{ "what": "Three-armed Tender docking carousel. Meshes are in each part's own frame; assemble them by this table.", "axes": "Blender metres here are (bx, by, bz); Unreal = (bx, -by, bz) * 100 cm. Root frame = ArmsRoot of UCarrierCarouselComponent (hub axis, carrier z 0).", "from_unreal_blockout": { "cradle_radius_m": 6.0, "stowed_z_m": -1.0, "board_z_m": -6.3, "ceiling_z_m": 1.2, "arm_yaw_deg_unreal": "90 + AngleDeg + 120 * Arm (ArmYawDeg)" }, "boom_aim": { "note": "each boom is turned 0.8594 deg from its nominal yaw so its tip is over the hatch collar centre (Tender x +0.09), not the Tender origin", "unreal_yaw_deg": [ 89.1406, 209.1406, 329.1406 ], "tip_radius_cm": 600.067 }, "parts": [ { "mesh": "SM_DockArm_Mount", "parent": "carrier (does not turn)", "location_cm": [ 0, 0, 0 ], "moves": "never" }, { "mesh": "SM_DockArm_Turret", "parent": "ArmsRoot", "location_cm": [ 0, 0, 0 ], "moves": "yaw = hub AngleDeg (the drum and the three root stubs with the boom joints' clevises are this mesh)" }, { "mesh": "SM_DockArm_Boom", "count": 3, "parent": "Turret, in the boom frame (yaw from boom_aim)", "location_cm": [ 150.0, 0, 85.0 ], "moves": "Unreal pitch = -theta (the boom joint, added 2026-10-16: 0 down to BOARD, then it pitches the arm down into the moon pool: see 'hoist')" }, { "mesh": "SM_DockArm_UpperLink", "count": 3, "parent": "Boom", "location_cm": [ 450.067, 0, 9.0 ], "moves": "Unreal pitch = +shoulder (phi on the plain hoist)" }, { "mesh": "SM_DockArm_LowerLink", "count": 3, "parent": "UpperLink", "location_cm": [ -300.0, 0, 0 ], "moves": "Unreal pitch = -elbow (2 phi on the plain hoist)" }, { "mesh": "SM_DockArm_Head", "count": 3, "parent": "LowerLink", "location_cm": [ 300.0, 0, 0 ], "moves": "Unreal pitch = +wrist = elbow - shoulder + theta (the head stays level)" }, { "mesh": "SM_DockArm_Claw", "count": 12, "parent": "Head", "moves": "Unreal pitch = +open * 25 deg", "instances": [ { "location_cm": [ 46.315, -46.315, -43.0 ], "unreal_yaw_deg": -45.0 }, { "location_cm": [ -46.316, -46.315, -43.0 ], "unreal_yaw_deg": -135.0 }, { "location_cm": [ -46.316, 46.315, -43.0 ], "unreal_yaw_deg": -225.0 }, { "location_cm": [ 46.315, 46.316, -43.0 ], "unreal_yaw_deg": -315.0 } ] } ], "hoist": { "what": "y = StowedZ - TenderOriginZ (metres let down, 0 .. 9.3); r = reach_in (0 .. 2.5 m; the vessel interior uses 2.34 on the launch arm). Angles in radians, the boom frame has x radial out, z up", "to_BOARD": "y <= 5.3, the boom level (theta 0): x = r (y/5.3)^2, D = sqrt(x^2 + y^2); shoulder = atan2(y, x) - acos(D/6), elbow = pi - 2 acos(D/6), wrist = elbow - shoulder. r = 0 gives phi = asin(y/6): shoulder phi, elbow 2 phi, wrist phi; 62.047 deg at BOARD", "on_down_to_POOL": "y > 5.3 (POOL at 9.3): the wrist W = (R_TIP - r, ZS - y) goes straight on down; the knee keeps its BOARD bend D = sqrt(r^2 + 5.3^2); the shoulder S is the upper intersection of the circle of radius LJ = 4.5016 about the joint J = (1.50, 0.85) with the circle of radius D about W: L = |W - J|, a = (LJ^2 - D^2 + L^2)/(2 L), h = sqrt(LJ^2 - a^2), c = (W - J)/L, S = J + a c + h (-c.z, c.x); theta = 1.1456 deg - atan2(S.z - J.z, S.x - J.x) (the boom's pitch down). In the boom frame turned down by theta: x_in = -((W - S) . (cos theta, -sin theta)), y_dn = -((W - S) . (sin theta, cos theta)); shoulder = atan2(y_dn, x_in) - acos(D/6), elbow = pi - 2 acos(D/6), wrist = elbow - shoulder + theta. If the circles do not meet (r near 0, deep) the knee opens: D = L - LJ + 0.05 (at most 5.94)", "at_POOL_on_the_launch_arm_deg": { "boom": 51.4, "shoulder": 119.21, "elbow": 149.85, "wrist": 82.04 }, "joint_ranges_deg": { "boom": [ 0, 75.0 ], "shoulder": [ 0, 172.0 ], "elbow": [ 0, 180 ], "wrist": [ -105.0, 105.0 ] }, "link_length_cm": 300.0, "wrist_axis_above_tender_origin_cm": 194.0, "in_the_ship": "hub 7.5 m over the sub bay's deck; at POOL the Tender's top is 1.3 m below the deck and its keel 3.2 m above the hull's aperture. The rig's drivers are these formulas in staged form (build/kinematics.py)" }, "tender_origin_in_head_frame_cm": [ -0.135, 8.999, -194.0 ], "tender_yaw_relative_to_head_deg_unreal": -89.1406, "ore_hose": { "what": "SM_DockArm_OreHose: a film duct of 11 cm radius per arm, built in the boom frame (rest = stowed), every ring skinned to ONE bone with weight 1", "route": "hub pod port (22 deg off the arm) -> under the root stub -> through the boom joint's axis line, outside its clevis -> top of the boom -> flat U-turn round the tip -> lane beside the arm -> over the shoulder -> down the upper link -> U-turn round the elbow -> down the lower link -> through the wrist -> coupling on the head", "lane": "the hose runs beside the arm at Unreal y = +86 cm of the boom frame (Blender y -0.86 m); the middle of the arm is taken by the boom when the arm is folded", "bones": { "Hub": "rigid with the turret, in the boom frame (the port to the boom joint)", "Boom / Upper / Lower / Head": "follow the arm's boom, upper link, lower link and head (pivots in 'parts' above)", "R1..R6": "at the boom joint: i/7 of the boom's pitch", "S1..S8": "at the shoulder pivot: i/9 of the upper link's rotation", "E1..E9": "at the elbow pivot, carried by the upper link: plus i/10 of the lower link's rotation relative to it", "W1..W4": "at the wrist pivot, carried by the lower link: plus i/5 of the head's rotation relative to it" }, "material": "M_DockArm_OreHose: clear ducting with a spiral rib (T_DockArm_Duct_BaseColor with the opacity in its alpha: film about 0.2 to 0.3, rib 1; T_DockArm_Duct_Roughness; T_DockArm_Duct_Normal is OpenGL, flip green for Unreal). Two-sided, translucent, reflections by Fresnel. One texture repeat = one circumference (0.69 m) of hose, 14 rib turns in it. Clamp bands are M_DockArm_HoseBand", "needs_headroom": "top of the hose is at z 1.37 m in the root frame when stowed: above the old blockout bay's ceiling (1.20), fine under the vessel interior's roof" }, "surfaces": { "uv0": "UVMap: a unique unwrap in the shared 4096 px atlas (the two baked maps). Turret and mount unwrap one sector; their other sectors lie whole tiles further along U, so these samplers must wrap. Decal quads carry decal-sheet coordinates here", "uv1": "UV_Tile: metres. Tiling sets are sampled at uv1 / repeat_m", "masks": "T_DockArm_Masks (linear): R ambient occlusion, G edge (1 on a hard edge, 0 from 20 mm away), B crevice (1 open, lower in a gap)", "bevel_normal": "T_DockArm_BevelNormal: tangent space on UV0, OpenGL (flip green for Unreal); rounds every hard edge by 12 mm", "sets_from": "ModSci_Engineer/Textures (Modular SciFi Season 2, already in the Unreal project); smudge mask Base/Glass/T_Glass_DirtRough.png", "materials": [ { "material": "M_DockArm_Paint", "diffuse": "Base/ScratchedMetal/T_ScratchedMetal_Diff.png", "roughness": "Base/ScratchedMetal/T_ScratchedMetal_Rough.png", "normal": "Base/ScratchedMetal/T_ScratchedMetal_Normal.png", "repeat_m": 0.9, "tint_linear": [ 0.64, 0.65, 0.65 ], "metallic": 0.0, "shade_range": [ 0.88, 1.05 ], "roughness_range": [ 0.6, 0.34 ], "normal_strength": 0.35, "smudge_added_to_roughness": 0.05, "smudge_repeat_m": 2.6, "crevice_shade": 0.22, "edge_chips": 0.45 }, { "material": "M_DockArm_Graphite", "diffuse": "Base/StainedSteel/T_StainSteeled_Diff.png", "roughness": "Base/ScratchedMetal/T_ScratchedMetal_Rough.png", "normal": "Base/ScratchedMetal/T_ScratchedMetal_Normal.png", "repeat_m": 0.7, "tint_linear": [ 0.04, 0.043, 0.048 ], "metallic": 0.0, "shade_range": [ 0.87, 1.13 ], "roughness_range": [ 0.66, 0.42 ], "normal_strength": 0.3, "smudge_added_to_roughness": 0.06, "smudge_repeat_m": 1.9, "crevice_shade": 0.15, "edge_chips": 0.5 }, { "material": "M_DockArm_Steel", "diffuse": "Base/StainedSteel/T_StainSteeled_Diff.png", "roughness": "Base/StainedSteel/T_StainSteeled_Rough.png", "normal": "Base/Glass/T_Scratch_Norm.png", "repeat_m": 0.5, "tint_linear": [ 0.6, 0.61, 0.63 ], "metallic": 1.0, "shade_range": [ 0.8, 1.15 ], "roughness_range": [ 0.22, 0.36 ], "normal_strength": 0.5, "smudge_added_to_roughness": 0.05, "smudge_repeat_m": 0.9, "crevice_shade": 0.2, "edge_chips": 0.0 }, { "material": "M_DockArm_Rubber", "diffuse": null, "roughness": "Base/ScratchedMetal/T_ScratchedMetal_Rough.png", "normal": null, "repeat_m": 0.4, "tint_linear": [ 0.017, 0.017, 0.018 ], "metallic": 0.0, "shade_range": [ 1.0, 1.0 ], "roughness_range": [ 0.86, 0.62 ], "normal_strength": 0.0, "smudge_added_to_roughness": 0.08, "smudge_repeat_m": 1.2, "crevice_shade": 0.1, "edge_chips": 0.0 }, { "material": "M_DockArm_SafetyOrange", "diffuse": "Base/ScratchedMetal/T_ScratchedMetal_Diff.png", "roughness": "Base/ScratchedMetal/T_ScratchedMetal_Rough.png", "normal": "Base/ScratchedMetal/T_ScratchedMetal_Normal.png", "repeat_m": 0.6, "tint_linear": [ 0.78, 0.19, 0.02 ], "metallic": 0.0, "shade_range": [ 0.84, 1.06 ], "roughness_range": [ 0.62, 0.36 ], "normal_strength": 0.4, "smudge_added_to_roughness": 0.06, "smudge_repeat_m": 1.4, "crevice_shade": 0.25, "edge_chips": 0.7 }, { "material": "M_DockArm_HoseBand", "diffuse": "Base/StainedSteel/T_StainSteeled_Diff.png", "roughness": "Base/StainedSteel/T_StainSteeled_Rough.png", "normal": "Base/Glass/T_Scratch_Norm.png", "repeat_m": 0.35, "tint_linear": [ 0.6, 0.61, 0.63 ], "metallic": 1.0, "shade_range": [ 0.8, 1.15 ], "roughness_range": [ 0.22, 0.36 ], "normal_strength": 0.5, "smudge_added_to_roughness": 0.05, "smudge_repeat_m": 0.6, "crevice_shade": 0.0, "edge_chips": 0.0 } ], "glow": { "M_DockArm_GlowCyan": { "color": [ 0.1, 0.85, 1.0 ], "strength": 1.2 }, "M_DockArm_GlowAmber": { "color": [ 1.0, 0.55, 0.08 ], "strength": 1.2 } }, "lens": "M_DockArm_LensGlass: near-black smoked glass, roughness 0.16 to 0.24 by the smudge mask", "value_range_of_each_map": { "T_StainSteeled_Diff.png": [ 0.1735, 0.2741 ], "T_StainSteeled_Rough.png": [ 0.3608, 0.8784 ], "T_ScratchedMetal_Diff.png": [ 0.6172, 0.6724 ], "T_ScratchedMetal_Rough.png": [ 0.6314, 0.8196 ] }, "recipe": "base colour = tint * lerp(shade_range, luminance of the diffuse map over its value range); roughness = lerp(roughness_range, roughness map over its value range) + smudge * amount; crevice shade = (1 - B)^1.4 * amount toward near-black, + 0.35 of it on the roughness; edge chips = smoothstep(0.38, 0.72, G * lerp(1.25, 0.55, roughness map) * smoothstep(0.72, 0.93, R) * amount) toward the bare-metal colour with metallic 1" } }