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wiggle wiggle
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@JuliusNmn
JuliusNmn committed Feb 25, 2024
1 parent f3430a0 commit f1e4f5b
Showing 1 changed file with 112 additions and 55 deletions.
167 changes: 112 additions & 55 deletions src/demo/Demo.ts
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Original file line number Diff line number Diff line change
Expand Up @@ -41,22 +41,22 @@ export class Buddy {

const headShape = new CANNON.Sphere(headRadius)
const upperArmShape = new CANNON.Box(
new CANNON.Vec3(upperArmLength * 0.5, upperArmSize * 0.5, upperArmSize * 0.5)
new CANNON.Vec3(upperArmLength * 0.5, upperArmSize * 0.5, upperArmSize * 0.5 - jointPadding)
)
const lowerArmShape = new CANNON.Box(
new CANNON.Vec3(lowerArmLength * 0.5, lowerArmSize * 0.5, lowerArmSize * 0.5)
new CANNON.Vec3(lowerArmLength * 0.5, lowerArmSize * 0.5, lowerArmSize * 0.5 - jointPadding)
)
const upperBodyShape = new CANNON.Box(
new CANNON.Vec3(shouldersDistance * 0.5, lowerArmSize * 0.5, upperBodyLength * 0.5)
new CANNON.Vec3(shouldersDistance * 0.5, lowerArmSize * 0.5, upperBodyLength * 0.5 - jointPadding)
)
const pelvisShape = new CANNON.Box(
new CANNON.Vec3(shouldersDistance * 0.5, lowerArmSize * 0.5, pelvisLength * 0.5)
new CANNON.Vec3(shouldersDistance * 0.5, lowerArmSize * 0.5, pelvisLength * 0.5 - jointPadding)
)
const upperLegShape = new CANNON.Box(
new CANNON.Vec3(upperLegSize * 0.5, lowerArmSize * 0.5, upperLegLength * 0.5)
new CANNON.Vec3(upperLegSize * 0.5, lowerArmSize * 0.5, upperLegLength * 0.5 - jointPadding)
)
const lowerLegShape = new CANNON.Box(
new CANNON.Vec3(lowerLegSize * 0.5, lowerArmSize * 0.5, lowerLegLength * 0.5)
new CANNON.Vec3(lowerLegSize * 0.5, lowerArmSize * 0.5, lowerLegLength * 0.5 - jointPadding)
)


Expand Down Expand Up @@ -266,29 +266,48 @@ export class Buddy {
constraints.push(rightElbowJoint)

// add springs
const legSpringLength = 0.1
const legSpringStiffness = 100
const legSpringDamping = 10
this.muscleInterface.muscles.push(new Muscle(upperLeftLeg, lowerLeftLeg, {
localAnchorA: new CANNON.Vec3(0, lowerLegSize, 0),
localAnchorB: new CANNON.Vec3(0, lowerLegSize, 0),
restLength: (lowerLegLength + upperLegLength) * 0.5 * legSpringLength,
stiffness: legSpringStiffness ,
damping: legSpringDamping,
}))

this.muscleInterface.muscles.push(new Muscle(upperRightLeg, lowerRightLeg, {
localAnchorA: new CANNON.Vec3(0, lowerLegSize, 0),
localAnchorB: new CANNON.Vec3(0, lowerLegSize, 0),
restLength: (lowerLegLength + upperLegLength) * 0.5 * legSpringLength,
stiffness: legSpringStiffness ,
damping: legSpringDamping,
}))
const muscleParams = {
stiffness: 75,
damping: 10
}
// lower leg muscles
this.createMusclesFrontBack(upperLeftLeg, lowerLeftLeg, upperLegLength, lowerLegLength, new CANNON.Vec3(0, lowerLegSize, 0), muscleParams)
this.createMusclesFrontBack(upperRightLeg, lowerRightLeg, upperLegLength, lowerLegLength, new CANNON.Vec3(0, lowerLegSize, 0), muscleParams)

// upper leg muscles
this.createMusclesFrontBack(pelvis, upperLeftLeg, pelvisLength, upperLegLength, new CANNON.Vec3(0, lowerLegSize, 0), muscleParams, new CANNON.Vec3( shouldersDistance / 2, 0, 0))
this.createMusclesFrontBack(pelvis, upperRightLeg, pelvisLength, upperLegLength, new CANNON.Vec3(0, lowerLegSize, 0), muscleParams, new CANNON.Vec3( -shouldersDistance / 2, 0, 0))



// left = local x positive


this.bodies = bodies
this.constraints = constraints
}

createMusclesFrontBack(bodyA: CANNON.Body, bodyB: CANNON.Body, bodyALength: number, bodyBLength: number, offset: CANNON.Vec3, params: {
stiffness: number,
damping: number
}, bodyAOffset: CANNON.Vec3 = new CANNON.Vec3(0,0,0), bodyBOffset: CANNON.Vec3 = new CANNON.Vec3(0,0,0)) {
const muscleParamsFront = {
localAnchorA: offset.vadd(bodyAOffset),
localAnchorB: offset.vadd(bodyBOffset) ,
restLength: (bodyALength + bodyBLength) * 0.5,
stiffness: params.stiffness ,
damping: params.damping,
}
const muscleParamsBack = {
localAnchorA: bodyAOffset.vadd(offset.scale(-1)),
localAnchorB: bodyBOffset.vadd(offset.scale(-1)),
restLength: (bodyALength + bodyBLength) * 0.5 * 0.9,
stiffness: params.stiffness ,
damping: params.damping,
}
this.muscleInterface.muscles.push(new Muscle(bodyA, bodyB, muscleParamsFront))
this.muscleInterface.muscles.push(new Muscle(bodyA, bodyB, muscleParamsBack))
}
}

export class LowLevelMuscleInteraction {
Expand Down Expand Up @@ -322,20 +341,58 @@ export class Muscle extends CANNON.Spring {
export class Physics {
world: CANNON.World = new CANNON.World()
bodies: CANNON.Body[] = []

buddy: Buddy | undefined
muscles: Muscle[] = []
lastCallTime: number = 0
constructor() {
this.world.gravity = new CANNON.Vec3(0,-9.81,0)
this.world.gravity = new CANNON.Vec3(0,-10,0);//-9.81,0)
}

update = () => {
// Step world
const timeStep = 1 / 60.0
const now = performance.now() / 1000

if (this.lastCallTime == 0) {
this.lastCallTime = now
}
if (!this.lastCallTime) {
// last call time not saved, cant guess elapsed time. Take a simple step.
this.world.step(timeStep)
this.lastCallTime = now
return
}

let timeSinceLastCall = now - this.lastCallTime

let maxSubSteps = 20
this.world.step(timeStep, timeSinceLastCall, maxSubSteps)

this.lastCallTime = now
if (this.buddy){
for (var i = 0; i < this.buddy.muscleInterface.muscles.length; i++) {
this.buddy.muscleInterface.setMuscleContraction(i, Math.sin(now * (i+1)) + 1)
}
}

}



step() {

}

}

export class Demo {
resources: Resource[] = []
visuals: THREE.Object3D[] = []
springs: THREE.Line[] = []
scene: THREE.Scene

jointPosition = 0.5
muscleTo3DLine: Map<Muscle, THREE.Line> = new Map()
lllfc = 1

lastCallTime: number = 0
particleMaterial: THREE.MeshLambertMaterial
triggerMaterial: THREE.MeshBasicMaterial
Expand Down Expand Up @@ -393,7 +450,8 @@ export class Demo {
this.scene.add(directionalLight)

const gui = new GUI();
gui.add(this, "jointPosition", 0, 1, 0.01);
// lllfc (lowerLeftLegFrontContraction)
gui.add(this, "lllfc", 0, 1, 0.01);

// Start the loop!
this.animate()
Expand All @@ -403,14 +461,14 @@ export class Demo {
document.addEventListener('keypress', this.onKeyPress)

const buddy = new Buddy(3,
Math.PI / 4,
Math.PI / 2,
Math.PI / 3,
Math.PI / 8)

this.physics.buddy = (buddy)
buddy.bodies.forEach((body: CANNON.Body) => {
// Move the ragdoll up
const position = new CANNON.Vec3(0, 5, 0)
let rotate = new CANNON.Quaternion(Math.PI, 0, 0)
const position = new CANNON.Vec3(0, 3, 0)
//let rotate = new CANNON.Quaternion(Math.PI, 0, 0)
body.quaternion.setFromEuler(-Math.PI * 0.5, 0, 0)
body.quaternion.vmult(body.position, body.position)
body.position.vadd(position, body.position)
Expand All @@ -420,6 +478,20 @@ export class Demo {
this.addVisual(body)
})

for (const muscle of buddy.muscleInterface.muscles) {
//create a blue LineBasicMaterial
const material = new THREE.LineBasicMaterial( { color: 0x0000ff } )
const points = []
points.push( new THREE.Vector3( 0, 0, 0 ) )
points.push( new THREE.Vector3( 0, 0, 0 ) )

const geometry = new THREE.BufferGeometry().setFromPoints( points )
const line = new THREE.Line( geometry, material )
this.springs.push(line)
this.scene.add( line )
this.muscleTo3DLine.set(muscle, line)
}

buddy.constraints.forEach((constraint) => {
this.physics.world.addConstraint(constraint)
})
Expand Down Expand Up @@ -525,32 +597,12 @@ export class Demo {

animate = () => {
requestAnimationFrame(this.animate)
this.updatePhysics()
this.physics.update()
this.updateVisuals()
this.renderer.render(this.scene, this.camera)
}

updatePhysics = () => {
// Step world
const timeStep = 1 / 60.0

const now = performance.now() / 1000

if (!this.lastCallTime) {
// last call time not saved, cant guess elapsed time. Take a simple step.
this.physics.world.step(timeStep)
this.lastCallTime = now
return
}

let timeSinceLastCall = now - this.lastCallTime

let maxSubSteps = 20
this.physics.world.step(timeStep, timeSinceLastCall, maxSubSteps)

this.lastCallTime = now
}


updateVisuals = () => {
// Copy position data into visuals
for (let i = 0; i < this.physics.bodies.length; i++) {
Expand All @@ -562,6 +614,11 @@ export class Demo {
visual.quaternion.copy(q2q(quaternion))

}
for (const [muscle, line] of this.muscleTo3DLine.entries()) {
const pointA = muscle.bodyA.position.vadd(muscle.bodyA.quaternion.vmult( muscle.localAnchorA))
const pointB = muscle.bodyB.position.vadd(muscle.bodyB.quaternion.vmult( muscle.localAnchorB))
line.geometry.setFromPoints([v2v(pointA), v2v(pointB)])
}
/*
// Render contacts
this.contactMeshCache.restart()
Expand Down

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