$fn=60;

// Ball joint
size=8; // size of the ball joint
joint_spacing =0.75; // some space between them?
joint_thickness = 2; // thickness of the arms
joint_arms = 4; // how many arms do you want?
arm_width = 7; // actually: how much is removed from the arms Larger values will remove more

// Finger
f_len=45;
f_dia=5;

// Render settings
$fs=0.8; // def 1, 0.2 is high res
$fa=4;//def 12, 3 is very nice

/*[Torus]*/
ShowTorus = false;
Torus_Diameter = 9.5; //[.1:.01:400]
Torus_Circle_Radius = 7; //[.1:.01:400]
Torus_Fragments = 60; //[1:.01:200]
Rotate_TorusX = 90; //[0:.01:360]
Rotate_TorusY = 0; //[0:.01:360]
Rotate_TorusZ = 0; //[0:.01:360]
Move_TorusX = 0; //[-400:.01:400]
Move_TorusY = 0; //[-400:.01:400]
Move_TorusZ = -18; //[-400:.01:400]

include<ujoint.scad>
include<threads.scad>
include <BOSL2/std.scad>
include <BOSL2/shapes2d.scad>
include <BOSL2/gears.scad>
include <boltsos_0.4.1/BOLTS.scad>

module bolt() {
    difference() {
        cuboid([20,20,20], rounding=1);
        zcyl(l=20, d=15);
    }
    translate([0,0,-10]) mirror([0,1,0]) RodEnd(15, 20, thread_len=20, thread_diam=12, thread_pitch=4);
}

module ball() {
	sphere(r=size);
	/* translate([0,0,-size]) cylinder(r1=f_dia-2,r2=f_dia-4,h=3); */
	translate([0,0,-f_len/2-3]) /* cylinder(r=8,h=3); */ zcyl(l=f_len, d=f_dia, rounding=2.5);
}

module ball2() {
	sphere(r=size);
	/* translate([0,0,-size]) cylinder(r1=f_dia-2,r2=f_dia-4,h=3); */
	translate([0,0,-f_len/3+3]) /* cylinder(r=8,h=3); */ tube(od=f_dia+3, wall=1, l=f_len/3, rounding=1);
}

module joint() {
difference()
{
	sphere(r=size+joint_spacing+joint_thickness);
	sphere(r=size+joint_spacing);
	translate([0,0,-size-3]) cube([size+joint_spacing+joint_thickness+25,size+joint_spacing+joint_thickness+25,18],center=true);
	for(i=[0:joint_arms])
	{
		rotate([0,0,360/joint_arms*i]) translate([-arm_width/2,0, -size/2-4])
			cube([arm_width,size+joint_spacing+joint_thickness+20,size+6]);
	}
}
	translate([0,0,size-2]) cylinder(r2=8,r1=8,h=5);

}

module Torus() {
InnerRadius = Torus_Circle_Radius/2;
OuterRadius = Torus_Diameter/2-Torus_Circle_Radius/2;
rotate(a = [Rotate_TorusX, 0, 0])
rotate(a = [0, Rotate_TorusY, 0])
rotate(a = [0, 0, Rotate_TorusZ])
translate([Move_TorusX, 0, 0])
translate([0, Move_TorusY, 0])
translate([0, 0, Move_TorusZ])

if (ShowTorus) {
    rotate_extrude(convexity = 10, $fn = Torus_Fragments)
    translate([Torus_Diameter, 0, 0])
    circle(r = Torus_Circle_Radius, $fn = 144);
    }
    else {
    //
    }
}


/*[screws]*/
color("blue") {
    translate ([0,14,51]) rotate([0,180,0]) {
        cylinder(h=15, d=12, $fn=6);
        translate([0,0,15]) {
            mirror([0,1,0]) RodStart(20, 3, thread_len=68, thread_diam=11, thread_pitch=4);
            linear_extrude(5)
            spur_gear2d(circ_pitch=7, teeth=16,  pressure_angle=14);
        }
    }
    translate ([0,52,51]) rotate([0,180,0]) {
    * cylinder(h=15, d=12, $fn=6);
        translate([0,0,15]) {
            mirror([0,1,0]) RodStart(20, 3, thread_len=68, thread_diam=11, thread_pitch=4);
            linear_extrude(5)
            rotate([0,0,10]) spur_gear2d(circ_pitch=7, teeth=16,  pressure_angle=14);
        }
    }
}
color("red") {
    translate ([51,-14,0]) rotate([0,-90,0]) {
        cylinder(h=15, d=12, $fn=6);
        translate([0,0,15]) {
            mirror([0,1,0]) RodStart(20, 3, thread_len=68, thread_diam=11, thread_pitch=4);
            linear_extrude(5)
            spur_gear2d(circ_pitch=7, teeth=16,  pressure_angle=14);
        }
    }
    translate ([36.5,33,0]) rotate([0,-90,0]) {
        linear_extrude(5)
        rotate([0,0,8]) spur_gear2d(circ_pitch=7, teeth=24,  pressure_angle=14);
    }
    translate ([51,80,0]) rotate([0,-90,0]) {
        * cylinder(h=15, d=12, $fn=6);
        translate([0,0,15]) {
            mirror([0,1,0]) RodStart(20, 3, thread_len=68, thread_diam=11, thread_pitch=4);
            linear_extrude(5)
            spur_gear2d(circ_pitch=7, teeth=16,  pressure_angle=14);
        }
    }
}


/*[rings]*/
* color("grey") {
    translate ([0,15,-34.5]) {
        tube(od=15, wall=1.8, h=5, rounding=1); 
    }
    translate ([-34.5,-15,0]) {
        rotate([0,90,0]) {
            tube(od=15, wall=1.8, h=5, rounding=1);
        }
    }
}


/*[rotule]*/
/*[y_axis]*/
* color("cyan") {
    translate([0,14,0]) {
        bolt();
    }
}
/*[x_axis */
* color("pink") {
    translate([0,-14,0]) {
        rotate([0,90,0]) {
            bolt();
        }
    }
}

/*[plate1]*/
translate([0,0,0]) {
    /* Main */
    cuboid([45,3,45], rounding=1);
    translate([21,13,16]) cuboid([3,28,5], rounding=1);
    translate([-21,13,16]) cuboid([3,28,5], rounding=1);
    translate([21,13,-16]) cuboid([3,28,5], rounding=1);
    translate([-21,13,-16]) cuboid([3,28,5], rounding=1);
    //
    translate([16,-13,21]) cuboid([5,28,3], rounding=1);
    translate([-16,-13,21]) cuboid([5,28,3], rounding=1);
    translate([16,-13,-21]) cuboid([5,28,3], rounding=1);
    translate([-16,-13,-21]) cuboid([5,28,3], rounding=1);
    //
    difference() {
        cuboid([30,14,30], rounding=1);
        translate([0,-6,0]) cuboid([21,4,55], rounding=1);
        translate([0,6,0]) cuboid([55,4,21], rounding=1);
    }
    // Front
    translate([0,-26,0]) cuboid([45,3,45], rounding=1);
    translate([0,-31,0]) rotate([90,0,0]) tube(od=16, wall=2, h=10, rounding=1);
    // Sight
    * translate([0,-33,0]) {
        rotate([90,0,0]) {
        tube(od=12, wall=3, h=12, chamfer=0.5);
        translate([0,0,10.5]) tube(h=10, or1=6, or2=20, wall=3, chamfer=0.5);
        }
    }
    // Back
    translate([0,26,0]) cuboid([45,3,45], rounding=1);
    // Joint
    * translate([0,38,0]) rotate([90,0,0]) joint();     
}

/*[plate2]*/
translate([0,66,0]) rotate([0,0,180]) {
    /* Main */
    cuboid([45,3,45], rounding=1);
    translate([21,13,16]) cuboid([3,28,5], rounding=1);
    translate([-21,13,16]) cuboid([3,28,5], rounding=1);
    translate([21,13,-16]) cuboid([3,28,5], rounding=1);
    translate([-21,13,-16]) cuboid([3,28,5], rounding=1);
    //
    translate([16,-13,21]) cuboid([5,28,3], rounding=1);
    translate([-16,-13,21]) cuboid([5,28,3], rounding=1);
    translate([16,-13,-21]) cuboid([5,28,3], rounding=1);
    translate([-16,-13,-21]) cuboid([5,28,3], rounding=1);
    //
    difference() {
        cuboid([30,14,30], rounding=1);
        translate([0,-6,0]) cuboid([21,4,55], rounding=1);
        translate([0,6,0]) cuboid([55,4,21], rounding=1);
    }
    // Front
    translate([0,-26,0]) cuboid([45,3,45], rounding=1);
    translate([0,-31,0]) rotate([90,0,0]) tube(od=16, wall=2, h=10, rounding=1);
    // Sight
    * translate([0,-33,0]) {
        rotate([90,0,0]) {
        tube(od=12, wall=3, h=12, chamfer=0.5);
        translate([0,0,10.5]) tube(h=10, or1=6, or2=20, wall=3, chamfer=0.5);
        }
    }
    // Back
    translate([0,26,0]) cuboid([45,3,45], rounding=1);
    // Joint
    * translate([0,38,0]) rotate([90,0,0]) joint();     
}

/*[balls]*/
* color("orange") {
    translate([0,38,0]) {
        rotate([90,0,0]) ball();
    }
    translate([0,98,0]) {
        rotate([-90,0,0]) ball2();
    }
}

/*[enclosure]*/
color("white", alpha=.5) {
    difference() {
         translate([0,15,0]) cuboid([80,100,80], rounding=1);
         translate([0,15,0]) cuboid([74,110,74], rounding=1);
         cuboid([60,40,60], rounding=20);
         translate([0,14,37.5]) {
             zcyl(l=10, d=14);
         }
         translate([37.5,-14,0]) {
             xcyl(l=10, d=14);
         }
     }
     translate([0,64,0]) {
         difference() {
            union() {
                cuboid([80,3,80], rounding=1);
                translate([0,39,100]) {
                    cuboid([160,3,160], rounding=1);
                }
            }
            ycyl(l=3, d=f_dia+2, rounding=-1.5);
            translate([0,39,100]) {
                    cuboid([110,4,110], rounding=1);
            }
            }
       }
     // Screw guides
     translate ([-37,-15,0]) {
         rotate([0,90,0]) {
             tube(od=17, wall=1, h=4, rounding=1);
         }
     }
     translate ([0,15,-37]) {
         tube(od=17, wall=1, h=4, rounding=1);
     }
    // Back
    translate([0,114,0]) {
        cuboid([80,3,80], rounding=1);
        translate([0,0,100]) {
            cuboid([160,3,160], rounding=1);
        }
    }
}

/*[grp_holder]*/
* translate([0,108,0]) {
    difference() {
        union() {
            translate([0,0,16]) {
                rotate([90,0,0]) {
                    linear_extrude(6, center=true)
                    trapezoid(55, 20, 80, rounding=5);
                }
            }
            translate([0,0,100]) {
                cuboid([126,6,126], rounding=1);
            }
         }
        translate([0,0,23]) {
                rotate([90,0,0]) {
                    linear_extrude(6, center=true)
                    trapezoid(27, 30, 60, rounding=5);
                }
            }
        translate([0,-1.5,100]) cuboid([121,5,121]);
        * translate([0,0,100]) cuboid([116,7,116], rounding=2);
        ycyl(l=6, d=f_dia+.5, rounding=-3);
     }
/*[plexi]*/
color("cyan", alpha=.3) translate([0,-1,100]) cuboid([120,4,120], rounding=1);
}
/*[ball2]*/
* translate([0,98,0]) rotate([-90,0,0]) joint();