500 lines
9.7 KiB
Plaintext
500 lines
9.7 KiB
Plaintext
void setup() {
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size(600, 600, P3D);
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background(0);
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}
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Custom c1 = new Custom();
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Custom c2 = new Custom();
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Custom c3 = new Custom();
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Custom c4 = new Custom();
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Custom c5 = new Custom();
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Foot foot1 = new Foot();
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Foot foot2 = new Foot();
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Foot foot3 = new Foot();
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Foot foot4 = new Foot();
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Foot foot5 = new Foot();
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Foot foot6 = new Foot();
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PVector point1 = new PVector(8, 0, 20);
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PVector point2 = new PVector(12, 0, 0);
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PVector point3 = new PVector(8, 0, -20);
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PVector point4 = new PVector(-8, 0, -20);
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PVector point5 = new PVector(-12, 0, 0);
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PVector point6 = new PVector(-8, 0, 20);
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float rotationX=0;
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float rotationY=0;
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float rotationZ=0;
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int animationStep=0;
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int animationSubStep=0;
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float i=0;
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int i2=0;
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int i3=0;
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int i4=0;
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int i5=0;
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void draw()
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{
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background(0);
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translate(width/2, height/2, 0);
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switch(i5)
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{
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case 0:
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rotateX(-1*(PI/10));
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rotateY(radians(-210));
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break;
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case 1:
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rotateY(i);
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break;
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case 2:
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rotateX(radians(-90));
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rotateY(radians(180));
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break;
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default:
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i5=0;
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}
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float rotationRange = 8;
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rotationX = ( i3%(rotationRange*4) < (rotationRange*2) ? -rotationRange+i3%(rotationRange*2) : rotationRange+(-1*(i3%(rotationRange*2))) );
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rotationY = ( i4%(rotationRange*4) < (rotationRange*2) ? -rotationRange+i4%(rotationRange*2) : rotationRange+(-1*(i4%(rotationRange*2))) );
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rotationZ = ( i2%(rotationRange*4) < (rotationRange*2) ? -rotationRange+i2%(rotationRange*2) : rotationRange+(-1*(i2%(rotationRange*2))) );
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if (c2.delay(25))
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{
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i-=0.012f;
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i2++;
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}
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if (c3.delay(50))
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{
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i3++;
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}
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if (c4.delay(75))
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{
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i4++;
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}
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if (c5.delay(5000))
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{
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i5++;
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}
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scale(6);
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noStroke(); // Ground
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fill(128);
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beginShape();
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Vertex(-60, 15, -60);
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Vertex(60, 15, -60);
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Vertex(60, 15, 60);
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Vertex(-60, 15, 60);
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Vertex(-60, 15, -60);
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endShape();
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drawTestSpot(new PVector((Animation(2).x + point1.x),
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15,
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(Animation(2).z - point1.z)), false);
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drawTestSpot(new PVector((Animation(3).x + point2.x),
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15,
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(Animation(3).z - point2.z)), false);
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drawTestSpot(new PVector((Animation(4).x + point3.x),
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15,
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(Animation(4).z - point3.z)), false);
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drawTestSpot(new PVector((Animation(1).x - point4.x),
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15,
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(Animation(1).z - point4.z)), true);
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drawTestSpot(new PVector((Animation(0).x - point5.x),
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15,
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(Animation(0).z - point5.z)), true);
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drawTestSpot(new PVector((Animation(5).x - point6.x),
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15,
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(Animation(5).z - point6.z)), true);
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// Rotate body
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rotateX(radians(-1*rotationX));
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rotateY(radians(-1*rotationY));
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rotateZ(radians(-1*rotationZ));
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stroke(100, 100, 100); // Body
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fill(0, 0, 255);
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beginShape();
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Vertex(point1.x, point1.y, point1.z);
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Vertex(point2.x, point2.y, point2.z);
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Vertex(point3.x, point3.y, point3.z);
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Vertex(point4.x, point4.y, point4.z);
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Vertex(point5.x, point5.y, point5.z);
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Vertex(point6.x, point6.y, point6.z);
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Vertex(point1.x, point1.y, point1.z);
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endShape();
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stroke(100, 100, 100); // Body top
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fill(0, 255, 0);
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beginShape();
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Vertex(point1.x, point1.y, point1.z);
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Vertex(point2.x, point2.y, point2.z);
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Vertex(point5.x, point5.y, point5.z);
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Vertex(point6.x, point6.y, point6.z);
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Vertex(point1.x, point1.y, point1.z);
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endShape();
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// Animation
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if (c1.delay(1))
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{
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animationSubStep++;
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}
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foot1.SetFootCoordinates(Animation(2));
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foot2.SetFootCoordinates(Animation(3));
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foot3.SetFootCoordinates(Animation(4));//
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foot4.SetFootCoordinates(Animation(1));//
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foot5.SetFootCoordinates(Animation(0));
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foot6.SetFootCoordinates(Animation(5));
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foot1.Translate(point1);
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foot1.DrawFoot();
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foot2.Translate(point2);
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foot2.DrawFoot();
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foot3.Translate(point3);
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foot3.DrawFoot();
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foot4.Translate(point4);
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foot4.leftLegorRight=true;
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foot4.DrawFoot();
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foot5.Translate(point5);
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foot5.leftLegorRight=true;
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foot5.DrawFoot();
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foot6.Translate(point6);
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foot6.leftLegorRight=true;
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foot6.DrawFoot();
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}
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void drawTestSpot(PVector p, boolean leftLegorRight)
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{
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beginShape();
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stroke(0, 0, 255);
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if (leftLegorRight)
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{
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Vertex((-1*p.x)-1, p.y, (-1*p.z)-1);
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Vertex((-1*p.x)-1, p.y, (-1*p.z)+1);
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Vertex((-1*p.x)+1, p.y, (-1*p.z)+1);
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Vertex((-1*p.x)+1, p.y, (-1*p.z)-1);
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Vertex((-1*p.x)-1, p.y, (-1*p.z)-1);
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} else
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{
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Vertex(p.x-1, p.y, (-1*p.z)-1);
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Vertex(p.x-1, p.y, (-1*p.z)+1);
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Vertex(p.x+1, p.y, (-1*p.z)+1);
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Vertex(p.x+1, p.y, (-1*p.z)-1);
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Vertex(p.x-1, p.y, (-1*p.z)-1);
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}
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endShape();
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}
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PVector []walk1 = new PVector[6];
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PVector Animation(int addition)
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{
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walk1[0] = new PVector(12, 15, -5);
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walk1[1] = new PVector(12, 15, 0);
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walk1[2] = new PVector(12, 15, 5);
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walk1[3] = new PVector(12, 10, 5);
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walk1[4] = new PVector(12, 10, 0);
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walk1[5] = new PVector(12, 10, -5);
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PVector P = new PVector();
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P = animationSubSteps(walk1[((animationStep+addition)%6)], walk1[((animationStep+addition+1)%6)]);
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if (false)
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{
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P.x=10;
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P.y=15;
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P.z=0;
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}
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return P;
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}
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PVector animationSubSteps(PVector from, PVector to)
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{
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PVector newStep = new PVector();
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int steps=5;
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if (animationSubStep < steps)
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{
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float differenceX = (to.x - from.x) / steps;
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float differenceY = (to.y - from.y) / steps;
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float differenceZ = (to.z - from.z) / steps;
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newStep.x = from.x + ( differenceX * animationSubStep );
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newStep.y = from.y + ( differenceY * animationSubStep );
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newStep.z = from.z + ( differenceZ * animationSubStep );
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} else
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{
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animationSubStep=0;
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animationStep++;
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newStep = to;
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}
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return newStep;
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}
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void Vertex(double x, double y, double z)
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{
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vertex((float)x, (float)y, (float)z);
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}
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class Custom
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{
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int time;
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boolean start=true;
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public boolean delay(int delay)
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{
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if (start)
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{
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time = millis();
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start = false;
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}
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if (millis() - time >= delay)
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{
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start = true;
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return true;
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} else
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return false;
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}
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}
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class Foot
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{
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float TranslateX, TranslateY, TranslateZ;
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boolean leftLegorRight=false;
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void SetFootCoordinates(PVector P)
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{
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Xi = P.x;
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Yi = P.y;
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Zi = P.z;
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}
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void Translate(int x, int y, int z)
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{
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TranslateX = x;
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TranslateY = y;
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TranslateZ = z;
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}
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void Translate(PVector i)
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{
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TranslateX = i.x;
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TranslateY = i.y;
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TranslateZ = i.z;
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}
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void DrawFoot()
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{
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setleg(leftLegorRight);
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pushMatrix();
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translate(TranslateX, TranslateY, TranslateZ);
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stroke(!error?255:0, !error?0:255, 0);
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noFill();
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beginShape();
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Vertex(0, 0, 0);
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Vertex(0, 0, 0);
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if (leftLegorRight)
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Vertex(-1*X2, -1*Y2, Z2);
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else
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Vertex(X2, -1*Y2, Z2);
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endShape();
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beginShape();
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if (leftLegorRight)
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{
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Vertex(-1*X2, -1*Y2, Z2);
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Vertex(-1*X2, -1*Y2, Z2);
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Vertex(-1*X, Y, -1*Z);
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} else
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{
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Vertex(X2, -1*Y2, Z2);
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Vertex(X2, -1*Y2, Z2);
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Vertex(X, Y, -1*Z);
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}
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endShape();
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popMatrix();
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}
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// Inverse Kinemetics Region
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double l3, s, O1, O2, O3, X2, Y2, Z2;
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double l1=10, l2=15;
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double Xi, Yi, Zi;
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double X, Y, Z;
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boolean error=false;
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void RotateX()
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{
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Y = Y * cos(radians(rotationX)) - Z * sin(radians(rotationX));
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Z = Y * sin(radians(rotationX)) + Z * cos(radians(rotationX));
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}
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void RotateY()
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{
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Z = Z * cos(radians(rotationY)) - X * sin(radians(rotationY));
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X = Z * sin(radians(rotationY)) + X * cos(radians(rotationY));
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}
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void RotateZ()
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{
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X = X * cos(radians(rotationZ)) - Y * sin(radians(rotationZ));
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Y = X * sin(radians(rotationZ)) + Y * cos(radians(rotationZ));
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}
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void RL3 ()
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{
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double x = X;
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double z = Z;
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if ((x == 0) && (z == 0))
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l3 = 0;
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else l3 = sqrt((float)(x*x + z*z));
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if (x < 0)
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l3 = l3 * -1;
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}
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float O1 ()
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{
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RL3();
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double x = X;
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double z = Z;
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double r;
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if ((x != 0) & (z != 0)) {
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double a = (z / x);
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return atan((float)(a));
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} else
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return atan(0.0); // Math Error Protection.
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}
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double T1 ()
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{
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double x = X;
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double y = Y;
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double z = Z;
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double x2 = x * x;
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double y2 = y * y;
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double z2 = z * z;
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double l32 = l3 * l3;
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s = sqrt((float)(x2 + y2 + z2));
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double t1 = 0;
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double s2 = s * s;
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if ((y == 0) && (l3 == 0))
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t1 = 0; // Math Error Protection.
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else
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t1 = (atan2((float)(l3), (float)(y)));
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double a = (l1 * l1) - (l2*l2) + s2;
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double b = 2 * l1 * s;
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double t2 = acos((float)(a / b));
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double ret = 0;
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ret = t1 + abs((float)(t2));
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return ret;
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}
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double T3 ()
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{
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return (acos((float)(((l1*l1) + (l2*l2) - (s*s)) / (2 * l1 * l2))));
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}
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double PI = 3.14159265;
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void setleg (boolean Side)
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{
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X = Xi;
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Y = Yi;
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Z = Zi;
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if (leftLegorRight)
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{ // Right
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X = (-1*X) + TranslateX;
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Z = (-1*Z) + TranslateZ;
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} else
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{
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X = Xi + TranslateX;
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Z = (-1*Z) + TranslateZ;
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}
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RotateY();
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RotateX();
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RotateZ();
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if (leftLegorRight)
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{ // Right
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X = -1 * (X - TranslateX);
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Z = -1 * (Z - TranslateZ);
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} else
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{
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X -= TranslateX;
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Z = -1 * (Z - TranslateZ);
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}
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double a = (90 - degrees((float)(O1())));
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double b = (180 - degrees((float)(T1())));
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double c = degrees((float)(T3()));
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if ((a >= 15) & (a <= 165)
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& (b >= 15) & (b <= 165)
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& (c >= 15) & (c <= 165))
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{
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error = false;
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O1 = a;
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O2 = b;
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O3 = c;
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double d = sin((float)(b*(PI/180)));
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if ( d != 0 )
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X2 = d * l1;
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else
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X2 = 0;
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d = cos((float)(b*(PI/180)));
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if ( d != 0 )
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Y2 = d * l1;
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else
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Y2 = 0;
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d = sin((float)((a-90)*(PI/180)));
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if ( d != 0 )
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Z2 = d * abs((float)(X2));
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else
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Z2 = 0;
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} else
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{
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error = true;
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}
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}
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}
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