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;

Assets/Leg.cs

@@ -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

@@ -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:
   - {fileID: 1945642084}
   - {fileID: 842799377}
   - {fileID: 591879372}
-  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
+  p: 0
-  r: 1
+  r: 0
-  y: 1
+  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: 1971572978}
-  - {fileID: 1786430462}
-  - {fileID: 653454402}
-  - {fileID: 658472411}
-  - {fileID: 163545139}
-  - {fileID: 1051547784}
-  - {fileID: 1245260121}
   m_Father: {fileID: 0}
   m_RootOrder: 3
   m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}

Assets/RotationControl.cs

@@ -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 enabled = true;
-    public bool dir3 = false;
 
-    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)
+        rotation.x = r1.update();
-        {
+        rotation.y = r2.update();
-            if (!dir2 && rotation.x < max)
+        rotation.z = r3.update();
-                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;
-            }
-        }
 
-        if (r)
+        transformation.x = r4.update();
-        {
+        transformation.y = r5.update();
-            if (!dir3 && rotation.y < max)
+        transformation.z = r6.update();
-                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;
-            }
-        }
 
-        if (y)
+        transformation2.x = r7.update();
-        {
+        transformation2.y = r8.update();
-            if (!dir && rotation.z < max)
+        transformation2.z = r9.update();
-                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;
-            }
-        }
 
         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();
         }
     }