v4 transformation after rotation added.

Assets/Foot.cs

@@ -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;