Work on crab crit

2026-04-10 09:07:04 +01:00
parent ea6f4b2054
commit 8faaf54f2c
3 changed files with 66 additions and 39 deletions
@@ -212,6 +212,15 @@ spiderJoint p q = (f $ Q.axisAngle (V3 0 (-1) 0) (pi - (a+b)), f . Q.axisAngle (
    c = argV $ (p-q) ^. _xy
    f x = Q.qz c * x

+spiderJoint' :: Point3 -> Float -> Float -> Point3 -> (Q.Quaternion Float, Q.Quaternion Float)
+spiderJoint' p l1 l2 q = (f $ Q.axisAngle (V3 0 (-1) 0) (pi - (a+b)), f . Q.axisAngle (V3 0 (-1) 0) $ a - b)
+--spiderJoint p q = (Q.qz c, Q.axisAngle (V3 0 (-1) 0) $ a)
+  where
+    a = angleThreeSides 10 (distance p q) 10
+    b = angleVV3 (q-p) (V3 0 0 (-1))
+    c = argV $ (p-q) ^. _xy
+    f x = Q.qz c * x
+
 deadFeet :: Creature -> Shape
 {-# INLINE deadFeet #-}
 deadFeet = feet