v6 rotational walking :D

Assets/Leg.cs

@@ -24,7 +24,7 @@ public class Leg : MonoBehaviour {
     public double translateZ = 0;
 
     public GameObject pointShouldBe;
-    public Vector3 pos = new Vector3(0, 0, 0);
+    //public Vector3 pos = new Vector3(0, 0, 0);
 
     public int startServo = -1;
 
@@ -99,6 +99,16 @@ public class Leg : MonoBehaviour {
         pointShouldBe.transform.localPosition = foot.pos;
     }
 
+    public Vector3 getWorldPos()
+    {
+        return point + new Vector3((float)translateX, (float)translateY, (float)translateZ);
+    }
+
+    public void setWorldPos(Vector3 pos)
+    {
+        this.point = pos - new Vector3((float)translateX, (float)translateY, (float)translateZ);
+    }
+
     public static float Remap(float value, float from1, float to1, float from2, float to2)
     {
         return (value - from1) / (to1 - from1) * (to2 - from2) + from2;