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