wassname/rl_2d_walker.js
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wassname
2018-11-30 20:42:06 +08:00
parent 46e127e54b
commit 2cf6d95118
3 changed files with 39 additions and 49 deletions
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js/draw.js
+4 -4
View File
@@ -56,10 +56,10 @@ drawWalker = function (walker) {
globals.ctx.lineWidth = 1/globals.zoom;
// left legs and arms first
// drawRect(walker.left_arm.hand);
drawRect(walker.left_arm.upper_arm);
drawRect(walker.left_leg.lower_leg);
drawRect(walker.left_leg.upper_leg);
drawRect(walker.left_arm.lower_arm);
// head
@@ -71,19 +71,19 @@ drawWalker = function (walker) {
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_arm.upper_arm);
drawRect(walker.right_arm.lower_arm);
globals.ctx.lineWidth = walker.left_leg.frictionJoint.maxForce? 4/globals.zoom : 1/globals.zoom;
drawRect(walker.left_leg.foot);
globals.ctx.lineWidth = walker.right_leg.frictionJoint.maxForce? 4/globals.zoom : 1/globals.zoom;
drawRect(walker.right_leg.foot);
globals.ctx.lineWidth = walker.right_arm.frictionJoint.maxForce? 4/globals.zoom : 1/globals.zoom;
drawRect(walker.right_arm.lower_arm);
drawRect(walker.right_arm.hand);
globals.ctx.lineWidth = walker.left_arm.frictionJoint.maxForce? 4/globals.zoom : 1/globals.zoom;
drawRect(walker.left_arm.lower_arm);
drawRect(walker.left_arm.hand);
}
drawRect = function(body) {
js/game.js
+2 -2
View File
@@ -54,8 +54,8 @@ displayProgress = function () {
}
gameInit = function() {
var bodyParts = 14
var joints = 12
var bodyParts = 16
var joints = 14
var state = bodyParts * 10 + joints * 3
var actions = joints + 4
var input = 2 * state + 1 * actions
js/walker.js
+33 -43
View File
@@ -65,8 +65,8 @@ Walker.prototype.__constructor = function(world) {
arm_length: 0.37,
forearm_width: 0.1,
forearm_length: 0.42,
// hand_height: 0.08,
// hand_length: 0.20,
hand_height: 0.08,
hand_length: 0.18,
}
this.head_def = {
@@ -112,12 +112,12 @@ Walker.prototype.__constructor = function(world) {
// console.log('grip on ' + otherFixture.m_body.m_userData)
self.left_leg.frictionJoint.maxForce = 1000 * self.grips[1]
self.left_leg.frictionJoint.maxTorque = 1000 * self.grips[1]
} else if (otherFixture.m_body.m_userData == "right_lower_arm") {
} else if (otherFixture.m_body.m_userData == "right_hand") {
// console.log('grip off ' + otherFixture.m_body.m_userData)
// TODO let the agent act to grip or not
self.right_arm.frictionJoint.maxForce = 1000 * self.grips[2]
self.right_arm.frictionJoint.maxTorque = 1000 * self.grips[2]
} else if (otherFixture.m_body.m_userData == "left_lower_arm") {
} else if (otherFixture.m_body.m_userData == "left_hand") {
// console.log('grip off ' + otherFixture.m_body.m_userData)
self.left_arm.frictionJoint.maxForce = 1000 * self.grips[3]
self.left_arm.frictionJoint.maxTorque = 1000 * self.grips[3]
@@ -136,12 +136,12 @@ Walker.prototype.__constructor = function(world) {
// console.log('grip off ' + otherFixture.m_body.m_userData)
self.left_leg.frictionJoint.maxForce = 0
self.left_leg.frictionJoint.maxTorque = 0
} else if (otherFixture.m_body.m_userData == "right_lower_arm") {
} else if (otherFixture.m_body.m_userData == "right_hand") {
// console.log('grip off ' + otherFixture.m_body.m_userData)
// TODO let the agent act to grip or not
setTimeout(() => { self.right_arm.frictionJoint.maxForce = 0 }, 100)
setTimeout(() => { self.right_arm.frictionJoint.maxTorque = 0 }, 100)
} else if (otherFixture.m_body.m_userData == "left_lower_arm") {
} else if (otherFixture.m_body.m_userData == "left_hand") {
// console.log('grip off ' + otherFixture.m_body.m_userData)
self.left_arm.frictionJoint.maxForce = 0
self.left_arm.frictionJoint.maxTorque = 0
@@ -214,7 +214,6 @@ Walker.prototype.createLeg = function(label) {
this.fd.shape.SetAsBox(this.leg_def.foot_length/2, this.leg_def.foot_height/2);
foot.CreateFixture(this.fd);
foot.SetUserData(label + 'foot')
// foot.GetLinearDamping(100)
var fjd = new b2.FrictionJointDef();
var position = new b2.Vec2(0,0)
@@ -246,8 +245,8 @@ Walker.prototype.createLeg = function(label) {
var position = lower_leg.GetPosition().Clone();
position.y -= this.leg_def.tibia_length/2;
jd.Initialize(lower_leg, foot, position);
jd.lowerAngle = -Math.PI/5;
jd.upperAngle = Math.PI/6;
jd.lowerAngle = -deg2rad(-36);
jd.upperAngle = deg2rad(30);
jd.enableLimit = true;
jd.maxMotorTorque = 90 * STRENGTH;
jd.motorSpeed = 0;
@@ -276,28 +275,19 @@ Walker.prototype.createArm = function(label) {
lower_arm.CreateFixture(this.fd);
lower_arm.SetUserData(label + 'lower_arm')
// hand
this.bd.position.Set(0.5 - this.leg_def.foot_length/2 + this.leg_def.tibia_width/2, this.leg_def.foot_height/2 + this.leg_def.foot_height/2 + this.leg_def.tibia_length + this.leg_def.femur_length + this.torso_def.lower_height + this.torso_def.upper_height - this.arm_def.arm_length - this.arm_def.forearm_length - this.arm_def.hand_length/2);
// this.bd.position.Set(0.5, this.arm_def.hand_height/2);
var hand = this.world.CreateBody(this.bd);
// // hand
// this.bd.position.Set(0.5, this.leg_def.hand_height/2);
// var hand = this.world.CreateBody(this.bd);
// this.fd.shape.SetAsBox(this.leg_def.hand_length/2, this.leg_def.hand_height/2);
// hand.CreateFixture(this.fd);
// hand.SetUserData(label + 'hand')
// var fjd = new b2.FrictionJointDef();
// var position = new b2.Vec2(0,0)
// fjd.Initialize(lower_arm, globals.floor, position)
// fjd.maxForce = 100; //This the most force the joint will apply to your object. The faster its moving the more force applied
// fjd.maxTorque = 100; //Set to 0 to prevent rotation
// var frictionJoint = this.world.CreateJoint(fjd)
// // TODO only present when colliding?
// // TODO this seems to preclude colliding, so made an ankle that has this?
this.fd.shape.SetAsBox(this.arm_def.hand_height/2, this.arm_def.hand_length/2);
hand.CreateFixture(this.fd);
hand.SetUserData(label + 'hand')
var fjd = new b2.FrictionJointDef();
var position = new b2.Vec2(0,0)
fjd.Initialize(lower_arm, globals.floor, position)
fjd.Initialize(hand, globals.floor, position)
fjd.maxForce = 0; //This the most force the joint will apply to your object. The faster its moving the more force applied
fjd.maxTorque = 0; //Set to 0 to prevent rotation
fjd.userData = label+'hand_friction_joint'
@@ -320,24 +310,24 @@ Walker.prototype.createArm = function(label) {
j.SetUserData(label + 'arm_joint')
this.joints.push(j);
// // hand joint
// var jd = new b2.RevoluteJointDef();
// var position = lower_arm.GetPosition().Clone();
// position.y -= this.arm_def.forearm_length/2;
// jd.Initialize(lower_arm, hand, position);
// jd.lowerAngle = deg2rad(-85);
// jd.upperAngle = deg2rad(85);
// jd.enableLimit = true;
// jd.maxMotorTorque = 90 * STRENGTH;
// jd.motorSpeed = 0;
// jd.enableMotor = true;
// var j = this.world.CreateJoint(jd)
// j.SetUserData(label + 'hand_joint')
// this.joints.push(j);
// hand joint
var jd = new b2.RevoluteJointDef();
var position = lower_arm.GetPosition().Clone();
position.y -= this.arm_def.forearm_length/2;
jd.Initialize(lower_arm, hand, position);
jd.lowerAngle = deg2rad(-35);
jd.upperAngle = deg2rad(35);
jd.enableLimit = true;
jd.maxMotorTorque = 90 * STRENGTH;
jd.motorSpeed = 0;
jd.enableMotor = true;
var j = this.world.CreateJoint(jd)
j.SetUserData(label + 'hand_joint')
this.joints.push(j);
return {
upper_arm: upper_arm, lower_arm: lower_arm,
// hand: hand,
hand: hand,
frictionJoint:frictionJoint
};
}
@@ -454,10 +444,10 @@ Walker.prototype.getBodies = function() {
this.torso.lower_torso,
this.left_arm.upper_arm,
this.left_arm.lower_arm,
// this.left_arm.hand,
this.left_arm.hand,
this.right_arm.upper_arm,
this.right_arm.lower_arm,
// this.right_arm.hand,
this.right_arm.hand,
this.left_leg.upper_leg,
this.left_leg.lower_leg,
this.left_leg.foot,