Canardia Posted August 5, 2011 Share Posted August 5, 2011 First attempt to try to make a physics controlled mech. You can just copy the lua script to the SDK folder, no additional assets needed, and then drag it over ScriptEditor or Engine.exe: d=-4 -- camera distance h=0 -- mech creation origin height f=20 -- walk force -- 20 is minimum force to walk, 16 is zombie like crawling, -- which ends up in quite stable walking though after a while -- interestingly, the stable walk occurs when legs start to move cross-over in sync require("Scripts/constants/keycodes") --Register abstract path RegisterAbstractPath("") --Set graphics mode if Graphics(800,480)==0 then Notify("Failed to set graphics mode.",1) return end fw=CreateFramework() material=LoadMaterial("abstract::cobblestones.mat") function MakeArm(mainbody,x,z,z2) local body=CreateBodyBox(0.1,0.1,0.5) local cube=CreateCube(body) cube:Paint(material) ScaleMesh(cube,Vec3(0.1,0.1,0.5)) body:SetMass(0.1) body:Move(Vec3(x,h,z-z2)) body:SetCollisionType(2) local joint=CreateJointHinge(mainbody,body,Vec3(x,h,z),Vec3(1,0,0)) --,Vec3() return body end camera=fw.main.camera camera:Turn(Vec3(0,45,0)) camera:Move(Vec3(0,0.5,d)) camerapivot=CreatePivot() camera:SetParent(camerapivot) groundbody=CreateBodyBox(1000,1,1000) ground=CreateCube(groundbody) ground:SetScale(Vec3(1000.0,1.0,1000.0)) ground:Paint(material) groundbody:Move(Vec3(0,-1,0)) groundbody:SetCollisionType(1) light=CreatePointLight(50) light:SetShadowmapSize(2048) light:Move(Vec3(0,5,5)) --DebugPhysics(1) SetSSAO(1) AFilter(16) -- mech body assembly mech1body = CreateBodyBox(1,0.5,2) cube=CreateCube(mech1body) cube:Paint(material) ScaleMesh(cube,Vec3(1,0.5,2)) mech1body:SetMass(1) mech1body:SetGravityMode(1) mech1body:SetCollisionType(1) mech1body:Move(Vec3(0,h,0)) -- mech arms assembly mech1arm = MakeArm(mech1body, 0.6,-0.8,0.18) -- x,z mech1armleft = MakeArm(mech1body,-0.6,-0.8,0.18) -- x,z mech1armfront = MakeArm(mech1body, 0.6, 0.8,0.18) -- x,z mech1armfrontleft = MakeArm(mech1body,-0.6, 0.8,0.18) -- x,z -- mech legs assembly mech1leg = MakeArm(mech1arm, 0.7,-1.2,0.0) mech1legleft = MakeArm(mech1armleft, -0.7,-1.2,0.0) mech1legfront = MakeArm(mech1armfront, 0.7, 0.8-0.4,0.0) mech1legfrontleft = MakeArm(mech1armfrontleft, -0.7, 0.8-0.4,0.0) mech1armaxle=CreateCylinder(8,1) mech1armaxle:SetScale(Vec3(0.1,1.1,0.1)) mech1armaxle:Turn(Vec3(0,0,90)) mech1armaxle:SetParent(mech1body) mech1armaxle:Paint(material) mech1armaxlefront=mech1armaxle:Copy() mech1armaxlefront:SetParent(mech1body) mech1armaxle:Move(Vec3(0,0,-8)) mech1armaxlefront:Move(Vec3(0,0,8)) Collisions(1,1,1) MoveMouse(400,240) while AppTerminate()==0 do fw:Update() if KeyHit(KEY_ESCAPE)==1 then break end mx=400-MouseX() camerapivot:Turn(Vec3(0, (mx), 0)) c1=mech1body:GetPosition() c2=camerapivot:GetPosition() c2.x=Curve(c1.x,c2.x,400) c2.y=Curve(c1.y,c2.y,400) c2.z=Curve(c1.z,c2.z,400) camerapivot:SetPosition(c2) MoveMouse(400,240) if KeyDown(KEY_RIGHT)==1 then mech1arm:AddTorque(Vec3( f,0,0)) mech1armleft:AddTorque(Vec3( f,0,0)) mech1armfront:AddTorque(Vec3( f,0,0)) mech1armfrontleft:AddTorque(Vec3( f,0,0)) end if KeyDown(KEY_LEFT)==1 then mech1arm:AddTorque(Vec3(-f,0,0)) mech1armleft:AddTorque(Vec3(-f,0,0)) mech1armfront:AddTorque(Vec3(-f,0,0)) mech1armfrontleft:AddTorque(Vec3(-f,0,0)) end fw:Render() DrawText("Left/Right: Walk",200,0) Flip(0) end Quote ■ Ryzen 9 ■ RX 6800M ■ 16GB ■ XF8 ■ Windows 11 ■ ■ Ultra ■ LE 2.5 ■ 3DWS 5.6 ■ Reaper ■ C/C++ ■ C# ■ Fortran 2008 ■ Story ■ ■ Homepage: https://canardia.com ■ Link to comment Share on other sites More sharing options...
Canardia Posted August 5, 2011 Author Share Posted August 5, 2011 Second test: Standing up by itself, and staying up very steady, next I need to move a leg. EDIT: Legs are moving now, and walk is quite stable. After a longer walk, the Newton joints get out of position, and you need to stop the mech, to let them slowly return to their positions again. This makes game development with Newton quite impossible, and it would be better to use Bullet physics. sx=800 -- screen x size sy=480 -- screen y size cx=sx/2 -- screen x center cy=sy/2 -- screen y center d=-4 -- camera distance h=1 -- mech creation origin height require("Scripts/constants/keycodes") --Register abstract path RegisterAbstractPath("") --Set graphics mode if Graphics(sx,sy)==0 then Notify("Failed to set graphics mode.",1) return end fw=CreateFramework() material=LoadMaterial("abstract::cobblestones.mat") function MakeArm(mainbody,x,z,z2) local body=CreateBodyBox(0.1,0.1,0.5) local cube=CreateCube(body) cube:Paint(material) ScaleMesh(cube,Vec3(0.1,0.1,0.5)) body:SetMass(0.1) body:Move(Vec3(x,h,z-z2)) body:SetCollisionType(2) local joint=CreateJointHinge(mainbody,body,Vec3(x,h,z),Vec3(1,0,0)) --,Vec3() return body end function AlignArm(body,x) local v=body:CalcOmega(Vec3(x,0,0),1) body:SetOmega(Vec3(v.x*20,v.y*20,v.z*20)) end function Length(v) return math.sqrt(v.x*v.x+v.y*v.y+v.z*v.z) end camera=fw.main.camera camera:Turn(Vec3(0,45,0)) camera:Move(Vec3(0,0.5,d)) camerapivot=CreatePivot() camera:SetParent(camerapivot) terrain=CreateTerrain(1024) terrain:SetCollisionType(1) SetTerrainTexture(terrain,LoadTexture("abstract::terrain_savannah_dirt.dds")) SetTerrainTextureScale(terrain,3,0) light=CreatePointLight(50) light:SetShadowmapSize(2048) light:Move(Vec3(0,5,5)) --DebugPhysics(1) SetSSAO(1) AFilter(16) SetDistanceFog(1) SetDistanceFogRange(20,80) SetDistanceFogColor(Vec4(0,0,0,0.8)) -- mech body assembly mech1body = CreateBodyBox(1,0.5,2) cube=CreateCube(mech1body) cube:Paint(material) ScaleMesh(cube,Vec3(1,0.5,2)) mech1body:SetMass(1) mech1body:SetGravityMode(1) mech1body:SetCollisionType(1) mech1body:Move(Vec3(0,h,0)) -- mech right arm assembly mech1arm = MakeArm(mech1body, 0.6,-0.8,0.18) -- x,z mech1armleft = MakeArm(mech1body,-0.6,-0.8,0.18) -- x,z mech1armfront = MakeArm(mech1body, 0.6, 0.8,0.18) -- x,z mech1armfrontleft = MakeArm(mech1body,-0.6, 0.8,0.18) -- x,z -- mech legs assembly mech1leg = MakeArm(mech1arm, 0.7,-1.2,0.18) mech1legleft = MakeArm(mech1armleft, -0.7,-1.2,0.18) mech1legfront = MakeArm(mech1armfront, 0.7, 0.8-0.4,0.18) mech1legfrontleft = MakeArm(mech1armfrontleft, -0.7, 0.8-0.4,0.18) mech1armaxle=CreateCylinder(8,1) mech1armaxle:SetScale(Vec3(0.1,1.1,0.1)) mech1armaxle:Turn(Vec3(0,0,90)) mech1armaxle:SetParent(mech1body) mech1armaxle:Paint(material) mech1armaxlefront=mech1armaxle:Copy() mech1armaxlefront:SetParent(mech1body) mech1armaxle:Move(Vec3(0,0,-8)) mech1armaxlefront:Move(Vec3(0,0,8)) Collisions(1,1,1) MoveMouse(cx,cy) local walkphase=0 -- 0=stopped, 1=left cross-legs up, 2=right cross-legs up local walksine=0 -- leg phase while AppTerminate()==0 do fw:Update() if KeyHit(KEY_ESCAPE)==1 then break end if walkphase==0 or walkphase==1 then AlignArm(mech1arm,-90) AlignArm(mech1armleft,-90) AlignArm(mech1armfront,-90) AlignArm(mech1armfrontleft,-90) AlignArm(mech1leg,-90) AlignArm(mech1legleft,-90) AlignArm(mech1legfront,-90) AlignArm(mech1legfrontleft,-90) end walksine=(math.sin(AppTime()*0.004))*90 if walkphase==1 then -- wait for zero phase if walksine<0.01 and walkphase>-0.01 then walkphase=2 end end if walkphase==2 then if walksine>0 then AlignArm(mech1armleft,-90+walksine) AlignArm(mech1armfront,-90+walksine) else AlignArm(mech1armleft,-100) AlignArm(mech1armfront,-100) end if walksine<0 then AlignArm(mech1arm,-90-walksine) AlignArm(mech1armfrontleft,-90-walksine) else AlignArm(mech1arm,-100) AlignArm(mech1armfrontleft,-100) end AlignArm(mech1leg,-90) AlignArm(mech1legleft,-90) AlignArm(mech1legfront,-90) AlignArm(mech1legfrontleft,-90) end local speed=Length(GetBodyVelocity(mech1body)) mx=Curve(cx-MouseX(),mx,8) camerapivot:Turn(Vec3(0,mx,0)) c1=mech1body:GetPosition() c2=camerapivot:GetPosition() c2.x=Curve(c1.x,c2.x,200) c2.y=Curve(c1.y,c2.y,200) c2.z=Curve(c1.z,c2.z,200) camerapivot:SetPosition(c2) MoveMouse(cx,cy) if KeyDown(KEY_UP)==1 then if walkphase==0 then walkphase=1 end end if KeyDown(KEY_DOWN)==1 then walkphase=0 end if KeyDown(KEY_LEFT)==1 then mech1body:AddTorque(Vec3(0,-50,0)) end if KeyDown(KEY_RIGHT)==1 then mech1body:AddTorque(Vec3(0,50,0)) end fw:Render() DrawText("Up/Down: Walk/Stop",200,0) DrawText("Left/Right: Turn",200,15) DrawText("Speed: "..speed,200,30) Flip(1) end Quote ■ Ryzen 9 ■ RX 6800M ■ 16GB ■ XF8 ■ Windows 11 ■ ■ Ultra ■ LE 2.5 ■ 3DWS 5.6 ■ Reaper ■ C/C++ ■ C# ■ Fortran 2008 ■ Story ■ ■ Homepage: https://canardia.com ■ Link to comment Share on other sites More sharing options...
Canardia Posted August 6, 2011 Author Share Posted August 6, 2011 Test 3: Double leg length equals double speed. Leg mass needed to be set higher for bigger joint stability, also minimum required SetOmega value gives better stability: Quote ■ Ryzen 9 ■ RX 6800M ■ 16GB ■ XF8 ■ Windows 11 ■ ■ Ultra ■ LE 2.5 ■ 3DWS 5.6 ■ Reaper ■ C/C++ ■ C# ■ Fortran 2008 ■ Story ■ ■ Homepage: https://canardia.com ■ Link to comment Share on other sites More sharing options...
Naughty Alien Posted August 6, 2011 Share Posted August 6, 2011 ..very interesting.. Quote Link to comment Share on other sites More sharing options...
Canardia Posted August 6, 2011 Author Share Posted August 6, 2011 There can be many: Quote ■ Ryzen 9 ■ RX 6800M ■ 16GB ■ XF8 ■ Windows 11 ■ ■ Ultra ■ LE 2.5 ■ 3DWS 5.6 ■ Reaper ■ C/C++ ■ C# ■ Fortran 2008 ■ Story ■ ■ Homepage: https://canardia.com ■ Link to comment Share on other sites More sharing options...
Roland Posted August 6, 2011 Share Posted August 6, 2011 Great work there. Would be nice to see a short video of them walking Quote AV MX Linux Link to comment Share on other sites More sharing options...
Canardia Posted August 6, 2011 Author Share Posted August 6, 2011 Quick video test. I am making a better final video still: Quote ■ Ryzen 9 ■ RX 6800M ■ 16GB ■ XF8 ■ Windows 11 ■ ■ Ultra ■ LE 2.5 ■ 3DWS 5.6 ■ Reaper ■ C/C++ ■ C# ■ Fortran 2008 ■ Story ■ ■ Homepage: https://canardia.com ■ Link to comment Share on other sites More sharing options...
Richard Simpson Posted August 6, 2011 Share Posted August 6, 2011 Lol, that's cool! Quote Intel core 2 quad 6600 | Nvidia Geforce GTX460 1GB | 2GB DDR2 Ram | Windows 7. Google Sketchup | Photoshop | Blender | UU3D | Leadwerks Engine 2.4 Link to comment Share on other sites More sharing options...
Roland Posted August 6, 2011 Share Posted August 6, 2011 Yes. That video is showing off quite nice. This is quite interesting. Could be refined and used as a walker for characters. Do they follow the terrain if there is a hill also ? Quote AV MX Linux Link to comment Share on other sites More sharing options...
Canardia Posted August 6, 2011 Author Share Posted August 6, 2011 I was wondering also how they will walk obstacles and terrain hills, so I need to test that next. My original idea was to make a humanoid walker, but I thought that they might be too difficult to start with, so I started with a 4 leg walker. Quote ■ Ryzen 9 ■ RX 6800M ■ 16GB ■ XF8 ■ Windows 11 ■ ■ Ultra ■ LE 2.5 ■ 3DWS 5.6 ■ Reaper ■ C/C++ ■ C# ■ Fortran 2008 ■ Story ■ ■ Homepage: https://canardia.com ■ Link to comment Share on other sites More sharing options...
Josh Posted August 6, 2011 Share Posted August 6, 2011 That is really cool. Also, if it works in the engine, the same code will work with a real-life robot, if the other physical properties are similar enough, since the same equations are used for reality and our physics sim. Quote My job is to make tools you love, with the features you want, and performance you can't live without. Link to comment Share on other sites More sharing options...
Richard Simpson Posted August 6, 2011 Share Posted August 6, 2011 That is really cool. Also, if it works in the engine, the same code will work with a real-life robot, if the other physical properties are similar enough, since the same equations are used for reality and our physics sim. That is awesome! Quote Intel core 2 quad 6600 | Nvidia Geforce GTX460 1GB | 2GB DDR2 Ram | Windows 7. Google Sketchup | Photoshop | Blender | UU3D | Leadwerks Engine 2.4 Link to comment Share on other sites More sharing options...
Josh Posted August 6, 2011 Share Posted August 6, 2011 You can also adjust the joint stiffness. Yours is a lot better than my attempt: Quote My job is to make tools you love, with the features you want, and performance you can't live without. Link to comment Share on other sites More sharing options...
Rekindled Phoenix Posted August 6, 2011 Share Posted August 6, 2011 Hahaha that video with the army of walkers is awesome Quote Link to comment Share on other sites More sharing options...
tournamentdan Posted August 7, 2011 Share Posted August 7, 2011 I love how when they stop they sway back and forth a bit. Good physics! B) Quote Link to comment Share on other sites More sharing options...
Canardia Posted August 7, 2011 Author Share Posted August 7, 2011 You can also adjust the joint stiffness. No I can't, unless I fix the bug in the engine. Right now joint:SetStiffness(1000.0) has no effect, also not -100, 0, 1, 2, 10, or any value. The joint keeps rotating at the same speed as a joint without stiffness settings, and it also stretches the joint by exactly the same amount when doing a body:AddTorque(Vec3(500,0,0)) to make it rotate so fast that the joint streches. I looked at the source, and the whole NewtonJointSetStiffness is commented out, but it's not commented out for NewtonJointGetStiffness. Maybe I can just uncomment it, to fix the bug. Quote ■ Ryzen 9 ■ RX 6800M ■ 16GB ■ XF8 ■ Windows 11 ■ ■ Ultra ■ LE 2.5 ■ 3DWS 5.6 ■ Reaper ■ C/C++ ■ C# ■ Fortran 2008 ■ Story ■ ■ Homepage: https://canardia.com ■ Link to comment Share on other sites More sharing options...
Pixel Perfect Posted August 7, 2011 Share Posted August 7, 2011 Very impresive Mika, nice work! Quote Intel Core i5 2.66 GHz, Asus P7P55D, 8Gb DDR3 RAM, GTX460 1Gb DDR5, Windows 7 (x64), LE Editor, GMax, 3DWS, UU3D Pro, Texture Maker Pro, Shader Map Pro. Development language: C/C++ Link to comment Share on other sites More sharing options...
Flexman Posted August 7, 2011 Share Posted August 7, 2011 No I can't, unless I fix the bug in the engine. Right now joint:SetStiffness(1000.0) has no effect, also not -100, 0, 1, 2, 10, or any value. The joint keeps rotating at the same speed as a joint without stiffness settings, and it also stretches the joint by exactly the same amount when doing a body:AddTorque(Vec3(500,0,0)) to make it rotate so fast that the joint streches.I looked at the source, and the whole NewtonJointSetStiffness is commented out, but it's not commented out for NewtonJointGetStiffness. Maybe I can just uncomment it, to fix the bug. You know. That might be why I had one hell of a problem trying to get landing gear articulating correctly. I spent a week trying different approaches :/ Somewhat frustrating. Quote 6600 2.4G / GTX 460 280.26 / 4GB Windows 7 Author: GROME Terrain Modeling for Unity, UDK, Ogre3D from PackT Tricubic Studios Ltd. ~ Combat Helo Link to comment Share on other sites More sharing options...
Canardia Posted August 7, 2011 Author Share Posted August 7, 2011 It seems it was commented out for a reason: the command crashes newton, so it's not working at all. Quote ■ Ryzen 9 ■ RX 6800M ■ 16GB ■ XF8 ■ Windows 11 ■ ■ Ultra ■ LE 2.5 ■ 3DWS 5.6 ■ Reaper ■ C/C++ ■ C# ■ Fortran 2008 ■ Story ■ ■ Homepage: https://canardia.com ■ Link to comment Share on other sites More sharing options...
franck22000 Posted August 7, 2011 Share Posted August 7, 2011 So i think we should fill a bug report B) Quote You guys are going to be the death of me. Josh Link to comment Share on other sites More sharing options...
VeTaL Posted August 8, 2011 Share Posted August 8, 2011 *get ready to defend the Earth agains the army of marching robots* xD Quote Working on LeaFAQ Link to comment Share on other sites More sharing options...
Canardia Posted August 8, 2011 Author Share Posted August 8, 2011 I'm building big walls now around the area. This could evolve into somekind of RTS/TD/FPS. Quote ■ Ryzen 9 ■ RX 6800M ■ 16GB ■ XF8 ■ Windows 11 ■ ■ Ultra ■ LE 2.5 ■ 3DWS 5.6 ■ Reaper ■ C/C++ ■ C# ■ Fortran 2008 ■ Story ■ ■ Homepage: https://canardia.com ■ Link to comment Share on other sites More sharing options...
Road Kill Kenny Posted August 8, 2011 Share Posted August 8, 2011 mmmm yes. Really need the joint stiffness to work.. XD My wrecking ball looks more like a tennis ball bouncing around with an elastic band cable Quote STS - Scarlet Thread Studios AKA: Engineer Ken Fact: Game Development is hard... very bloody hard.. If you are not prepared to accept that.. Please give up now! Link to comment Share on other sites More sharing options...
Canardia Posted August 8, 2011 Author Share Posted August 8, 2011 Like I wrote earlier, you can workaround the joint stiffness by using less force and bigger mass for the parts. Quote ■ Ryzen 9 ■ RX 6800M ■ 16GB ■ XF8 ■ Windows 11 ■ ■ Ultra ■ LE 2.5 ■ 3DWS 5.6 ■ Reaper ■ C/C++ ■ C# ■ Fortran 2008 ■ Story ■ ■ Homepage: https://canardia.com ■ Link to comment Share on other sites More sharing options...
Canardia Posted August 8, 2011 Author Share Posted August 8, 2011 Today we are doing standup, sit, and duck testing: Quote ■ Ryzen 9 ■ RX 6800M ■ 16GB ■ XF8 ■ Windows 11 ■ ■ Ultra ■ LE 2.5 ■ 3DWS 5.6 ■ Reaper ■ C/C++ ■ C# ■ Fortran 2008 ■ Story ■ ■ Homepage: https://canardia.com ■ Link to comment Share on other sites More sharing options...
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