Hexapod/Hexapod_Simulation_Unity
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

v3 working transformations and working knie offset :D

Browse Source
This commit is contained in:
mangavalk
2018-11-11 18:11:13 +01:00
parent 057b2475b2
commit b9a5e6d523
4 changed files with 42 additions and 10 deletions
Download Patch File Download Diff File Expand all files Collapse all files
Assets/Foot.cs
+23 -3
View File
@@ -25,6 +25,10 @@ public class Foot : Component
public double rotationX=0, rotationY=0, rotationZ=0;
public double O1, O2, O3;
public Vector3 transformation = new Vector3(0, 0, 0);
static float temp = 2;
void RL3()
{
if ((X == 0) && (Z == 0))
@@ -34,6 +38,9 @@ public class Foot : Component
if (X < 0)
l3 = l3 * -1;
//todo
l3 -= temp;
}
double FO1()
@@ -55,7 +62,12 @@ public class Foot : Component
double y2 = Y * Y;
double z2 = Z * Z;
s = Math.Sqrt(x2 + y2 + z2);
double t = Math.Sqrt(x2 + z2);
t -= temp;
t = t * t;
//todo: X,Z remove distance temp.
s = Math.Sqrt(y2 + t);
//s = Math.Sqrt(x2 + y2 + z2);
double t1 = 0;
double s2 = s * s;
@@ -127,10 +139,14 @@ public class Foot : Component
Y += translateY;
Z += translateZ;
X -= transformation.x;
Y -= transformation.y;
Z -= transformation.z;
/*RotateX();
RotateY();
RotateZ();*/
// the order of these rotation transformations is important!!!
Vector3 v = new Vector3((float)X, (float)Y, (float)Z);
v = Quaternion.Euler((float)0, (float)rotationY, (float)0) * v;
@@ -139,7 +155,7 @@ public class Foot : Component
X = v.x;
Y = v.y;
Z = v.z;
X -= translateX;
Y -= translateY;
Z -= translateZ;
@@ -153,7 +169,11 @@ public class Foot : Component
Z = tx * -1;
// run IK
// add adjustment from knie
O1 = (90 - FO1());
// remove adjustment from knie
O2 = T1();
O3 = 180 - T3();
Assets/Leg.cs
+4
View File
@@ -14,6 +14,8 @@ public class Leg : MonoBehaviour {
public Vector3 point = new Vector3(10, 10, 0);
public Quaternion rotation = new Quaternion(0, 0, 0, 0);
public Vector3 transformation = new Vector3(0, 0, 0);
public bool invert = false;
public double translateX = 0;
@@ -45,6 +47,8 @@ public class Leg : MonoBehaviour {
foot.translateY = translateY;
foot.translateZ = translateZ;
foot.transformation = transformation;
foot.invert = invert;
foot.setleg();
Assets/Leg.prefab
+2 -1
View File
@@ -1834,7 +1834,7 @@ MeshRenderer:
m_LightProbeUsage: 1
m_ReflectionProbeUsage: 1
m_Materials:
- {fileID: 10756, guid: 0000000000000000e000000000000000, type: 0}
- {fileID: 10303, guid: 0000000000000000f000000000000000, type: 0}
m_StaticBatchInfo:
firstSubMesh: 0
subMeshCount: 0
@@ -3050,6 +3050,7 @@ MonoBehaviour:
a3: 0
point: {x: 10, y: 10, z: 0}
rotation: {x: 0, y: 0, z: 0, w: 0}
transformation: {x: 0, y: 0, z: 0}
invert: 0
translateX: 5
translateY: 0
Assets/Main.unity
+13 -6
View File
@@ -34421,6 +34421,7 @@ MonoBehaviour:
a3: 0
point: {x: 4, y: -10, z: -13}
rotation: {x: 0, y: 0, z: 0, w: 0}
transformation: {x: 0, y: 0, z: 0}
invert: 1
translateX: 5
translateY: 0
@@ -48734,6 +48735,7 @@ MonoBehaviour:
m_Script: {fileID: 11500000, guid: 30ea8dc0510444c42ae4b4db1f5ee2bd, type: 3}
m_Name:
m_EditorClassIdentifier:
transformation: {x: 0, y: 0, z: 0}
rotation: {x: 0, y: 0, z: 0, w: 0}
rotation2:
- {fileID: 636309705}
@@ -54484,7 +54486,7 @@ Transform:
m_PrefabInternal: {fileID: 0}
m_GameObject: {fileID: 349087549}
m_LocalRotation: {x: 0, y: 0, z: 0, w: 1}
m_LocalPosition: {x: 0, y: 0, z: 0}
m_LocalPosition: {x: 0, y: 0, z: 2}
m_LocalScale: {x: 1, y: 1, z: 1}
m_Children:
- {fileID: 526007731}
@@ -92879,6 +92881,7 @@ MonoBehaviour:
a3: 0
point: {x: 0, y: -10, z: 15}
rotation: {x: 0, y: 0, z: 0, w: 0}
transformation: {x: 0, y: 0, z: 0}
invert: 0
translateX: 0
translateY: 0
@@ -99400,6 +99403,7 @@ MonoBehaviour:
a3: 0
point: {x: -4, y: -10, z: 13}
rotation: {x: 0, y: 0, z: 0, w: 0}
transformation: {x: 0, y: 0, z: 0}
invert: 0
translateX: -5
translateY: 0
@@ -138777,7 +138781,7 @@ Transform:
m_PrefabInternal: {fileID: 0}
m_GameObject: {fileID: 866778528}
m_LocalRotation: {x: 0, y: 0, z: 0, w: 1}
m_LocalPosition: {x: 0, y: 0, z: 0}
m_LocalPosition: {x: 0, y: 0, z: 2}
m_LocalScale: {x: 1, y: 1, z: 1}
m_Children:
- {fileID: 246942919}
@@ -157414,7 +157418,7 @@ Transform:
m_PrefabInternal: {fileID: 0}
m_GameObject: {fileID: 986205296}
m_LocalRotation: {x: 0, y: 0, z: 0, w: 1}
m_LocalPosition: {x: 0, y: 0, z: 0}
m_LocalPosition: {x: 0, y: 0, z: 2}
m_LocalScale: {x: 1, y: 1, z: 1}
m_Children:
- {fileID: 1248951963}
@@ -234724,6 +234728,7 @@ MonoBehaviour:
a3: 0
point: {x: -4, y: -10, z: -13}
rotation: {x: 0, y: 0, z: 0, w: 0}
transformation: {x: 0, y: 0, z: 0}
invert: 1
translateX: -5
translateY: 0
@@ -252249,7 +252254,7 @@ Transform:
m_PrefabInternal: {fileID: 0}
m_GameObject: {fileID: 1573589440}
m_LocalRotation: {x: 0, y: 0, z: 0, w: 1}
m_LocalPosition: {x: 0, y: 0, z: 0}
m_LocalPosition: {x: 0, y: 0, z: 2}
m_LocalScale: {x: 1, y: 1, z: 1}
m_Children:
- {fileID: 952427227}
@@ -259155,6 +259160,7 @@ MonoBehaviour:
a3: 0
point: {x: 4, y: -10, z: 13}
rotation: {x: 0, y: 0, z: 0, w: 0}
transformation: {x: 0, y: 0, z: 0}
invert: 0
translateX: 5
translateY: 0
@@ -283853,6 +283859,7 @@ MonoBehaviour:
a3: 0
point: {x: 0, y: -10, z: -15}
rotation: {x: 0, y: 0, z: 0, w: 0}
transformation: {x: 0, y: 0, z: 0}
invert: 1
translateX: 0
translateY: 0
@@ -290809,7 +290816,7 @@ Transform:
m_PrefabInternal: {fileID: 0}
m_GameObject: {fileID: 1813824933}
m_LocalRotation: {x: 0, y: 0, z: 0, w: 1}
m_LocalPosition: {x: 0, y: 0, z: 0}
m_LocalPosition: {x: 0, y: 0, z: 2}
m_LocalScale: {x: 1, y: 1, z: 1}
m_Children:
- {fileID: 1534966623}
@@ -305949,7 +305956,7 @@ Transform:
m_PrefabInternal: {fileID: 0}
m_GameObject: {fileID: 1902568238}
m_LocalRotation: {x: 0, y: 0, z: 0, w: 1}
m_LocalPosition: {x: 0, y: 0, z: 0}
m_LocalPosition: {x: 0, y: 0, z: 2}
m_LocalScale: {x: 1, y: 1, z: 1}
m_Children:
- {fileID: 1164689000}