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refactor, adding legs

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Daniel Kauss Serna 2026-03-11 11:01:42 +01:00
parent ad80077fc7
commit c0441271b5
1 changed files with 146 additions and 49 deletions
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195
sketch.js
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@ -1,21 +1,99 @@
var vec = p5.Vector;
const vec = p5.Vector;
class Segment {
constructor(x, y, size) {
class Leg {
constructor() {
this.base = new vec(0, 0);
this.end = new vec(0, 0);
this.ikJoint = new IKJoint(4, 30);
}
moveTo(startX, startY, endX, endY) {
this.base = new vec(startX, startY);
let target = new vec(endX, endY);
if (vec.dist(target, this.end) > 80) {
this.end = new vec(endX, endY);
}
this.ikJoint.moveTo(startX, startY, this.end.x, this.end.y);
}
getPoints() {
return this.ikJoint.points;
}
draw() {
let points = this.ikJoint.points;
let numPts = points.length;
let px = this.base.x;
let py = this.base.y;
for (let i = 0; i < numPts; i++) {
let pt = points[i];
line(px, py, pt.pos.x, pt.pos.y);
px = pt.pos.x;
py = pt.pos.y;
}
}
}
class IKJoint {
constructor(numPoints, pointDist) {
this.origin = new vec(0, 0);
this.points = [];
for (let i = 0; i < numPoints + 1; i++) {
this.points.push(new ConstraintPoint(0, 0, pointDist, 10));
}
this.pointDist = pointDist;
this.iterations = 15;
}
moveStart(targetX, targetY) {
let numPts = this.points.length;
this.points[0].pos.x = targetX;
this.points[0].pos.y = targetY;
this.points[0].follow(targetX, targetY);
for (let i = 1; i < numPts; i++) {
let prevPoint = this.points[i - 1];
this.points[i].follow(prevPoint.pos.x, prevPoint.pos.y, prevPoint.forward);
}
}
moveEnd(targetX, targetY) {
let numPts = this.points.length;
this.points[numPts - 1].pos.x = targetX;
this.points[numPts - 1].pos.y = targetY;
for (let i = numPts - 2; i >= 0; i--) {
let prevPoint = this.points[i + 1];
this.points[i].follow(prevPoint.pos.x, prevPoint.pos.y, prevPoint.forward);
}
}
moveTo(origX, origY, targetX, targetY) {
for (let i = 0; i < this.iterations; i++) {
this.moveEnd(targetX, targetY);
this.moveStart(origX, origY);
}
}
}
class ConstraintPoint {
constructor(x, y, size, angleConstraint = 0.2) {
this.size = size;
this.pos = new vec(x, y);
this.forward = new vec(0, 0);
this.angleConstraint = angleConstraint;
}
get_rel(angleOffset, dist) {
getRel(angleOffset, dist) {
let dir = vec.rotate(this.forward, angleOffset);
dir.setMag(dist);
return vec.add(this.pos, dir)
return vec.add(this.pos, dir);
}
follow(targetX, targetY, parentForward = null) {
let target = new vec(targetX, targetY);
let targetForward = vec.sub(target, this.pos);
let targetAngle = targetForward.heading();
@ -26,7 +104,7 @@ class Segment {
while (diff < -PI) diff += TWO_PI;
while (diff > PI) diff -= TWO_PI;
let maxAngle = PI / 10;
let maxAngle = this.angleConstraint;
diff = constrain(diff, -maxAngle, maxAngle);
targetAngle = parentAngle + diff;
@ -34,70 +112,89 @@ class Segment {
this.forward = p5.Vector.fromAngle(targetAngle);
let segmentLength = 20;
let dir = p5.Vector.mult(this.forward, -segmentLength);
let dir = p5.Vector.mult(this.forward, -this.size);
this.pos = vec.add(target, dir);
}
}
var n = 0;
var sizes = [60, 55, 50, 40, 45, 47, 50, 45, 42, 39, 35, 30, 25, 22, 17, 13, ]
var segments = [];
let numPoints = 0;
const sizes = [60, 55, 50, 40, 45, 47, 50, 47, 45, 42, 39, 35, 30, 25, 22, 17, 13];
const bodyPoints = [];
const leg1 = new Leg();
const leg2 = new Leg();
const leg3 = new Leg();
const leg4 = new Leg();
function setup() {
createCanvas(800, 800);
n = sizes.length;
for (let i = 0; i < n; i++) {
let seg = new Segment(400, 400, sizes[i]);
segments.push(seg);
numPoints = sizes.length;
for (let i = 0; i < numPoints; i++) {
let pt = new ConstraintPoint(400, 400, 20);
bodyPoints.push(pt);
}
}
function drawPoints(points, sizes) {
beginShape();
let numPoints = points.length;
let head = points[0];
let tail = points[numPoints - 1];
for (let angle = -HALF_PI; angle <= HALF_PI; angle += PI / 10) {
let p = head.getRel(angle, sizes[0]);
vertex(p.x, p.y);
}
for (let i = 1; i < numPoints - 1; i++) {
let p = points[i].getRel(HALF_PI, sizes[i]);
vertex(p.x, p.y);
}
for (let angle = HALF_PI; angle <= HALF_PI + PI; angle += PI / 10) {
let p = tail.getRel(angle, sizes[numPoints - 1]);
vertex(p.x, p.y);
}
for (let i = numPoints - 2; i >= 1; i--) {
let p = points[i].getRel(-HALF_PI, sizes[i]);
vertex(p.x, p.y);
}
endShape(CLOSE);
}
function draw() {
background(150);
background(150);
// fisica
segments[0].follow(mouseX, mouseY);
for (let i = 1; i < n; i++) {
let prev_seg = segments[i - 1];
segments[i].follow(prev_seg.pos.x, prev_seg.pos.y, prev_seg.forward);
bodyPoints[0].follow(mouseX, mouseY);
for (let i = 1; i < numPoints; i++) {
let prevPoint = bodyPoints[i - 1];
bodyPoints[i].follow(prevPoint.pos.x, prevPoint.pos.y, prevPoint.forward);
}
let baseJoint = bodyPoints[2];
let baseL1 = baseJoint.getRel(-HALF_PI, 20);
let endL1 = baseJoint.getRel(-HALF_PI, 100);
let baseR1 = baseJoint.getRel(HALF_PI, 20);
let endR1 = baseJoint.getRel(HALF_PI, 100);
leg1.moveTo(baseL1.x, baseL1.y, endL1.x, endL1.y);
leg2.moveTo(baseR1.x, baseR1.y, endR1.x, endR1.y);
// dibujar
fill(249, 182, 249);
stroke(0);
strokeWeight(2);
beginShape();
let head = segments[0];
let tail = segments[n - 1];
leg2.draw();
for (let a = -HALF_PI; a <= HALF_PI; a += PI / 10) {
let p = head.get_rel(a, head.size);
vertex(p.x, p.y);
}
drawPoints(leg1.getPoints(), [20, 17, 15, 10, 5]);
drawPoints(bodyPoints, sizes);
for (let i = 1; i < n - 1; i++) {
let p = segments[i].get_rel(HALF_PI, segments[i].size);
vertex(p.x, p.y);
}
for (let a = HALF_PI; a <= HALF_PI + PI; a += PI / 10) {
let p = tail.get_rel(a, tail.size);
vertex(p.x, p.y);
}
for (let i = n - 2; i >= 1; i--) {
let p = segments[i].get_rel(-HALF_PI, segments[i].size);
vertex(p.x, p.y);
}
endShape(CLOSE);
let eye1 = head.get_rel(HALF_PI / 2, 45);
let eye2 = head.get_rel(-HALF_PI / 2, 45);
let eye1 = bodyPoints[0].getRel(HALF_PI / 2, 45);
let eye2 = bodyPoints[0].getRel(-HALF_PI / 2, 45);
fill(0);
circle(eye1.x, eye1.y, 12);
circle(eye2.x, eye2.y, 12);