v1
This commit is contained in:
@@ -19,3 +19,5 @@
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# Unity3D Generated File On Crash Reports
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sysinfo.txt
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\.vs/Hexapod/v15/Server/sqlite3/db\.lock
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+162
@@ -0,0 +1,162 @@
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using System;
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using System.Collections;
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using System.Collections.Generic;
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using UnityEngine;
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public class Foot : Component
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{
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double radians(double angle)
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{
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return (Math.PI / 180) * angle;
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}
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double degrees(double radians)
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{
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double degrees = (180 / Math.PI) * radians;
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return (degrees);
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}
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// Inverse Kinemetics Region
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double l3, s;
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double l1=10, l2=15;
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public double X, Y, Z;
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public double rotationX=0, rotationY=0, rotationZ=0;
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public double O1, O2, O3;
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void RL3()
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{
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if ((X == 0) && (Z == 0))
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l3 = 0;
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else
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l3 = Math.Sqrt(((X * X) + (Z * Z)));
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if (X < 0)
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l3 = l3 * -1;
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}
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double FO1()
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{
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if ((X != 0) & (Z != 0))
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{
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double a = (Z / X);
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return degrees(Math.Atan((a)));
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}
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else
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return degrees(Math.Atan(0.0)); // Math Error Protection.
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}
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double T1()
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{
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RL3();
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double x2 = X * X;
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double y2 = Y * Y;
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double z2 = Z * Z;
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s = Math.Sqrt(x2 + y2 + z2);
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double t1 = 0;
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double s2 = s * s;
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if ((Y == 0) && (l3 == 0))
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t1 = 0; // Math Error Protection.
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else
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t1 = degrees(Math.Atan2(l3, Y));
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double a = (l1 * l1) - (l2 * l2) + s2;
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double b = 2 * l1 * s;
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double t2;
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if (b == 0)
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t2 = -180;// todo: figure out normal value;
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else
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t2 = degrees(Math.Acos(a / b));
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double ret = 0;
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//ret = t1 + Math.Abs(t2);
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ret = t1 + t2;
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return ret;
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}
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double T3()
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{
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double t = (l1 * l1) + (l2 * l2) - (s * s);
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double t2 = (2 * l1 * l2);
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double result = degrees(Math.Acos(t / t2));
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return result;
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}
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void RotateX()
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{
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double nY = Y * Math.Cos(radians(rotationX)) - Z * Math.Sin(radians(rotationX));
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double nZ = Y * Math.Sin(radians(rotationX)) + Z * Math.Cos(radians(rotationX));
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Y = nY;
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Z = nZ;
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}
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void RotateY()
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{
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double nZ = Z * Math.Cos(radians(rotationY)) - X * Math.Sin(radians(rotationY));
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double nX = Z * Math.Sin(radians(rotationY)) + X * Math.Cos(radians(rotationY));
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Z = nZ;
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X = nX;
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}
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void RotateZ()
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{
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double nX = X * Math.Cos(radians(rotationZ)) - Y * Math.Sin(radians(rotationZ));
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double nY = X * Math.Sin(radians(rotationZ)) + Y * Math.Cos(radians(rotationZ));
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X = nX;
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Y = nY;
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}
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public double translateX = 0;
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public double translateY = 0;
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public double translateZ = 0;
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public bool invert = false;
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public Vector3 pos = new Vector3(0, 0, 0);
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public void setleg()
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{
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X += translateX;
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Y += translateY;
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Z += translateZ;
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Y = Y * (invert ? -1 : 1);
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X = X * (invert ? -1 : -1);
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Z = Z * (invert ? -1 : -1);
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/*RotateX();
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RotateY();
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RotateZ();*/
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rotationY = rotationY * (invert ? 1 : 1);
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// Z and X is working. Y has problems when combined with others.
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Vector3 v = new Vector3((float)Z, (float)Y, (float)X);
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v = Quaternion.Euler((float)rotationX, (float)rotationY, (float)rotationZ) * v;
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Z = v.x;
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Y = v.y;
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X = v.z;
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Y = Y * (invert ? -1 : 1);
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X = X * (invert ? -1 : -1);
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Z = Z * (invert ? -1 : -1);
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X -= translateX;
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Y -= translateY;
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Z -= translateZ;
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O1 = (90 - FO1());
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O2 = T1();
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O3 = 180 - T3();
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Y = Y * -1;
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pos = new Vector3((float)Z, (float)Y, (float)X);
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}
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}
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@@ -0,0 +1,13 @@
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fileFormatVersion: 2
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guid: c9255406468231049ab79ec93b48f97e
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timeCreated: 1541795571
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licenseType: Free
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MonoImporter:
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externalObjects: {}
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serializedVersion: 2
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defaultReferences: []
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userData:
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assetBundleName:
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assetBundleVariant:
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@@ -0,0 +1,74 @@
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using System.Collections;
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using System.Collections.Generic;
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using UnityEngine;
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public class Leg : MonoBehaviour {
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public Transform Hip1;
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public Transform Hip2;
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public Transform Knie;
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public double a1 = 0;
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public double a2 = 0;
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public double a3 = 0;
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public Vector3 point = new Vector3(10, 10, 0);
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public Quaternion rotation = new Quaternion(0, 0, 0, 0);
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public bool invert = false;
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public double translateX = 5;
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public double translateY = 0;
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public double translateZ = 0;
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public GameObject pointShouldBe;
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public Vector3 pos = new Vector3(0, 0, 0);
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private Foot foot = new Foot();
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// Use this for initialization
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void Start () {
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}
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// Update is called once per frame
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void Update()
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{
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foot.X = point.x;
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foot.Y = point.y * -1;
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//foot.Z = point.z * (invert ? -1 : 1);
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foot.Z = point.z * (invert ? 1 : -1);
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foot.rotationX = rotation.x;
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foot.rotationY = rotation.y * (invert ? -1 : 1);
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foot.rotationZ = rotation.z * (invert ? -1 : 1);
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foot.translateX = translateX;
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foot.translateY = translateY;
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foot.translateZ = translateZ;
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foot.invert = invert;
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foot.setleg();
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if (!invert)
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{
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a1 = foot.O1 - 90;
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a2 = 90 - foot.O2;
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a3 = foot.O3 - 90;
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}
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else
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{
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a1 = (foot.O1 - 90)*-1;
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a2 = 90 - foot.O2;
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a3 = foot.O3 - 90;
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}
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Hip1.transform.localRotation = Quaternion.Euler(0, (float)a1, 0);
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Hip2.transform.localRotation = Quaternion.Euler((float)a2, 0, 0);
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Knie.transform.localRotation = Quaternion.Euler((float)a3, 0, 0);
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pos = foot.pos;
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pos.x = pos.x * (invert ? 1 : -1);
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pointShouldBe.transform.localPosition = pos;
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}
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}
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@@ -0,0 +1,13 @@
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+3508
File diff suppressed because it is too large
Load Diff
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@@ -0,0 +1,981 @@
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- UI
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-
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-
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||||
-
|
||||
-
|
||||
-
|
||||
-
|
||||
-
|
||||
-
|
||||
-
|
||||
-
|
||||
-
|
||||
-
|
||||
-
|
||||
-
|
||||
-
|
||||
-
|
||||
-
|
||||
-
|
||||
-
|
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-
|
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-
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-
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-
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-
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-
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-
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m_SortingLayers:
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locked: 0
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@@ -0,0 +1,9 @@
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%YAML 1.1
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%TAG !u! tag:unity3d.com,2011:
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m_ObjectHideFlags: 0
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Fixed Timestep: 0.02
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Maximum Allowed Timestep: 0.33333334
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m_TimeScale: 1
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Maximum Particle Timestep: 0.03
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@@ -0,0 +1,34 @@
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%YAML 1.1
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%TAG !u! tag:unity3d.com,2011:
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CrashReportingSettings:
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UnityAnalyticsSettings:
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m_TestEventUrl:
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m_TestConfigUrl:
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UnityAdsSettings:
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m_TestMode: 0
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m_IosGameId:
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m_AndroidGameId:
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m_GameIds: {}
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m_GameId:
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PerformanceReportingSettings:
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m_Enabled: 0
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@@ -0,0 +1,4 @@
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{
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"dependencies": {
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}
|
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}
|
||||
Reference in New Issue
Block a user