Baseball Pitcher

right-handed

by Alvin Chen

HTML

<div id="info">
  Right Handed Pitcher
  <br>
  <br> ( generic CCD Solver )
</div>

<script src="https://cdnjs.cloudflare.com/ajax/libs/three.js/r76/three.min.js"></script>
<script src="https://threejs.org/examples/js/controls/OrbitControls.js"></script>
<script src="https://rawgit.com/jyunming-chen/game3js/master/js/ccdbox.js"></script>

CSS

body {
	  background-color: #fff;
	  color: #111;
	  margin: 0px;
	  overflow: hidden;
	  font-family: Monospace;
	  font-size: 20px;
	}
	
	#info {
	  position: absolute;
	  top: 0px;
	  width: 100%;
	  padding: 5px;
	  text-align: center;
	  color: #ffff00
	}
	
	a {
	  color: #00ffff
	}
	
	strong {
	  color: red
	}
	
	#container {
	  z-index: 0;
	  left: 0px;
	  top: 0px;
	  overflow: hidden;
	  position: absolute;
	  width: 100%;
	  height: 100%;
	}

JavaScript

var scene, renderer, camera;
var controls;
var lowerArm, upperArm;
var clock = new THREE.Clock();
var clock2 = new THREE.Clock();
var gcontrols;
var theta = [];
var theta0 = 0, theta1 = 0,theta2 = 0,theta3 = 0;

var tsphere;
var dt = 0;
var dt2 = 0;
var getPoint = new THREE.Vector3(0,0,0);
var getPoint2 = new THREE.Vector3(0,0,0);
var axes = [];
var joints = [];
var sign = 1;
var zz = 0;
var v0= new THREE.Vector3(0,0,0);
var force =new THREE.Vector3(0,0,0);
var vel2 =new THREE.Vector3(0,0,0);
var isCheck = false;
var isFirst = true;
var release = false;

  vel = new THREE.Vector3(0, 0, 0); 
  gravity = new THREE.Vector3(0, -98, 0);
  pos = new THREE.Vector3 (-60, 120, 31); 

init();
animate();

////////////////////////////////////////////////////////
// forward kinematics
function fk(q, joints) {
  // joint[0]: torso base
  // joint[1]: shoulder
  // joint[2]: elbow
  // joint[3]: hand
  //	joints[0] = new THREE.Vector3(0,0,0);
  var m = new THREE.Matrix4();

  // from home plate
  var localzero = new THREE.Vector3(0, 0, 0);
  m.makeTranslation(0, 0, -35);
  localzero.applyMatrix4(m);
  joints[0].copy(localzero);
  //console.log (joints[0]);
  
  m.multiply(new THREE.Matrix4().makeRotationY(q[0]));
  m.multiply(new THREE.Matrix4().makeTranslation(-25, 100, 0));
  localzero.applyMatrix4(m);
  joints[1].copy(localzero);

  m.multiply (new THREE.Matrix4().makeRotationZ(q[1]));
  m.multiply(new THREE.Matrix4().makeRotationX(q[2]));
  m.multiply(new THREE.Matrix4().makeTranslation(0, -40, 0));
  localzero.set(0, 0, 0);
  localzero.applyMatrix4(m);
  joints[2].copy(localzero);

  m.multiply(new THREE.Matrix4().makeRotationX(q[3]));
  m.multiply(new THREE.Matrix4().makeTranslation(0, -60, 0));
  localzero.set(0, 0, 0);
  localzero.applyMatrix4(m);
  joints[3].copy(localzero);
}

/////////////////////////////////////////////////////////////
// joint axis setup
//
function setarm() {
	var axis = new CCD_axis(new THREE.Vector3(0, 1, 0), 0);
  axis.limits = new...