// Arm walker: a round furry creature with no legs that gets around on two long arms, Gorilla Tag style.
// Hands are planted in the world (llCastRay down); the body lurches between them on two-bone IK arms, one arm
// at a time, dipping and rolling toward the planted hand. Touch: follows you. Touch its face: chest pounding.
// Owner on /7: come, stay, pound, reset. Promised to a friend 2026-10-11; engine from the Walker Cat.
// Claude Opus 5.5 (Tessel).
float L1 = 0.68; float L2 = 0.68;
float H = 0.6;                // body centre above the ground
float SPEED = 3.2; float TURN = 3.2;      // gorilla tag monkes are FAST (a friend)
float STEP = 0.3; float SWING = 0.22; float DT = 0.1;

list shoulders = [<0.05, 0.27, 0.12>, <0.05, -0.27, 0.12>];
list homes = [<0.5, 0.42, 0>, <0.5, -0.42, 0>];
list poles = [<-0.4, 1, 0.3>, <-0.4, -1, 0.3>];               // elbows out and back
list upperL; list foreL; list handL;
list planted; list swingFrom; list swingTo;
integer swinging = -1; float swingT0;
vector pos; float yaw; key target = NULL_KEY; integer near;
float poundT0;
// bounce mode (fast): the body hops like a basketball; each hand runs a two-hop cycle, offset by one hop:
// planted and pushing for the first quarter, then swinging forward to where the body will be at its next plant
float HOP_T = 0.7; float HOP_H = 0.75;          // about its own height (a friend's suggestion)
integer bouncing; float cycleT0; list lastPsi = [0.0, 0.0]; list plantAt; list swingStart; list targetZ;

integer link_named(string n)
{
    integer i = llGetNumberOfPrims();
    for (; i > 1; --i) if (llGetLinkName(i) == n) return i;
    return 0;
}
float zof(vector v) { return v.z; }

float ground(vector p, float fallback)
{
    list r = llCastRay(<p.x, p.y, pos.z + 0.6>, <p.x, p.y, pos.z - 2.5>,
        [RC_REJECT_TYPES, RC_REJECT_AGENTS | RC_REJECT_PHYSICAL, RC_MAX_HITS, 4]);
    integer n = llList2Integer(r, -1);
    integer i;
    for (i = 0; i < n; ++i)
        if (llList2Key(r, i * 2) != llGetKey()) return zof(llList2Vector(r, i * 2 + 1));
    return fallback;
}

vector hold(vector h, vector fwd, float fallback)                 // handhold near h, avoiding drops
{
    float base = pos.z - H;
    list offs = [0.0, 0.18, -0.15, 0.36];
    vector best = <h.x, h.y, fallback>; float bestCost = 1e9;
    integer k;
    for (k = 0; k < 4; ++k)
    {
        float o = llList2Float(offs, k);
        vector c = h + fwd * o;
        float z = ground(c, -999);
        if (z > -999)
        {
            float dz = llFabs(z - base);
            float cost = llFabs(o) + 2.5 * dz;
            if (dz > 0.45) cost += 3;
            if (cost < bestCost) { bestCost = cost; best = <c.x, c.y, z>; }
        }
    }
    return best;
}

list arm(integer i, vector handW, rotation rot)
{
    vector sh = llList2Vector(shoulders, i);
    vector d = (handW - pos) / rot - sh;
    float dist = llVecMag(d);
    vector dir = d / dist;
    if (dist > L1 + L2 - 0.01) dist = L1 + L2 - 0.01;
    if (dist < 0.15) dist = 0.15;
    float c = (L1 * L1 + dist * dist - L2 * L2) / (2 * L1 * dist);
    if (c > 1) c = 1; if (c < -1) c = -1;
    float a = llAcos(c);
    vector pole = llList2Vector(poles, i);
    vector p = pole - dir * (pole * dir);
    if (llVecMag(p) < 0.01) p = <0, 0, 1>;
    p = llVecNorm(p);
    vector elbow = sh + dir * (L1 * llCos(a)) + p * (L1 * llSin(a));
    vector end = sh + dir * dist;
    vector up = <0, 0, 1>;
    return [PRIM_LINK_TARGET, llList2Integer(upperL, i), PRIM_POS_LOCAL, (sh + elbow) / 2, PRIM_ROT_LOCAL, llRotBetween(up, llVecNorm(elbow - sh)),
            PRIM_LINK_TARGET, llList2Integer(foreL, i), PRIM_POS_LOCAL, (elbow + end) / 2, PRIM_ROT_LOCAL, llRotBetween(up, llVecNorm(end - elbow)),
            PRIM_LINK_TARGET, llList2Integer(handL, i), PRIM_POS_LOCAL, end + <0, 0, 0.03>, PRIM_ROT_LOCAL, ZERO_ROTATION];
}

pose(rotation body, list hands)
{
    list p = [PRIM_POSITION, pos, PRIM_ROTATION, body];
    p += arm(0, llList2Vector(hands, 0), body);
    p += arm(1, llList2Vector(hands, 1), body);
    llSetLinkPrimitiveParamsFast(LINK_ROOT, p);
}

default
{
    state_entry()
    {
        integer i;
        upperL = [link_named("l_upper"), link_named("r_upper")];
        foreL = [link_named("l_fore"), link_named("r_fore")];
        handL = [link_named("l_hand"), link_named("r_hand")];
        llSetLinkPrimitiveParamsFast(link_named("face"), [PRIM_POS_LOCAL, <0.255, 0, 0.04>,
            PRIM_LINK_TARGET, link_named("eye_l"), PRIM_POS_LOCAL, <0.315, 0.075, 0.1>,
            PRIM_LINK_TARGET, link_named("eye_r"), PRIM_POS_LOCAL, <0.315, -0.075, 0.1>,
            PRIM_LINK_TARGET, link_named("mouth"), PRIM_POS_LOCAL, <0.318, 0, -0.03>]);
        for (i = 2; i <= llGetNumberOfPrims(); ++i)              // children don't collide: lower LI, and hand rays skip them
            llSetLinkPrimitiveParamsFast(i, [PRIM_PHYSICS_SHAPE_TYPE, PRIM_PHYSICS_SHAPE_NONE]);
        pos = llGetPos();
        vector e = llRot2Euler(llGetRot()); yaw = e.z;
        pos.z = ground(pos, pos.z - H) + H;
        rotation rot = llEuler2Rot(<0, 0, yaw>);
        planted = [];
        for (i = 0; i < 2; ++i)
        {
            vector h = llList2Vector(homes, i) * rot + pos;
            planted += <h.x, h.y, ground(h, pos.z - H)>;
        }
        swingFrom = planted; swingTo = planted;
        llListen(7, "", llGetOwner(), "");
        llSetTimerEvent(DT);
    }
    on_rez(integer n) { llResetScript(); }
    changed(integer c) { if (c & CHANGED_LINK) llResetScript(); }

    touch_start(integer n)
    {
        integer ln = llDetectedLinkNumber(0);
        string nm = llGetLinkName(ln);
        if (nm == "face" || nm == "eye_l" || nm == "eye_r" || nm == "mouth") { poundT0 = llGetTime(); return; }
        key who = llDetectedKey(0);
        if (target == who) { target = NULL_KEY; llWhisper(0, "*plops down*"); }
        else { target = who; llWhisper(0, "*knuckle-walks after " + llGetDisplayName(who) + "*"); }
    }

    listen(integer ch, string name, key id, string msg)
    {
        msg = llToLower(llStringTrim(msg, STRING_TRIM));
        if (msg == "come") target = id;
        else if (msg == "stay") target = NULL_KEY;
        else if (msg == "pound") poundT0 = llGetTime();
        else if (msg == "reset") llResetScript();
    }

    timer()
    {
        vector fwd = <llCos(yaw), llSin(yaw), 0>;
        rotation rot = llEuler2Rot(<0, 0, yaw>);
        integer i;
        float now = llGetTime();

        if (poundT0 > 0)                                          // chest pounding: hands drum the front of the body
        {
            float t = now - poundT0;
            if (t > 1.8) poundT0 = 0;
            else
            {
                rotation body = llEuler2Rot(<0, -0.25, 0>) * rot;   // sits up a little
                float a = llSin(t * 18); float b = llSin(t * 18 + PI);
                if (a < 0) a = 0; if (b < 0) b = 0;
                list hands = [pos + <0.36 + 0.12 * a, 0.12, 0.08> * body, pos + <0.36 + 0.12 * b, -0.12, 0.08> * body];
                pose(body, hands);
                return;
            }
        }

        float v = 0;
        if (target != NULL_KEY)
        {
            list od = llGetObjectDetails(target, [OBJECT_POS]);
            if (od == []) target = NULL_KEY;
            else
            {
                vector to = llList2Vector(od, 0) - pos; to.z = 0;
                integer wasNear = near;
                near = llVecMag(to) <= 2.0;
                if (near && !wasNear && llFrand(1) < 0.4) poundT0 = now;  // made it! sometimes celebrates
                if (!near)
                {
                    float want = llAtan2(to.y, to.x);
                    float err = want - yaw;
                    while (err > PI) err -= TWO_PI;
                    while (err < -PI) err += TWO_PI;
                    float m = TURN * DT;
                    if (err > m) err = m; if (err < -m) err = -m;
                    yaw += err;
                    fwd = <llCos(yaw), llSin(yaw), 0>; rot = llEuler2Rot(<0, 0, yaw>);
                    float c = llCos(want - yaw);
                    float dist = llVecMag(to);
                    float sp = SPEED; if (dist < 5) sp = 1.2 + (SPEED - 1.2) * (dist - 2) / 3;
                    if (c > 0) v = sp * c;
                }
            }
        }
        if (v > 1.4)
        {
            if (!bouncing)
            {
                DT = 0.05; llSetTimerEvent(DT);                    // smoother arcs while airborne
                bouncing = TRUE; cycleT0 = now; lastPsi = [0.0, 0.5];
                plantAt = planted; swingStart = planted; targetZ = [zof(llList2Vector(planted, 0)), zof(llList2Vector(planted, 1))];
            }
            pos += fwd * (v * DT);
            float ph = (now - cycleT0) / HOP_T; ph -= (integer)ph;
            float baseZ = (llList2Float(targetZ, 0) + llList2Float(targetZ, 1)) / 2 + H - 0.12;
            pos.z = baseZ + HOP_H * 4 * ph * (1 - ph);
            list hands = [];
            for (i = 0; i < 2; ++i)
            {
                float psi = (now - cycleT0) / (2 * HOP_T) + 0.5 * i; psi -= (integer)psi;
                if (psi < llList2Float(lastPsi, i))                 // wrapped: this hand lands now
                {
                    vector hp = llList2Vector(homes, i) * rot + pos + <0, 0, 0>;
                    vector land = <hp.x, hp.y, ground(hp, llList2Float(targetZ, i))>;
                    plantAt = llListReplaceList(plantAt, [land], i, i);
                    targetZ = llListReplaceList(targetZ, [land.z], i, i);
                }
                else if (psi >= 0.25 && llList2Float(lastPsi, i) < 0.25)  // lifts off
                    swingStart = llListReplaceList(swingStart, [llList2Vector(plantAt, i)], i, i);
                lastPsi = llListReplaceList(lastPsi, [psi], i, i);
                vector hnd = llList2Vector(plantAt, i);
                if (psi >= 0.25)
                {
                    float u = (psi - 0.25) / 0.75;
                    float e = u * u * (3 - 2 * u);
                    vector fut = pos + fwd * (v * (1 - psi) * 2 * HOP_T) + llList2Vector(homes, i) * rot;
                    fut.z = llList2Float(targetZ, i);
                    vector a = llList2Vector(swingStart, i);
                    hnd = a + (fut - a) * e + <0, 0, 0.35 * llSin(PI * u)>;
                }
                hands += hnd;
            }
            planted = hands; swinging = -1;
            pose(llEuler2Rot(<0, 0.3 - 0.35 * ph, 0>) * rot, hands);
            return;
        }
        if (bouncing) { DT = 0.1; llSetTimerEvent(DT); bouncing = FALSE; pos.z = (llList2Float(targetZ, 0) + llList2Float(targetZ, 1)) / 2 + H; }
        // each stroke launches the body: fastest while a hand swings forward through the air
        float surge = 0.6;
        if (swinging >= 0) surge = 1.3;
        pos += fwd * (v * surge * DT);

        if (swinging >= 0 && now - swingT0 >= SWING)
        {
            planted = llListReplaceList(planted, [llList2Vector(swingTo, swinging)], swinging, swinging);
            swinging = -1;
        }
        if (swinging < 0)
        {
            float lag0 = 0; float lag1 = 0;
            for (i = 0; i < 2; ++i)
            {
                vector h = llList2Vector(homes, i) * rot + pos;
                vector f = llList2Vector(planted, i);
                float lag = llVecDist(<h.x, h.y, 0>, <f.x, f.y, 0>);
                if (i == 0) lag0 = lag; else lag1 = lag;
            }
            float thresh = STEP;
            if (v == 0) thresh = 0.08;
            integer g = -1;
            if (lag0 > thresh && lag0 >= lag1) g = 0;
            else if (lag1 > thresh) g = 1;
            if (g >= 0)
            {
                swinging = g; swingT0 = now; swingFrom = planted; swingTo = planted;
                vector h = llList2Vector(homes, g) * rot + pos + fwd * (v * SWING * 1.3);
                swingTo = llListReplaceList(swingTo, [hold(h, fwd, zof(llList2Vector(planted, g)))], g, g);
            }
        }
        float gz = (zof(llList2Vector(planted, 0)) + zof(llList2Vector(planted, 1))) / 2 + H;
        float dip = 0; float roll = 0;
        list hands = planted;
        if (swinging >= 0)
        {
            float s = (now - swingT0) / SWING; if (s > 1) s = 1;
            float e = s * s * (3 - 2 * s);
            vector a = llList2Vector(swingFrom, swinging); vector b = llList2Vector(swingTo, swinging);
            hands = llListReplaceList(hands, [a + (b - a) * e + <0, 0, 0.3 * llSin(PI * s)>], swinging, swinging);
            dip = -0.06 * llSin(PI * s);
            if (v > 1.5) dip = -0.3 * llSin(PI * s);                // a hop per stroke
            roll = 0.14 * llSin(PI * s);
            if (swinging == 1) roll = -roll;                        // lean onto the planted hand
        }
        pos.z += (gz - dip - pos.z) * 0.6;
        float lean = 0.12;
        if (v > 0) lean = 0.22;
        pose(llEuler2Rot(<roll, lean, 0>) * rot, hands);
    }
}