75 lines
1.8 KiB
C#
75 lines
1.8 KiB
C#
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using System.Collections;
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using System.Collections.Generic;
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using UnityEngine;
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public class Leg : MonoBehaviour {
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public Transform Hip1;
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public Transform Hip2;
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public Transform Knie;
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public double a1 = 0;
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public double a2 = 0;
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public double a3 = 0;
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public Vector3 point = new Vector3(10, 10, 0);
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public Quaternion rotation = new Quaternion(0, 0, 0, 0);
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public bool invert = false;
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public double translateX = 5;
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public double translateY = 0;
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public double translateZ = 0;
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public GameObject pointShouldBe;
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public Vector3 pos = new Vector3(0, 0, 0);
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private Foot foot = new Foot();
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// Use this for initialization
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void Start () {
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}
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// Update is called once per frame
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void Update()
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{
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foot.X = point.x;
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foot.Y = point.y * -1;
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//foot.Z = point.z * (invert ? -1 : 1);
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foot.Z = point.z * (invert ? 1 : -1);
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foot.rotationX = rotation.x;
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foot.rotationY = rotation.y * (invert ? -1 : 1);
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foot.rotationZ = rotation.z * (invert ? -1 : 1);
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foot.translateX = translateX;
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foot.translateY = translateY;
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foot.translateZ = translateZ;
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foot.invert = invert;
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foot.setleg();
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if (!invert)
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{
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a1 = foot.O1 - 90;
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a2 = 90 - foot.O2;
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a3 = foot.O3 - 90;
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}
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else
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{
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a1 = (foot.O1 - 90)*-1;
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a2 = 90 - foot.O2;
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a3 = foot.O3 - 90;
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}
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Hip1.transform.localRotation = Quaternion.Euler(0, (float)a1, 0);
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Hip2.transform.localRotation = Quaternion.Euler((float)a2, 0, 0);
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Knie.transform.localRotation = Quaternion.Euler((float)a3, 0, 0);
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pos = foot.pos;
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pos.x = pos.x * (invert ? 1 : -1);
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pointShouldBe.transform.localPosition = pos;
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}
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}
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