Hexapod_Simulation_Unity/Assets/RotationControl.cs

using System.Collections;
using System.Collections.Generic;
using UnityEngine;

public class rotation
{
    public float min = -15;
    public float max = 15;
    public float speed = 0.3f;
    public bool dir = false;
    public bool enabled = true;

    public float i = 0;

    public rotation(float speed, float min, float max)
    {
        this.speed = speed;
        this.min = min;
        this.max = max;
    }

    public float update()
    {
        if (enabled)
        {
            if (!dir && i < max)
            {
                i += speed;
            }
            else if (!dir)
            {
                dir = !dir;
                i = (float)max;
            }
            else if (dir && i > min)
            {
                i -= speed;
            }
            else if (dir)
            {
                dir = !dir;
                i = (float)min;
            }
        }

        return i;
    }
}

public class RotationControl : MonoBehaviour
{
    public Vector3 transformation = new Vector3(0, 0, 0);
    public Vector3 transformation2 = new Vector3(0, 0, 0);

    public Quaternion rotation = new Quaternion(0, 0, 0, 0);
    public List<GameObject> rotation2 = new List<GameObject>();
    public GameObject body;
    public GameObject body2;

    public rotation r1 = new rotation(0.1f, -15, 15);
    public rotation r2 = new rotation(0.2f, -15, 15);
    public rotation r3 = new rotation(0.3f, -15, 15);

    public rotation r4 = new rotation(0.01f, -3, 3);
    public rotation r5 = new rotation(0.02f, -3, 3);
    public rotation r6 = new rotation(0.03f, -3, 3);

    public rotation r7 = new rotation(0.001f, -3, 3);
    public rotation r8 = new rotation(0.002f, -3, 3);
    public rotation r9 = new rotation(0.003f, -3, 3);

    // Use this for initialization
    void Start ()
    {
    }

    // Update is called once per frame
    void FixedUpdate()
    {
        rotation.x = r1.update();
        rotation.y = r2.update();
        rotation.z = r3.update();

        transformation.x = r4.update();
        transformation.y = r5.update();
        transformation.z = r6.update();

        transformation2.x = r7.update();
        transformation2.y = r8.update();
        transformation2.z = r9.update();

        body.transform.eulerAngles = new Vector3(rotation.x*-1, rotation.y*-1, rotation.z*-1);
        body.transform.position = transformation;
        body2.transform.localPosition = transformation2;

        for (int index = 0; index < rotation2.Count; ++index)
        {
            rotation2[index].GetComponent<Leg>().rotation = rotation;
            rotation2[index].GetComponent<Leg>().transformation = transformation;
            rotation2[index].GetComponent<Leg>().transformation2 = transformation2;
            rotation2[index].GetComponent<Leg>().FixedUpdate();
        }
    }
}