I'm a human.
Published
Edited
Jan 20, 2021
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p = {
const p0 = anchor
const p1 = [
p0[0] + coxa * Math.cos(ro + teta),
p0[1] + coxa * Math.sin(ro + teta),
p0[2]
]
const p2 = [
p1[0] + femur * Math.cos(beta) * Math.cos(ro + teta),
p1[1] + femur * Math.cos(beta) * Math.sin(ro + teta),
p1[2] + femur * Math.sin(beta),
]
const omega = alpha - (Math.PI/2 - beta)
const Z = - tibia * Math.cos(omega)
const R = tibia * Math.sin(omega)
const p3 = [
p2[0] + tibia * Math.sin(alpha - (Math.PI/2 - beta)) * Math.cos(ro + teta),
p2[1] + tibia * Math.sin(alpha - (Math.PI/2 - beta)) * Math.sin(ro + teta),
p2[2] - tibia * Math.cos(alpha - (Math.PI/2 - beta))
]
return [p0, p1, p2, p3]
}
function setTipPos ([x, y, z]) {
const diffX = x - anchor[0]
const diffY = y - anchor[1]
const diffZ = z - anchor[2]
const rotatedX = diffX * Math.cos(ro) + diffY * Math.sin(ro)
const rotatedY = diffY * Math.cos(ro) - diffX * Math.sin(ro)
const r = Math.sqrt(Math.pow(rotatedY, 2) + Math.pow(rotatedX, 2))
const p = r - coxa
const u = Math.sqrt(Math.pow(p, 2) + Math.pow(diffZ, 2))
const gama = p > 0 ? Math.atan(-diffZ / p) : Math.PI + Math.atan(-diffZ / p)
return [
Math.atan(rotatedY / rotatedX),
Math.acos((Math.pow(u, 2) + Math.pow(femur, 2) - Math.pow(tibia, 2)) / (2 * femur * u)) - gama,
Math.acos((Math.pow(tibia, 2) + Math.pow(femur, 2) - Math.pow(u, 2)) / (2 * tibia * femur))
]
}
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