;;;; SUMMARY
;; These codes were made for walkin'
;;;; COPYRIGHT
;; Copyright (C) 2006 James P. Steiner
;; All rights reserved.
;;
;;

globals
[
  top ticks
  body
  oldmy
  surface
  altitude
  dvy
  links
  greeting?
  direction-1
  direction-2
  direction-0
  period-0
  period-1
  period-2
  period
]

breed [ vectors ]
breed [ segments ]


turtles-own
[

]

segments-own
[ vx vy
  min-angle
  max-angle
  phase
  parent
  child
  tag
]

patches-own
[

]

to startup
   setup
end
   
to setup
   ca
   set ticks 0
   set-default-shape segments limb-shape
   set-default-shape vectors "line-half"
   set links 3
   set period 50
   
   cct-segments 1
   [ set parent nobody set color who * 30 + limb-color ;; (quick&dirty.. need who-agnostic method)
     hatch 1
     [ set parent myself set color who * 30 + limb-color
       hatch 1
       [ set parent myself set color who * 30 + limb-color
         hatch 1
         [ set parent myself set color who * 30 + limb-color
           set child nobody
           set size 0
         ]
       ]
       set child turtle 2
     ]
     set child turtle 1
   ]
   ;; create shadow leg 
   ;; (hack -- need who-agnostic method)
   ask segments [ hatch 1 [ set parent turtle (who - 1)] set color gray]
   cct-vectors 1
   [ set body self
     setxy 0 0
     set size sum values-from segments [ size ] * .75
   ]
   go
   greeting true
end

to go
   every (1 / 30) [
   no-display
   if greeting? != false [ greeting false ]
   let segs values-from segments [ self ]
   set segs sort-by [ who-of ?1 < who-of ?2 ] segs
   foreach segs
   [ ask ? 
   [ let s# (who mod (links + 1)) 
     ifelse s# = 0
     [ setvxy 0 0 ]
     [ setvxy segx segy ]
     if s# != links
     [ ifelse s# = who
       [ set heading new-heading ticks ]
       [ set heading new-heading (ticks + 3.6 + symmetry )]
       if size != .01 + slider "length" 
       [ set size .01 + slider "length" ]
     ]
   ] ]
   if shape-of turtle 0 != limb-shape [ ask segments [ set shape limb-shape ] ]
   let bottom -.75 * max-pycor
   let mx 0
   let my 0
   let bx 0
   let by 0 
   ifelse attachment = 1
   [ set mx mean values-from segments [ vx ]
     set my mean values-from segments [ vy ]
      
     set bx 0 - (mx)
     set by 0 - (my )  
   ]
   [ if attachment = 2 or attachment = 3
     [ set mx mean values-from segments [ vx ]
       set my min values-from segments [ vy ] 
       let mxy max values-from segments [ vy ]
       let span (- my) ;; height from ground to hips
       let gap abs (bottom + span)
       ifelse attachment = 2 
       [ ;; no gravity, snap to bottom
         set by bottom + span ]
       [ ;; gravity, accellerate downward
         ifelse altitude > span
         [ set dvy dvy  - gravity * slow-mo
           set altitude altitude + dvy
         ]
         [ set altitude span set dvy dvy * -0.25
         ]
         set by bottom + altitude       
       ]
       set bx 0 - mx
       set oldmy gap
     ]
   ]
   ask segments [ setxy (bx + vx ) (  by + vy ) ]
   
   
   
   ask body
   [ setxy xcor-of turtle 0 ycor-of turtle 0
     set heading 180 + mean-headings turtle 0 turtle (links + 1 ) 
   ]
   if trace? 
   [ ask segments with [ color > gray ]
    [ pd jump 0.1 jump -0.1 pu ]
   ]
   display
   
   if time-advance [ set ticks ticks + speed * slow-mo]
   ]
end


to-report segx
   report value-from parent [ vx + dx * slider "length" ]
end   

to-report segy 
   report value-from parent [ vy + dy * slider "length" ]
end

to-report slider [ name ]
   report run-result (word name "-" (who mod (links + 1) ) )
end      

to-report new-heading [ freq ]
   let half-sweep .5 * slider "sweep"
   let   new-head (   slider "angle"
                    +  slider "sweep"
                            * (sin ( slider "phase" + freq * period ))
                  )
   if who mod (links + 1 ) != 0
   [ set new-head new-head + heading-of parent ]
   report new-head 
end        

to-report mean-headings [ a b ]
   let ha heading-of a
   let hb heading-of b
   report atan ( .5 * (sin ha + sin hb) ) 
               ( .5 * (cos ha + cos hb) )
end
               
to setvxy [ xx yy ]
   set vx xx set vy yy
end   


to generate-cycle-parameters-code
   clear-output
   foreach
   [  "angle-0" "sweep-0" "phase-0" "direction-0" "period-0" "length-0"
      "angle-1" "sweep-1" "phase-1" "direction-1" "period-1" "length-1"
      "angle-2" "sweep-2" "phase-2" "direction-2" "period-2" "length-2"
     "speed" "symmetry"
   ]
   [ let line-out (word "set " ? " " run-result ? )
     output-print line-out
     ;;; print line-out
   ]
end


to movie-prep
   if movie-status != false
   [ movie-cancel ]
   let movie-file user-new-file
   if movie-file = false [ stop ]
   let fps user-input "Enter frame-rate"
   if fps = false [ stop ]
   movie-set-frame-rate fps
   movie-start movie-file
end


to greeting [ show? ]
   ifelse show?
   [ ask patch max-pxcor (max-pycor - 1) [ set plabel "Click  GO  to begin animation."  ]
     set greeting? true
   ]
   [ ask patch max-pxcor (max-pycor - 1) [ set plabel "" ]
     set greeting? false
   ]
end   
    

@#$#@#$#@
GRAPHICS-WINDOW
320
67
763
531
15
15
13.97
1
20
1
1
1
0
0
0
1
-15
15
-15
15

CC-WINDOW
5
545
975
640
Command Center
0

BUTTON
707
30
762
63
reset
setup
NIL
1
T
OBSERVER
T
NIL

BUTTON
320
29
375
62
G O
GO
T
1
T
OBSERVER
T
NIL

SLIDER
10
173
102
206
angle-0
angle-0
-90
270
170
5
1
NIL

SLIDER
10
207
102
240
sweep-0
sweep-0
0
360
50
1
1
NIL

SLIDER
10
275
102
308
length-0
length-0
1
10
6
1
1
NIL

SLIDER
105
173
197
206
angle-1
angle-1
-180
180
-40
1
1
NIL

SLIDER
105
207
197
240
sweep-1
sweep-1
0
360
40
1
1
NIL

SLIDER
105
275
197
308
length-1
length-1
1
10
6
1
1
NIL

SLIDER
200
173
292
206
angle-2
angle-2
-180
180
75
1
1
NIL

SLIDER
200
207
292
240
sweep-2
sweep-2
0
360
14
1
1
NIL

SLIDER
200
275
292
308
length-2
length-2
1
10
3
1
1
NIL

SWITCH
469
29
559
62
trace?
trace?
0
1
-1000

SLIDER
10
241
102
274
phase-0
phase-0
-180
180
0
90
1
NIL

SLIDER
105
241
197
274
phase-1
phase-1
-180
180
-90
45
1
NIL

SLIDER
200
241
292
274
phase-2
phase-2
-180
180
0
45
1
NIL

BUTTON
563
29
653
62
clear-traces
clear-drawing
NIL
1
T
OBSERVER
T
NIL

SLIDER
128
415
220
448
speed
speed
0.01
0.33
0.33
0.01
1
NIL

CHOOSER
11
108
103
153
limb-shape
limb-shape
"stick" "knobs" "thick" "solid" "open" "robot" "calipers"
3

SLIDER
105
379
197
412
symmetry
symmetry
-7.15
7.15
0.0
0.05
1
NIL

SWITCH
11
415
126
448
time-advance
time-advance
0
1
-1000

BUTTON
200
379
255
412
sym=0
set symmetry 0
NIL
1
T
OBSERVER
NIL
NIL

SLIDER
11
454
183
487
attachment
attachment
0
3
3
1
1
NIL

TEXTBOX
189
452
286
512
0 = fixed top\n1 = mean / centroid\n2 = bottom\n3 = bottom + gravity

SLIDER
106
120
198
153
limb-color
limb-color
5
135
15
10
1
NIL

SLIDER
11
489
182
522
gravity
gravity
0
0.5
0.035
0.0010
1
NIL

OUTPUT
776
68
966
490

BUTTON
776
31
897
64
make preset code
generate-cycle-parameters-code
NIL
1
T
OBSERVER
T
NIL

BUTTON
69
46
124
79
Run
clear-drawing\nset angle-0 170\nset sweep-0 50\nset phase-0 0\n\nset period-0 50\nset length-0 6\nset angle-1 -40\nset sweep-1 40\nset phase-1 -90\n\nset period-1 50\nset length-1 6\nset angle-2 75\nset sweep-2 14\nset phase-2 0\n\nset period-2 50\nset length-2 3\nset speed 0.33\nset symmetry 0.0
NIL
1
T
OBSERVER
T
NIL

SLIDER
222
415
314
448
slow-mo
slow-mo
0.1
1
1.0
0.1
1
NIL

BUTTON
244
46
299
79
Ostritch?
set angle-0 140\nset sweep-0 60\nset phase-0 0\nset direction-0 1\nset period-0 50\nset length-0 6\nset angle-1 60\nset sweep-1 60\nset phase-1 135\nset direction-1 1\nset period-1 50\nset length-1 6\nset angle-2 0\nset sweep-2 70\nset phase-2 -45\nset direction-2 1\nset period-2 50\nset length-2 3\nset speed 0.20\nset symmetry 0.0
NIL
1
T
OBSERVER
T
NIL

BUTTON
11
46
66
79
Walk
set angle-0 175\nset sweep-0 25\nset phase-0 0\n\nset period-0 50\nset length-0 6\nset angle-1 -20\nset sweep-1 20\nset phase-1 -90\n\nset period-1 50\nset length-1 6\nset angle-2 91\nset sweep-2 5\nset phase-2 45\n\nset period-2 50\nset length-2 3\nset speed 0.2\nset symmetry 0\nclear-drawing
NIL
1
T
OBSERVER
T
NIL

BUTTON
127
46
182
79
March
set angle-0 200\nset sweep-0 35\nset phase-0 0\n\nset period-0 50\nset length-0 6\nset angle-1 -60\nset sweep-1 60\nset phase-1 180\n\nset period-1 50\nset length-1 6\nset angle-2 101\nset sweep-2 0\nset phase-2 90\n\nset period-2 50\nset length-2 3\nset speed 0.22\nset symmetry 0\nclear-drawing
NIL
1
T
OBSERVER
T
NIL

TEXTBOX
12
10
276
40
Choose a preset, or manually adjust the locomotion geometry. Changes take effect immediately.

TEXTBOX
13
155
123
173
Limb Motion Geometry

TEXTBOX
12
89
80
107
Appearance

TEXTBOX
320
10
470
28
Click GO to animate the limbs

TEXTBOX
12
397
102
415
pauses animation

BUTTON
186
46
241
79
Retreat
set angle-0 200\nset sweep-0 35\nset phase-0 0\n\nset period-0 50\nset length-0 6\nset angle-1 -60\nset sweep-1 60\nset phase-1 135\n\nset period-1 50\nset length-1 6\nset angle-2 101\nset sweep-2 0\nset phase-2 90\n\nset period-2 50\nset length-2 3\nset speed 0.22\nset symmetry 0.0
NIL
1
T
OBSERVER
T
NIL

BUTTON
186
82
299
115
quarduped (cat) front
cd\nset angle-0 140\nset sweep-0 37\nset phase-0 0\nset direction-0 1\nset period-0 50\nset length-0 6\nset angle-1 60\nset sweep-1 33\nset phase-1 135\nset direction-1 1\nset period-1 50\nset length-1 6\nset angle-2 12\nset sweep-2 56\nset phase-2 -45\nset direction-2 1\nset period-2 50\nset length-2 3\nset speed 0.2\nset symmetry 0.0
NIL
1
T
OBSERVER
T
NIL

@#$#@#$#@
= WHAT IS IT =

A tool to explore bipedal locomotion as a product of simple pendulum-like motion

A demonsration of procedureal animation (vs. motion-capture or hand-animated)

Connected amatures are made to swing at selected frequencies and phases, generating movement cycles that suggest running, walking, swimming, and the like.


@#$#@#$#@
default
true
0
Polygon -7500403 true true 150 5 40 250 150 205 260 250

link
true
0
Line -7500403 true 150 0 150 300

link direction
true
0
Line -7500403 true 150 150 30 225
Line -7500403 true 150 150 270 225

calipers
true
5
Polygon -10899396 true true 135 -150 150 -165 180 -150 150 -135 165 75 195 90 210 105 225 135 225 165 210 195 195 210 165 225 135 225 105 210 90 195 75 165 75 135 90 105 105 90 135 75 165 75 165 90 150 120 135 90 105 105 90 135 90 165 105 195 135 210 165 210 195 195 210 165 210 135 195 105 165 90 165 75 135 75 150 -135

knobs
true
5
Circle -10899396 true true 120 120 60
Line -10899396 true 150 150 150 -150

line
true
0
Line -7500403 true 150 0 150 300

line-half
true
5
Line -10899396 true 150 -150 150 150

open
true
5
Polygon -10899396 true true 195 150 165 195 135 195 105 150 120 -120 135 -165 165 -165 180 -120 195 150 180 150 165 -150 135 -150 120 150 135 180 165 180 180 150

robot
true
5
Polygon -10899396 true true 90 105 135 -150 135 -165 165 -165 165 -150 210 105 180 195 120 195 90 105 195 105 165 -135 135 -135 105 105

solid
true
5
Polygon -10899396 true true 120 -150 135 -165 165 -165 180 -150 195 135 195 165 165 195 135 195 105 165 105 135

stick
true
5
Line -10899396 true 150 -150 150 150

thick
true
5
Polygon -10899396 true true 150 -150 165 -135 165 165 135 165 135 120

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NetLogo 3.1.1
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