S2 — The lab · four live instruments
2D kernel3D kernelAll liveThe lab
Every figure below runs the real solver — the same kernel that drives the hardware. Drag them; nothing here is a video. Same kernel, same tests, same stops as the hardware benches.
Lab.01
Four-bar linkage
The 2D testbench behind Fig. 01 — position-based dynamics with a Gauss–Seidel pass, driven from the crank.
Kernel2D PBD · Gauss–Seidel
Tests36 green
RenderSVG · live coupler trace
DriveAny free node · release damping
Lab.01 / Fig. 01
Grashof 曲柄摇杆
2D PBD · Gauss–Seidel · L 66·178·127 · 板 132·100
θ 0.0°
ω 0.00 · err 0.000 · idle
拖任意自由节点 · 松手继承角速度
Lab.02
Arch ring solver
The physical S4 ring — angulated plates on a crank-slider, run as a preset of the untouched 2D kernel.
KernelSame 2D core — untouched
InstanceS4 M3×1.000 · 14 plates
StopsDual-end slot clamp · fixed step
DriveApex / feet / crank pin
Lab.02 / Fig. 12
S4 环 · M3×1.000
同一 2D 内核 · 14 板 · 槽端止程 · 定步 1/120
φ 0.0°
apex 0.0 mm · err 0.00 · idle
拖拱顶 · 四脚 · 曲柄销
Lab.03
Tendon tentacle
Seven box vertebrae on three tendons at 120° — the independent 3D kernel, rendered from the real scanned mesh.
KernelLinkageSolver3D · symmetric GS
Mesh107k tri · real scan
CameraTrackball · wheel zoom · RMB pan
DriveTendon sliders · critical damping
Lab.03
立体肌腱触手
7 方盒椎节 · 3 腱 @120° · 真实扫描网格 10.7 万三角
T 0 / 0 / 0 %
err 0.00 px · ×1.00
拖拽旋转 · 右键平移 · 滚轮缩放
肌腱
联动
Lab.04
Five-ring shell
Five ring instances breathing in phase — 85 mm pitch, foot slots auto-calibrated per ring.
FamilyS1–S5 · ladder 0 / 2 / 4 / 8
ChoreoIn-phase · ω 0.8 · step 1/120 s
Peaks0.24–0.42 mm
DriveBreathe · phase · skin · views
Lab.04 / Fig. 13
S1–S5 伏丘壳体
85 mm 等距 · 同相呼吸 · 槽端逐环标定 [0/2/4/8]
φ 0.0°
apex(S2) 0.0 mm · err 0.00 · 自转
拖拽旋转 · 右键平移 · 滚轮缩放
相位
视角