QuickBox2D Floating Walker

Actionscript:
  1. import com.actionsnippet.qbox.*;
  2. import Box2D.Common.Math.*;
  3. import Box2D.Dynamics.Joints.*;
  4.  
  5. [SWF (backgroundColor=0x000000, width=700, height=600, frameRate=60)]
  6.  
  7. var sim:QuickBox2D = new QuickBox2D(this, {gravityY:.2});
  8.  
  9. sim.setDefault({fillColor:0xEFEFEF, fillAlpha:0.5, lineColor:0xFFFFFF});
  10.  
  11. sim.createStageWalls();
  12.  
  13. for (var i:int = 0; i<20; i++){
  14.     sim.addCircle({x:1+i, y:1, radius:0.2, restitution:1});
  15. }
  16.  
  17. var head:QuickObject = sim.addCircle({x:0, y:0, radius:0.5});
  18. var neck:QuickObject = sim.addBox({x:0, y:1, width:0.5, height:2});
  19. var top:QuickObject = sim.addGroup({objects:[head, neck], x:10, y:5, fixedRotation:true});
  20.  
  21. var upperLegA:QuickObject = sim.addBox({x:10, y:7.5, width:0.25, height:1.5,groupIndex:-2});
  22. var lowerLegA:QuickObject = sim.addBox({x:10, y:9, width:0.25, height:1.5,groupIndex:-2});
  23.  
  24. var upperLegB:QuickObject = sim.addBox({x:10, y:7.5, width:0.25, height:1.5,groupIndex:-2});
  25. var lowerLegB:QuickObject = sim.addBox({x:10, y:9, width:0.25, height:1.5,groupIndex:-2});
  26.  
  27. var anchor:b2Vec2 = new b2Vec2();
  28. function connect(a:QuickObject, b:QuickObject, lower:Number, upper:Number, offX:Number=0, offY:Number = 0):QuickObject{
  29.      var min:Number = Math.min(a.y, b.y);
  30.      var max:Number = Math.max(a.y, b.y);
  31.      anchor.y = min + (max - min) * 0.5 + offY;
  32.      min = Math.min(a.x, b.x);
  33.      max = Math.max(a.x, b.x);
  34.      anchor.x = min + (max - min) * 0.5 + offX;
  35.      return sim.addJoint({a:a.body, b:b.body, x1:anchor.x, y1:anchor.y, lowerAngle:lower, upperAngle:upper});
  36. }
  37.  
  38. sim.setDefault({type:"revolute", collideConnected:false, enableLimit:true, enableMotor:true, maxMotorTorque:250, lineColor:0xFFFFFF});
  39.  
  40. var upperLegAJoint:QuickObject = connect(top, upperLegA, -1, 1, 0, 0.8);
  41. var upperLegBJoint:QuickObject = connect(top, upperLegB, -1, 1, 0, 0.8);
  42.  
  43. var lowerLegAJoint:QuickObject = connect(upperLegA, lowerLegA, -1, 1);
  44. var lowerLegBJoint:QuickObject = connect(upperLegB, lowerLegB, -1, 1);
  45.  
  46. sim.start();
  47. sim.mouseDrag();
  48.  
  49.  
  50. var j:b2RevoluteJoint;
  51. var t:Number = -Math.PI * 0.5;
  52. addEventListener(Event.ENTER_FRAME, onLoop);
  53. function onLoop(evt:Event):void {
  54.    
  55.     var s1:Number = 1*Math.sin(t);
  56.     var s2:Number = 1*Math.sin(t+Math.PI);
  57.     t+= 0.05;
  58.    
  59.     top.body.SetAngularVelocity(s1 * 0.25);
  60.    
  61.     j =  upperLegAJoint.joint as b2RevoluteJoint;
  62.     j.SetMotorSpeed(s1);
  63.    
  64.     j =  upperLegBJoint.joint as b2RevoluteJoint;
  65.     j.SetMotorSpeed(s2);
  66.      
  67.     j = lowerLegAJoint.joint as b2RevoluteJoint;
  68.     j.SetMotorSpeed(-s2);
  69.    
  70.     j = lowerLegBJoint.joint as b2RevoluteJoint;
  71.     j.SetMotorSpeed(-s1);
  72. }

Experimenting with primitive robot designs... this was just an improvised design - it looks like it may make sense to break out a pencil and some paper - or my wacom... to get something interesting...


Have a look at the swf...


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