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<!DOCTYPE html>

<html>

<head>

<title>robot arm - inverse kinematics - Interactive DHTML demos</title>

body {

margin: 0px;

padding: 0px;

background: #111;

width: 100%;

height: 100%;

color:#fff;

font-size: 12px;

font-family: arial,verdana;

overflow: hidden;

}

#target {

position: absolute;

left: -999px;

-webkit-transform: translate3d(0,0,0); // enable hardware acceleration in Webkit

}

#robots img {

position: absolute;

}

#robot-1 {

position:fixed;

left:20%;

top:0px;

-webkit-transform: translate3d(0,0,0); // enable hardware acceleration in Webkit

}

#robot-2 {

position:fixed;

left:20%;

bottom:0px;

-webkit-transform: translate3d(0,0,0);

}

#robot-3 {

position:fixed;

left:80%;

top:0px;

-webkit-transform: translate3d(0,0,0);

}

#robot-4 {

position:fixed;

left:80%;

bottom:0px;

-webkit-transform: translate3d(0,0,0);

}

</style>

// ===============================================================================

// ***** robot arm - inverse kinematics *****

// -----------------------------------------------------------------------------

// JavaScript: Gerard Ferrandez - 10 August 2011

// http://www.dhteumeuleu.com/

// Licensed under a CC-BY-NC license

// -----------------------------------------------------------------------------

// cross-browser rotation CSS 2D Transforms (won't support IE < 9)

// Tested OK on iPad 2: Hardware acceleration + touch-events supported

// ===============================================================================

"use strict";

(function () {

// ----- private vars -----

var robots = [];

var mouseX = 0, mouseY = 0, target, targetX = 0, targetY = 0, targetW = 0, targetH = 0;

var transform, transformOrigin;

// ----- Robot prototype -----

var Robot = function (span) {

this.span = span;

this.armSegments = [];

this.numSegments = 1;

this.y = 0;

// ---- root ----

this.armSegments.push(

new ArmSegment (this, false)

);

// ---- html defined arms ----

var s = span.getElementsByTagName("img");

for (var img, i = 0; img = s[i++];) {

this.numSegments ++;

this.armSegments.push(

new ArmSegment (this, img)

);

}

};

// ----- animation function -----

Robot.prototype.anim = function () {

// ----- tracking mouse -----

var seg1 = this.armSegments[this.numSegments - 1];

seg1.x += (targetX - seg1.x - this.span.offsetLeft) * 0.075;

seg1.y += (targetY - seg1.y - this.span.offsetTop) * 0.075;

// ----- inverse kinematics -----

var i = this.numSegments - 1;

while ( --i ) {

// ---- bottom up chain ----

var seg0 = this.armSegments[i];

var seg1 = this.armSegments[i + 1];

var a = Math.atan2(seg0.y - seg1.y, seg0.x - seg1.x);

seg0.x = seg1.x + Math.cos(a) * seg1.length;

seg0.y = seg1.y + Math.sin(a) * seg1.length;

}

var i = 0, seg0, seg1;

while ( seg0 = this.armSegments[i++]) {

// ---- up bottom chain ----

if (i > 1) {

var seg1 = this.armSegments[i - 2];

var a = seg0.a = Math.atan2(seg0.y - seg1.y, seg0.x - seg1.x);

seg0.x = seg1.x + Math.cos(a) * seg0.length;

seg0.y = seg1.y + Math.sin(a) * seg0.length;

}

// ---- CSS 2D transforms animation -----

// round values using bitewise hacks - see http://jsperf.com/math-round-vs-hack/3

if (seg0.img) {

seg0.css[transform] = "translate("

+ ((0.5 + seg0.x - seg0.sx) | 0) + "px,"

+ ((0.5 + seg0.y - seg0.sy) | 0) + "px) rotate(" + seg0.a + "rad)";

seg0.css[transformOrigin] = ((0.5 + seg0.sx) | 0) + "px "

+ ((0.5 + seg0.sy) | 0) + "px";

}

// ----- Arm prototype -----

var ArmSegment = function(parent, img) {

this.img = img;

this.width = 0;

this.length = 0;

this.sx = 0;

this.a = 0;

this.x = 0;

if (img) {

this.css = img.style;

this.sy = Math.round(img.height * 0.5);

this.length = img.width - this.sy;

this.sx = img.width;

}

this.y = parent.y;

parent.y += this.length;

}

// ----- main loop -----

var run = function () {

// ---- target ----

if (target) {

targetX += (mouseX - targetX) * 0.2;

targetY += (mouseY - targetY) * 0.2;

target.left = ((targetX + 0.5 - targetW) | 0) + "px";

target.top = ((targetY + 0.5 - targetH) | 0) + "px";

} else {

targetX = mouseX;

targetY = mouseY;

}

// ---- robots ----

for (var r, i = 0; r = robots[i++];) {

r.anim();

}

};

////////////////////////////////////////////////////////////////////////////////////////

// ----- initialization -----

var init = function () {

// ----- CSS3 2D transforms browsers prefix detection -----

var t = ["transform", "msTransform", "MozTransform", "WebkitTransform", "OTransform"];

for (var test, i = 0; test = t[i++];) {

if (typeof document.body.style[test] != "undefined") {

transform = test;

transformOrigin = test + "Origin";

break;

}

// ---- instanciate robot arms ----

var s = document.getElementById("robots").getElementsByTagName("span");

for (var r, i = 0; r = s[i++];) {

robots.push(

new Robot (r)

);

}

// ---- target ----

target = document.getElementById("target");

if (target) {

targetW = target.width / 2;

targetH = target.height / 2;

target = target.style;

}

// ---- mouse event ----

document.addEventListener('mousemove', function (e) {

mouseX = e.clientX;

mouseY = e.clientY;

}, false);

targetX = mouseX = window.innerWidth / 2;

targetY = mouseY = window.innerHeight / 2;

// ----- touch events -----

document.addEventListener('touchmove', function (e) { touchwk(e); }, false);

document.addEventListener('touchstart', function (e) { touchwk(e); }, false);

var touchwk = function (e) {

e.preventDefault();

var touch = e.touches[0];

mouseX = touch.clientX;

mouseY = touch.clientY;

}

// ----- start engine -----

if (transform) setInterval(run, 16);

};

return {

////////////////////////////////////////////////////////////////////////////

// ---- launch script -----

load : function (params) {

window.addEventListener('load', function () {

init();

}, false);

}

})().load();

</script>

</head>

<body>

</span>

</span>

</span>

</span>

</div>

</body>

</html>

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