aframe-lowroller-component

Demo

https://jahbini.github.io/aframe-lowroller-component

Release

robot soccerball

API

A lowroller is a sphere with an internal mass that is confined inside the outer shell. Tetrahedral supports move the inner mass and shift the lowroller's center of gravity, causing it to roll, wobble and hop.

The supports are driven by four identical thrustors controlled by PID constants. The PID constants are P proportional, i integral, and d differential. The values of the thrustors controls the tracking behavior of the lowroller. They are tuned by hand to accomodate the best behavior for the masses of inner and outer.

Property	Description	Default Value
radius	outer sphere	1
inner	inner mass	5
outer	outer mass	1
debug	show tetrahedral control forces	false
pursuit	DOM ID or x y coordinate	idle
pid	Proportional, Integral and Delta factors for thrusters	p: 20, i: 20, d: 1

Installation

Browser

Install and use by directly including the browser files:

<head>
  <title>My A-Frame Scene</title>
  <script src="https://aframe.io/releases/0.8.2/aframe.min.js"></script> 
  <script src="//cdn.rawgit.com/donmccurdy/aframe-physics-system/v3.2.0/dist/aframe-physics-system.min.js"></script> 
  <script src="https://unpkg.com/aframe-lowroller-component/dist/aframe-lowroller-component.min.js"></script> 
</head>
 
<body>
  <a-scene>
    <a-sphere lowroller="debug:true; inner:4;outer:1;pursuit: 2,0;" radius="1" dynamic-body="">
    </a-sphere>
  </a-scene>
</body>

npm

Install via npm:

npm install aframe-lowroller-component

Then require and use.

require('aframe');
require('aframe-lowroller-component');

aframe-lowroller-component