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HULL_POLYGONS = [
[[-30, +9], [+6, +9], [+34, +1], [+34, -8], [-30, -8]]
];
HULL_BOTTOM_WIDTH = 64;
SPEED_HIP = 4;
SPEED_KNEE = 6;
class OldClassicBipedalBody extends WalkerAbstractBody{
constructor(scale, nb_steps_under_water=600, reset_on_hull_critical_contact=true){
super(scale, 80, nb_steps_under_water);
this.LEG_DOWN = -8 / this.SCALE; // 0 = center of hull
this.LEG_W = 8 / this.SCALE;
this.LEG_H = 34 / this.SCALE;
this.TORQUE_PENALTY = 0.00035;
this.reset_on_hull_critical_contact = reset_on_hull_critical_contact;
// Approximative...
this.AGENT_WIDTH = HULL_BOTTOM_WIDTH / this.SCALE;
this.AGENT_HEIGHT = 17 / this.SCALE + this.LEG_H * 2 - this.LEG_DOWN + 0.5;
this.AGENT_CENTER_HEIGHT = this.LEG_H * 2 + this.LEG_DOWN + 0.5;
this.old_morphology = true;
this.body_parts = [];
this.nb_motors = 4;
this.motors = [];
this.state_size = this.nb_motors * 2 + 2;
}
draw(world, init_x, init_y, force_to_center){
let HULL_FIXTURES = [];
let fd_polygon;
let vertices;
let y_offset = 0//10/this.SCALE;
for(let polygon of HULL_POLYGONS){
fd_polygon = new b2.FixtureDef();
fd_polygon.shape = new b2.PolygonShape();
vertices = [];
for(let vertex of polygon){
vertices.push(new b2.Vec2(vertex[0] / this.SCALE, vertex[1] / this.SCALE));
}
fd_polygon.shape.Set(vertices, polygon.length);
fd_polygon.density = 5.0;
fd_polygon.friction = 0.1;
fd_polygon.filter.categoryBits = 0x20;
fd_polygon.filter.maskBits = 0x000F; // 0.99 bouncy
HULL_FIXTURES.push(fd_polygon);
}
let LEG_FD = new b2.FixtureDef();
LEG_FD.shape = new b2.PolygonShape();
LEG_FD.shape.SetAsBox(this.LEG_W / 2, this.LEG_H / 2);
LEG_FD.density = 1.0;
LEG_FD.restitution = 0.0;
LEG_FD.filter.categoryBits = 0x20;
LEG_FD.filter.maskBits = 0x000F;
let LOWER_FD = new b2.FixtureDef();
LOWER_FD.shape = new b2.PolygonShape();
LOWER_FD.shape.SetAsBox(0.8 * this.LEG_W / 2, this.LEG_H / 2);
LOWER_FD.density = 1.0;
LOWER_FD.restitution = 0.0;
LOWER_FD.filter.categoryBits = 0x20;
LOWER_FD.filter.maskBits = 0x000F;
let hull_bd = new b2.BodyDef();
hull_bd.type = b2.Body.b2_dynamicBody;
hull_bd.position.Set(init_x, init_y + y_offset);
let hull = world.CreateBody(hull_bd);
for(let fd of HULL_FIXTURES){
hull.CreateFixture(fd);
}
hull.color1 = "#806682"; // [0.5, 0.4, 0.9]
hull.color2 = "#4D4D80"; // [0.3, 0.3, 0.5]
//hull.ApplyForceToCenter(new b2.Vec2(force_to_center, 0), true);
hull.SetUserData(new CustomBodyUserData(true, this.reset_on_hull_critical_contact, "hull"));
this.body_parts.push(hull);
this.reference_head_object = hull;
// Leg and lower bodies and joints
for(let i of [-1, +1]){
// Leg body
let leg_bd = new b2.BodyDef();
leg_bd.type = b2.Body.b2_dynamicBody;
leg_bd.position.Set(init_x, init_y - this.LEG_H / 2 - this.LEG_DOWN + y_offset);
leg_bd.angle = i * 0.05; // 2°
let leg = world.CreateBody(leg_bd);
leg.CreateFixture(LEG_FD);
leg.color1 = i == -1 ? "#9C4F82" : "#964A7D"; // [0.61, 0.31, 0.51] : [0.59, 0.29, 0.49]
leg.color2 = i == -1 ? "#69364F" : "#63304A"; // [0.41, 0.21, 0.31] : [0.39, 0.19, 0.29]
leg.SetUserData(new CustomBodyUserData(false, false,"leg"));
this.body_parts.push(leg);
// Leg joint motor
let leg_rjd = new b2.RevoluteJointDef();
leg_rjd.Initialize(hull, leg, new b2.Vec2(init_x, init_y - this.LEG_DOWN + y_offset));
leg_rjd.localAnchorA = new b2.Vec2(0, this.LEG_DOWN);
leg_rjd.localAnchorB = new b2.Vec2(0, this.LEG_H / 2);
leg_rjd.enableMotor = true;
leg_rjd.enableLimit = true;
leg_rjd.maxMotorTorque = this.MOTORS_TORQUE;
leg_rjd.motorSpeed = i;
leg_rjd.lowerAngle = - 0.8;
leg_rjd.upperAngle = 1.1;
let joint_motor = world.CreateJoint(leg_rjd);
joint_motor.SetUserData(new CustomMotorUserData("hip", SPEED_HIP, false));
this.motors.push(joint_motor);
// lower body
let lower_bd = new b2.BodyDef();
lower_bd.type = b2.Body.b2_dynamicBody;
lower_bd.position.Set(init_x, init_y - this.LEG_H * 3 / 2 - this.LEG_DOWN + y_offset);
lower_bd.angle = i * 0.05; // 2°
let lower = world.CreateBody(lower_bd);
lower.CreateFixture(LOWER_FD);
lower.color1 = i == -1 ? "#9C4F82" : "#964A7D"; // [0.61, 0.31, 0.51] : [0.59, 0.29, 0.49]
lower.color2 = i == -1 ? "#69364F" : "#63304A"; // [0.41, 0.21, 0.31] : [0.39, 0.19, 0.29]
lower.SetUserData(new CustomBodyUserData(true, false,"lower"));
this.body_parts.push(lower);
// lower joint motor
let lower_rjd = new b2.RevoluteJointDef();
lower_rjd.Initialize(leg, lower, new b2.Vec2(init_x, init_y - this.LEG_DOWN - this.LEG_H + y_offset));
lower_rjd.localAnchorA = new b2.Vec2(0, - this.LEG_H / 2);
lower_rjd.localAnchorB = new b2.Vec2(0, this.LEG_H / 2);
lower_rjd.enableMotor = true;
lower_rjd.enableLimit = true;
lower_rjd.maxMotorTorque = this.MOTORS_TORQUE;
lower_rjd.motorSpeed = 1;
lower_rjd.lowerAngle = - 1.6;
lower_rjd.upperAngle = -0.1;
joint_motor = world.CreateJoint(lower_rjd);
joint_motor.SetUserData(new CustomMotorUserData("knee", SPEED_KNEE, true, 1.0, lower));
this.motors.push(joint_motor);
}
}
} |