v1

Assets/Leg.cs

@@ -0,0 +1,74 @@
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+
+public class Leg : MonoBehaviour {
+    public Transform Hip1;
+    public Transform Hip2;
+    public Transform Knie;
+
+    public double a1 = 0;
+    public double a2 = 0;
+    public double a3 = 0;
+
+    public Vector3 point = new Vector3(10, 10, 0);
+    public Quaternion rotation = new Quaternion(0, 0, 0, 0);
+
+    public bool invert = false;
+
+    public double translateX = 5;
+    public double translateY = 0;
+    public double translateZ = 0;
+
+    public GameObject pointShouldBe;
+    public Vector3 pos = new Vector3(0, 0, 0);
+
+    private Foot foot = new Foot();
+
+    // Use this for initialization
+    void Start () {
+		
+	}
+
+    // Update is called once per frame
+    void Update()
+    {
+        foot.X = point.x;
+        foot.Y = point.y * -1;
+        //foot.Z = point.z * (invert ? -1 : 1);
+        foot.Z = point.z * (invert ? 1 : -1);
+
+        foot.rotationX = rotation.x;
+        foot.rotationY = rotation.y * (invert ? -1 : 1);
+        foot.rotationZ = rotation.z * (invert ? -1 : 1);
+
+        foot.translateX = translateX;
+        foot.translateY = translateY;
+        foot.translateZ = translateZ;
+
+        foot.invert = invert;
+
+        foot.setleg();
+
+        if (!invert)
+        {
+            a1 = foot.O1 - 90;
+            a2 = 90 - foot.O2;
+            a3 = foot.O3 - 90;
+        }
+        else
+        {
+            a1 = (foot.O1 - 90)*-1;
+            a2 = 90 - foot.O2;
+            a3 = foot.O3 - 90;
+        }
+
+        Hip1.transform.localRotation = Quaternion.Euler(0, (float)a1, 0);
+        Hip2.transform.localRotation = Quaternion.Euler((float)a2, 0, 0);
+        Knie.transform.localRotation = Quaternion.Euler((float)a3, 0, 0);
+
+        pos = foot.pos;
+        pos.x = pos.x * (invert ? 1 : -1);
+        pointShouldBe.transform.localPosition = pos;
+    }
+}