//// proceduralFootPoseExample.js// examples/controllers//// Created by Brad Hefta-Gaub on 2015/12/15// Copyright 2015 High Fidelity, Inc.//// Distributed under the Apache License, Version 2.0.// See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html// var MAPPING_NAME = "com.highfidelity.examples.proceduralFootPose";var mapping = Controller.newMapping(MAPPING_NAME);var translation = { x: 0, y: 0.1, z: 0 };var translationDx = 0.01;var translationDy = 0.01;var translationDz = -0.01;var TRANSLATION_LIMIT = 0.5; var pitch = 45;var yaw = 0;var roll = 45;var pitchDelta = 1;var yawDelta = -1;var rollDelta = 1;var ROTATION_MIN = -90;var ROTATION_MAX = 90; mapping.from(function() { // adjust the hand translation in a periodic back and forth motion for each of the 3 axes translation.x = translation.x + translationDx; translation.y = translation.y + translationDy; translation.z = translation.z + translationDz; if ((translation.x > TRANSLATION_LIMIT) || (translation.x < (-1 * TRANSLATION_LIMIT))) { translationDx = translationDx * -1; } if ((translation.y > TRANSLATION_LIMIT) || (translation.y < (-1 * TRANSLATION_LIMIT))) { translationDy = translationDy * -1; } if ((translation.z > TRANSLATION_LIMIT) || (translation.z < (-1 * TRANSLATION_LIMIT))) { translationDz = translationDz * -1; } // adjust the hand rotation in a periodic back and forth motion for each of pitch/yaw/roll pitch = pitch + pitchDelta; yaw = yaw + yawDelta; roll = roll + rollDelta; if ((pitch > ROTATION_MAX) || (pitch < ROTATION_MIN)) { pitchDelta = pitchDelta * -1; } if ((yaw > ROTATION_MAX) || (yaw < ROTATION_MIN)) { yawDelta = yawDelta * -1; } if ((roll > ROTATION_MAX) || (roll < ROTATION_MIN)) { rollDelta = rollDelta * -1; } var rotation = Quat.fromPitchYawRollDegrees(pitch, yaw, roll); var pose = { translation: translation, rotation: rotation, velocity: { x: 0, y: 0, z: 0 }, angularVelocity: { x: 0, y: 0, z: 0 } }; Vec3.print("foot translation:", translation); return pose;}).debug(true).to(Controller.Standard.LeftFoot); //mapping.from(Controller.Standard.LeftFoot).debug(true).to(Controller.Actions.LeftFoot); Controller.enableMapping(MAPPING_NAME); Script.scriptEnding.connect(function(){ mapping.disable();});
//
// proceduralFootPoseExample.js
// examples/controllers
//
// Created by Brad Hefta-Gaub on 2015/12/15
// Copyright 2015 High Fidelity, Inc.
//
// Distributed under the Apache License, Version 2.0.
// See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html
//
var MAPPING_NAME = "com.highfidelity.examples.proceduralFootPose";
var mapping = Controller.newMapping(MAPPING_NAME);
var translation = { x: 0, y: 0.1, z: 0 };
var translationDx = 0.01;
var translationDy = 0.01;
var translationDz = -0.01;
var TRANSLATION_LIMIT = 0.5;
var pitch = 45;
var yaw = 0;
var roll = 45;
var pitchDelta = 1;
var yawDelta = -1;
var rollDelta = 1;
var ROTATION_MIN = -90;
var ROTATION_MAX = 90;
mapping.from(function() {
// adjust the hand translation in a periodic back and forth motion for each of the 3 axes
translation.x = translation.x + translationDx;
translation.y = translation.y + translationDy;
translation.z = translation.z + translationDz;
if ((translation.x > TRANSLATION_LIMIT) || (translation.x < (-1 * TRANSLATION_LIMIT))) {
translationDx = translationDx * -1;
}
if ((translation.y > TRANSLATION_LIMIT) || (translation.y < (-1 * TRANSLATION_LIMIT))) {
translationDy = translationDy * -1;
}
if ((translation.z > TRANSLATION_LIMIT) || (translation.z < (-1 * TRANSLATION_LIMIT))) {
translationDz = translationDz * -1;
}
// adjust the hand rotation in a periodic back and forth motion for each of pitch/yaw/roll
pitch = pitch + pitchDelta;
yaw = yaw + yawDelta;
roll = roll + rollDelta;
if ((pitch > ROTATION_MAX) || (pitch < ROTATION_MIN)) {
pitchDelta = pitchDelta * -1;
}
if ((yaw > ROTATION_MAX) || (yaw < ROTATION_MIN)) {
yawDelta = yawDelta * -1;
}
if ((roll > ROTATION_MAX) || (roll < ROTATION_MIN)) {
rollDelta = rollDelta * -1;
}
var rotation = Quat.fromPitchYawRollDegrees(pitch, yaw, roll);
var pose = {
translation: translation,
rotation: rotation,
velocity: { x: 0, y: 0, z: 0 },
angularVelocity: { x: 0, y: 0, z: 0 }
};
Vec3.print("foot translation:", translation);
return pose;
}).debug(true).to(Controller.Standard.LeftFoot);
//mapping.from(Controller.Standard.LeftFoot).debug(true).to(Controller.Actions.LeftFoot);
Controller.enableMapping(MAPPING_NAME);
Script.scriptEnding.connect(function(){
mapping.disable();
});