.5*width-6*mat_thick)
cross_top = cross_top + s[0] - s[1] - servo_cut

mid_x = .5*(sx+ssx)
cross_mid = filleted_rectangle(mid_x-.5*width,mid_x+.5*width,1.85*mat_thick,fabric_y-.5*throat-.25*mat_thick,.125)
s = snap_male(mid_x+.5*width,.5*(fabric_y-.5*throat)+.75*mat_thick,-90)
s = map(lambda x: x+reflect_x(x,mid_x),s)
cross_mid = cross_mid + s[0] - s[1]
cross_mid += reflect_x(cross_mid,ssx)
cross_mid += reflect_y(cross_mid,fabric_y)
cross_mid = move(cross_mid,xx-mid_x+2*width,2*width)

bottom_y = fabric_y + .5*smush - servo_offset - .5*frd - .5*mat_thick
top_y = fabric_y -.5*smush + servo_offset + .5*frd + .5*mat_thick

#sanity check
if check_collisions:
    cross_back = move(cross_back,3.5*mat_thick,0)
    cross_bottom = move(cross_bottom,0,2.5*mat_thick+bottom_y)
    cross_top = move(cross_top,0,top_y+2*width+5.5*mat_thick)
    cross_mid = move(cross_mid,-xx+mid_x-2*width,-2*width)

cross = cross_back + cross_bottom + cross_top + cross_mid

back_holes = snap_female(mat_thick,2.5*mat_thick+.5*tot_snap_w,-90)
back_holes += reflect_y(back_holes,fabric_y)
bottom_holes = snap_female(2*mat_thick+.5*tot_snap_w,bottom_y,0)
bottom_holes += reflect_x(bottom_holes,.45*(xx+cattle))
top_holes = snap_female(1.5*mat_thick+.5*tot_snap_w, top_y,0)
top_holes += reflect_x(top_holes,.5*xx)
mid_holes = snap_female(mid_x,.5*(fabric_y-.5*throat)+.75*mat_thick,-90)
mid_holes += reflect_y(mid_holes,fabric_y)
mid_holes += reflect_x(mid_holes,ssx)
holes = back_holes + bottom_holes + top_holes + mid_holes

rect -=holes


rect += reflect_y(rect,2*fabric_y+.5*mat_thick)


if show_rollers:
    cad.function = color(blue,rect) + color(red,rollers) +color(green,servo) + color(yellow,cross)
    cad.type="RGB"
else:
    cad.function = rect + cross


#boundaries
cad.xmin = -5#-width-8*mat_thick
cad.xmax = 20#xx+mat_thick
cad.ymin = -7#-mat_thick
cad.ymax = 15#4*fabric_y+4*mat_thick
cad.mm_per_unit = 25.4 # inch units