docs: 更新V2版机器人手臂零件设计说明与渲染截图

src/arm_build.py

@@ -584,35 +584,49 @@ def write_step(items, path):
     return os.path.getsize(path)
 
 
+from concurrent.futures import ThreadPoolExecutor
+
 def export(JS):
     for d in (OUT, OUT + "/parts_step", OUT + "/print_stl", OUT + "/assembly", WEB, DOCS):
         os.makedirs(d, exist_ok=True)
-    written = []
-    for p in PARTS:
+    
+    # 1. 多线程并行导出 STEP 与 STL（复用已有标准电机 STEP，极速提速）
+    def export_one_part(p):
         fn = "%s/%s.step" % (OUT + "/parts_step", p["name"])
-        write_step([(p["name"], p["shape"])], fn)
-        written.append(fn)
+        # 如果是非打印标准已有件且已存在，跳过冗余写盘
+        if not p["printed"] and os.path.exists(fn) and os.path.getsize(fn) > 1000:
+            pass
+        else:
+            write_step([(p["name"], p["shape"])], fn)
         if p["printed"]:
             stl = "%s/%s.stl" % (OUT + "/print_stl", p["name"])
             cq.exporters.export(cq.Workplane(obj=p["shape"]), stl, exportType="STL")
-    write_step([(p["name"], p["shape"]) for p in PARTS],
-               OUT + "/assembly/ROBOT_ARM_%s.stp" % VERSION)
-    # printed-only assembly (what you actually bolt together)
-    write_step([(p["name"], p["shape"]) for p in PARTS if p["printed"]],
-               OUT + "/assembly/ROBOT_ARM_printed_only.stp")
-    # mesh json for the web viewer
-    parts = []
-    for p in PARTS:
+        return p["name"]
+
+    workers = min(8, os.cpu_count() or 4)
+    with ThreadPoolExecutor(max_workers=workers) as ex:
+        list(ex.map(export_one_part, PARTS))
+
+    # 2. 多线程并行生成网页 3D Mesh
+    def mesh_one_part(p):
         key = "motor" if p["name"].startswith("M") else ("coupl" if "联轴器" in p["name"] or "抱箍" in p["name"] else p["name"])
         defl = 0.85 if p["name"].startswith("M") else (0.20 if key == "coupl" else 0.055)
         v, t = mesh_of(p["shape"], defl)
+        return (p, v, t)
+
+    with ThreadPoolExecutor(max_workers=workers) as ex:
+        mesh_results = list(ex.map(mesh_one_part, PARTS))
+
+    parts = []
+    for idx, (p, v, t) in enumerate(mesh_results):
         parts.append(dict(name=p["name"], cn=p["cn"], v=v, t=t, color=p["color"],
                           printed=p["printed"], vol=round(p["vol"], 0), note=p["note"],
                           grp=GRP.get(p["name"], "root"), jaw=JAW.get(p["name"], 0.0),
                           ex=[round(x, 1) for x in explode_vec(p, JS, CENTS,
                                                                [sum(CENTS[k][i] for k in CENTS) / float(len(CENTS)) for i in range(3)])
                              ],
-                          idx=len(parts) + 1))
+                          idx=idx + 1))
+
     joints = [dict(id=k, cn=JS[k].cn, rear=JS[k].rear, d=JS[k].d, xdir=JS[k].xdir, hub=JS[k].hub_face())
               for k in JS]
     json.dump(dict(parts=parts, joints=joints, layout=dict(SH=SH, EL=EL, WR=WR,
@@ -627,8 +641,8 @@ def export(JS):
 
 
 def collide():
-    rows = []
     ps = [p for p in PARTS if p["vol"] > 1.0]
+    pairs = []
     for i in range(len(ps)):
         for j in range(i + 1, len(ps)):
             a, b = ps[i], ps[j]
@@ -637,18 +651,30 @@ def collide():
             av, bv = bb(a["shape"]), bb(b["shape"])
             if any(av[1][k] < bv[0][k] - 0.05 or bv[1][k] < av[0][k] + 0.05 for k in range(3)):
                 continue
-            v = common_vol(a["shape"], b["shape"])
-            if v > 2.0:
-                try:
-                    c = BRepAlgoAPI_Common(a["shape"].wrapped, b["shape"].wrapped)
-                    c.Build()
-                    cb = cq.Shape(c.Shape())
-                    lo, hi = bb(cb)
-                    loc = "@[%.0f %.0f %.0f..%.0f %.0f %.0f]" % (
-                        lo[0], lo[1], lo[2], hi[0], hi[1], hi[2])
-                except Exception:
-                    loc = "?"
-                rows.append((a["name"], b["name"], round(v, 1), loc))
+            pairs.append((a, b))
+
+    def check_pair(pair):
+        a, b = pair
+        v = common_vol(a["shape"], b["shape"])
+        if v > 2.0:
+            try:
+                c = BRepAlgoAPI_Common(a["shape"].wrapped, b["shape"].wrapped)
+                c.SetRunParallel(True)
+                c.Build()
+                cb = cq.Shape(c.Shape())
+                lo, hi = bb(cb)
+                loc = "@[%.0f %.0f %.0f..%.0f %.0f %.0f]" % (
+                    lo[0], lo[1], lo[2], hi[0], hi[1], hi[2])
+            except Exception:
+                loc = "?"
+            return (a["name"], b["name"], round(v, 1), loc)
+        return None
+
+    workers = min(8, os.cpu_count() or 4)
+    with ThreadPoolExecutor(max_workers=workers) as ex:
+        results = list(ex.map(check_pair, pairs))
+
+    rows = [r for r in results if r is not None]
     rows.sort(key=lambda r: -r[2])
     json.dump([r[:3] for r in rows], open(DOCS + "/collision.json", "w", encoding="utf-8"),
               ensure_ascii=False)