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v9 walk3 wip

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This commit is contained in:
mangavalk
2018-11-19 22:21:47 +01:00
parent 471f15c112
commit aa1f537137
6 changed files with 181 additions and 30 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/Leg.cs
+5
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@@ -99,6 +99,11 @@ public class Leg : MonoBehaviour {
pointShouldBe.transform.localPosition = foot.pos;
}
public Vector3 getLocalPos()
{
return point;
}
public Vector3 getWorldPos()
{
return point + new Vector3((float)translateX, (float)translateY, (float)translateZ);
Assets/Main.unity
+97 -10
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MonoBehaviour:
@@ -48816,7 +48816,7 @@ MonoBehaviour:
speed2: 10
walkDirection: 0
centerRotation: 0
walkspeed: 0
walkspeed: 2
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Assets/Walk3.cs
+79 -20
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@@ -18,6 +18,9 @@ public class Walk3 : MonoBehaviour
//step3.Add(0);
//step4.Add(new Vector3(0, 0, 0));
step5.Add(new Vector3());
freeze.Add(false);
freeze_y.Add(false);
}
}
@@ -27,13 +30,15 @@ public class Walk3 : MonoBehaviour
public float rotation;
public float height;
public bool inAir;
public bool inRest;
public step(Vector3 p, float r, float h, bool i)
public step(Vector3 p, float r, float h, bool i, bool ir)
{
pos = p;
rotation = r;
height = 0;
inAir = i;
inRest = ir;
}
}
@@ -45,19 +50,19 @@ public class Walk3 : MonoBehaviour
}
step[] s = {
new step(new Vector3(-1, 0, 0), -1, 0, false),
new step(new Vector3(-1, 0, 0), -1, 0, false, false),
new step(new Vector3(0, -2, 0), 0, -2, false),
new step(new Vector3(0, -2, 0), 0, 0, false, false),
new step(new Vector3(0, 0, 0), 0, 0, false), // rest
new step(new Vector3(0, 0, 0), 0, 0, false, false), // rest
new step(new Vector3(1, 0, 0), 1, 0, false),
new step(new Vector3(1, 0, 0), 1, 0, false),
new step(new Vector3(1, 0, 0), 1, 0, false, true), // down middle
new step(new Vector3(1, 0, 0), 1, 0, false, false),
new step(new Vector3(0, 0, 0), 0, 0, false), // rest
new step(new Vector3(0, 0, 0), 0, 0, false, false), // rest
new step(new Vector3(0, 2, 0), 0, 2, false),
new step(new Vector3(-1, 0, 0), -1, 0, true),
new step(new Vector3(0, 2, 0), 0, 0, false, false),
new step(new Vector3(-1, 0, 0), -1, 0, true, false),
};
public int st = 5;
@@ -77,16 +82,57 @@ public class Walk3 : MonoBehaviour
private List<Vector3> step5 = new List<Vector3>();
private List<bool> step6 = new List<bool>();
private List<bool> freeze = new List<bool>();
private List<bool> freeze_y = new List<bool>();
// Update is called once per frame
void FixedUpdate()
{
if (speed <= 0)
{
if (st >= size - 1)
if (st >= size-1)
st = 0;
else
{
st++;
if (centerRotation == 0 && walkspeed == 0)
{
for (int index = 0; index < legs.Count; index++)
{
int t = st;
if (index == 1 || index == 3 || index == 5)
{
t = offset(st, 4, size);
}
if (s[t].inRest)
{
Vector3 lp = legs[index].GetComponent<Leg>().getLocalPos();// + s[t].pos;
//lp.y -= 2;
if ((Mathf.Abs(lp.y - (legsInitial[index].y-2)) < 0.0001f)
&& (Mathf.Abs(lp.z - legsInitial[index].z) < 0.0001f)
&& (Mathf.Abs(lp.x - legsInitial[index].x) < 1.0001f))
{
freeze[index] = true;
freeze_y[index] = true;
}
}
/*else
{
freeze[index] = false;
}*/
}
}
else
{
for (int index = 0; index < legs.Count; index++)
{
freeze[index] = false;
}
}
}
for (int index = 0; index < legs.Count; ++index)
{
int t = st;
@@ -95,22 +141,35 @@ public class Walk3 : MonoBehaviour
t = offset(st, 4, size);
}
if (s[t].inAir == false)
if (!freeze[index])
{
step2[index] = (centerRotation * s[t].rotation) / speed2;
if (s[t].inAir == false)
{
step2[index] = (centerRotation * s[t].rotation) / speed2;
Vector3 t2 = s[t].pos;
t2.x *= walkspeed;
// rotate x,y around rotation.
step5[index] = (Quaternion.Euler(0, walkDirection, 0) * t2) / speed2;
Vector3 t2 = s[t].pos;
t2.x *= walkspeed;
// rotate x,y around rotation.
if (freeze_y[index])
{
t2.y = 0;
}
step5[index] = (Quaternion.Euler(0, walkDirection, 0) * t2) / speed2;
step6[index] = true;
step6[index] = true;
}
else
{
Vector3 t2 = (legsInitial[index] + s[t].pos) - legs[index].GetComponent<Leg>().point;
step5[index] = t2 / speed2;
step6[index] = false;
freeze_y[index] = false;
}
}
else
{
Vector3 t2 = (legsInitial[index] + s[t].pos) - legs[index].GetComponent<Leg>().point;
step5[index] = t2 / speed2;
step5[index] = new Vector3(0, 0, 0);
step6[index] = false;
}
}