Snakies in p5
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This 'snake' is a set of vertebra connected by springs. A sin wave of muscle activations causes the vertebra to swing like a pendulum. On the back-swing of the pendulum, they press off the ground. On the forward swing of the pendulum, they lift off the ground and reduce friction. This combination of force and friction result in a net thrust, propelling the snake forward.
This sketch is a proof of concept to see that I can get the physics of snake locomotion right. The next step is to put a neural network brain in it and try to evolve a controller.