كيف بنيت سداسي الأرجل في مهندسي الفضاء. الجزء الأول

 class Vector { constructor(x, y, z) { this.x = x; this.y = y; this.z = z; }; distanceTo(vector) { return Math.sqrt(Math.pow(this.x - vector.x, 2) + Math.pow(this.y - vector.y, 2) + Math.pow(this.z - vector.z, 2)); } diff(vector) { return new Vector( this.x - vector.x, this.y - vector.y, this.z - vector.z ); } add(vector) { return new Vector( this.x + vector.x, this.y + vector.y, this.z + vector.z ); } } 

 class Joint { constructor(angle, position, length) { this.angle = angle; this.position = position; this.length = length; this.targetAngle = angle; this.previousAngle = angle; this.velocity = 0; }; setTargetAngle(targetAngle) { this.targetAngle = targetAngle; this.velocity = this.targetAngle - this.normalizeAngle(this.angle); } normalizeAngle(angle) { while (angle <= -Math.PI) angle += Math.PI * 2; while (angle > Math.PI) angle -= Math.PI * 2; return angle; } getCurrentVelocity() {//per tick return this.normalizeAngle(this.angle - this.previousAngle); } tick() { this.previousAngle = this.angle; this.angle = this.angle + this.velocity; } } 

 class Step { constructor( idlePosition,//vector relative to inner joint angle,//step direction length,//step length height,//step height phaseShift// ) { this.idlePosition = idlePosition; this.angle = angle;//radians this.length = length; this.height = height; this.phaseShift = phaseShift; } } 

 class Leg { constructor( vehicleCenter, innerJoint, midJoint, outerJoint, step, phaseStep ) { this.vehicleCenter = vehicleCenter; this.innerJoint = innerJoint; this.midJoint = midJoint; this.outerJoint = outerJoint; this.step = step; this.phaseStep = phaseStep; this.innerJoint.length = innerJoint.position.distanceTo(midJoint.position);//calculate this.midJoint.length = midJoint.position.distanceTo(outerJoint.position);//calculate //this.outerJoint.length = 100; this.joints = [innerJoint, midJoint, outerJoint]; this.preCalculateAngles(); } preCalculateAngles() { this.angles = {}; for (let phase = 0; phase < 360; phase += this.phaseStep) { this.angles[phase] = this.getLegAngles(this.getEsimatedLegPosition(phase, this.step.phaseShift)) } } applyStepHeight(z) { const idleYawRad = Math.atan2(this.step.idlePosition.x, this.step.idlePosition.y); const diffHypot = Math.hypot(this.step.idlePosition.x, this.step.idlePosition.y); const minZ = Math.abs(this.midJoint.length - this.outerJoint.length); const maxZ = (this.midJoint.length + this.outerJoint.length) * 0.6; if (Math.hypot(z, 0) > maxZ) { z = z > 0 ? maxZ : -maxZ; } const safeY = (this.innerJoint.length + this.midJoint.length * 0.5 + this.outerJoint.length * 0.5) * Math.cos(idleYawRad); const vAngle = Math.asin(z / safeY); const y = safeY * Math.cos(vAngle) * Math.cos(idleYawRad); this.step.idlePosition.z = z; this.step.idlePosition.y = this.step.idlePosition.y > 0 ? y : -y; this.preCalculateAngles(); } applyStepAngle(angle) { this.step.angle = angle; this.preCalculateAngles(); } applyPhase(phase/*0-360*/) { const legAngles = this.angles[phase]; this.innerJoint.setTargetAngle(legAngles.yaw); this.midJoint.setTargetAngle(legAngles.midPitch); this.outerJoint.setTargetAngle(legAngles.outerPitch); } getEsimatedLegPosition(phase, phaseShift) { phase = (phase + phaseShift) % 360; const stepX = ((phase < 180 ? phase : 180 - phase % 180) / 180 - 0.5) * this.step.length;//linear movement along step direction const stepZ = Math.max(Math.sin(phase * Math.PI / 180), -0.2) * this.step.height / 1.2; //const stepZ = Math.max((phase > 180 ? Math.cos(phase * Math.PI / 360) + 0.9 : Math.cos((phase - 120) * Math.PI / 360)) * .9 - .1, 0) * this.step.height; const x = this.step.idlePosition.x + stepX * Math.cos(this.step.angle); const y = this.step.idlePosition.y + stepX * Math.sin(this.step.angle); return new Vector(x, y, stepZ); } getLegAngles(esimatedLegPosition) { const yawRad = Math.atan2(esimatedLegPosition.x, esimatedLegPosition.y); const dx = Math.hypot(esimatedLegPosition.x, esimatedLegPosition.y) - this.innerJoint.length; const dz = this.step.idlePosition.z + esimatedLegPosition.z; const hyp = Math.hypot(dx, dz); if (hyp > this.midJoint.length + this.outerJoint.length) {//out of reach hyp = this.midJoint.length + this.outerJoint.length; } const innerAngleRad = Math.acos((this.outerJoint.length * this.outerJoint.length - this.midJoint.length * this.midJoint.length - hyp * hyp) / (-2 * this.midJoint.length * hyp)) + Math.atan2(dz, dx); const outerAngleRad = Math.acos((hyp * hyp - this.midJoint.length * this.midJoint.length - this.outerJoint.length * this.outerJoint.length) / (-2 * this.midJoint.length * this.outerJoint.length)) - Math.PI; if (isNaN(yawRad) || isNaN(innerAngleRad) || isNaN(outerAngleRad)) { console.log(yawRad, innerAngleRad, outerAngleRad); console.log(dx, dz); return; } return { yaw: yawRad, midPitch: innerAngleRad, outerPitch: outerAngleRad }; } getMaxMinAngles() { const angles = [0, 90, 180, 270].map((phase) => { return this.getLegAngles(getEsimatedLegPosition(phase, 0)); }); return { yawMin: Math.min(angles.map((x) => { return x.yaw })), yawMax: Math.max(angles.map((x) => { return x.yaw })), midPitchMin: Math.min(angles.map((x) => { return x.midPitch })), midPitchMax: Math.max(angles.map((x) => { return x.midPitch })), outerPitchMin: Math.min(angles.map((x) => { return x.outerPitch })), outerPitchMax: Math.max(angles.map((x) => { return x.outerPitch })), } } tick() { this.joints.forEach(function (joint) { joint.tick(); }); } getVectors() { const res = []; const sinYaw = Math.sin(this.innerJoint.angle); const cosYaw = Math.cos(this.innerJoint.angle); let currentVector = this.vehicleCenter; res.push(currentVector); currentVector = currentVector.add(this.innerJoint.position); res.push(currentVector); currentVector = currentVector.add(new Vector( this.innerJoint.length * sinYaw, this.innerJoint.length * cosYaw, 0 )); res.push(currentVector); const dxMid = Math.cos(this.midJoint.angle) * this.midJoint.length; const dzMid = Math.sin(this.midJoint.angle) * this.midJoint.length; currentVector = currentVector.add(new Vector( dxMid * sinYaw, dxMid * cosYaw, dzMid )); res.push(currentVector); const c = this.midJoint.angle + this.outerJoint.angle; const dxOuter = Math.cos(c) * this.outerJoint.length; const dzOuter = Math.sin(c) * this.outerJoint.length; currentVector = currentVector.add(new Vector( dxOuter * sinYaw, dxOuter * cosYaw, dzOuter )); res.push(currentVector); return res; } } 

 class Hexapod { constructor(phaseStep) { this.idleHeight = -70; this.stepAngle = 0; this.turnAngle = 0; this.stepLength = 70; this.stepHeight = 30; this.debugPoints = []; const vehicleCenter = new Vector(0, 0, 0); this.legs = [ new Leg( vehicleCenter, new Joint(0, new Vector(-70, 10, 0), 50), new Joint(0, new Vector(-70, 60, 0), 50), new Joint(0, new Vector(-70, 110, 0), 70), new Step(new Vector(-30, 90, this.idleHeight), this.stepAngle, this.stepLength, this.stepHeight, 0), phaseStep ), new Leg( vehicleCenter, new Joint(0, new Vector(-70, -10, 0), 50), new Joint(0, new Vector(-70, -60, 0), 50), new Joint(0, new Vector(-70, -110, 0), 70), new Step(new Vector(-30, -90, this.idleHeight), this.stepAngle, this.stepLength, this.stepHeight, 180), phaseStep ), new Leg( vehicleCenter, new Joint(0, new Vector(0, 10, 0), 50), new Joint(0, new Vector(0, 60, 0), 50), new Joint(0, new Vector(0, 110, 0), 70), new Step(new Vector(0, 100, this.idleHeight), this.stepAngle, this.stepLength, this.stepHeight, 180), phaseStep ), new Leg( vehicleCenter, new Joint(0, new Vector(0, -10, 0), 50), new Joint(0, new Vector(0, -60, 0), 50), new Joint(0, new Vector(0, -110, 0), 70), new Step(new Vector(0, -100, this.idleHeight), this.stepAngle, this.stepLength, this.stepHeight, 0), phaseStep ), new Leg( vehicleCenter, new Joint(0, new Vector(70, 10, 0), 50), new Joint(0, new Vector(70, 60, 0), 50), new Joint(0, new Vector(70, 110, 0), 70), new Step(new Vector(30, 90, this.idleHeight), this.stepAngle, this.stepLength, this.stepHeight, 0), phaseStep ), new Leg( vehicleCenter, new Joint(0, new Vector(70, -10, 0), 50), new Joint(0, new Vector(70, -60, 0), 50), new Joint(0, new Vector(70, -110, 0), 70), new Step(new Vector(30, -90, this.idleHeight), this.stepAngle, this.stepLength, this.stepHeight, 180), phaseStep ), ]; } applyPhase(phase/*0-360*/) { this.legs.forEach(function (leg) { leg.applyPhase(phase); }); } changeHeight(value) { this.legs.forEach(function (leg) { leg.applyStepHeight(this.idleHeight + value); }, this); } changeStepLength(value) { this.stepLength += value; this.legs.forEach(function (leg) { leg.step.length = this.stepLength; leg.preCalculateAngles(); }, this); } applyTurn1(centerX, centerY) { const angleToAxis = Math.atan2(centerX, centerY); const distanceToAxis = Math.hypot(centerX, centerY); distanceToAxis = 1000/distanceToAxis; this.legs.forEach(leg => { const dx = leg.step.idlePosition.x + leg.innerJoint.position.x + Math.sin(angleToAxis)*distanceToAxis || 0; const dy = leg.step.idlePosition.y + leg.innerJoint.position.y + Math.cos(angleToAxis)*distanceToAxis || 0; const angle = Math.atan2(dy,dx); const hypIdle = Math.hypot(dx, dy); leg.applyStepAngle(angle+Math.PI/2); leg.step.length = this.stepLength *hypIdle/ ((distanceToAxis || 0) + 1000); }); } applyTurn(centerX, centerY) { this.stepAngle = Math.atan2(centerX, centerY); if (this.stepAngle > Math.PI / 2) this.stepAngle -= Math.PI; if (this.stepAngle < -Math.PI / 2) this.stepAngle += Math.PI; const mults = this.legs.map(leg => Math.hypot(leg.step.idlePosition.y + leg.innerJoint.position.y, leg.step.idlePosition.x + leg.innerJoint.position.x) / Math.hypot(leg.step.idlePosition.y + leg.innerJoint.position.y + centerY*.3, leg.step.idlePosition.x + leg.innerJoint.position.x + centerX*.3)); const minMult = Math.min(...mults); const maxMult = Math.max(...mults); const mult = minMult / maxMult; const d = Math.pow(Math.max(...this.legs.map(leg =>Math.hypot(leg.step.idlePosition.y + leg.innerJoint.position.y, leg.step.idlePosition.x + leg.innerJoint.position.x))),2)/Math.hypot(centerX,centerY); const a = Math.atan2(centerX,centerY); this.legs.forEach(leg => { const dx = leg.step.idlePosition.x + leg.innerJoint.position.x; const dy = leg.step.idlePosition.y + leg.innerJoint.position.y; const idleAngle = Math.atan2(dx, dy) + this.stepAngle; const turnAngle = Math.atan2(dx + centerX, dy + centerY); const hypIdle = Math.hypot(dx, dy); const hyp = Math.hypot(dx + centerX, dy + centerY); leg.applyStepAngle(turnAngle - idleAngle); leg.step.length = this.stepLength * hyp / hypIdle * mult; }); this.debugPoints = [new Vector(Math.sin(a)*-d,Math.cos(a)*-d,0)]; } tick() { this.legs.forEach(function (leg) { leg.tick(); }); } getVectors() { return this.legs.map(function (leg) { return leg.getVectors() }); } } 

 class Canvas { constructor(id, label, axisSelectorX, axisSelectorY) { const self = this; this.id = id; this.label = label; this.canvas = document.getElementById(id); this.ctx = this.canvas.getContext('2d'); this.axisSelectorX = axisSelectorX; this.axisSelectorY = axisSelectorY; this.canvasHeight = this.canvas.offsetHeight; this.canvasWidth = this.canvas.offsetWidth; this.initialY = this.canvasHeight / 2; this.initialX = this.canvasWidth / 2; this.traceCounter = 0; this.maxTraces = 50; this.traces = {}; const axisSize = 150; this.axisVectors = [ [ new Vector(-axisSize, -axisSize, -axisSize), new Vector(-axisSize, -axisSize, axisSize) ], [ new Vector(-axisSize, -axisSize, -axisSize), new Vector(-axisSize, axisSize, -axisSize) ], [ new Vector(-axisSize, -axisSize, -axisSize), new Vector(axisSize, -axisSize, -axisSize) ], ] this.mouseOver = false; this.mousePos = { x: 0, y: 0 };//relative to center this.clickPos = { x: 0, y: 0 };//relative to center this.canvas.addEventListener("mouseenter", function (event) { self.mouseOver = true; }, false); this.canvas.addEventListener("mouseleave", function (event) { self.mouseOver = false; }, false); this.canvas.addEventListener("mousemove", function (event) { if (self.mouseOver) { self.mousePos = { x: event.offsetX - self.initialX, y: event.offsetY - self.initialY }; } }, false); this.canvas.addEventListener("mouseup", function (event) { if (self.mouseOver) { self.clickPos = { x: event.offsetX - self.initialX, y: event.offsetY - self.initialY }; } }, false); }; clear(drawAxis) { this.ctx.clearRect(0, 0, this.canvasWidth, this.canvasHeight); this.ctx.strokeStyle = "#000000"; this.ctx.strokeText(this.label, 10, 10); if (drawAxis) { this.axisVectors.forEach(function (vectors, i) { this.ctx.moveTo(this.initialX, this.initialY); this.ctx.beginPath(); vectors.forEach(function (vector) { this.ctx.lineTo(this.initialX + this.axisSelectorX(vector), this.initialY - this.axisSelectorY(vector)); }, this); this.ctx.stroke(); const lastVector = vectors[vectors.length - 1]; this.traces[[this.traceCounter, i]] = lastVector }, this); } } drawVectors(vectors) {/*2d array*/ vectors.forEach(function (vectors, i) { this.ctx.moveTo(this.initialX, this.initialY); this.ctx.beginPath(); vectors.forEach(function (vector) { this.ctx.lineTo(this.initialX + this.axisSelectorX(vector), this.initialY - this.axisSelectorY(vector)); }, this); this.ctx.stroke(); const lastVector = vectors[vectors.length - 1]; this.traces[[this.traceCounter, i]] = lastVector }, this); for (const key in this.traces) { const vector = this.traces[key]; this.ctx.fillStyle = "#FF0000";//red this.ctx.fillRect(this.initialX + this.axisSelectorX(vector), this.initialY - this.axisSelectorY(vector), 1, 1); } this.ctx.strokeStyle = "#000000"; this.ctx.beginPath(); this.ctx.arc(this.clickPos.x + this.initialX, this.clickPos.y + this.initialY, 5, 0, 2 * Math.PI); this.ctx.stroke(); if (this.mouseOver) { this.ctx.strokeStyle = "#00FF00"; this.ctx.beginPath(); this.ctx.arc(this.mousePos.x + this.initialX, this.mousePos.y + this.initialY, 10, 0, 2 * Math.PI); this.ctx.stroke(); } this.traceCounter = (this.traceCounter + 1) % this.maxTraces; } drawPoints(points) { this.ctx.fillStyle = "#00ff00";//green points.forEach(function (point) { this.ctx.fillRect(this.initialX + this.axisSelectorX(point), this.initialY - this.axisSelectorY(point), 3, 3); }, this); } } 

 class Worker { constructor(tickTime) { const self = this; this.phaseStep = 5; this.tickTime = tickTime; const tan30 = Math.tan(Math.PI / 6); const scale = 0.7; this.canvases = [ new Canvas('canvasForward', 'yz Forward', function (v) { return vy }, function (v) { return vz }), new Canvas('canvasSide', 'xz Side', function (v) { return vx }, function (v) { return vz }), new Canvas('canvasTop', 'xy Top', function (v) { return vx }, function (v) { return -vy }), new Canvas('canvasIso', 'xyz Iso', function (v) { return vx * scale + vy * scale }, function (v) { return vz * scale + vx * tan30 * scale - vy * tan30 * scale }), ]; this.bot = new Hexapod(this.phaseStep); this.phase = 0; this.focus = true; window.addEventListener('focus', function () { console.log('focus'); self.focus = true; }); window.addEventListener('blur', function () { console.log('blur'); self.focus = false; }); this.start(); } tick(argument) { const canvasForward = this.canvases[0]; const bot = this.bot; if (canvasForward.mouseOver) { bot.changeHeight(-canvasForward.mousePos.y); } else { bot.changeHeight(0); } const canvasTop = this.canvases[2]; if (canvasTop.mouseOver) { bot.applyTurn(-canvasTop.mousePos.x, -canvasTop.mousePos.y); } else { bot.applyTurn(0, 0); } this.phase = (this.phase + this.phaseStep) % 360; bot.applyPhase(this.phase); bot.tick(); const vectors = bot.getVectors(); this.canvases.forEach(function (c) { c.clear(false); c.drawVectors(vectors); c.drawPoints(bot.debugPoints); }); } start() { this.stop(); this.interval = setInterval((function (self) { return function () { if (self.focus) { self.tick(); } } })(this), this.tickTime); } stop() { clearInterval(this.interval); } }