sumotori dreams free to play online ragdoll physics

not just floppy rigs, but more à la natural motion), and I'm trying to decide on a physics engine. I'm starting some work on 'advanced ragdolls' (ie. Anyone know what engine is being used (or is it all homegrown)? The balancing in Sumotori is pretty cool and fun to watch, and the getup is impressive. Anyone have much experience with this stuff?

My stepper didn't really do much, but I had the IK goal solver working to keep the character up for a few drunken steps. I had a simple balance controller working. But all the animations were really driving the PID controllers. Seemed to try to match a series of poses to eventually that would lead it to the final standing up from face down animation. The Get Up off The ground controller was really neat. Or use a neural network to speed up the tuning process ( as I believe endorphins literature claims ).īig feet and a low centre of gravity help You'll have a simple PID controler for each motor that tries to achieve it's goals determined by the higher-level stepping and IK controllers. Best to have those motors as a constraint in your solver rather than applying forces externally. That will give you position/velocity goals, which you feed into your the motors that act at the joints. You do this with a stepping controller to lift the foot a bit, blend that with an IK goal solver to get the foot to the desired location. You want to create contact points with your feet, so the convex hull of them contains that balance point. The goal of the controler is to create a manifold with the feet, such that the center of gravity of the creature projected straight down ( maybe anticipate ahead in time a bit too ) lies inside that manifold. It appears to be using 'controllers' to try to keep balance.

Sumotori dreams free to play online ragdoll physics