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.
41 lines
1.3 KiB
Rust
41 lines
1.3 KiB
Rust
//! Geometry foundation for SolidCraft: 2D/3D vectors, sketch planes, axis-aligned boxes,
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//! triangle meshes with their measures (volume, area, centroid), and freeform surface maths
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//! (B-spline basis and NURBS surfaces in [`bspline`], one-surface fills of closed loops in
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//! [`fill`], T-splines in [`tspline`]). Units are millimetres.
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//!
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//! This crate has no knowledge of sketches, documents or a modelling backend; every other crate
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//! builds on it.
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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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mod arcfit;
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pub mod brep;
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pub mod bspline;
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pub mod env;
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pub mod fill;
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mod mesh;
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mod plane;
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mod profile;
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pub mod tess;
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pub mod tspline;
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mod vec;
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pub use arcfit::MAX_FIT_PIECES;
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pub use mesh::{Aabb3, BoxedTriangle, InsideIndex, MassProperties, Mesh, MeshMeasure, find_close_pair};
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pub use plane::Plane;
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pub use profile::{Loop2, MAX_BEZIER_DEGREE, Region2, Seg2, bezier, regions_apart};
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pub use vec::{Vec2, Vec3};
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/// Geometric tolerance for coincidence tests (mm).
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pub const EPS: f64 = 1e-9;
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/// Linear tolerance used for "same point" decisions in modelling (mm).
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pub const LINEAR_TOL: f64 = 1e-6;
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/// `x` if finite, else `fallback`.
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pub fn finite_or(x: f64, fallback: f64) -> f64 {
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if x.is_finite() { x } else { fallback }
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}
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#[cfg(test)]
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mod tests;
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