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updated walk and controller input to joystick

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This commit is contained in:
mangavalk
2022-12-04 23:11:05 +01:00
parent 40e71c5ce4
commit be04329d65
25 changed files with 677 additions and 941 deletions
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Assets/Walk.cs
+144 -26
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@@ -13,19 +13,32 @@ public class Walk : MonoBehaviour
for (int index = 0; index < legs.Count; ++index)
{
legsInitial.Add(legs[index].GetComponent<Leg>().point);
step2.Add( new Vector3() );
step2.Add(0);
step6.Add(false);
//step3.Add(0);
//step4.Add(new Vector3(0, 0, 0));
step5.Add(new Vector3());
freeze.Add(false);
freeze_y.Add(false);
}
}
struct step
{
public Vector3 pos;
public float rotation;
public float height;
public bool inAir;
public bool inRest;
public step(Vector3 p, bool i)
public step(Vector3 p, float r, float h, bool i, bool ir)
{
pos = p;
rotation = r;
height = 0;
inAir = i;
inRest = ir;
}
}
@@ -37,63 +50,159 @@ public class Walk : MonoBehaviour
}
step[] s = {
new step(new Vector3(-1, 0, 0), false),
new step(new Vector3(-1, 0, 0), -1, 0, false, false),
new step(new Vector3(0, -2, 0), false),
new step(new Vector3(0, -2, 0), 0, 0, false, false),
new step(new Vector3(0, 0, 0), false), // rest
new step(new Vector3(0, 0, 0), 0, 0, false, false), // rest
new step(new Vector3(1, 0, 0), false),
new step(new Vector3(1, 0, 0), false),
new step(new Vector3(1, 0, 0), 1, 0, false, true), // down middle
new step(new Vector3(1, 0, 0), 1, 0, false, false),
new step(new Vector3(0, 0, 0), false), // rest
new step(new Vector3(0, 0, 0), 0, 0, false, false), // rest
new step(new Vector3(0, 2, 0), false),
new step(new Vector3(-1, 0, 0), true),
new step(new Vector3(0, 2, 0), 0, 0, false, false),
new step(new Vector3(-1, 0, 0), -1, 0, true, false),
};
public int st = 5;
public int speed2 = 30;
int speed = 10;
public float rotation = 0;
public float walkDirection = 0;
public float centerRotation = 0;
int size = 8;
public float walkspeed = 1;
private List<Vector3> step2 = new List<Vector3>();
private List<float> step2 = new List<float>();
//private List<float> step3 = new List<float>();
//private List<Vector3> step4 = new List<Vector3>();
private List<Vector3> step5 = new List<Vector3>();
private List<bool> step6 = new List<bool>();
private List<bool> freeze = new List<bool>();
private List<bool> freeze_y = new List<bool>();
// Update is called once per frame
void FixedUpdate()
{
if (speed <= 0)
{
if (st >= size-1)
if (st >= size - 1)
st = 0;
else
{
st++;
if (centerRotation == 0 && walkspeed == 0)
{
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].inRest)
{
Vector3 lp = legs[index].GetComponent<Leg>().getLocalPos(); // + s[t].pos;
//lp.y -= 2;
if ((Mathf.Abs(lp.y - (legsInitial[index].y - 2)) < 0.0001f)
&& (Mathf.Abs(lp.z - legsInitial[index].z) < 0.0001f)
&& (Mathf.Abs(lp.x - legsInitial[index].x) < 1.0001f))
{
freeze[index] = true;
freeze_y[index] = true;
}
}
/*else
{
freeze[index] = false;
}*/
}
}
else
{
for (int index = 0; index < legs.Count; index++)
{
freeze[index] = false;
}
}
}
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)
if (true)
{
Vector3 t2 = s[t].pos;
t2.x *= walkspeed;
// rotate x,y around rotation.
step2[index] = (Quaternion.Euler(0, rotation, 0) * t2) / speed2;
// Hex walk
if (index == 1 || index == 3 || index == 5)
{
t = offset(st, 4, size);
}
}
else
{
Vector3 t2 = (legsInitial[index] + s[t].pos) - legs[index].GetComponent<Leg>().point;
step2[index] = t2 / speed2;
// One leg at a time walk
switch (index)
{
case 0:
t = offset(st, 0, size);
break;
case 1:
t = offset(st, 4, size);
break;
case 2:
t = offset(st, 2, size);
break;
case 3:
t = offset(st, 3, size);
break;
case 4:
t = offset(st, 1, size);
break;
case 5:
t = offset(st, 5, size);
break;
}
}
if (!freeze[index])
{
if (s[t].inAir == false)
{
step2[index] = (centerRotation * s[t].rotation) / speed2;
Vector3 t2 = s[t].pos;
t2.x *= walkspeed;
// rotate x,y around rotation.
if (freeze_y[index])
{
t2.y = 0;
}
step5[index] = (Quaternion.Euler(0, walkDirection, 0) * t2) / speed2;
step6[index] = true;
}
else
{
Vector3 t2 = (legsInitial[index] + s[t].pos) - legs[index].GetComponent<Leg>().point;
step5[index] = t2 / speed2;
step6[index] = false;
freeze_y[index] = false;
}
}
else
{
step5[index] = new Vector3(0, 0, 0);
step6[index] = false;
}
}
@@ -110,7 +219,16 @@ public class Walk : MonoBehaviour
{
for (int index = 0; index < legs.Count; ++index)
{
legs[index].GetComponent<Leg>().point += step2[index];
legs[index].GetComponent<Leg>().point += step5[index];
if (step6[index])
{
//legs[index].GetComponent<Leg>().point += step5[index];
// rotate x,y around rotation.
legs[index].GetComponent<Leg>().setWorldPos(
Quaternion.Euler(0, step2[index], 0) * legs[index].GetComponent<Leg>().getWorldPos()
);
}
}
}
}