wassname/rl_2d_walker.js
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draw bold on grip

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wassname
2018-11-30 10:43:21 +08:00
parent a2e79fff2b
commit 0a1e40fcc8
2 changed files with 13 additions and 7 deletions
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js/draw.js
+12 -6
View File
@@ -57,27 +57,33 @@ drawWalker = function (walker) {
// left legs and arms first
// drawRect(walker.left_arm.hand);
drawRect(walker.left_arm.lower_arm);
drawRect(walker.left_arm.upper_arm);
drawRect(walker.left_leg.foot);
drawRect(walker.left_leg.lower_leg);
drawRect(walker.left_leg.upper_leg);
// head
drawRect(walker.head.neck);
drawRect(walker.head.head);
// torso
drawRect(walker.torso.lower_torso);
drawRect(walker.torso.upper_torso);
// right legs and arms
// drawRect(walker.right_arm.hand);
drawRect(walker.right_leg.upper_leg);
drawRect(walker.right_leg.lower_leg);
drawRect(walker.right_leg.foot);
drawRect(walker.right_arm.upper_arm);
if (walker.left_leg.frictionJoint.maxForce) globals.ctx.lineWidth = 4/globals.zoom;
drawRect(walker.left_leg.foot);
if (walker.right_leg.frictionJoint.maxForce) globals.ctx.lineWidth = 4/globals.zoom;
drawRect(walker.right_leg.foot);
if (walker.right_arm.frictionJoint.maxForce) globals.ctx.lineWidth = 4 / globals.zoom;
drawRect(walker.right_arm.lower_arm);
if (walker.left_arm.frictionJoint.maxForce) globals.ctx.lineWidth = 4/globals.zoom;
drawRect(walker.left_arm.lower_arm);
}
drawRect = function(body) {
js/walker.js
+1 -1
View File
@@ -510,7 +510,7 @@ Walker.prototype.simulationPreStep = function (motorSpeeds) {
for (var k = 0; k < this.joints.length; k++) {
this.joints[k].SetMotorSpeed(motorSpeeds[k] * 10); // action can range from -3 to 3, radians per second
}
for (let i = this.joints.length; i < motorSpeeds.length; i++) {
for (let i = 0; i < motorSpeeds.length-this.joints.length; i++) {
this.grips[i] = motorSpeeds[i] > 0
}
if (motorSpeeds[0] <= 0) this.right_leg.frictionJoint.maxForce = this.right_leg.frictionJoint.maxTorque