Mateusz Sych
17db109c5d
A design with components and joints exports as a URDF robot description (file.export to .urdf, the MCP export tool, solidcraft-cli run --out, File > Export URDF...). It writes one binary STL per component in metres, links with mass, centre of mass and inertia from material density, and maps rigid, revolute, slider, cylindrical, pin-slot, planar and ball joints to URDF joints or short chains. Loops, broken joints and loose parts are reported as warnings. Options: mesh_prefix, effort, velocity. Docs in docs/urdf.md.
80 lines
2.5 KiB
Rust
80 lines
2.5 KiB
Rust
//! The SolidCraft document: user and model parameters, and a parametric timeline of features
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//! (sketches, extrudes, revolves, fillets, primitives, combines…). Evaluating the timeline with
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//! the kernel produces the model (bodies and solved sketches). Evaluation is incremental: a
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//! feature is recomputed only when it, a parameter it uses, or an earlier feature changed.
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#![deny(clippy::unwrap_used, clippy::expect_used, clippy::panic, clippy::unimplemented, clippy::todo, clippy::unreachable)]
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#![forbid(unsafe_code)]
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pub mod appearance;
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mod assembly;
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mod body_transfer;
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mod body_transfer_sheet;
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pub use body_transfer::{valid_transfer_matrix, validate_body_transfer};
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pub mod canvas;
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mod clipboard;
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pub use clipboard::{clone_expression, remap_topology};
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pub mod config;
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pub mod construct;
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mod document;
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mod eval;
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pub mod expr;
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pub mod face_anchor;
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pub use face_anchor::{FaceAnchor, FaceAttachmentStatus};
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pub mod format;
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mod format_offsets;
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mod history_names;
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pub use format_offsets::whole_profile_selection_from_value;
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pub mod joints;
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mod lineage;
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pub mod motion;
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mod name_lookup;
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pub mod naming;
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mod params;
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mod piece_names;
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mod profile_refs;
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pub mod progress;
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pub use profile_refs::{capture_profile_selection, profile_selection_indices};
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pub mod plastic;
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pub mod project;
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mod project3d;
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pub use project3d::iso_grid;
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pub mod sheet;
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pub use assembly::{
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IDENTITY, MAX_PLACEMENT_DEPTH, MAX_PLACEMENTS, Mat, Occurrence, apply_point, apply_vector, is_identity, map_point_expr, mat_inverse, mat_mul,
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rigid,
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};
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pub use document::*;
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pub use eval::{
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EdgeRef, FeatureResult, Model, ModelBody, ModelState, RevolveExtent, SolvedSketch, ThreadInfo, curve_pick_error, edge_names_for, edge_refs,
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object_height, parse_metric_thread, pattern_matrices, revolve_extent, revolve_extent_with_convention, select_profiles, state_in_frame,
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state_in_frame_at, through_all_distance, world_state,
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};
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pub use params::{ParamRow, ParamUser, cycles};
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pub use solidcraft_kernel as kernel;
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pub use solidcraft_sketch as sketch;
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#[derive(Debug, Clone, PartialEq, thiserror::Error)]
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pub enum DocError {
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#[error("expression: {0}")]
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Expr(String),
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#[error("{0}")]
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Invalid(String),
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#[error("unknown {0}")]
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Unknown(String),
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#[error(transparent)]
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Sketch(#[from] solidcraft_sketch::SketchError),
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#[error(transparent)]
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Kernel(#[from] solidcraft_kernel::KernelError),
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}
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pub type Result<T> = std::result::Result<T, DocError>;
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#[cfg(test)]
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mod named_projection_tests;
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#[cfg(test)]
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mod tests;
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mod anchor_frame;
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pub use anchor_frame::state_in_face_anchor_frame;
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