Hexapod/Hexapod_Simulation_Unity
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v4 transformation after rotation added.

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This commit is contained in:
mangavalk
2018-11-11 22:26:43 +01:00
parent b9a5e6d523
commit 33da93b63b
7 changed files with 149 additions and 87 deletions
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.vs/Hexapod/v15/Server/sqlite3/storage.ide
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.vs/Hexapod/v15/Server/sqlite3/storage.ide-shm
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.vs/Hexapod/v15/Server/sqlite3/storage.ide-wal
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Assets/Foot.cs
+8 -3
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@@ -26,8 +26,9 @@ public class Foot : Component
public double O1, O2, O3;
public Vector3 transformation = new Vector3(0, 0, 0);
public Vector3 transformation2 = new Vector3(0, 0, 0);
static float temp = 2;
static float knie_offset = 2;
void RL3()
{
@@ -40,7 +41,7 @@ public class Foot : Component
l3 = l3 * -1;
//todo
l3 -= temp;
l3 -= knie_offset;
}
double FO1()
@@ -63,7 +64,7 @@ public class Foot : Component
double z2 = Z * Z;
double t = Math.Sqrt(x2 + z2);
t -= temp;
t -= knie_offset;
t = t * t;
//todo: X,Z remove distance temp.
s = Math.Sqrt(y2 + t);
@@ -156,6 +157,10 @@ public class Foot : Component
Y = v.y;
Z = v.z;
X -= transformation2.x;
Y -= transformation2.y;
Z -= transformation2.z;
X -= translateX;
Y -= translateY;
Z -= translateZ;
Assets/Leg.cs
+5
View File
@@ -15,6 +15,7 @@ public class Leg : MonoBehaviour {
public Quaternion rotation = new Quaternion(0, 0, 0, 0);
public Vector3 transformation = new Vector3(0, 0, 0);
public Vector3 transformation2 = new Vector3(0, 0, 0);
public bool invert = false;
@@ -47,8 +48,12 @@ public class Leg : MonoBehaviour {
foot.translateY = translateY;
foot.translateZ = translateZ;
// transform before rotation.
foot.transformation = transformation;
// transform after rotation.
foot.transformation2 = transformation2;
foot.invert = invert;
foot.setleg();
Assets/Main.unity
+63 -23
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@@ -26945,14 +26945,14 @@ Transform:
type: 2}
m_PrefabInternal: {fileID: 0}
m_GameObject: {fileID: 1453644144}
m_LocalRotation: {x: 0, y: 1, z: 0, w: 0}
m_LocalRotation: {x: -0, y: 1, z: -0, w: 0}
m_LocalPosition: {x: -5, y: 0, z: -5}
m_LocalScale: {x: 1, y: 1, z: 1}
m_Children:
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m_Father: {fileID: 2129559091}
m_Father: {fileID: 1971572978}
m_RootOrder: 4
m_LocalEulerAnglesHint: {x: 0, y: 180, z: 0}
--- !u!1 &164769193
@@ -34422,6 +34422,7 @@ MonoBehaviour:
point: {x: 4, y: -10, z: -13}
rotation: {x: 0, y: 0, z: 0, w: 0}
transformation: {x: 0, y: 0, z: 0}
transformation2: {x: 0, y: 0, z: 0}
invert: 1
translateX: 5
translateY: 0
@@ -48736,6 +48737,7 @@ MonoBehaviour:
m_Name:
m_EditorClassIdentifier:
transformation: {x: 0, y: 0, z: 0}
transformation2: {x: 0, y: 0, z: 0}
rotation: {x: 0, y: 0, z: 0, w: 0}
rotation2:
- {fileID: 636309705}
@@ -48745,6 +48747,7 @@ MonoBehaviour:
- {fileID: 1772413224}
- {fileID: 210611261}
body: {fileID: 2129559090}
body2: {fileID: 1971572977}
min: -25
max: 25
speed: 0.1
@@ -48753,9 +48756,12 @@ MonoBehaviour:
dir: 0
dir2: 0
dir3: 0
p: 1
r: 1
y: 1
p: 0
r: 0
y: 0
p2: 0
r2: 0
y2: 0
--- !u!1 &311874317
GameObject:
m_ObjectHideFlags: 0
@@ -92882,6 +92888,7 @@ MonoBehaviour:
point: {x: 0, y: -10, z: 15}
rotation: {x: 0, y: 0, z: 0, w: 0}
transformation: {x: 0, y: 0, z: 0}
transformation2: {x: 0, y: 0, z: 0}
invert: 0
translateX: 0
translateY: 0
@@ -99404,6 +99411,7 @@ MonoBehaviour:
point: {x: -4, y: -10, z: 13}
rotation: {x: 0, y: 0, z: 0, w: 0}
transformation: {x: 0, y: 0, z: 0}
transformation2: {x: 0, y: 0, z: 0}
invert: 0
translateX: -5
translateY: 0
@@ -102413,14 +102421,14 @@ Transform:
type: 2}
m_PrefabInternal: {fileID: 0}
m_GameObject: {fileID: 596626244}
m_LocalRotation: {x: 0, y: 0, z: 0, w: 1}
m_LocalRotation: {x: -0, y: -0, z: -0, w: 1}
m_LocalPosition: {x: 0, y: 0, z: 5}
m_LocalScale: {x: 1, y: 1, z: 1}
m_Children:
- {fileID: 1668338011}
- {fileID: 1440823284}
- {fileID: 914986743}
m_Father: {fileID: 2129559091}
m_Father: {fileID: 1971572978}
m_RootOrder: 2
m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
--- !u!1 &653632280
@@ -103628,14 +103636,14 @@ Transform:
type: 2}
m_PrefabInternal: {fileID: 0}
m_GameObject: {fileID: 1619174560}
m_LocalRotation: {x: 0, y: 0, z: 0, w: 1}
m_LocalRotation: {x: -0, y: -0, z: -0, w: 1}
m_LocalPosition: {x: 5, y: 0, z: 5}
m_LocalScale: {x: 1, y: 1, z: 1}
m_Children:
- {fileID: 555867950}
- {fileID: 958514921}
- {fileID: 1943602707}
m_Father: {fileID: 2129559091}
m_Father: {fileID: 1971572978}
m_RootOrder: 3
m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
--- !u!1 &659284584
@@ -169375,14 +169383,14 @@ Transform:
type: 2}
m_PrefabInternal: {fileID: 0}
m_GameObject: {fileID: 1772413224}
m_LocalRotation: {x: 0, y: 1, z: 0, w: 0}
m_LocalRotation: {x: -0, y: 1, z: -0, w: 0}
m_LocalPosition: {x: 0, y: 0, z: -5}
m_LocalScale: {x: 1, y: 1, z: 1}
m_Children:
- {fileID: 1718712321}
- {fileID: 2042398688}
- {fileID: 955360345}
m_Father: {fileID: 2129559091}
m_Father: {fileID: 1971572978}
m_RootOrder: 5
m_LocalEulerAnglesHint: {x: 0, y: 180, z: 0}
--- !u!1 &1051905036
@@ -200105,14 +200113,14 @@ Transform:
type: 2}
m_PrefabInternal: {fileID: 0}
m_GameObject: {fileID: 210611261}
m_LocalRotation: {x: 0, y: 1, z: 0, w: 0}
m_LocalRotation: {x: -0, y: 1, z: -0, w: 0}
m_LocalPosition: {x: 5, y: 0, z: -5}
m_LocalScale: {x: 1, y: 1, z: 1}
m_Children:
- {fileID: 1114772579}
- {fileID: 202055677}
- {fileID: 32992309}
m_Father: {fileID: 2129559091}
m_Father: {fileID: 1971572978}
m_RootOrder: 6
m_LocalEulerAnglesHint: {x: 0, y: 180, z: 0}
--- !u!1 &1245696998
@@ -223926,7 +223934,7 @@ Transform:
m_LocalPosition: {x: 0, y: 0, z: 0}
m_LocalScale: {x: 10, y: 1, z: 10}
m_Children: []
m_Father: {fileID: 2129559091}
m_Father: {fileID: 1971572978}
m_RootOrder: 0
m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
--- !u!23 &1389944205
@@ -234729,6 +234737,7 @@ MonoBehaviour:
point: {x: -4, y: -10, z: -13}
rotation: {x: 0, y: 0, z: 0, w: 0}
transformation: {x: 0, y: 0, z: 0}
transformation2: {x: 0, y: 0, z: 0}
invert: 1
translateX: -5
translateY: 0
@@ -259161,6 +259170,7 @@ MonoBehaviour:
point: {x: 4, y: -10, z: 13}
rotation: {x: 0, y: 0, z: 0, w: 0}
transformation: {x: 0, y: 0, z: 0}
transformation2: {x: 0, y: 0, z: 0}
invert: 0
translateX: 5
translateY: 0
@@ -283860,6 +283870,7 @@ MonoBehaviour:
point: {x: 0, y: -10, z: -15}
rotation: {x: 0, y: 0, z: 0, w: 0}
transformation: {x: 0, y: 0, z: 0}
transformation2: {x: 0, y: 0, z: 0}
invert: 1
translateX: 0
translateY: 0
@@ -287094,14 +287105,14 @@ Transform:
type: 2}
m_PrefabInternal: {fileID: 0}
m_GameObject: {fileID: 636309705}
m_LocalRotation: {x: 0, y: 0, z: 0, w: 1}
m_LocalRotation: {x: -0, y: -0, z: -0, w: 1}
m_LocalPosition: {x: -5, y: 0, z: 5}
m_LocalScale: {x: 1, y: 1, z: 1}
m_Children:
- {fileID: 1315959229}
- {fileID: 8323914}
- {fileID: 2018746517}
m_Father: {fileID: 2129559091}
m_Father: {fileID: 1971572978}
m_RootOrder: 1
m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
--- !u!1 &1787902796
@@ -316113,6 +316124,41 @@ MeshFilter:
m_PrefabInternal: {fileID: 0}
m_GameObject: {fileID: 1971451030}
m_Mesh: {fileID: 10207, guid: 0000000000000000e000000000000000, type: 0}
--- !u!1 &1971572977
GameObject:
m_ObjectHideFlags: 0
m_PrefabParentObject: {fileID: 0}
m_PrefabInternal: {fileID: 0}
serializedVersion: 5
m_Component:
- component: {fileID: 1971572978}
m_Layer: 0
m_Name: GameObject
m_TagString: Untagged
m_Icon: {fileID: 0}
m_NavMeshLayer: 0
m_StaticEditorFlags: 0
m_IsActive: 1
--- !u!4 &1971572978
Transform:
m_ObjectHideFlags: 0
m_PrefabParentObject: {fileID: 0}
m_PrefabInternal: {fileID: 0}
m_GameObject: {fileID: 1971572977}
m_LocalRotation: {x: 0, y: 0, z: 0, w: 1}
m_LocalPosition: {x: 0, y: 0, z: 0}
m_LocalScale: {x: 1, y: 1, z: 1}
m_Children:
- {fileID: 1389944204}
- {fileID: 1786430462}
- {fileID: 653454402}
- {fileID: 658472411}
- {fileID: 163545139}
- {fileID: 1051547784}
- {fileID: 1245260121}
m_Father: {fileID: 2129559091}
m_RootOrder: 0
m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
--- !u!1 &1971697617
GameObject:
m_ObjectHideFlags: 0
@@ -338910,13 +338956,7 @@ Transform:
m_LocalPosition: {x: 0, y: 0, z: 0}
m_LocalScale: {x: 1, y: 1, z: 1}
m_Children:
- {fileID: 1389944204}
- {fileID: 1786430462}
- {fileID: 653454402}
- {fileID: 658472411}
- {fileID: 163545139}
- {fileID: 1051547784}
- {fileID: 1245260121}
- {fileID: 1971572978}
m_Father: {fileID: 0}
m_RootOrder: 3
m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
Assets/RotationControl.cs
+73 -61
View File
@@ -2,22 +2,72 @@
using System.Collections.Generic;
using UnityEngine;
public class RotationControl : MonoBehaviour
public class rotation
{
public Quaternion rotation = new Quaternion(0, 0, 0, 0);
public List<GameObject> rotation2 = new List<GameObject>();
public GameObject body;
public float min = -15;
public float max = 15;
public float speed = 0.3f;
public float speed2 = 0.3f;
public float speed3 = 0.3f;
public bool dir = false;
public bool dir2 = false;
public bool dir3 = false;
public bool enabled = true;
public bool p = false, r = false, y = false;
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 ()
@@ -27,65 +77,27 @@ public class RotationControl : MonoBehaviour
// Update is called once per frame
void FixedUpdate()
{
if (p)
{
if (!dir2 && rotation.x < max)
rotation.x += speed2;
else if (!dir2)
{
dir2 = !dir2;
rotation.x = (float)max;
}
else if (dir2 && rotation.x > min)
rotation.x -= speed2;
else if (dir2)
{
dir2 = !dir2;
rotation.x = (float)min;
}
}
rotation.x = r1.update();
rotation.y = r2.update();
rotation.z = r3.update();
if (r)
{
if (!dir3 && rotation.y < max)
rotation.y += speed3;
else if (!dir3)
{
dir3 = !dir3;
rotation.y = (float)max;
}
else if (dir3 && rotation.y > min)
rotation.y -= speed3;
else if (dir3)
{
dir3 = !dir3;
rotation.y = (float)min;
}
}
transformation.x = r4.update();
transformation.y = r5.update();
transformation.z = r6.update();
if (y)
{
if (!dir && rotation.z < max)
rotation.z += speed;
else if (!dir)
{
dir = !dir;
rotation.z = (float)max;
}
else if (dir && rotation.z > min)
rotation.z -= speed;
else if (dir)
{
dir = !dir;
rotation.z = (float)min;
}
}
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();
}
}