Algoritmo de Inverse Kinematics para um braço robótico com 2 revolute joints
$s1 = this.arm.seg01;
$s2 = this.arm.seg01.seg02;
pit = function($x,$y) {
h = Math.pow($x,2) + Math.pow($y,2);
h = Math.pow(h,0.5);
return h
}
$m=150
$n=150
onMouseMove = function() {
$e = arm._xmouse<0;
$f = 1-2*$e;
$g = $e*Math.PI;
$h = pit(arm._xmouse,arm._ymouse);
$x = arm._xmouse*Math.min($m+$n,$h)/$h;
$y = arm._ymouse*Math.min($m+$n,$h)/$h;
$a = $y/$x;
$b = ($x*$x+$y*$y)/(2*$m*$n)-($m/$n+$n/$m)/2;
$c = $n*Math.sin(Math.acos($b))/($m+$n*$b);
$r2 = Math.acos($b);
$r1 = -Math.atan($c)+Math.atan($a)-$g;
$s1._rotation = $r1/Math.PI*180;
$s2._rotation = $r2/Math.PI*180;
trace([$s1._rotation,$s2._rotation]);
}