def firstStep(indAnt, curve, vel, isFlat=True, ground=None):
"""Initialise the simulation
This function initialises the settings at the beginning of the simulation.
"""
speed = np.linalg.norm(vel)
curveStartPoint = up.getPosCurvePoint(curve, 0.01)
tan = up.getTanCurvePoint(curve, 0.01)
yAngle = up.getAngle(tan)
comTrajList = []
comTrajList.append(curveStartPoint)
triList = []
newTri = tr.createNewTriTemplate(curveStartPoint, True, yRot=yAngle)
newTri = tr.plotTri(newTri, isFlat=isFlat, ground=ground)
triList.append(newTri)
strideLen = tr.triangleSpeed(speed)
newTri = tr.createNewTriTemplate(curveStartPoint + strideLen/2*tan, False, yRot=yAngle)
newTri = tr.plotTri(newTri, isFlat=isFlat, ground=ground)
triList.append(newTri)
diffCOM = np.average(triList[1], 0) - np.average(triList[0], 0)
curTriRight = triList[1] - diffCOM
up.animateBodyLeg(indAnt, curveStartPoint, up.mergeTwoTripod(triList[0], curTriRight))
jointLTList = []
jointRTList = []
jointLT, jointRT = fe.solveJointAngles(curveStartPoint + [0, 0, -0.1], triList[0], triList[1], True)
jointLTList.append(jointLT)
jointRTList.append(jointRT)
return comTrajList, triList, jointLTList, jointRTList
def walking(indAnt, startFrame, endFrame, curve, ground, speed, load, isFlat=True):
"""Simulate the character motion
The function *walking* iterates through all the frames, reads the user settings, determines the foot contacts and simulates the body animation.
"""
cmds.currentTime(startFrame, edit=True)
t, firstLeft, indTri, nextLeft, comPos, vel = up.initialValues(curve, speed)
comTrajList, triList, jointLTList, jointRTList = firstStep(indAnt, curve, vel, isFlat=isFlat, ground=ground)
legTable = up.setupLegTable(comPos, triList[0], triList[1])
curveArray = up.curveToArray(curve)
up.setAttr(indAnt, speed, load)
curTri = triList[0]
nextTri = triList[1]
indFrame = startFrame
while (indFrame < endFrame):
cmds.currentTime(indFrame, edit=True)
extForceFrame = up.getInputExtForce(indAnt)
loadFrame = up.getInputLoad(indAnt)
speedFrame = up.getInputSpeed(indAnt, vel)
T = se.computePeriod(speedFrame)
lastJointLT = jointLTList[-1]
lastJointRT = jointRTList[-1]
jointLT, jointRT = fe.solveJointAngles(comPos, curTri, nextTri, nextLeft)
jointLTList.append(jointLT)
jointRTList.append(jointRT)
## reshuffle the arrays into the legs order: 0-5
jointAngles = []
jointVels = []
velLT = (np.array(jointLT) - np.array(lastJointLT))/dt
velRT = (np.array(jointRT) - np.array(lastJointRT))/dt
for indLeg in [0, 1, 2]:
jointAngles.append(jointLT[indLeg*3:indLeg*3+3])
jointAngles.append(jointRT[indLeg*3:indLeg*3+3])
jointVels.append(velLT[indLeg*3:indLeg*3+3])
jointVels.append(velRT[indLeg*3:indLeg*3+3])
flutParam = {'indAnt':indAnt, 'comVel': (np.average(nextTri, axis=0) - np.average(curTri, axis=0))/T*2}
force, forces, torqueArray = fe.computeForce(indAnt, jointAngles, jointVels, dt, flutParam=flutParam)
comPos = fe.computeComPos(indAnt, comPos, vel, force, extForceFrame, dt=dt)
cross = tr.checkNewTri(comPos, comTrajList[-1], triList[indTri])
if cross == True:
lastTriCom = np.average(triList[indTri], 0)
dirVec = comPos - comTrajList[-1]
nextCurvePoint = tr.getNextCurvePoint(curve, curveArray, lastTriCom, speedFrame)
if nextLeft == True:
newTri = tr.createNewTri(lastTriCom, dirVec, nextCurvePoint, speedFrame, loadFrame, extForceFrame, nextLeft)
else:
newTri = tr.createNewTri(lastTriCom, dirVec, nextCurvePoint, speedFrame, loadFrame, extForceFrame, nextLeft)
newTri = tr.plotTri(newTri, isFlat=isFlat, ground=ground)
vel = tr.updateRot(indAnt, vel, curTri, newTri, comPos, nextLeft, extForceFrame)
indTri = indTri + 1
nextLeft = not nextLeft
triList.append(newTri)
curTri = triList[indTri]
nextTri = triList[indTri+1]
comTrajList.append(comPos)
indFrame = indFrame + 1
if indTri == 0:
preTri = triList[0]
else:
preTri = triList[indTri-1]
if se.checkFroude(speedFrame):
legTable = se.refreshFastMode(legTable, cross, preTri, triList[indTri], triList[indTri+1], comPos)
else:
# dCOM = comTrajList[-1] - comTrajList[-2]
if speedFrame == 0:
legTable = se.refreshStaticMode(indAnt, legTable, comPos, nextLeft, triList[indTri], triList[indTri+1])
else:
legTable = se.refreshSlowMode(indAnt, legTable, cross, nextLeft, triList[indTri], triList[indTri+1], comPos, forces, speedFrame)
feetPos = se.determineFeetPos(indAnt, legTable, speedFrame)
up.animateBodyLeg(indAnt, comPos, feetPos)