Digital Opus

Computer programmer. Indie game developer. Blender addict.

Moved to Bluesky Social: @digitalopus.bsky.social

[Digital Opus @DigitalOpus]

Moving to Bluesky social:

https://t.co/ZaIVeaWRPK

[Digital Opus @DigitalOpus]

Experimenting with a new balance/control algorithm based on the COM momentum. First result on a simple rig.

[Digital Opus @DigitalOpus]

Some improvement. He doesn't wipe out on a 20 degree downhill slope. Although the transition to flat ground at the bottom is too much.

[Digital Opus @DigitalOpus]

@Colonthreee @omnimanzero That is the plan. ID and IK are already very efficient and should be easy to make work with DOTS/ECS. The planning part is doing a lot of Raycasting in PhysX and depends on Components like the ConfigurableJoint and Colliders. It will be a fair bit of work getting that to work.

[Digital Opus @DigitalOpus]

Testing the physically simulated walking system with a much larger heavier powered ragdoll. #gamedev

[Digital Opus @DigitalOpus]

@Colonthreee @omnimanzero It is implemented in Unity3d using PhysX configurable joints. The target kinematic pose is procedurally generated using a combination of planning, animations, and IK. SPD controllers compute the desired accelerations for each body. Then ID converts accelerations to torques.

[Digital Opus @DigitalOpus]

@Colonthreee @omnimanzero What do you mean by "calculation station"?

[Digital Opus @DigitalOpus]

@Colonthreee @omnimanzero So far I have managed to avoid magic forces for walking. (Use them for idle standing). This walking uses only torques applied to the joints (sum of all torques == 0). The main problem that I am running into is uneven gait. Each step is a little bit different.

[Digital Opus @DigitalOpus]

He is much better walking uphill.

[Digital Opus @DigitalOpus]

@Colonthreee @omnimanzero It is footstep planning. Using inverted pendulum model to calculate where the next point of support should be to nudge the COM in the desired trajectory. Then the pose is managed with Inverse Kinematics and Inverse Dynamics.

[Digital Opus @DigitalOpus]

@Colonthreee @omnimanzero Yes, there is a footstep planner that uses inverted pendulum to plan the best step-end-target for the stepping foot.

[Digital Opus @DigitalOpus]

@Colonthreee No just fairly steep. And not great decisions about how big a step to take.

[Digital Opus @DigitalOpus]

My best downhill walking yet! #gamedev

[Digital Opus @DigitalOpus]

The getup sometimes works now.

[Digital Opus @DigitalOpus]

I put my Stable Proportional Derivative controller (PD substitute) up on github https://t.co/dWhNt2aTQc
This page explains more: https://t.co/lJ8jKAmetI

[Digital Opus @DigitalOpus]

First attempts at getting up.

[Digital Opus @DigitalOpus]

@omnimanzero Thanks will do. I am very keen to get working on a game with this tech. Hopefully will be ready this fall. I am leaning towards having the player control the monsters and battle/eat the little humans.

[Digital Opus @DigitalOpus]

@Mr_Rowl @PAF_Kontrol Also, the walk planner output is IK target positions. This makes it easy to apply the output different characters.

[Digital Opus @DigitalOpus]

@Mr_Rowl @PAF_Kontrol Thanks for the info. I have tried to make most of the parameters unitless. There is a single "legLength" parameter then all other length-distances are defined as a multiple of legLength. Time parameters are multiples of "stepPeriod" this makes most parameters reusable.

[Digital Opus @DigitalOpus]

@Mr_Rowl @PAF_Kontrol Nice!