mirror of
https://github.com/logsol/chuck.js.git
synced 2026-05-11 10:37:34 +00:00
improving rube doll flipping behaviour and positioning
This commit is contained in:
logsol
parent
ec7ce459cb
commit
6d8609b475
11 changed files with 383 additions and 360 deletions
|
|
@ -23,17 +23,17 @@
|
||||||
{
|
{
|
||||||
"x" :
|
"x" :
|
||||||
[
|
[
|
||||||
0.04692991077899933,
|
0.04692989960312843,
|
||||||
0.04692991077899933,
|
0.04692989960312843,
|
||||||
-0.04692997038364410,
|
-0.04693000018596649,
|
||||||
-0.04692997038364410
|
-0.04693000018596649
|
||||||
],
|
],
|
||||||
"y" :
|
"y" :
|
||||||
[
|
[
|
||||||
-0.1895973682403564,
|
-0.1895969957113266,
|
||||||
0.1895966529846191,
|
0.1895969957113266,
|
||||||
0.1895966529846191,
|
0.1895969957113266,
|
||||||
-0.1895973682403564
|
-0.1895969957113266
|
||||||
]
|
]
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
@ -43,15 +43,15 @@
|
||||||
"massData-I" : 0.0004525936674326658,
|
"massData-I" : 0.0004525936674326658,
|
||||||
"massData-center" :
|
"massData-center" :
|
||||||
{
|
{
|
||||||
"x" : -2.980232238769531e-08,
|
"x" : -5.029141902923584e-08,
|
||||||
"y" : -3.576278686523438e-07
|
"y" : 0
|
||||||
},
|
},
|
||||||
"massData-mass" : 0.03559110686182976,
|
"massData-mass" : 0.03559110686182976,
|
||||||
"name" : "upperLeftArm",
|
"name" : "upperLeftArm",
|
||||||
"position" :
|
"position" :
|
||||||
{
|
{
|
||||||
"x" : -0.1165364086627960,
|
"x" : -0.1165359988808632,
|
||||||
"y" : 0.9012566804885864
|
"y" : 0.9012569785118103
|
||||||
},
|
},
|
||||||
"type" : 2
|
"type" : 2
|
||||||
},
|
},
|
||||||
|
|
@ -74,35 +74,35 @@
|
||||||
{
|
{
|
||||||
"x" :
|
"x" :
|
||||||
[
|
[
|
||||||
0.1570899933576584,
|
0.1366278976202011,
|
||||||
0.1570899933576584,
|
0.1366278976202011,
|
||||||
-0.1156369969248772,
|
-0.1360991001129150,
|
||||||
-0.1156369969248772
|
-0.1360991001129150
|
||||||
],
|
],
|
||||||
"y" :
|
"y" :
|
||||||
[
|
[
|
||||||
-0.3584159910678864,
|
-0.3788780868053436,
|
||||||
0.4034900069236755,
|
0.3830279111862183,
|
||||||
0.4034900069236755,
|
0.3830279111862183,
|
||||||
-0.3584159910678864
|
-0.3788780868053436
|
||||||
]
|
]
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
],
|
],
|
||||||
"linearVelocity" : 0,
|
"linearVelocity" : 0,
|
||||||
"massData-I" : 0.01153474114835262,
|
"massData-I" : 0.01134084537625313,
|
||||||
"massData-center" :
|
"massData-center" :
|
||||||
{
|
{
|
||||||
"x" : 0.02072649449110031,
|
"x" : 0.0002643987536430359,
|
||||||
"y" : 0.02253700792789459
|
"y" : 0.002074912190437317
|
||||||
},
|
},
|
||||||
"massData-mass" : 0.2077923268079758,
|
"massData-mass" : 0.2077923566102982,
|
||||||
"name" : "chest",
|
"name" : "chest",
|
||||||
"position" :
|
"position" :
|
||||||
{
|
{
|
||||||
"x" : -0.02137973159551620,
|
"x" : 0.0007875636219978333,
|
||||||
"y" : 0.7773683071136475
|
"y" : 0.7995355725288391
|
||||||
},
|
},
|
||||||
"type" : 2
|
"type" : 2
|
||||||
},
|
},
|
||||||
|
|
@ -216,35 +216,35 @@
|
||||||
{
|
{
|
||||||
"x" :
|
"x" :
|
||||||
[
|
[
|
||||||
0.07039503753185272,
|
0.07039500027894974,
|
||||||
0.07039503753185272,
|
0.07039500027894974,
|
||||||
-0.07039495557546616,
|
-0.07039500027894974,
|
||||||
-0.07039495557546616
|
-0.07039500027894974
|
||||||
],
|
],
|
||||||
"y" :
|
"y" :
|
||||||
[
|
[
|
||||||
-0.09294363856315613,
|
-0.09294360131025314,
|
||||||
0.1277718394994736,
|
0.1277720034122467,
|
||||||
0.1277718394994736,
|
0.1277720034122467,
|
||||||
-0.09294363856315613
|
-0.09294360131025314
|
||||||
]
|
]
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
],
|
],
|
||||||
"linearVelocity" : 0,
|
"linearVelocity" : 0,
|
||||||
"massData-I" : 0.0001869033440016210,
|
"massData-I" : 0.0001869037223514169,
|
||||||
"massData-center" :
|
"massData-center" :
|
||||||
{
|
{
|
||||||
"x" : 4.097818973036738e-08,
|
"x" : 0,
|
||||||
"y" : 0.01741409860551357
|
"y" : 0.01741420105099678
|
||||||
},
|
},
|
||||||
"massData-mass" : 0.03107452951371670,
|
"massData-mass" : 0.03107454814016819,
|
||||||
"name" : "lowerLeftLeg",
|
"name" : "lowerLeftLeg",
|
||||||
"position" :
|
"position" :
|
||||||
{
|
{
|
||||||
"x" : -0.04570891708135605,
|
"x" : -0.03829947486519814,
|
||||||
"y" : 0.09799571335315704
|
"y" : 0.09799569845199585
|
||||||
},
|
},
|
||||||
"type" : 2
|
"type" : 2
|
||||||
},
|
},
|
||||||
|
|
@ -320,33 +320,33 @@
|
||||||
[
|
[
|
||||||
0.04693000018596649,
|
0.04693000018596649,
|
||||||
0.04693000018596649,
|
0.04693000018596649,
|
||||||
-0.04693005979061127,
|
-0.04693010076880455,
|
||||||
-0.04693005979061127
|
-0.04693010076880455
|
||||||
],
|
],
|
||||||
"y" :
|
"y" :
|
||||||
[
|
[
|
||||||
-0.1895973682403564,
|
-0.1895969957113266,
|
||||||
0.1895966529846191,
|
0.1895969957113266,
|
||||||
0.1895966529846191,
|
0.1895969957113266,
|
||||||
-0.1895973682403564
|
-0.1895969957113266
|
||||||
]
|
]
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
],
|
],
|
||||||
"linearVelocity" : 0,
|
"linearVelocity" : 0,
|
||||||
"massData-I" : 0.0004525946278590709,
|
"massData-I" : 0.0004525947733782232,
|
||||||
"massData-center" :
|
"massData-center" :
|
||||||
{
|
{
|
||||||
"x" : -2.980232238769531e-08,
|
"x" : -5.029141902923584e-08,
|
||||||
"y" : -3.576278686523438e-07
|
"y" : 0
|
||||||
},
|
},
|
||||||
"massData-mass" : 0.03559117391705513,
|
"massData-mass" : 0.03559118881821632,
|
||||||
"name" : "upperRightArm",
|
"name" : "upperRightArm",
|
||||||
"position" :
|
"position" :
|
||||||
{
|
{
|
||||||
"x" : 0.1183081120252609,
|
"x" : 0.1183080002665520,
|
||||||
"y" : 0.9012566804885864
|
"y" : 0.9012569785118103
|
||||||
},
|
},
|
||||||
"type" : 2
|
"type" : 2
|
||||||
},
|
},
|
||||||
|
|
@ -396,8 +396,8 @@
|
||||||
"name" : "upperRightLeg",
|
"name" : "upperRightLeg",
|
||||||
"position" :
|
"position" :
|
||||||
{
|
{
|
||||||
"x" : 0.04785731062293053,
|
"x" : 0.03859551250934601,
|
||||||
"y" : 0.3325108885765076
|
"y" : 0.3325110077857971
|
||||||
},
|
},
|
||||||
"type" : 2
|
"type" : 2
|
||||||
},
|
},
|
||||||
|
|
@ -447,8 +447,8 @@
|
||||||
"name" : "upperLeftLeg",
|
"name" : "upperLeftLeg",
|
||||||
"position" :
|
"position" :
|
||||||
{
|
{
|
||||||
"x" : -0.04570891708135605,
|
"x" : -0.03829947486519814,
|
||||||
"y" : 0.3325108885765076
|
"y" : 0.3325110077857971
|
||||||
},
|
},
|
||||||
"type" : 2
|
"type" : 2
|
||||||
},
|
},
|
||||||
|
|
@ -471,16 +471,16 @@
|
||||||
{
|
{
|
||||||
"x" :
|
"x" :
|
||||||
[
|
[
|
||||||
0.07039496302604675,
|
0.07039500027894974,
|
||||||
0.07039496302604675,
|
0.07039500027894974,
|
||||||
-0.07039486616849899,
|
-0.07039490342140198,
|
||||||
-0.07039486616849899
|
-0.07039490342140198
|
||||||
],
|
],
|
||||||
"y" :
|
"y" :
|
||||||
[
|
[
|
||||||
-0.09294389933347702,
|
-0.09294389933347702,
|
||||||
0.1276105940341949,
|
0.1276109963655472,
|
||||||
0.1276105940341949,
|
0.1276109963655472,
|
||||||
-0.09294389933347702
|
-0.09294389933347702
|
||||||
]
|
]
|
||||||
}
|
}
|
||||||
|
|
@ -488,18 +488,18 @@
|
||||||
}
|
}
|
||||||
],
|
],
|
||||||
"linearVelocity" : 0,
|
"linearVelocity" : 0,
|
||||||
"massData-I" : 0.0001864957448560745,
|
"massData-I" : 0.0001864968799054623,
|
||||||
"massData-center" :
|
"massData-center" :
|
||||||
{
|
{
|
||||||
"x" : 4.842877032729120e-08,
|
"x" : 4.842877032729120e-08,
|
||||||
"y" : 0.01733334921300411
|
"y" : 0.01733354665338993
|
||||||
},
|
},
|
||||||
"massData-mass" : 0.03105182945728302,
|
"massData-mass" : 0.03105190023779869,
|
||||||
"name" : "lowerRightLeg",
|
"name" : "lowerRightLeg",
|
||||||
"position" :
|
"position" :
|
||||||
{
|
{
|
||||||
"x" : 0.04785731062293053,
|
"x" : 0.03859551250934601,
|
||||||
"y" : 0.09799571335315704
|
"y" : 0.09799569845199585
|
||||||
},
|
},
|
||||||
"type" : 2
|
"type" : 2
|
||||||
}
|
}
|
||||||
|
|
@ -554,33 +554,183 @@
|
||||||
{
|
{
|
||||||
"anchorA" :
|
"anchorA" :
|
||||||
{
|
{
|
||||||
"x" : 0.02210754156112671,
|
"x" : 0.0003538504242897034,
|
||||||
"y" : 0.4607425928115845
|
"y" : 0.07107692956924438
|
||||||
},
|
},
|
||||||
"anchorB" :
|
"anchorB" :
|
||||||
{
|
{
|
||||||
"x" : -0.02544101513922215,
|
"x" : 0.0003536641597747803,
|
||||||
"y" : -0.2591779232025146
|
"y" : -0.1459649801254272
|
||||||
},
|
},
|
||||||
"bodyA" : 1,
|
"bodyA" : 3,
|
||||||
"bodyB" : 2,
|
"bodyB" : 6,
|
||||||
"enableLimit" : true,
|
"enableLimit" : true,
|
||||||
"enableMotor" : false,
|
"enableMotor" : false,
|
||||||
"jointSpeed" : 0,
|
"jointSpeed" : 0,
|
||||||
"lowerLimit" : -0.6981316804885864,
|
"lowerLimit" : 0.01745329238474369,
|
||||||
"maxMotorTorque" : 0,
|
"maxMotorTorque" : 1,
|
||||||
"motorSpeed" : 0,
|
"motorSpeed" : 0,
|
||||||
"name" : "joint9",
|
"name" : "joint1",
|
||||||
"refAngle" : 0,
|
"refAngle" : 0,
|
||||||
"type" : "revolute",
|
"type" : "revolute",
|
||||||
"upperLimit" : 1.221730470657349
|
"upperLimit" : 1.919862151145935
|
||||||
|
},
|
||||||
|
|
||||||
|
{
|
||||||
|
"anchorA" :
|
||||||
|
{
|
||||||
|
"x" : -0.0007802955806255341,
|
||||||
|
"y" : -0.1484909951686859
|
||||||
|
},
|
||||||
|
"anchorB" :
|
||||||
|
{
|
||||||
|
"x" : -0.0007801018655300140,
|
||||||
|
"y" : 0.08614099025726318
|
||||||
|
},
|
||||||
|
"bodyA" : 8,
|
||||||
|
"bodyB" : 4,
|
||||||
|
"enableLimit" : true,
|
||||||
|
"enableMotor" : false,
|
||||||
|
"jointSpeed" : 0,
|
||||||
|
"lowerLimit" : 0.01745329238474369,
|
||||||
|
"maxMotorTorque" : 1,
|
||||||
|
"motorSpeed" : 0,
|
||||||
|
"name" : "joint7",
|
||||||
|
"refAngle" : 0,
|
||||||
|
"type" : "revolute",
|
||||||
|
"upperLimit" : 2.443460941314697
|
||||||
|
},
|
||||||
|
|
||||||
|
{
|
||||||
|
"anchorA" :
|
||||||
|
{
|
||||||
|
"x" : -0.004979588091373444,
|
||||||
|
"y" : -0.1506859958171844
|
||||||
|
},
|
||||||
|
"anchorB" :
|
||||||
|
{
|
||||||
|
"x" : -0.005973689258098602,
|
||||||
|
"y" : 0.08482310175895691
|
||||||
|
},
|
||||||
|
"bodyA" : 7,
|
||||||
|
"bodyB" : 9,
|
||||||
|
"enableLimit" : true,
|
||||||
|
"enableMotor" : false,
|
||||||
|
"jointSpeed" : 0,
|
||||||
|
"lowerLimit" : 0.01745329238474369,
|
||||||
|
"maxMotorTorque" : 1,
|
||||||
|
"motorSpeed" : 0,
|
||||||
|
"name" : "joint8",
|
||||||
|
"refAngle" : 0,
|
||||||
|
"type" : "revolute",
|
||||||
|
"upperLimit" : 2.443460941314697
|
||||||
|
},
|
||||||
|
|
||||||
|
{
|
||||||
|
"anchorA" :
|
||||||
|
{
|
||||||
|
"x" : -0.06799955666065216,
|
||||||
|
"y" : -0.3021813035011292
|
||||||
|
},
|
||||||
|
"anchorB" :
|
||||||
|
{
|
||||||
|
"x" : -0.02891255542635918,
|
||||||
|
"y" : 0.1648437976837158
|
||||||
|
},
|
||||||
|
"bodyA" : 1,
|
||||||
|
"bodyB" : 8,
|
||||||
|
"enableLimit" : true,
|
||||||
|
"enableMotor" : false,
|
||||||
|
"jointSpeed" : 0,
|
||||||
|
"lowerLimit" : -0.7853981852531433,
|
||||||
|
"maxMotorTorque" : 1,
|
||||||
|
"motorSpeed" : 0,
|
||||||
|
"name" : "joint6",
|
||||||
|
"refAngle" : 0,
|
||||||
|
"type" : "revolute",
|
||||||
|
"upperLimit" : 1.570796370506287
|
||||||
|
},
|
||||||
|
|
||||||
|
{
|
||||||
|
"anchorA" :
|
||||||
|
{
|
||||||
|
"x" : 0.06260262429714203,
|
||||||
|
"y" : -0.3029872477054596
|
||||||
|
},
|
||||||
|
"anchorB" :
|
||||||
|
{
|
||||||
|
"x" : 0.02294230461120605,
|
||||||
|
"y" : 0.1640380322933197
|
||||||
|
},
|
||||||
|
"bodyA" : 1,
|
||||||
|
"bodyB" : 7,
|
||||||
|
"enableLimit" : true,
|
||||||
|
"enableMotor" : false,
|
||||||
|
"jointSpeed" : 0,
|
||||||
|
"lowerLimit" : -0.7853981852531433,
|
||||||
|
"maxMotorTorque" : 1,
|
||||||
|
"motorSpeed" : 0,
|
||||||
|
"name" : "joint5",
|
||||||
|
"refAngle" : 0,
|
||||||
|
"type" : "revolute",
|
||||||
|
"upperLimit" : 1.570796370506287
|
||||||
|
},
|
||||||
|
|
||||||
|
{
|
||||||
|
"anchorA" :
|
||||||
|
{
|
||||||
|
"x" : 0.1179294362664223,
|
||||||
|
"y" : 0.2464744448661804
|
||||||
|
},
|
||||||
|
"anchorB" :
|
||||||
|
{
|
||||||
|
"x" : 0.0004089996218681335,
|
||||||
|
"y" : 0.1447530388832092
|
||||||
|
},
|
||||||
|
"bodyA" : 1,
|
||||||
|
"bodyB" : 6,
|
||||||
|
"enableLimit" : false,
|
||||||
|
"enableMotor" : false,
|
||||||
|
"jointSpeed" : 0,
|
||||||
|
"lowerLimit" : -2.268928050994873,
|
||||||
|
"maxMotorTorque" : 1,
|
||||||
|
"motorSpeed" : 0,
|
||||||
|
"name" : "joint2",
|
||||||
|
"refAngle" : 0,
|
||||||
|
"type" : "revolute",
|
||||||
|
"upperLimit" : 3.141592741012573
|
||||||
|
},
|
||||||
|
|
||||||
|
{
|
||||||
|
"anchorA" :
|
||||||
|
{
|
||||||
|
"x" : -0.1188285648822784,
|
||||||
|
"y" : 0.2521644234657288
|
||||||
|
},
|
||||||
|
"anchorB" :
|
||||||
|
{
|
||||||
|
"x" : -0.001505002379417419,
|
||||||
|
"y" : 0.1504430174827576
|
||||||
|
},
|
||||||
|
"bodyA" : 1,
|
||||||
|
"bodyB" : 0,
|
||||||
|
"enableLimit" : false,
|
||||||
|
"enableMotor" : false,
|
||||||
|
"jointSpeed" : 0,
|
||||||
|
"lowerLimit" : -2.268928050994873,
|
||||||
|
"maxMotorTorque" : 1,
|
||||||
|
"motorSpeed" : 0,
|
||||||
|
"name" : "joint3",
|
||||||
|
"refAngle" : 0,
|
||||||
|
"type" : "revolute",
|
||||||
|
"upperLimit" : 3.141592741012573
|
||||||
},
|
},
|
||||||
|
|
||||||
{
|
{
|
||||||
"anchorA" :
|
"anchorA" :
|
||||||
{
|
{
|
||||||
"x" : 0.0008554458618164062,
|
"x" : 0.0008554458618164062,
|
||||||
"y" : -0.1461489200592041
|
"y" : -0.1461489796638489
|
||||||
},
|
},
|
||||||
"anchorB" :
|
"anchorB" :
|
||||||
{
|
{
|
||||||
|
|
@ -604,176 +754,26 @@
|
||||||
{
|
{
|
||||||
"anchorA" :
|
"anchorA" :
|
||||||
{
|
{
|
||||||
"x" : -0.09517394006252289,
|
"x" : 0.02210754156112671,
|
||||||
"y" : 0.2718780040740967
|
"y" : 0.4607425332069397
|
||||||
},
|
},
|
||||||
"anchorB" :
|
"anchorB" :
|
||||||
{
|
{
|
||||||
"x" : -1.741945743560791e-05,
|
"x" : -0.02544101513922215,
|
||||||
"y" : 0.1479903459548950
|
"y" : -0.2591779232025146
|
||||||
},
|
},
|
||||||
"bodyA" : 1,
|
"bodyA" : 1,
|
||||||
"bodyB" : 0,
|
"bodyB" : 2,
|
||||||
"enableLimit" : false,
|
|
||||||
"enableMotor" : false,
|
|
||||||
"jointSpeed" : 0,
|
|
||||||
"lowerLimit" : -2.268928050994873,
|
|
||||||
"maxMotorTorque" : 1,
|
|
||||||
"motorSpeed" : 0,
|
|
||||||
"name" : "joint3",
|
|
||||||
"refAngle" : 0,
|
|
||||||
"type" : "revolute",
|
|
||||||
"upperLimit" : 3.141592741012573
|
|
||||||
},
|
|
||||||
|
|
||||||
{
|
|
||||||
"anchorA" :
|
|
||||||
{
|
|
||||||
"x" : 0.1116365119814873,
|
|
||||||
"y" : -0.2944114208221436
|
|
||||||
},
|
|
||||||
"anchorB" :
|
|
||||||
{
|
|
||||||
"x" : 0.04127830639481544,
|
|
||||||
"y" : 0.1504460573196411
|
|
||||||
},
|
|
||||||
"bodyA" : 1,
|
|
||||||
"bodyB" : 7,
|
|
||||||
"enableLimit" : true,
|
"enableLimit" : true,
|
||||||
"enableMotor" : false,
|
"enableMotor" : false,
|
||||||
"jointSpeed" : 0,
|
"jointSpeed" : 0,
|
||||||
"lowerLimit" : -0.7853981852531433,
|
"lowerLimit" : -0.6981316804885864,
|
||||||
"maxMotorTorque" : 1,
|
"maxMotorTorque" : 0,
|
||||||
"motorSpeed" : 0,
|
"motorSpeed" : 0,
|
||||||
"name" : "joint5",
|
"name" : "joint9",
|
||||||
"refAngle" : 0,
|
"refAngle" : 0,
|
||||||
"type" : "revolute",
|
"type" : "revolute",
|
||||||
"upperLimit" : 1.570796370506287
|
"upperLimit" : 1.221730470657349
|
||||||
},
|
|
||||||
|
|
||||||
{
|
|
||||||
"anchorA" :
|
|
||||||
{
|
|
||||||
"x" : -0.06799929589033127,
|
|
||||||
"y" : -0.2890855073928833
|
|
||||||
},
|
|
||||||
"anchorB" :
|
|
||||||
{
|
|
||||||
"x" : -0.04493143409490585,
|
|
||||||
"y" : 0.1559127867221832
|
|
||||||
},
|
|
||||||
"bodyA" : 1,
|
|
||||||
"bodyB" : 8,
|
|
||||||
"enableLimit" : true,
|
|
||||||
"enableMotor" : false,
|
|
||||||
"jointSpeed" : 0,
|
|
||||||
"lowerLimit" : -0.7853981852531433,
|
|
||||||
"maxMotorTorque" : 1,
|
|
||||||
"motorSpeed" : 0,
|
|
||||||
"name" : "joint6",
|
|
||||||
"refAngle" : 0,
|
|
||||||
"type" : "revolute",
|
|
||||||
"upperLimit" : 1.570796370506287
|
|
||||||
},
|
|
||||||
|
|
||||||
{
|
|
||||||
"anchorA" :
|
|
||||||
{
|
|
||||||
"x" : 0.1396137326955795,
|
|
||||||
"y" : 0.2701327800750732
|
|
||||||
},
|
|
||||||
"anchorB" :
|
|
||||||
{
|
|
||||||
"x" : -7.455050945281982e-05,
|
|
||||||
"y" : 0.1462446451187134
|
|
||||||
},
|
|
||||||
"bodyA" : 1,
|
|
||||||
"bodyB" : 6,
|
|
||||||
"enableLimit" : false,
|
|
||||||
"enableMotor" : false,
|
|
||||||
"jointSpeed" : 0,
|
|
||||||
"lowerLimit" : -2.268928050994873,
|
|
||||||
"maxMotorTorque" : 1,
|
|
||||||
"motorSpeed" : 0,
|
|
||||||
"name" : "joint2",
|
|
||||||
"refAngle" : 0,
|
|
||||||
"type" : "revolute",
|
|
||||||
"upperLimit" : 3.141592741012573
|
|
||||||
},
|
|
||||||
|
|
||||||
{
|
|
||||||
"anchorA" :
|
|
||||||
{
|
|
||||||
"x" : 0.0003538504242897034,
|
|
||||||
"y" : 0.07107692956924438
|
|
||||||
},
|
|
||||||
"anchorB" :
|
|
||||||
{
|
|
||||||
"x" : 0.0003536641597747803,
|
|
||||||
"y" : -0.1459646224975586
|
|
||||||
},
|
|
||||||
"bodyA" : 3,
|
|
||||||
"bodyB" : 6,
|
|
||||||
"enableLimit" : true,
|
|
||||||
"enableMotor" : false,
|
|
||||||
"jointSpeed" : 0,
|
|
||||||
"lowerLimit" : -1.919862151145935,
|
|
||||||
"maxMotorTorque" : 1,
|
|
||||||
"motorSpeed" : 0,
|
|
||||||
"name" : "joint1",
|
|
||||||
"refAngle" : 0,
|
|
||||||
"type" : "revolute",
|
|
||||||
"upperLimit" : 0
|
|
||||||
},
|
|
||||||
|
|
||||||
{
|
|
||||||
"anchorA" :
|
|
||||||
{
|
|
||||||
"x" : 0.001979876309633255,
|
|
||||||
"y" : -0.1506856828927994
|
|
||||||
},
|
|
||||||
"anchorB" :
|
|
||||||
{
|
|
||||||
"x" : 0.001979988068342209,
|
|
||||||
"y" : 0.08382888138294220
|
|
||||||
},
|
|
||||||
"bodyA" : 7,
|
|
||||||
"bodyB" : 9,
|
|
||||||
"enableLimit" : true,
|
|
||||||
"enableMotor" : false,
|
|
||||||
"jointSpeed" : 0,
|
|
||||||
"lowerLimit" : 0.01745329238474369,
|
|
||||||
"maxMotorTorque" : 1,
|
|
||||||
"motorSpeed" : 0,
|
|
||||||
"name" : "joint8",
|
|
||||||
"refAngle" : 0,
|
|
||||||
"type" : "revolute",
|
|
||||||
"upperLimit" : 2.268928050994873
|
|
||||||
},
|
|
||||||
|
|
||||||
{
|
|
||||||
"anchorA" :
|
|
||||||
{
|
|
||||||
"x" : -0.0007802955806255341,
|
|
||||||
"y" : -0.1484908312559128
|
|
||||||
},
|
|
||||||
"anchorB" :
|
|
||||||
{
|
|
||||||
"x" : -0.0007801018655300140,
|
|
||||||
"y" : 0.08614097535610199
|
|
||||||
},
|
|
||||||
"bodyA" : 8,
|
|
||||||
"bodyB" : 4,
|
|
||||||
"enableLimit" : true,
|
|
||||||
"enableMotor" : false,
|
|
||||||
"jointSpeed" : 0,
|
|
||||||
"lowerLimit" : 0.01745329238474369,
|
|
||||||
"maxMotorTorque" : 1,
|
|
||||||
"motorSpeed" : 0,
|
|
||||||
"name" : "joint7",
|
|
||||||
"refAngle" : 0,
|
|
||||||
"type" : "revolute",
|
|
||||||
"upperLimit" : 2.268928050994873
|
|
||||||
}
|
}
|
||||||
],
|
],
|
||||||
"positionIterations" : 3,
|
"positionIterations" : 3,
|
||||||
|
|
|
||||||
|
|
@ -37,21 +37,21 @@ function (Parent, Layer, Settings, Nc) {
|
||||||
};
|
};
|
||||||
|
|
||||||
limbOptions.upperRightLeg = {
|
limbOptions.upperRightLeg = {
|
||||||
width: 4,
|
width: 5,
|
||||||
height: 9,
|
height: 8,
|
||||||
x: 2,
|
x: 2,
|
||||||
y: limbOptions.chest.height / 2
|
y: limbOptions.chest.height / 2
|
||||||
};
|
};
|
||||||
|
|
||||||
limbOptions.lowerLeftLeg = {
|
limbOptions.lowerLeftLeg = {
|
||||||
width: 4,
|
width: 5,
|
||||||
height: 4,
|
height: 4,
|
||||||
x: -2,
|
x: -2,
|
||||||
y: limbOptions.chest.height / 2 + limbOptions.upperLeftLeg.height
|
y: limbOptions.chest.height / 2 + limbOptions.upperLeftLeg.height
|
||||||
};
|
};
|
||||||
|
|
||||||
limbOptions.lowerRightLeg = {
|
limbOptions.lowerRightLeg = {
|
||||||
width: 4,
|
width: 5,
|
||||||
height: 4,
|
height: 4,
|
||||||
x: 2,
|
x: 2,
|
||||||
y: limbOptions.chest.height / 2 + limbOptions.upperRightLeg.height
|
y: limbOptions.chest.height / 2 + limbOptions.upperRightLeg.height
|
||||||
|
|
@ -60,28 +60,28 @@ function (Parent, Layer, Settings, Nc) {
|
||||||
|
|
||||||
|
|
||||||
limbOptions.upperLeftArm = {
|
limbOptions.upperLeftArm = {
|
||||||
width: 2,
|
width: 4,
|
||||||
height: 8,
|
height: 8,
|
||||||
x: -2,
|
x: -2,
|
||||||
y: -limbOptions.chest.height / 2
|
y: -limbOptions.chest.height / 2
|
||||||
};
|
};
|
||||||
|
|
||||||
limbOptions.upperRightArm = {
|
limbOptions.upperRightArm = {
|
||||||
width: 3,
|
width: 4,
|
||||||
height: 8,
|
height: 8,
|
||||||
x: 2,
|
x: 2,
|
||||||
y: -limbOptions.chest.height / 2
|
y: -limbOptions.chest.height / 2
|
||||||
};
|
};
|
||||||
|
|
||||||
limbOptions.lowerLeftArm = {
|
limbOptions.lowerLeftArm = {
|
||||||
width: 2,
|
width: 4,
|
||||||
height: 5,
|
height: 5,
|
||||||
x: -2,
|
x: -2,
|
||||||
y: -limbOptions.chest.height / 2 + limbOptions.upperLeftArm.height
|
y: -limbOptions.chest.height / 2 + limbOptions.upperLeftArm.height
|
||||||
};
|
};
|
||||||
|
|
||||||
limbOptions.lowerRightArm = {
|
limbOptions.lowerRightArm = {
|
||||||
width: 2,
|
width: 4,
|
||||||
height: 5,
|
height: 5,
|
||||||
x: 2,
|
x: 2,
|
||||||
y: -limbOptions.chest.height / 2 + limbOptions.upperRightArm.height
|
y: -limbOptions.chest.height / 2 + limbOptions.upperRightArm.height
|
||||||
|
|
@ -93,7 +93,9 @@ function (Parent, Layer, Settings, Nc) {
|
||||||
this.limbMeshes = {};
|
this.limbMeshes = {};
|
||||||
this.baseMeshName = "chest";
|
this.baseMeshName = "chest";
|
||||||
this.characterName = "Chuck";
|
this.characterName = "Chuck";
|
||||||
this.lastFlipDirection = 1;
|
this.lastFlipDirection = -options.direction || 1;
|
||||||
|
|
||||||
|
console.log(this.lastFlipDirection);
|
||||||
|
|
||||||
Parent.call(this, physicsEngine, uid, options);
|
Parent.call(this, physicsEngine, uid, options);
|
||||||
}
|
}
|
||||||
|
|
@ -187,22 +189,10 @@ function (Parent, Layer, Settings, Nc) {
|
||||||
RubeDoll.prototype.flip = function(direction) {
|
RubeDoll.prototype.flip = function(direction) {
|
||||||
Parent.prototype.flip.call(this, direction);
|
Parent.prototype.flip.call(this, direction);
|
||||||
|
|
||||||
if(this.limbs) {
|
console.log("last", this.lastFlipDirection, "now", direction);
|
||||||
for(var name in this.limbMeshes) {
|
|
||||||
if(this.limbs[name]) {
|
|
||||||
Nc.trigger(Nc.ns.client.view.mesh.update,
|
|
||||||
this.layerId,
|
|
||||||
this.limbMeshes[name],
|
|
||||||
{
|
|
||||||
xScale: direction,
|
|
||||||
}
|
|
||||||
);
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
// flipping depth of right body side arm/leg images with left
|
// flipping depth of right body side arm/leg images with left
|
||||||
if (this.lastFlipDirection != direction) {
|
if (this.lastFlipDirection != direction) { // FIXME : this is a bit broken.
|
||||||
|
|
||||||
this.lastFlipDirection = direction;
|
this.lastFlipDirection = direction;
|
||||||
|
|
||||||
|
|
@ -226,6 +216,28 @@ function (Parent, Layer, Settings, Nc) {
|
||||||
this.limbMeshes["upperRightArm"],
|
this.limbMeshes["upperRightArm"],
|
||||||
this.limbMeshes["upperLeftArm"]
|
this.limbMeshes["upperLeftArm"]
|
||||||
);
|
);
|
||||||
|
|
||||||
|
// swap short images
|
||||||
|
Nc.trigger(Nc.ns.client.view.mesh.swapMeshes,
|
||||||
|
this.layerId,
|
||||||
|
this.limbMeshes["upperRightLeg"],
|
||||||
|
this.limbMeshes["upperLeftLeg"]
|
||||||
|
);
|
||||||
|
}
|
||||||
|
|
||||||
|
// x flipping has to happen after (see swapMeshes)
|
||||||
|
if(this.limbs) {
|
||||||
|
for(var name in this.limbMeshes) {
|
||||||
|
if(this.limbs[name]) {
|
||||||
|
Nc.trigger(Nc.ns.client.view.mesh.update,
|
||||||
|
this.layerId,
|
||||||
|
this.limbMeshes[name],
|
||||||
|
{
|
||||||
|
xScale: direction,
|
||||||
|
}
|
||||||
|
);
|
||||||
|
}
|
||||||
|
}
|
||||||
}
|
}
|
||||||
};
|
};
|
||||||
|
|
||||||
|
|
|
||||||
|
|
@ -33,7 +33,7 @@ function (Parent, RubeLoader, Box2D, Settings, Assert, Nc, RubeDollJson) {
|
||||||
|
|
||||||
this.body.SetUserData(this);
|
this.body.SetUserData(this);
|
||||||
|
|
||||||
this.flip(options.direction);
|
this.flip(options.direction || 1);
|
||||||
}
|
}
|
||||||
|
|
||||||
RubeDoll.prototype = Object.create(Parent.prototype);
|
RubeDoll.prototype = Object.create(Parent.prototype);
|
||||||
|
|
@ -41,6 +41,8 @@ function (Parent, RubeLoader, Box2D, Settings, Assert, Nc, RubeDollJson) {
|
||||||
RubeDoll.prototype.loadRubeDollFromScene = function(options) {
|
RubeDoll.prototype.loadRubeDollFromScene = function(options) {
|
||||||
var scene = this.rubeLoader.getScene();
|
var scene = this.rubeLoader.getScene();
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
for (var i in scene.bodies) {
|
for (var i in scene.bodies) {
|
||||||
var body = scene.bodies[i];
|
var body = scene.bodies[i];
|
||||||
var position = body.GetPosition().Copy();
|
var position = body.GetPosition().Copy();
|
||||||
|
|
@ -50,6 +52,15 @@ function (Parent, RubeLoader, Box2D, Settings, Assert, Nc, RubeDollJson) {
|
||||||
));
|
));
|
||||||
body.SetPosition(position);
|
body.SetPosition(position);
|
||||||
this.limbs[body.name] = body;
|
this.limbs[body.name] = body;
|
||||||
|
|
||||||
|
// code snipped possibly needed for filtering between doll and rubedoll while holding
|
||||||
|
//var filterData = new Box2D.Dynamics.b2FilterData();
|
||||||
|
//filterData.groupIndex = -66;
|
||||||
|
//if(body.name != "head" && body.name != "chest") {
|
||||||
|
// for (var fixture = body.GetFixtureList(); fixture; fixture = fixture.GetNext()) {
|
||||||
|
// fixture.SetFilterData(filterData);
|
||||||
|
// }
|
||||||
|
//}
|
||||||
}
|
}
|
||||||
|
|
||||||
this.joints = scene.joints;
|
this.joints = scene.joints;
|
||||||
|
|
|
||||||
Binary file not shown.
|
Before Width: | Height: | Size: 148 B After Width: | Height: | Size: 2.7 KiB |
Binary file not shown.
|
Before Width: | Height: | Size: 158 B After Width: | Height: | Size: 2.7 KiB |
Binary file not shown.
|
Before Width: | Height: | Size: 148 B After Width: | Height: | Size: 2.7 KiB |
Binary file not shown.
|
Before Width: | Height: | Size: 158 B After Width: | Height: | Size: 2.7 KiB |
Binary file not shown.
|
Before Width: | Height: | Size: 145 B After Width: | Height: | Size: 2.7 KiB |
Binary file not shown.
|
Before Width: | Height: | Size: 170 B After Width: | Height: | Size: 2.7 KiB |
Binary file not shown.
|
Before Width: | Height: | Size: 2.8 KiB After Width: | Height: | Size: 2.8 KiB |
|
|
@ -84,16 +84,16 @@
|
||||||
{
|
{
|
||||||
"x" :
|
"x" :
|
||||||
[
|
[
|
||||||
0.07039496302604675,
|
0.07039500027894974,
|
||||||
0.07039496302604675,
|
0.07039500027894974,
|
||||||
-0.07039486616849899,
|
-0.07039490342140198,
|
||||||
-0.07039486616849899
|
-0.07039490342140198
|
||||||
],
|
],
|
||||||
"y" :
|
"y" :
|
||||||
[
|
[
|
||||||
-0.09294389933347702,
|
-0.09294389933347702,
|
||||||
0.1276105940341949,
|
0.1276109963655472,
|
||||||
0.1276105940341949,
|
0.1276109963655472,
|
||||||
-0.09294389933347702
|
-0.09294389933347702
|
||||||
]
|
]
|
||||||
}
|
}
|
||||||
|
|
@ -101,18 +101,18 @@
|
||||||
],
|
],
|
||||||
"id" : 1,
|
"id" : 1,
|
||||||
"linearVelocity" : 0,
|
"linearVelocity" : 0,
|
||||||
"massData-I" : 0.0001864957448560745,
|
"massData-I" : 0.0001864968799054623,
|
||||||
"massData-center" :
|
"massData-center" :
|
||||||
{
|
{
|
||||||
"x" : 4.842877032729120e-08,
|
"x" : 4.842877032729120e-08,
|
||||||
"y" : 0.01733334921300411
|
"y" : 0.01733354665338993
|
||||||
},
|
},
|
||||||
"massData-mass" : 0.03105182945728302,
|
"massData-mass" : 0.03105190023779869,
|
||||||
"name" : "lowerRightLeg",
|
"name" : "lowerRightLeg",
|
||||||
"position" :
|
"position" :
|
||||||
{
|
{
|
||||||
"x" : 0.04785731062293053,
|
"x" : 0.03859551250934601,
|
||||||
"y" : 0.09799571335315704
|
"y" : 0.09799569845199585
|
||||||
},
|
},
|
||||||
"type" : "dynamic"
|
"type" : "dynamic"
|
||||||
},
|
},
|
||||||
|
|
@ -168,8 +168,8 @@
|
||||||
"name" : "upperLeftLeg",
|
"name" : "upperLeftLeg",
|
||||||
"position" :
|
"position" :
|
||||||
{
|
{
|
||||||
"x" : -0.04570891708135605,
|
"x" : -0.03829947486519814,
|
||||||
"y" : 0.3325108885765076
|
"y" : 0.3325110077857971
|
||||||
},
|
},
|
||||||
"type" : "dynamic"
|
"type" : "dynamic"
|
||||||
},
|
},
|
||||||
|
|
@ -225,8 +225,8 @@
|
||||||
"name" : "upperRightLeg",
|
"name" : "upperRightLeg",
|
||||||
"position" :
|
"position" :
|
||||||
{
|
{
|
||||||
"x" : 0.04785731062293053,
|
"x" : 0.03859551250934601,
|
||||||
"y" : 0.3325108885765076
|
"y" : 0.3325110077857971
|
||||||
},
|
},
|
||||||
"type" : "dynamic"
|
"type" : "dynamic"
|
||||||
},
|
},
|
||||||
|
|
@ -257,33 +257,33 @@
|
||||||
[
|
[
|
||||||
0.04693000018596649,
|
0.04693000018596649,
|
||||||
0.04693000018596649,
|
0.04693000018596649,
|
||||||
-0.04693005979061127,
|
-0.04693010076880455,
|
||||||
-0.04693005979061127
|
-0.04693010076880455
|
||||||
],
|
],
|
||||||
"y" :
|
"y" :
|
||||||
[
|
[
|
||||||
-0.1895973682403564,
|
-0.1895969957113266,
|
||||||
0.1895966529846191,
|
0.1895969957113266,
|
||||||
0.1895966529846191,
|
0.1895969957113266,
|
||||||
-0.1895973682403564
|
-0.1895969957113266
|
||||||
]
|
]
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
],
|
],
|
||||||
"id" : 4,
|
"id" : 4,
|
||||||
"linearVelocity" : 0,
|
"linearVelocity" : 0,
|
||||||
"massData-I" : 0.0004525946278590709,
|
"massData-I" : 0.0004525947733782232,
|
||||||
"massData-center" :
|
"massData-center" :
|
||||||
{
|
{
|
||||||
"x" : -2.980232238769531e-08,
|
"x" : -5.029141902923584e-08,
|
||||||
"y" : -3.576278686523438e-07
|
"y" : 0
|
||||||
},
|
},
|
||||||
"massData-mass" : 0.03559117391705513,
|
"massData-mass" : 0.03559118881821632,
|
||||||
"name" : "upperRightArm",
|
"name" : "upperRightArm",
|
||||||
"position" :
|
"position" :
|
||||||
{
|
{
|
||||||
"x" : 0.1183081120252609,
|
"x" : 0.1183080002665520,
|
||||||
"y" : 0.9012566804885864
|
"y" : 0.9012569785118103
|
||||||
},
|
},
|
||||||
"type" : "dynamic"
|
"type" : "dynamic"
|
||||||
},
|
},
|
||||||
|
|
@ -369,35 +369,35 @@
|
||||||
{
|
{
|
||||||
"x" :
|
"x" :
|
||||||
[
|
[
|
||||||
0.07039503753185272,
|
0.07039500027894974,
|
||||||
0.07039503753185272,
|
0.07039500027894974,
|
||||||
-0.07039495557546616,
|
-0.07039500027894974,
|
||||||
-0.07039495557546616
|
-0.07039500027894974
|
||||||
],
|
],
|
||||||
"y" :
|
"y" :
|
||||||
[
|
[
|
||||||
-0.09294363856315613,
|
-0.09294360131025314,
|
||||||
0.1277718394994736,
|
0.1277720034122467,
|
||||||
0.1277718394994736,
|
0.1277720034122467,
|
||||||
-0.09294363856315613
|
-0.09294360131025314
|
||||||
]
|
]
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
],
|
],
|
||||||
"id" : 6,
|
"id" : 6,
|
||||||
"linearVelocity" : 0,
|
"linearVelocity" : 0,
|
||||||
"massData-I" : 0.0001869033440016210,
|
"massData-I" : 0.0001869037223514169,
|
||||||
"massData-center" :
|
"massData-center" :
|
||||||
{
|
{
|
||||||
"x" : 4.097818973036738e-08,
|
"x" : 0,
|
||||||
"y" : 0.01741409860551357
|
"y" : 0.01741420105099678
|
||||||
},
|
},
|
||||||
"massData-mass" : 0.03107452951371670,
|
"massData-mass" : 0.03107454814016819,
|
||||||
"name" : "lowerLeftLeg",
|
"name" : "lowerLeftLeg",
|
||||||
"position" :
|
"position" :
|
||||||
{
|
{
|
||||||
"x" : -0.04570891708135605,
|
"x" : -0.03829947486519814,
|
||||||
"y" : 0.09799571335315704
|
"y" : 0.09799569845199585
|
||||||
},
|
},
|
||||||
"type" : "dynamic"
|
"type" : "dynamic"
|
||||||
},
|
},
|
||||||
|
|
@ -529,35 +529,35 @@
|
||||||
{
|
{
|
||||||
"x" :
|
"x" :
|
||||||
[
|
[
|
||||||
-0.1156369969248772,
|
-0.1360991001129150,
|
||||||
0.1570899933576584,
|
0.1366278976202011,
|
||||||
0.1570899933576584,
|
0.1366278976202011,
|
||||||
-0.1156369969248772
|
-0.1360991001129150
|
||||||
],
|
],
|
||||||
"y" :
|
"y" :
|
||||||
[
|
[
|
||||||
-0.3584159910678864,
|
-0.3788780868053436,
|
||||||
-0.3584159910678864,
|
-0.3788780868053436,
|
||||||
0.4034900069236755,
|
0.3830279111862183,
|
||||||
0.4034900069236755
|
0.3830279111862183
|
||||||
]
|
]
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
],
|
],
|
||||||
"id" : 9,
|
"id" : 9,
|
||||||
"linearVelocity" : 0,
|
"linearVelocity" : 0,
|
||||||
"massData-I" : 0.01153474114835262,
|
"massData-I" : 0.01134084537625313,
|
||||||
"massData-center" :
|
"massData-center" :
|
||||||
{
|
{
|
||||||
"x" : 0.02072649449110031,
|
"x" : 0.0002643987536430359,
|
||||||
"y" : 0.02253700792789459
|
"y" : 0.002074912190437317
|
||||||
},
|
},
|
||||||
"massData-mass" : 0.2077923268079758,
|
"massData-mass" : 0.2077923566102982,
|
||||||
"name" : "chest",
|
"name" : "chest",
|
||||||
"position" :
|
"position" :
|
||||||
{
|
{
|
||||||
"x" : -0.02137973159551620,
|
"x" : 0.0007875636219978333,
|
||||||
"y" : 0.7773683071136475
|
"y" : 0.7995355725288391
|
||||||
},
|
},
|
||||||
"type" : "dynamic"
|
"type" : "dynamic"
|
||||||
},
|
},
|
||||||
|
|
@ -586,17 +586,17 @@
|
||||||
{
|
{
|
||||||
"x" :
|
"x" :
|
||||||
[
|
[
|
||||||
0.04692991077899933,
|
0.04692989960312843,
|
||||||
0.04692991077899933,
|
0.04692989960312843,
|
||||||
-0.04692997038364410,
|
-0.04693000018596649,
|
||||||
-0.04692997038364410
|
-0.04693000018596649
|
||||||
],
|
],
|
||||||
"y" :
|
"y" :
|
||||||
[
|
[
|
||||||
-0.1895973682403564,
|
-0.1895969957113266,
|
||||||
0.1895966529846191,
|
0.1895969957113266,
|
||||||
0.1895966529846191,
|
0.1895969957113266,
|
||||||
-0.1895973682403564
|
-0.1895969957113266
|
||||||
]
|
]
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
@ -606,15 +606,15 @@
|
||||||
"massData-I" : 0.0004525936674326658,
|
"massData-I" : 0.0004525936674326658,
|
||||||
"massData-center" :
|
"massData-center" :
|
||||||
{
|
{
|
||||||
"x" : -2.980232238769531e-08,
|
"x" : -5.029141902923584e-08,
|
||||||
"y" : -3.576278686523438e-07
|
"y" : 0
|
||||||
},
|
},
|
||||||
"massData-mass" : 0.03559110686182976,
|
"massData-mass" : 0.03559110686182976,
|
||||||
"name" : "upperLeftArm",
|
"name" : "upperLeftArm",
|
||||||
"position" :
|
"position" :
|
||||||
{
|
{
|
||||||
"x" : -0.1165364086627960,
|
"x" : -0.1165359988808632,
|
||||||
"y" : 0.9012566804885864
|
"y" : 0.9012569785118103
|
||||||
},
|
},
|
||||||
"type" : "dynamic"
|
"type" : "dynamic"
|
||||||
}
|
}
|
||||||
|
|
@ -625,13 +625,13 @@
|
||||||
{
|
{
|
||||||
"anchorA" :
|
"anchorA" :
|
||||||
{
|
{
|
||||||
"x" : -0.0007802955806255341,
|
"x" : -0.0007802959880791605,
|
||||||
"y" : -0.1484908312559128
|
"y" : -0.1484909951686859
|
||||||
},
|
},
|
||||||
"anchorB" :
|
"anchorB" :
|
||||||
{
|
{
|
||||||
"x" : -0.0007801018655300140,
|
"x" : -0.0007801019819453359,
|
||||||
"y" : 0.08614096790552139
|
"y" : 0.08614099770784378
|
||||||
},
|
},
|
||||||
"bodyA" : 2,
|
"bodyA" : 2,
|
||||||
"bodyB" : 6,
|
"bodyB" : 6,
|
||||||
|
|
@ -645,19 +645,19 @@
|
||||||
"name" : "joint7",
|
"name" : "joint7",
|
||||||
"referenceAngle" : 0,
|
"referenceAngle" : 0,
|
||||||
"type" : "revolute",
|
"type" : "revolute",
|
||||||
"upperLimit" : 2.268928050994873
|
"upperLimit" : 2.443460941314697
|
||||||
},
|
},
|
||||||
|
|
||||||
{
|
{
|
||||||
"anchorA" :
|
"anchorA" :
|
||||||
{
|
{
|
||||||
"x" : 0.001979876309633255,
|
"x" : -0.004979589954018593,
|
||||||
"y" : -0.1506856828927994
|
"y" : -0.1506859958171844
|
||||||
},
|
},
|
||||||
"anchorB" :
|
"anchorB" :
|
||||||
{
|
{
|
||||||
"x" : 0.001979988068342209,
|
"x" : -0.005973690189421177,
|
||||||
"y" : 0.08382887393236160
|
"y" : 0.08482310175895691
|
||||||
},
|
},
|
||||||
"bodyA" : 3,
|
"bodyA" : 3,
|
||||||
"bodyB" : 1,
|
"bodyB" : 1,
|
||||||
|
|
@ -671,7 +671,7 @@
|
||||||
"name" : "joint8",
|
"name" : "joint8",
|
||||||
"referenceAngle" : 0,
|
"referenceAngle" : 0,
|
||||||
"type" : "revolute",
|
"type" : "revolute",
|
||||||
"upperLimit" : 2.268928050994873
|
"upperLimit" : 2.443460941314697
|
||||||
},
|
},
|
||||||
|
|
||||||
{
|
{
|
||||||
|
|
@ -682,8 +682,8 @@
|
||||||
},
|
},
|
||||||
"anchorB" :
|
"anchorB" :
|
||||||
{
|
{
|
||||||
"x" : 0.0003536641597747803,
|
"x" : 0.0003536640142556280,
|
||||||
"y" : -0.1459646224975586
|
"y" : -0.1459649950265884
|
||||||
},
|
},
|
||||||
"bodyA" : 7,
|
"bodyA" : 7,
|
||||||
"bodyB" : 4,
|
"bodyB" : 4,
|
||||||
|
|
@ -691,25 +691,25 @@
|
||||||
"enableLimit" : true,
|
"enableLimit" : true,
|
||||||
"enableMotor" : false,
|
"enableMotor" : false,
|
||||||
"id" : 3,
|
"id" : 3,
|
||||||
"lowerLimit" : -1.919862151145935,
|
"lowerLimit" : 0.01745329238474369,
|
||||||
"maxMotorTorque" : 1,
|
"maxMotorTorque" : 1,
|
||||||
"motorSpeed" : 0,
|
"motorSpeed" : 0,
|
||||||
"name" : "joint1",
|
"name" : "joint1",
|
||||||
"referenceAngle" : 0,
|
"referenceAngle" : 0,
|
||||||
"type" : "revolute",
|
"type" : "revolute",
|
||||||
"upperLimit" : 0
|
"upperLimit" : 1.919862151145935
|
||||||
},
|
},
|
||||||
|
|
||||||
{
|
{
|
||||||
"anchorA" :
|
"anchorA" :
|
||||||
{
|
{
|
||||||
"x" : 0.1396137326955795,
|
"x" : 0.1179294362664223,
|
||||||
"y" : 0.2701327204704285
|
"y" : 0.2464744448661804
|
||||||
},
|
},
|
||||||
"anchorB" :
|
"anchorB" :
|
||||||
{
|
{
|
||||||
"x" : -7.455050945281982e-05,
|
"x" : 0.0004089996218681335,
|
||||||
"y" : 0.1462445855140686
|
"y" : 0.1447530388832092
|
||||||
},
|
},
|
||||||
"bodyA" : 9,
|
"bodyA" : 9,
|
||||||
"bodyB" : 4,
|
"bodyB" : 4,
|
||||||
|
|
@ -729,13 +729,13 @@
|
||||||
{
|
{
|
||||||
"anchorA" :
|
"anchorA" :
|
||||||
{
|
{
|
||||||
"x" : -0.06799929589033127,
|
"x" : -0.06799955666065216,
|
||||||
"y" : -0.2890855073928833
|
"y" : -0.3021813035011292
|
||||||
},
|
},
|
||||||
"anchorB" :
|
"anchorB" :
|
||||||
{
|
{
|
||||||
"x" : -0.04493143782019615,
|
"x" : -0.02891255542635918,
|
||||||
"y" : 0.1559127867221832
|
"y" : 0.1648437976837158
|
||||||
},
|
},
|
||||||
"bodyA" : 9,
|
"bodyA" : 9,
|
||||||
"bodyB" : 2,
|
"bodyB" : 2,
|
||||||
|
|
@ -755,13 +755,13 @@
|
||||||
{
|
{
|
||||||
"anchorA" :
|
"anchorA" :
|
||||||
{
|
{
|
||||||
"x" : 0.1116365119814873,
|
"x" : 0.06260262429714203,
|
||||||
"y" : -0.2944114208221436
|
"y" : -0.3029872477054596
|
||||||
},
|
},
|
||||||
"anchorB" :
|
"anchorB" :
|
||||||
{
|
{
|
||||||
"x" : 0.04127831012010574,
|
"x" : 0.02294230461120605,
|
||||||
"y" : 0.1504460573196411
|
"y" : 0.1640380322933197
|
||||||
},
|
},
|
||||||
"bodyA" : 9,
|
"bodyA" : 9,
|
||||||
"bodyB" : 3,
|
"bodyB" : 3,
|
||||||
|
|
@ -781,13 +781,13 @@
|
||||||
{
|
{
|
||||||
"anchorA" :
|
"anchorA" :
|
||||||
{
|
{
|
||||||
"x" : -0.09517394006252289,
|
"x" : -0.1188285648822784,
|
||||||
"y" : 0.2718779444694519
|
"y" : 0.2521644234657288
|
||||||
},
|
},
|
||||||
"anchorB" :
|
"anchorB" :
|
||||||
{
|
{
|
||||||
"x" : -1.741945743560791e-05,
|
"x" : -0.001505002379417419,
|
||||||
"y" : 0.1479902863502502
|
"y" : 0.1504430174827576
|
||||||
},
|
},
|
||||||
"bodyA" : 9,
|
"bodyA" : 9,
|
||||||
"bodyB" : 10,
|
"bodyB" : 10,
|
||||||
|
|
@ -807,8 +807,8 @@
|
||||||
{
|
{
|
||||||
"anchorA" :
|
"anchorA" :
|
||||||
{
|
{
|
||||||
"x" : 0.0008554458618164062,
|
"x" : 0.0008554459782317281,
|
||||||
"y" : -0.1461489200592041
|
"y" : -0.1461489945650101
|
||||||
},
|
},
|
||||||
"anchorB" :
|
"anchorB" :
|
||||||
{
|
{
|
||||||
|
|
|
||||||
Loading…
Add table
Add a link
Reference in a new issue