biped

with orbitControls, XZgrid, info

by Millieyan

HTML

<div id="info">biped walking
</div>
<script src="https://cdnjs.cloudflare.com/ajax/libs/three.js/84/three.min.js"></script>
<script src="https://threejs.org/examples/js/controls/OrbitControls.js">
</script>
<script src="https://jyunming-chen.github.io/game3js/js/ccdsys.js"></script>

CSS

#info {
  position: absolute;
  top: 0px;
  width: 100%;
  padding: 10px;
  text-align: center;
  color: #ffff00
}

body {
  overflow: hidden;
}

JavaScript

class  biped{
constructor(){
this.theta1=0;
this.theta2=0;
}
  init() {
		let body = new THREE.Object3D();
		let mat = new THREE.MeshNormalMaterial();
  
  	this.thigh = new THREE.Object3D();
  	let thighMesh = new THREE.Mesh (new THREE.BoxGeometry(1, L2, 1), mat)
  	this.thigh.add (thighMesh)
  	thighMesh.position.y = -L2/2
  
  	this.leg = new THREE.Object3D()
  	let legMesh = new THREE.Mesh (new THREE.BoxGeometry(1, L1, 1), mat)
  	this.leg.add (legMesh)
  	legMesh.position.y = -L1/2
  	this.leg.position.y = -L2
  
  	this.torso = new THREE.Object3D();
  	let torsoMesh = new THREE.Mesh (new THREE.BoxGeometry(1, Lh, 1), mat)
  	this.torso.add (torsoMesh)
  	torsoMesh.position.y = Lh/2
  
  	body.add (this.torso)
  	body.add (this.thigh)
  	this.thigh.add (this.leg)
  	return body;
	}
  
  update(theta) {
  console.log (theta)
  	this.thetaGroin = theta[0]
    this.thetaKnee = theta[1]
  
    this.thigh.rotation.z = this.thetaGroin
    this.leg.rotation.z = this.thetaKnee;  
  }


}

var camera, scene, renderer;
const LS = 5.3
const L2 = 5.2
const L1 = 4.8
const Lh = 3.3
const Hh = 8.3
const Fc=1.0
var body;
var clock = new THREE.Clock();
var Ts=clock.getElapsedTime();

init();
animate();

function fk (theta, joints) {  // all memory assumed in place
  joints[0].set (0,0,0);
  
  var localzero = new THREE.Vector3(0, 0, 0);
  var m = new THREE.Matrix4();
  m.makeRotationZ(theta[0]);
  m.multiply(new THREE.Matrix4().makeTranslation(0, -L2, 0));
  localzero.applyMatrix4(m);
  joints[1].copy(localzero);

  localzero.set(0, 0, 0);
  m.multiply(new THREE.Matrix4().makeRotationZ(theta[1]));
  m.multiply(new THREE.Matrix4().makeTranslation(0, -L1, 0));
  localzero.applyMatrix4(m);
  joints[2].copy(localzero);
}

function init() {
  scene = new THREE.Scene();

  camera = new THREE.PerspectiveCamera(50, window.innerWidth / window.innerHeight, 1, 1000);
  camera.position.z = 50;

  var gridXZ = new THREE.GridHelper(200, 20, 'red', 'white');
  scene.add(gridXZ);

  renderer...