File size: 13,173 Bytes
09a6f7f |
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250 251 252 253 254 255 256 257 258 259 260 261 262 263 264 265 266 267 268 269 270 271 272 273 274 275 276 277 278 279 280 281 282 283 284 285 286 287 288 289 290 291 292 293 |
const CHIMP_SPEED_HIP = 4;
const CHIMP_SPEED_KNEE = 6;
const CHIMP_SPEED_HAND = 8;
/**
* @classdesc Chimpanzee morphology.
*/
class ClimbingProfileChimpanzee extends ClimberAbstractBody {
/**
* @constructor
* @param scale {number} - Scale of the environment
* @param motors_torque {number}
* @param nb_steps_under_water {number}
*/
constructor(scale, motors_torque=100, nb_steps_under_water=600){
super(scale, motors_torque, nb_steps_under_water);
this.LEG_DOWN = 12 / this.SCALE;
this.ARM_UP = 22 / this.SCALE;
this.LIMB_W = 8 / this.SCALE;
this.LIMB_H = 28 / this.SCALE;
this.HAND_PART_W = 4 / this.SCALE;
this.HAND_PART_H = 8 / this.SCALE;
this.LEG_H = this.LIMB_H;
this.TORQUE_PENALTY = 0.00035 / 5; // Legs + arms + hands
this.BODY_HEIGHT = 45;
this.HEAD_HEIGHT = 20;
this.HEAD_UP = 2.5 / this.SCALE; // formerly 0.2
this.AGENT_WIDTH = 24 / this.SCALE;
this.AGENT_HEIGHT = this.BODY_HEIGHT / this.SCALE
+ this.HEAD_HEIGHT / this.SCALE
+ this.HEAD_UP + this.LEG_H * 2
- this.LEG_DOWN;
this.AGENT_CENTER_HEIGHT = this.LEG_H * 2 + this.LEG_DOWN;
this.remove_reward_on_head_angle = true;
}
draw(world, init_x, init_y, force_to_center){
// Head
let head_fd = new b2.FixtureDef();
head_fd.shape = new b2.PolygonShape();
head_fd.shape.SetAsBox(5 / this.SCALE, 10 / this.SCALE);
/*head_fd.shape.Set([
new b2.Vec2(-5 / this.SCALE, 10 / this.SCALE),
new b2.Vec2(5 / this.SCALE, 10 / this.SCALE),
new b2.Vec2(5 / this.SCALE, -10 / this.SCALE),
new b2.Vec2(-5 / this.SCALE, -10 / this.SCALE),
], 4);*/
head_fd.density = 5.0;
head_fd.friction = 0.1;
head_fd.filter.categoryBits = 0x20;
head_fd.filter.maskBits = 0x1;
let head_bd = new b2.BodyDef();
head_bd.type = b2.Body.b2_dynamicBody;
head_bd.position.Set(init_x,
init_y + this.BODY_HEIGHT / this.SCALE / 2 + this.HEAD_HEIGHT / this.SCALE / 2 + this.HEAD_UP);
let head = world.CreateBody(head_bd);
head.CreateFixture(head_fd);
head.color1 = "#806682"; // [0.5, 0.4, 0.9]
head.color2 = "#4D4D80";
head.ApplyForceToCenter(new b2.Vec2(force_to_center, 0), true);
head.SetUserData(new CustomBodyUserData(true, true, "head"));
this.body_parts.push(head);
this.reference_head_object = head;
// Body
let body_fd = new b2.FixtureDef();
body_fd.shape = new b2.PolygonShape();
body_fd.shape.Set([
new b2.Vec2(-12 / this.SCALE, 25 / this.SCALE),
new b2.Vec2(12 / this.SCALE, 25 / this.SCALE),
new b2.Vec2(8 / this.SCALE, -20 / this.SCALE),
new b2.Vec2(-8 / this.SCALE, -20 / this.SCALE),
], 4);
body_fd.density = 5.0;
body_fd.friction = 0.1;
body_fd.filter.categoryBits = 0x20;
body_fd.filter.maskBits = 0x1; // collide only with ground
let body_bd = new b2.BodyDef();
body_bd.type = b2.Body.b2_dynamicBody;
body_bd.position.Set(init_x, init_y);
let body = world.CreateBody(body_bd);
body.CreateFixture(body_fd);
body.color1 = "#806682"; // [0.5, 0.4, 0.9]
body.color2 = "#4D4D80"; // [0.3, 0.3, 0.5]
body.SetUserData(new CustomBodyUserData(true, true, "body"));
this.body_parts.push(body);
// Revolute joint between head and body
let rjd = new b2.RevoluteJointDef();
rjd.Initialize(head, body, new b2.Vec2(init_x, init_y + this.BODY_HEIGHT / this.SCALE / 2));
rjd.enableMotor = false;
rjd.enableLimit = true;
rjd.lowerAngle = -0.1 * Math.PI;
rjd.upperAngle = 0.1 * Math.PI;
let joint_motor = world.CreateJoint(rjd);
joint_motor.SetUserData(new CustomMotorUserData("neck", 0, false));
this.neck_joint = joint_motor;
// Limbs FixtureDef
let UPPER_LIMB_FD = new b2.FixtureDef();
UPPER_LIMB_FD.shape = new b2.PolygonShape();
UPPER_LIMB_FD.shape.SetAsBox(this.LIMB_W / 2, this.LIMB_H / 2);
UPPER_LIMB_FD.density = 1.0;
UPPER_LIMB_FD.restitution = 0;
UPPER_LIMB_FD.filter.categoryBits = 0x20;
UPPER_LIMB_FD.filter.maskBits = 0x1;
let LOWER_LIMB_FD = new b2.FixtureDef();
LOWER_LIMB_FD.shape = new b2.PolygonShape();
LOWER_LIMB_FD.shape.SetAsBox(0.8 * this.LIMB_W / 2, this.LIMB_H / 2);
LOWER_LIMB_FD.density = 1.0;
LOWER_LIMB_FD.restitution = 0;
LOWER_LIMB_FD.filter.categoryBits = 0x20;
LOWER_LIMB_FD.filter.maskBits = 0x1;
let HAND_PART_FD = new b2.FixtureDef();
HAND_PART_FD.shape = new b2.PolygonShape();
HAND_PART_FD.shape.SetAsBox(this.HAND_PART_W / 2, this.HAND_PART_H / 2);
HAND_PART_FD.density = 1.0;
HAND_PART_FD.restitution = 0;
HAND_PART_FD.filter.categoryBits = 0x20;
HAND_PART_FD.filter.maskBits = 0x1;
// Legs
for(let i = 0; i < 2; i++){
// Upper leg
let upper_bd = new b2.BodyDef();
upper_bd.type = b2.Body.b2_dynamicBody;
upper_bd.position.Set(init_x, init_y - this.LIMB_H / 2 - this.LEG_DOWN);
let upper = world.CreateBody(upper_bd);
upper.CreateFixture(UPPER_LIMB_FD);
upper.color1 = "#964A7D"; // [0.59, 0.29, 0.49]
upper.color2 = "#63304A"; // [0.39, 0.19, 0.29]
upper.SetUserData(new CustomBodyUserData(false, false, "upper_leg"));
this.body_parts.push(upper);
// Revolute joint between body and upper leg
rjd = new b2.RevoluteJointDef();
rjd.Initialize(body, upper, new b2.Vec2(init_x, init_y - this.LEG_DOWN));
rjd.enableMotor = true;
rjd.enableLimit = true;
rjd.maxMotorTorque = this.MOTORS_TORQUE;
rjd.motorSpeed = 1;
rjd.lowerAngle = -0.3 * Math.PI;
rjd.upperAngle = 0.6 * Math.PI;
joint_motor = world.CreateJoint(rjd);
joint_motor.SetUserData(new CustomMotorUserData("hip", CHIMP_SPEED_HIP, false));
this.motors.push(joint_motor);
// Lower leg
let lower_bd = new b2.BodyDef();
lower_bd.type = b2.Body.b2_dynamicBody;
lower_bd.position.Set(init_x, init_y - this.LIMB_H * 3/2 - this.LEG_DOWN);
let lower = world.CreateBody(lower_bd);
lower.CreateFixture(LOWER_LIMB_FD);
lower.color1 = "#964A7D"; // [0.59, 0.29, 0.49]
lower.color2 = "#63304A"; // [0.39, 0.19, 0.29]
lower.SetUserData(new CustomBodyUserData(true, true, "lower_leg"));
this.body_parts.push(lower);
// Revolute joint between upper and lower leg
rjd = new b2.RevoluteJointDef();
rjd.Initialize(upper, lower, new b2.Vec2(init_x, init_y - this.LEG_H - this.LEG_DOWN));
rjd.enableMotor = true;
rjd.enableLimit = true;
rjd.maxMotorTorque = this.MOTORS_TORQUE;
rjd.motorSpeed = 1;
rjd.lowerAngle = -0.75 * Math.PI;
rjd.upperAngle = -0.1;
joint_motor = world.CreateJoint(rjd);
joint_motor.SetUserData(new CustomMotorUserData("knee",
CHIMP_SPEED_KNEE,
true,
1,
lower));
this.motors.push(joint_motor);
}
// Arms
for(let i = 0; i < 2; i++){
// Upper arm
let upper_bd = new b2.BodyDef();
upper_bd.type = b2.Body.b2_dynamicBody;
upper_bd.position.Set(init_x, init_y + this.LIMB_H / 2 + this.ARM_UP);
let upper = world.CreateBody(upper_bd);
upper.CreateFixture(UPPER_LIMB_FD);
upper.color1 = "#9C4F82"; // [0.61, 0.31, 0.51]
upper.color2 = "#69364F"; // [0.41, 0.21, 0.31]
upper.SetUserData(new CustomBodyUserData(false, false, "upper_arm"));
this.body_parts.push(upper);
// Revolute joint between body and upper arm
rjd = new b2.RevoluteJointDef();
rjd.Initialize(body, upper, new b2.Vec2(init_x, init_y + this.ARM_UP));
rjd.enableMotor = true;
rjd.enableLimit = true;
rjd.maxMotorTorque = this.MOTORS_TORQUE;
rjd.motorSpeed = 1;
rjd.lowerAngle = -0.75 * 2 * Math.PI;
rjd.upperAngle = 0;
joint_motor = world.CreateJoint(rjd);
joint_motor.SetUserData(new CustomMotorUserData("shoulder", CHIMP_SPEED_HIP, false));
this.motors.push(joint_motor);
// Lower arm
let lower_bd = new b2.BodyDef();
lower_bd.type = b2.Body.b2_dynamicBody;
lower_bd.position.Set(init_x, init_y + this.LIMB_H * 3/2 + this.ARM_UP);
let lower = world.CreateBody(lower_bd);
lower.CreateFixture(LOWER_LIMB_FD);
lower.color1 = "#9C4F82"; // [0.61, 0.31, 0.51]
lower.color2 = "#69364F"; // [0.41, 0.21, 0.31]
lower.SetUserData(new CustomBodyUserData(false, false, "lower_arm"));
this.body_parts.push(lower);
// Revolute joint between upper arm and lower arm
rjd = new b2.RevoluteJointDef();
rjd.Initialize(upper, lower, new b2.Vec2(init_x, init_y + this.LIMB_H + this.ARM_UP));
rjd.enableMotor = true;
rjd.enableLimit = true;
rjd.maxMotorTorque = this.MOTORS_TORQUE;
rjd.motorSpeed = 1;
rjd.lowerAngle = 0;
rjd.upperAngle = 0.75 * Math.PI;
joint_motor = world.CreateJoint(rjd);
joint_motor.SetUserData(new CustomMotorUserData("elbow",
CHIMP_SPEED_HIP,
false));
this.motors.push(joint_motor);
// Hand
let prev_part = lower;
let initial_y = init_y + this.LIMB_H * 2 + this.ARM_UP;
let angle_boundaries = [[-0.5, 0.5]];
let nb_hand_parts = 1;
for(let u = 0; u < nb_hand_parts; u++){
let hand_part_bd = new b2.BodyDef();
hand_part_bd.type = b2.Body.b2_dynamicBody;
hand_part_bd.position.Set(init_x, initial_y + this.HAND_PART_H / 2 + this.HAND_PART_H * u);
let hand_part = world.CreateBody(hand_part_bd);
hand_part.CreateFixture(HAND_PART_FD);
hand_part.color1 = "#9C4F82"; // [0.61, 0.31, 0.51]
hand_part.color2 = "#69364F"; // [0.41, 0.21, 0.31]
hand_part.SetUserData(new CustomBodyUserData(true, false, "hand"));
this.body_parts.push(hand_part);
// Revolute joint between prev_part and hand_part
rjd = new b2.RevoluteJointDef();
rjd.Initialize(prev_part, hand_part, new b2.Vec2(init_x, initial_y + this.HAND_PART_H * u));
rjd.enableMotor = true;
rjd.enableLimit = true;
rjd.maxMotorTorque = this.MOTORS_TORQUE;
rjd.motorSpeed = 1;
rjd.lowerAngle = angle_boundaries[u][0] * Math.PI;
rjd.upperAngle = angle_boundaries[u][1] * Math.PI;
joint_motor = world.CreateJoint(rjd);
joint_motor.SetUserData(new CustomMotorUserData("hand",
CHIMP_SPEED_HAND,
true,
0,
hand_part));
this.motors.push(joint_motor);
prev_part = hand_part;
}
// Sensor
let hand_sensor_position = new b2.Vec2(init_x, initial_y + this.HAND_PART_H * nb_hand_parts);
let hand_sensor_part_bd = new b2.BodyDef();
hand_sensor_part_bd.type = b2.Body.b2_dynamicBody;
hand_sensor_part_bd.position.Assign(hand_sensor_position);
let hand_sensor_part = world.CreateBody(hand_sensor_part_bd);
hand_sensor_part.CreateFixture(this.SENSOR_FD);
hand_sensor_part.color1 = "#FF0000"; // [1, 0, 0]
hand_sensor_part.color2 = "#FF0000"; // [1, 0, 0]
hand_sensor_part.SetUserData(new CustomBodySensorUserData(true, false, "hand_sensor"));
this.sensors.push(hand_sensor_part);
let wjd = new b2.WeldJointDef();
wjd.Initialize(prev_part, hand_sensor_part, hand_sensor_position);
world.CreateJoint(wjd);
}
}
} |