Hexapod_Simulation_Unity/Assets/Walk2.cs

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

public class Walk2 : MonoBehaviour
{
    public List<GameObject> legs = new List<GameObject>();
    private List<Vector3> legsInitial = new List<Vector3>();

    // Use this for initialization
    void Start()
    {
        for (int index = 0; index < legs.Count; ++index)
        {
            legsInitial.Add(legs[index].GetComponent<Leg>().point);
            step2.Add(0);
            step3.Add(0);
            step4.Add(new Vector3(0, 0, 0));
        }
    }

    struct step
    {
        public float rotation;
        public float height;
        public bool inAir;

        public step(float r, float h, bool i)
        {
            rotation = r;
            height = h;
            inAir = i;
        }
    }

    // 1, 3, 5 -= 3

    int offset(int i, int offset, int max)
    {
        return  i - offset < 0 ? (max - (offset - i)) : i - offset;
    }

    step[] s = {
        new step(-1, 0, false),

        new step(0, -2, false),

        new step(0, 0, false), // rest

        new step(1, 0, false),
        new step(1, 0, false),    
        
        new step(0, 0, false), // rest

        new step(0, 2, false),
        new step(-1, 0, true),
    };

    public int st = 5;
    public int speed2 = 30;
    int speed = 10;

    public float rotation = 0;

    int size = 8;

    //public float walkspeed = 1;
    private List<float> step2 = new List<float>();
    private List<float> step3 = new List<float>();
    private List<Vector3> step4 = new List<Vector3>();

    // Update is called once per frame
    void FixedUpdate()
    {
        if (speed <= 0)
        {
            if (st >= size - 1)
                st = 0;
            else
                st++;

            for (int index = 0; index < legs.Count; ++index)
            {
                int t = st;
                if (index == 1 || index == 3 || index == 5)
                {
                    t = offset(st, 4, size);
                }

                if (s[t].inAir == false)
                {
                    step2[index] = (rotation * s[t].rotation) / speed2;
                    step3[index] = s[t].height / speed2;
                    step4[index] = new Vector3(0, 0, 0);
                }
                else
                {
                    Vector3 t2 = legsInitial[index] - legs[index].GetComponent<Leg>().point;
                    step4[index] = t2 / speed2;
                }
            }

            speed = speed2;
        }
        else
        {
            speed--;
            makestep();
        }
    }

    void makestep()
    {
        for (int index = 0; index < legs.Count; ++index)
        {
            if (step4[index] == new Vector3(0, 0, 0))
            {
                Vector3 n = legs[index].GetComponent<Leg>().getWorldPos();
                n = Quaternion.Euler(0, step2[index], 0) * n;
                n.y += step3[index];
                // rotate x,y around rotation.
                legs[index].GetComponent<Leg>().setWorldPos(n);
            }
            else
            {
                // return to home
                legs[index].GetComponent<Leg>().point += step4[index];
            }
        }
    }
}