v3 working transformations and working knie offset :D

Assets/Foot.cs

@@ -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;
@@ -127,6 +139,10 @@ public class Foot : Component
         Y += translateY;
         Z += translateZ;
 
+        X -= transformation.x;
+        Y -= transformation.y;
+        Z -= transformation.z;
+
         /*RotateX();
         RotateY();
         RotateZ();*/
@@ -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

@@ -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

@@ -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

@@ -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}