https://manthrax.github.io/sbot/
LMB / RMB click on the joints to actuate them.
9 Likes
Well done !
I like the environment - very “atmospheric”.
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Calculating self intersections in inverse kinematics…
You can get a really great visual understanding of this with the demos by @gkjohnson here… GitHub - gkjohnson/closed-chain-ik-js: A generalized inverse kinematics solver that supports closed chains for parallel kinematics systems, dynamic reconfiguration, and arbitrary joint configuration based on damped least squares error minimization techniques
@manthrax that’s a beautiful demo 
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… probably because my “inverse kinematics” are a giant hack of spheres placed along the “bones”, and brute force collided each frame.
There should be some joint you Can move that will unstick it…
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thank yooouuuu!!!
…on the plus side the “simulation” runs in linear time with no substepping or integration.
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https://manthrax.github.io/sbot/?debugCol=true&debugJoints=true
Debug view showing the joints and collision spheres:
In the non-debug mode:
https://manthrax.github.io/sbot/
You can also use the number keys to save/load different poses, and it will try to tween between them.
Shift+1 saves the current pose to the 1 key…
1 by itself tries to move the robot to that saved pose
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4 Likes
Memory works fine, now it looks like a sketch for a promising game.
Unfortunately there is nothing around to catch and throw 
And my hands are looking for a PS4 controller …
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Just made the repo public if anyone wants to mess with it:
3 Likes
If you come across this article, you may also be interested in RobotSimulation
Some time ago, I also experimented with this, without going any deeper.
CustomCylinderAndSphereKnee
CustomCylinderAndKnee
All from the collection Collection of examples from discourse.threejs.org
2 Likes
verry nice… i dig the skinned one.
But it only works when moving in the xy plane. That was all I could achieve at the time.
1 Like