Forked from:: taka_milk's forked from: Robot Arm

forked from: forked from: Robot Arm

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license : All rights reserved
modified : 2010-10-15 04:37:12

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// forked from taka_milk's forked from: Robot Arm
// forked from Wanson's Robot Arm
package  {
    import flash.display.*;
    import flash.events.Event;
    import flash.geom.Point;

[SWF(width="500", height="500", backgroundColor="0xFFFFFF", frameRate="24")]  
    public class Program extends Sprite {
        private var screen:Sprite;
        private const NARM:int = 4;
        private const LENGTH:Number = 58;
        private var angles:Array;
        private var arms:Array;
        private var effector1:Sprite;
        private var effector2:Sprite;

public function Program() {
            this.screen = this;
            var i:int;
            var g:Graphics;

angles = new Array();
            arms = new Array();
            for (i = 0; i < NARM; i++) {
                angles[i] = 0.0;
                arms[i] = new Sprite();
                g = arms[i].graphics;
                g.lineStyle(1, 0);
                g.drawRoundRect(-8, -8, LENGTH + 16, 16, 16);
             
                screen.addChild(arms[i]);
            }

addEventListener(Event.ENTER_FRAME, onEnterFrame);
        }

public function onEnterFrame(ev:Event):void {
            draw();
        }

private var ph:Number = 0;
        public function draw():void {
            var i:int;
            var x:Number;
            var y:Number;

var e:Point;
            for (i = 0; i < 10; i++)
                e = pursuit(0, new Point(250, 250), new Point(screen.mouseX, screen.mouseY));

x = y = 250;
            for (i = 0; i < 1; i++) {
                arms[i].x = x;
                arms[i].y = y;
                           }

}

private function pursuit(bi:uint, o:Point, p:Point):Point {
            var e:Point;
            if (bi < NARM - 1) {
                const o2:Point = new Point(
                        o.x + Math.cos(angles[bi]) * LENGTH,
                        o.y + Math.sin(angles[bi]) * LENGTH);
                e = pursuit(bi + 1, o2, p);
            } else {
                e = new Point(
                        o.x + Math.cos(angles[bi]) * (LENGTH + 20),
                        o.y + Math.sin(angles[bi]) * (LENGTH + 20));
            }

if ((e.y == o.y && e.x == o.x) || (p.y == o.y && p.x == o.x))
                return e;

const anglee:Number = Math.atan2(e.y - o.y, e.x - o.x);
            const anglep:Number = Math.atan2(p.y - o.y, p.x - o.x);
            var angle_d:Number = (anglep - anglee);

if (angle_d > Math.PI) angle_d = angle_d - 2 * Math.PI;
            else if (angle_d < -Math.PI) angle_d = angle_d + 2 * Math.PI;    
            if (angle_d > 0.025) angle_d = 0.025;
            else if (angle_d < -0.025) angle_d = -0.025;
            angles[bi] += angle_d;

return e;
        }
    }
}

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