mkulagowski / snaik Goto Github PK

User input should be implemented for test related stuff.

Create snake 3d model.

Model should be:

• made out of segments joined using bones
  • 3 segment types: head, tail, body
• using softbody shell to visually imitate skin. Tutorial here
• using anisotropic friction to enable proper crawl motion. It can be added in Bullet.
• covered with simple textures

Steps:

• research which software enables easy import to Bullet (probably Blender)
• create mesh
• add bones
• add softbody
• research anisotropic friction

Research similar experiments/projects. Especially check how prototypes for snake-robots are made (they should be using a simplified model of snake, that probably will be used here as well).

Should look at some of these:
https://www.ri.cmu.edu/pub_files/pub1/dowling_kevin_1997_5/dowling_kevin_1997_5.pdf
https://www.comp.nus.edu.sg/~kkyin/papers/locotest.pdf
http://biorobotics.ri.cmu.edu/papers/paperUploads/ICRA2012_Enner.pdf
http://www.csd.uoc.gr/~cpanag/papers/snakeVC.pdf

Research and collect theoretical info about snakes biology.

What makes it possible for them to move?
How do they move depending on the terrain?

Add Bullet Engine to the project

Basic test should look like that:

• there is an application that makes physics calculations and rendering running
• user input is given to the application
  (maybe 2 chars for each segment turn. E.x. first would be using Q/A, second W/S, third E/D and so on)
• user can see that snakes body changes shape
• user can see that with proper input snake moves forward, which would mean that physics attributes of the model and environment works

Make simple renderer using OGL.

Add snake class to the project.
Should contain segments number, movement API, current position&shape, current surroundings.