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v5 ITS ALIVE, IT WALKS!

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mangavalk
2018-11-13 23:09:58 +01:00
parent 509a4e2d64
commit b505fe4618
8 changed files with 269 additions and 37 deletions
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.vs/Hexapod/v15/Server/sqlite3/storage.ide
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Assets/Main.unity
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Assets/RotationControl.cs
+2 -2
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@@ -81,9 +81,9 @@ public class RotationControl : MonoBehaviour
//rotation.y = r2.update();
//rotation.z = r3.update();
transformation.x = r4.update();
//transformation.x = r4.update();
//transformation.y = r5.update();
transformation.z = r6.update();
//transformation.z = r6.update();
/*transformation2.x = r7.update();
transformation2.y = r8.update();
Assets/Serial.cs
+28 -23
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@@ -23,42 +23,47 @@ public class Serial {
}
}
public bool enabled = false;
SerialPort serialPort;
public void send(int start, int a, int b, int c)
{
if (serialPort == null)
if (enabled)
{
serialPort = new SerialPort(@"\\.\" + "COM10", 115200);
if (serialPort == null)
{
serialPort = new SerialPort(@"\\.\" + "COM10", 115200);
serialPort.Open();
serialPort.DiscardOutBuffer();
serialPort.DiscardInBuffer();
}
serialPort.Open();
serialPort.DiscardOutBuffer();
serialPort.DiscardInBuffer();
}
if (serialPort is SerialPort)
{
if (serialPort is SerialPort)
{
serialPort.Write(" #");
serialPort.Write(start.ToString());
serialPort.Write(" P");
serialPort.Write(a.ToString());
serialPort.Write(" #");
serialPort.Write(start.ToString());
serialPort.Write(" P");
serialPort.Write(a.ToString());
start++;
start++;
serialPort.Write(" #");
serialPort.Write(start.ToString());
serialPort.Write(" P");
serialPort.Write(b.ToString());
serialPort.Write(" #");
serialPort.Write(start.ToString());
serialPort.Write(" P");
serialPort.Write(b.ToString());
start++;
start++;
serialPort.Write(" #");
serialPort.Write(start.ToString());
serialPort.Write(" P");
serialPort.Write(c.ToString());
serialPort.Write(" #");
serialPort.Write(start.ToString());
serialPort.Write(" P");
serialPort.Write(c.ToString());
serialPort.Write(" \r");
serialPort.Write(" \r");
}
}
}
Assets/Walk.cs
+101
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@@ -0,0 +1,101 @@
using System.Collections;
using System.Collections.Generic;
using UnityEngine;
public class Walk : MonoBehaviour
{
public List<GameObject> legs = new List<GameObject>();
private List<Vector3> legsInitial = new List<Vector3>();
// Use this for initialization
void Start()
{
for (int index = 0; index < legs.Count; ++index)
{
legsInitial.Add(legs[index].GetComponent<Leg>().point);
}
}
struct step
{
public Vector3 pos;
public bool inAir;
public step(Vector3 p, bool i)
{
pos = p;
inAir = i;
}
}
// 1, 3, 5 -= 3
int offset(int i, int offset, int max)
{
return i - offset < 0 ? (max - (offset - i)) : i - offset;
}
step[] s = {
new step(new Vector3(-1, 0, 0), false),
new step(new Vector3(0, -2, 0), false),
new step(new Vector3(0, 0, 0), false), // rest
new step(new Vector3(1, 0, 0), false),
new step(new Vector3(1, 0, 0), false),
new step(new Vector3(0, 0, 0), false), // rest
new step(new Vector3(0, 2, 0), true),
new step(new Vector3(-1, 0, 0), false),
};
public int st = 5;
public int speed2 = 30;
int speed = 10;
public float rotation = 0;
int size = 8;
public float walkspeed = 1;
// Update is called once per frame
void FixedUpdate()
{
if (speed <= 0)
{
if (st >= size-1)
st = 0;
else
st++;
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].inAir == false)
{
Vector3 t2 = s[t].pos;
t2.x *= walkspeed;
// rotate x,y around rotation.
legs[index].GetComponent<Leg>().point += Quaternion.Euler(0, rotation, 0) * t2;
}
else
{
legs[index].GetComponent<Leg>().point = legsInitial[index] + s[t].pos;
}
}
speed = speed2;
}
else
speed--;
}
}
Assets/Walk.cs.meta
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