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              <div id="world" />
<div class="expl">legRight.rotation.x = Math.cos(angle)*100;</div>
<div class="nav">
  <div class="previous link step"><a href="#">← previous step</a></div>
  <div class="marker step">0/10</div>
    <div class="next link step"><a href="#">next step →</a></div>
</div>

<svg id="trigCycle" width="160" height="160" xmlns="http://www.w3.org/2000/svg" >
  <circle cx="60" cy="60" r="50" stroke="#CCC" stroke-width="1" fill="none" />
	<path id="trigoArc" fill="#F00" opacity=".2" />
	<line id="axisCos" x1="0" y1="60" x2="120" y2="60" stroke-width="1" stroke="#CCC" />
	<line id="axisSin" x1="60" y1="0" x2="60" y2="120" stroke-width="1" stroke="#CCC" />
	<line id="trigoLine" x1="60" y1="60" x2="120" y2="60" stroke-width="1" stroke="#f00" />
	<circle id="trigoPoint" cx="0" cy="0" r="5" fill="#F00" />
	<circle id="cosPoint" cx="0" cy="60" r="2" fill="#0A0" />
	<circle id="sinPoint" cx="60" cy="0" r="2" fill="#00F" />
	<line id="cosLine" x1="60" y1="60" x2="110" y2="60" stroke-width="1" stroke="#0A0" />
	<line id="sinLine" x1="60" y1="60" x2="60" y2="110" stroke-width="1" stroke="#00f" />
	<line id="projSinLine" x1="60" y1="60" x2="110" y2="60" stroke-width="1" stroke="#CCC" stroke-dasharray="1, 2" />
	<line id="projCosLine" x1="60" y1="60" x2="60" y2="110" stroke-width="1" stroke="#CCC" stroke-dasharray="1, 2" />
	<text id="cosLabel" class="trigoText" x="122" y="62" fill="#0A0" >cos</text>
	<text id="sinLabel" class="trigoText" x="62" y="120" fill="#00F" >sin</text>
</svg>
            
          
!
            
              @import url(https://fonts.googleapis.com/css?family=Open+Sans:600);

body{
  background-color: #dbe6e6;
  font-family: "Open Sans";
}

#world{
	position: absolute;
	width:100%;
	height: 100%;
  overflow:hidden;
}

.nav{
  position: absolute;
  width:400px;
  left: 50%;
  bottom: 50px;
  transform: translate(-50%, -50%);
  font-size: 12px;
  text-transform: uppercase;
  letter-spacing: 1px;
  user-select: none;
}

.previous{
  position: absolute;
  left: calc(50% - 180px);
  width:120px;
  margin-right: 20px;
  border: 2px solid #5b9696;
  padding:6px;
  border-radius:4px;
}
.next{
  position: absolute;
  left: calc(50% + 20px);
  width:90px;
  margin-left: 20px; 
  border: 2px solid #5b9696;
  padding:6px;
  border-radius:4px;
}
.marker{
  position: absolute;
  left: 50%;
  transform: translate(-50%,0%);
  font-size: 18px;
  padding:4px;
}
.step{
  
}
a{
  color: #5b9696;
  text-decoration: none;
}
a:hover{
  color: #5b6060;
}

.trigoText{
	font-size: 9px;
	font-weight: bold;
	text-transform: uppercase;
}

#trigCycle{
  position: absolute;
  left: 20px;
  top: 20px;
}

.expl{
  position: absolute;
  color: #5b9696;
  width:600px;
  left: 20px;
  top: 150px;
  line-height: 1.5;
  font-size: 12px;
  user-select: none;
}

.angle{
  color:#F00;
}

.formula{
  color:#401A07
}
            
          
!
            
              //THREEJS RELATED VARIABLES 

var scene,
  camera, fieldOfView, aspectRatio, nearPlane, farPlane,
  gobalLight, shadowLight, backLight,
  renderer,
  container,
  controls;

var prevBtn, nextBtn;
var expl = document.getElementsByClassName("expl")[0];
var step = 0;
var steps = 10;


function initNav(){
  prevBtn = document.getElementsByClassName("previous")[0];
  nextBtn = document.getElementsByClassName("next")[0];
  stepMarker = document.getElementsByClassName("marker")[0];
  prevBtn.addEventListener("mousedown", previousStep);
  nextBtn.addEventListener("mousedown", nextStep);
  updateStep();
}

function nextStep(){
  step++;
  step = step%steps;
  updateStep();
}

function previousStep(){
  step--;
  if (step<0) step += steps;
  updateStep();
}

function resetHeroMaterials(){
  hero.legR.material = brownMat;
  hero.legL.material = brownMat;
  hero.handR.material = brownMat;
  hero.handL.material = brownMat;
  hero.torso.material = blueMat;
  hero.head.material = blueMat;
}

function updateStep(){
  stepMarker.innerHTML = (step+1) + "/" + steps; 
  
  resetHeroMaterials();
  
  if (step==0){
    expl.innerHTML = "Breakdown of a walking cycle";
    
  }else if (step==1){
    
    expl.innerHTML = "Move the right leg : <br/><span class='formula'>legRight.position.x = cos(<span class='angle'>t</span>) * 4 <br/> legRight.position.y = sin(<span class='angle'>t</span>) * 4</span>";
    
    hero.legR.material = currentMaterial;
    
  }else if (step==2){
    
    
    expl.innerHTML = "Do the same with the left leg,<br/> just add PI to the angle : <br/><span class='formula'>legLeft.position.x = cos(<span class='angle'>t + PI</span>) * 4 <br/> legLeft.position.y = sin(<span class='angle'>t + PI</span>) * 4</span>";
    hero.legL.material = currentMaterial;
    
    
    
  }else if (step==3){
    
    expl.innerHTML = "Constrain the vertical movement<br/>of the legs to simulate the floor :<br/><span class='formula'> legRight.position.y = max(0, legRight.position.y) <br/> legLeft.position.y = max(0, legLeft.position.y)</span>";
    
    hero.legR.material = currentMaterial;
    hero.legL.material = currentMaterial;
    
  }else if (step==4){
    expl.innerHTML = "Move the torso and the head vertically,<br/>notice how we doubled the frequency<br/>to follow the impulse of both feet :<br/> "+
    "<span class='formula'>torso.position.y = 8 - cos (<span class='angle'>t*2</span>) * 0.8 <br/> " + 
    "head.position.y = 21 - cos (<span class='angle'>t*2</span>) * 1.2</span>";
    
    hero.torso.material = currentMaterial;
    hero.head.material = currentMaterial;
    
  }else if (step==5){
    expl.innerHTML = "Rotate the torso on the Y axis :<br/> "+
    "<span class='formula'>torso.rotation.y = - cos (<span class='angle'>t + PI</span>) * 0.2 </span> ";
    hero.torso.material = currentMaterial;
    
  }else if (step==6){
    
    expl.innerHTML = "Move and rotate the hands :<br/> "+
    "<span class='formula'>handRight.position.x = - cos (<span class='angle'>t</span>) * 4 <br/> "+
    "handRight.rotation.z = - cos (<span class='angle'>t</span>) * PI/8 <br/> "+
    "handLeft.position.x = - cos (<span class='angle'>t + PI</span>) * 4 <br/> "+
    "handLeft.rotation.z = - cos (<span class='angle'>t + PI</span>) * PI/8 </span>";
    
    hero.handR.material = currentMaterial;
    hero.handL.material = currentMaterial;
            
  }else if (step==7){
    
    expl.innerHTML = "Slightly rotate the head on the X and Y axis:<br/> "+
    "<span class='formula'>head.rotation.x = cos (<span class='angle'>t</span>) * 0.08 <br/> "+
    "head.rotation.y = cos (<span class='angle'>t</span>) * 0.04 </span> ";
    hero.head.material = currentMaterial;
    
  }else if (step==8){
    
    expl.innerHTML = "Finetune for a more natural movement:<br/>"+
      "<span class='formula'>"+
      "if (t>PI){<br/>"+
      "&nbsp;&nbsp;this.legR.rotation.z = cos(<span class='angle'>t*2+PI/2</span>) * PI/4;<br/>"+
      "&nbsp;&nbsp;this.legL.rotation.z = 0;<br/>"+
    "} else{<br/>"+
    "&nbsp;&nbsp;this.legR.rotation.z = 0;<br/>"+
    "&nbsp;&nbsp;this.legL.rotation.z = cos(<span class='angle'>t*2 + PI/2</span>) *  PI/4;<br/>" +
    "}"+"</span>";
    hero.legR.material = currentMaterial;
    hero.legL.material = currentMaterial;
  }else{
    expl.innerHTML = "Adjust the speed:<br/>"+
    "<span class='angle'>t</span> = t * 2";
  }
  
}

// OTHER VARIABLES

var PI = Math.PI;
var hero;
var clock;
var container;
//var gui = new dat.GUI();

// MATERIALS

var brownMat = new THREE.MeshStandardMaterial({
    color: 0x401A07,
    side:THREE.DoubleSide,
    shading:THREE.SmoothShading,
    roughness:1,
  });

var blackMat = new THREE.MeshPhongMaterial({
    color: 0x100707,
    shading:THREE.FlatShading,
  });
  
var redMat = new THREE.MeshPhongMaterial({
    color: 0xAA5757,
    shading:THREE.FlatShading,
  });

var blueMat = new THREE.MeshPhongMaterial({
    color: 0x5b9696,
    shading:THREE.FlatShading,
  });

var whiteMat = new THREE.MeshPhongMaterial({
    color: 0xffffff,
    shading:THREE.FlatShading,
  });

var currentMaterial = new THREE.MeshPhongMaterial({
    color: 0xff0000,
    shading:THREE.FlatShading,
  });
  

//INIT THREE JS, SCREEN AND MOUSE EVENTS

function initScreenAnd3D() {
  container = document.getElementById('world');
  HEIGHT = container.offsetHeight;
  WIDTH = container.width;
  windowHalfX = WIDTH / 2;
  windowHalfY = HEIGHT / 2;

  scene = new THREE.Scene();
  
  scene.fog = new THREE.Fog(0xd6eae6, 150,300);
  
  aspectRatio = WIDTH / HEIGHT;
  fieldOfView = 50;
  nearPlane = 1;
  farPlane = 2000;
  camera = new THREE.PerspectiveCamera(
    fieldOfView,
    aspectRatio,
    nearPlane,
    farPlane
  );
  camera.position.x = 0;
  camera.position.z = 100;
  camera.position.y = 0;
  //camera.lookAt(new THREE.Vector3(0, 30, 0));

  renderer = new THREE.WebGLRenderer({
    alpha: true,
    antialias: true
  });
  renderer.setSize(WIDTH, HEIGHT);
  renderer.setPixelRatio(window.devicePixelRatio ? window.devicePixelRatio : 1)
  renderer.shadowMap.enabled = true;

  container.appendChild(renderer.domElement);

  window.addEventListener('resize', handleWindowResize, false);

  clock = new THREE.Clock();
  handleWindowResize();
}

function handleWindowResize() {
  HEIGHT = container.offsetHeight;
  WIDTH = container.offsetWidth;
  windowHalfX = WIDTH / 2;
  windowHalfY = HEIGHT / 2;
  renderer.setSize(WIDTH, HEIGHT);
  camera.aspect = WIDTH / HEIGHT;
  camera.updateProjectionMatrix();
}

function createLights() {
  globalLight = new THREE.AmbientLight(0xffffff, 1);
  shadowLight = new THREE.DirectionalLight(0xffffff, 1);
  shadowLight.position.set(10, 8, 8);
  shadowLight.castShadow = true;
  shadowLight.shadow.camera.left = -40;
  shadowLight.shadow.camera.right = 40;
  shadowLight.shadow.camera.top = 40;
  shadowLight.shadow.camera.bottom = -40;
  shadowLight.shadow.camera.near = 1;
  shadowLight.shadow.camera.far = 1000;
  shadowLight.shadow.mapSize.width = shadowLight.shadow.mapSize.height = 2048;
  scene.add(globalLight);
  scene.add(shadowLight);
}

Hero = function() {
  this.runningCycle = 0;
  this.mesh = new THREE.Group();
  this.body = new THREE.Group();
  this.mesh.add(this.body);
  
  var torsoGeom = new THREE.CubeGeometry(8,8,8, 1);//
  this.torso = new THREE.Mesh(torsoGeom, blueMat);
  this.torso.position.y = 8;
  this.torso.castShadow = true;
  this.body.add(this.torso);
  
  var handGeom = new THREE.CubeGeometry(3,3,3, 1);
  this.handR = new THREE.Mesh(handGeom, brownMat);
  this.handR.position.z=7;
  this.handR.position.y=8;
  this.body.add(this.handR);
  
  this.handL = this.handR.clone();
  this.handL.position.z = - this.handR.position.z;
  this.body.add(this.handL);
  
  var headGeom = new THREE.CubeGeometry(16,16,16, 1);//
  this.head = new THREE.Mesh(headGeom, blueMat);
  this.head.position.y = 21;
  this.head.castShadow = true;
  this.body.add(this.head);
  
  var legGeom = new THREE.CubeGeometry(8,3,5, 1);
  
  this.legR = new THREE.Mesh(legGeom, brownMat);
  this.legR.position.x = 0;
  this.legR.position.z = 7;
  this.legR.position.y = 0;
  this.legR.castShadow = true;
  this.body.add(this.legR);
  
  this.legL = this.legR.clone();
  this.legL.position.z = - this.legR.position.z;
  this.legL.castShadow = true;
  this.body.add(this.legL);

  this.body.traverse(function(object) {
    if (object instanceof THREE.Mesh) {
      object.castShadow = true;
      object.receiveShadow = true;
    }
  });
}

Hero.prototype.run = function(){
  var s = .03;
  var t = this.runningCycle;
  
  if (step>8) t*= 2;
  t = t % (2*PI);
  
  var amp = 4;
  var disp = .2;
  
  this.legR.rotation.z = 0;
  this.legR.position.y = 0;
  this.legR.position.x = 0;
  this.legL.rotation.z = 0;
  this.legL.position.y = 0;
  this.legL.position.x = 0;
  
  
  if (step>0){
    this.runningCycle += s;
    this.legR.position.x =  Math.cos(t) * amp;
    this.legR.position.y = - Math.sin(t) * amp; 
  }
  if (step>1){
    this.legL.position.x =  Math.cos(t + PI) * amp;
    this.legL.position.y = - Math.sin(t + PI) * amp;
  }
  if (step>2){
    this.legL.position.y = Math.max (0, this.legL.position.y);
    this.legR.position.y = Math.max (0, this.legR.position.y); 
  }
  if (step>3){
    this.torso.position.y = 8 - Math.cos(  t * 2 ) * amp * .2;
    this.head.position.y = 21 - Math.cos(  t * 2 ) * amp * .3;
  }
  if (step>4){ 
    this.torso.rotation.y = -Math.cos( t + PI ) * amp * .05;
  }
  if (step>5){ 
    this.handR.position.x = -Math.cos( t ) * amp;
    this.handR.rotation.z = -Math.cos( t ) * PI/8;
    this.handL.position.x = -Math.cos( t + PI) * amp;
    this.handL.rotation.z = -Math.cos( t + PI) * PI/8;
  }
  if (step>6){ 
    this.head.rotation.x = Math.cos( t ) * amp * .02;
    this.head.rotation.y =  Math.cos( t ) * amp * .01;
  } 
  if (step>7){
    if (t>PI){
      this.legR.rotation.z = Math.cos(t * 2 + PI/2) * PI/4; 
      this.legL.rotation.z = 0; 
    } else{
      this.legR.rotation.z = 0; 
      this.legL.rotation.z = Math.cos(t * 2 + PI/2) *  PI/4;  
    }
  }
}

function createHero() {
  hero = new Hero();
  hero.mesh.position.y=-15;
  scene.add(hero.mesh);
}
var rot = -1;

function loop(){
  
  updateTrigoCircle(hero.runningCycle);
  hero.run();
  rot+=.01;
  hero.mesh.rotation.y = -Math.PI/4 + Math.sin(rot * Math.PI/8);
  render();  
  requestAnimationFrame(loop);
}

function render(){
  renderer.render(scene, camera);
}

window.addEventListener('load', init, false);

function init(event){
  initScreenAnd3D();
  createLights();
  createHero();
  loop();
  initNav();
}


// Trigo Circle

var PI = Math.PI;
var trigoArc = document.getElementById("trigoArc");
var trigoLine = document.getElementById("trigoLine");
var trigoPoint = document.getElementById("trigoPoint");
var cosPoint = document.getElementById("cosPoint");
var sinPoint = document.getElementById("sinPoint");
var cosLine = document.getElementById("cosLine");
var sinLine = document.getElementById("sinLine");
var projSinLine = document.getElementById("projSinLine");
var projCosLine = document.getElementById("projCosLine");

var cAngle = 0;
var tp = {
	radiusArc: 10,
	centerX: 60,
	centerY: 60, 
	radiusLines: 50,
};

function updateTrigoCircle(angle) {
	angle %= PI * 2;
	var cos = Math.cos(angle);
	var sin = Math.sin(angle);
  var start = {
    x: tp.centerX + tp.radiusArc * cos,
		y: tp.centerY + tp.radiusArc * sin
	};
	var end = {
		x: tp.centerX + tp.radiusArc,
		y: tp.centerY
	};

	var arcSweep = angle >= PI ? 1 : 0;
	var d = [ "M", tp.centerX, tp.centerY, 
					 	"L", start.x, start.y, 
					 	"A", tp.radiusArc, tp.radiusArc, 0, arcSweep, 0, end.x, end.y,
					 	"L", tp.centerX, tp.centerY
	].join(" ");
	
	trigoArc.setAttribute("d", d);
	trigoLine.setAttribute("x2", tp.centerX + cos * tp.radiusLines);
	trigoLine.setAttribute("y2", tp.centerY + sin * tp.radiusLines);
	trigoPoint.setAttribute("cx", tp.centerX + cos * tp.radiusLines);
	trigoPoint.setAttribute("cy", tp.centerY + sin * tp.radiusLines);
	cosPoint.setAttribute("cx", tp.centerX + cos * tp.radiusLines);
	sinPoint.setAttribute("cy", tp.centerY + sin * tp.radiusLines);
	cosLine.setAttribute("x2", tp.centerX + cos * tp.radiusLines);
	sinLine.setAttribute("y2", tp.centerY + sin * tp.radiusLines);
	projSinLine.setAttribute("x2", tp.centerX + cos * tp.radiusLines);
	projSinLine.setAttribute("y2", tp.centerY + sin * tp.radiusLines);
	projSinLine.setAttribute("y1", tp.centerY + sin * tp.radiusLines);
	projCosLine.setAttribute("x2", tp.centerX + cos * tp.radiusLines);
	projCosLine.setAttribute("x1", tp.centerX + cos * tp.radiusLines);
	projCosLine.setAttribute("y2", tp.centerY + sin * tp.radiusLines);
}
            
          
!
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