From cbe7b00b3a70aa93840f71fafc1648541a9ba866 Mon Sep 17 00:00:00 2001
From: Unknown <patrickvalkmanga@hotmail.com>
Date: Sat, 10 Nov 2018 23:23:03 +0100
Subject: [PATCH] v2 WORKING ROTATIONS

---
 .vs/Hexapod/v15/Server/sqlite3/storage.ide    | Bin 704512 -> 704512 bytes
 .../v15/Server/sqlite3/storage.ide-shm        | Bin 32768 -> 32768 bytes
 .../v15/Server/sqlite3/storage.ide-wal        | Bin 4140632 -> 4140632 bytes
 Assets/Foot.cs                                |  41 +++++----
 Assets/Leg.cs                                 |  13 +--
 Assets/Main.unity                             |  86 +++++++++++++++---
 Assets/RotationControl.cs                     |  14 +--
 7 files changed, 110 insertions(+), 44 deletions(-)

diff --git a/.vs/Hexapod/v15/Server/sqlite3/storage.ide b/.vs/Hexapod/v15/Server/sqlite3/storage.ide
index 942f759cec517cd355e86a07e9910d76ed1644ef..8c146b58451c6dedcf6f1b39d53d2dd84729f12a 100644
GIT binary patch
delta 281
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delta 281
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diff --git a/.vs/Hexapod/v15/Server/sqlite3/storage.ide-shm b/.vs/Hexapod/v15/Server/sqlite3/storage.ide-shm
index c9e76579770d8d739f2c8be20a7a50a087d3f6ae..0aba539d6e4b75817f37ab7949011d840d9a04f4 100644
GIT binary patch
delta 1229
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delta 1373
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diff --git a/.vs/Hexapod/v15/Server/sqlite3/storage.ide-wal b/.vs/Hexapod/v15/Server/sqlite3/storage.ide-wal
index 40275e05fbd520af235eb9fe272996744234f2bb..0243e9de343add1418111f468ce06f9c03652bfb 100644
GIT binary patch
delta 56287
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diff --git a/Assets/Foot.cs b/Assets/Foot.cs
index 4f1375f..ca37191 100644
--- a/Assets/Foot.cs
+++ b/Assets/Foot.cs
@@ -127,36 +127,41 @@ public class Foot : Component
         Y += translateY;
         Z += translateZ;
 
-        Y = Y * (invert ? -1 : 1);
-        X = X * (invert ? -1 : -1);
-        Z = Z * (invert ? -1 : -1);
-
         /*RotateX();
         RotateY();
         RotateZ();*/
-
-        rotationY = rotationY * (invert ? 1 : 1);
-
+        
         // Z and X is working. Y has problems when combined with others.
-        Vector3 v = new Vector3((float)Z, (float)Y, (float)X);
-        v = Quaternion.Euler((float)rotationX, (float)rotationY, (float)rotationZ) * v;
-        Z = v.x;
+        Vector3 v = new Vector3((float)X, (float)Y, (float)Z);
+        v = Quaternion.Euler((float)0, (float)rotationY, (float)0) * v;
+        v = Quaternion.Euler((float)rotationX, (float)0, (float)0) * v;
+        v = Quaternion.Euler((float)0, (float)0, (float)rotationZ) * v;
+        X = v.x;
         Y = v.y;
-        X = v.z;
-
-        Y = Y * (invert ? -1 : 1);
-        X = X * (invert ? -1 : -1);
-        Z = Z * (invert ? -1 : -1);
-
+        Z = v.z;
+        
         X -= translateX;
         Y -= translateY;
         Z -= translateZ;
 
+        // translate to my stupid formula coordinates.
+        double tx = X;
+        double ty = Y;
+        double tz = Z;
+        X = tz * (invert ? -1 : 1);
+        Y = ty * -1;
+        Z = tx * -1;
+
+        // run IK
         O1 = (90 - FO1());
         O2 = T1();
         O3 = 180 - T3();
 
-        Y = Y * -1;
-        pos = new Vector3((float)Z, (float)Y, (float)X);
+        // translate to my stupid formula coordinates.
+        X = tx;
+        Y = ty;
+        Z = tz;
+
+        pos = new Vector3((float)X * (invert ? -1 : 1), (float)Y, (float)Z * (invert ? -1 : 1));
     }
 }
diff --git a/Assets/Leg.cs b/Assets/Leg.cs
index 031c82f..58393b3 100644
--- a/Assets/Leg.cs
+++ b/Assets/Leg.cs
@@ -34,13 +34,12 @@ public class Leg : MonoBehaviour {
     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.Y = point.y;
+        foot.Z = point.z;
 
         foot.rotationX = rotation.x;
-        foot.rotationY = rotation.y * (invert ? -1 : 1);
-        foot.rotationZ = rotation.z * (invert ? -1 : 1);
+        foot.rotationY = rotation.y;
+        foot.rotationZ = rotation.z;
 
         foot.translateX = translateX;
         foot.translateY = translateY;
@@ -67,8 +66,6 @@ public class Leg : MonoBehaviour {
         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;
+        pointShouldBe.transform.localPosition = foot.pos;
     }
 }
diff --git a/Assets/Main.unity b/Assets/Main.unity
index 407dc57..1e42c48 100644
--- a/Assets/Main.unity
+++ b/Assets/Main.unity
@@ -192,7 +192,7 @@ Prefab:
     - target: {fileID: 114741880654588862, guid: c2064a01ffb68a84fa55bd109ccf70a4,
         type: 2}
       propertyPath: point.z
-      value: 1
+      value: -10
       objectReference: {fileID: 0}
     - target: {fileID: 114741880654588862, guid: c2064a01ffb68a84fa55bd109ccf70a4,
         type: 2}
@@ -202,12 +202,21 @@ Prefab:
     - target: {fileID: 114741880654588862, guid: c2064a01ffb68a84fa55bd109ccf70a4,
         type: 2}
       propertyPath: point.x
-      value: 10
+      value: -1
       objectReference: {fileID: 0}
     - target: {fileID: 114741880654588862, guid: c2064a01ffb68a84fa55bd109ccf70a4,
         type: 2}
       propertyPath: translateZ
-      value: 5
+      value: -5
+      objectReference: {fileID: 0}
+    - target: {fileID: 114741880654588862, guid: c2064a01ffb68a84fa55bd109ccf70a4,
+        type: 2}
+      propertyPath: translateX
+      value: -5
+      objectReference: {fileID: 0}
+    - target: {fileID: 1281778670178016, guid: c2064a01ffb68a84fa55bd109ccf70a4, type: 2}
+      propertyPath: m_IsActive
+      value: 1
       objectReference: {fileID: 0}
     m_RemovedComponents: []
   m_ParentPrefab: {fileID: 100100000, guid: c2064a01ffb68a84fa55bd109ccf70a4, type: 2}
@@ -358,7 +367,7 @@ Prefab:
     - target: {fileID: 114741880654588862, guid: c2064a01ffb68a84fa55bd109ccf70a4,
         type: 2}
       propertyPath: point.z
-      value: -1
+      value: 10
       objectReference: {fileID: 0}
     - target: {fileID: 114741880654588862, guid: c2064a01ffb68a84fa55bd109ccf70a4,
         type: 2}
@@ -368,12 +377,16 @@ Prefab:
     - target: {fileID: 114741880654588862, guid: c2064a01ffb68a84fa55bd109ccf70a4,
         type: 2}
       propertyPath: point.x
-      value: 10
+      value: 1
       objectReference: {fileID: 0}
     - target: {fileID: 114741880654588862, guid: c2064a01ffb68a84fa55bd109ccf70a4,
         type: 2}
       propertyPath: translateZ
-      value: -5
+      value: 5
+      objectReference: {fileID: 0}
+    - target: {fileID: 1281778670178016, guid: c2064a01ffb68a84fa55bd109ccf70a4, type: 2}
+      propertyPath: m_IsActive
+      value: 1
       objectReference: {fileID: 0}
     m_RemovedComponents: []
   m_ParentPrefab: {fileID: 100100000, guid: c2064a01ffb68a84fa55bd109ccf70a4, type: 2}
@@ -442,7 +455,7 @@ Prefab:
     - target: {fileID: 114741880654588862, guid: c2064a01ffb68a84fa55bd109ccf70a4,
         type: 2}
       propertyPath: point.x
-      value: 10
+      value: 0
       objectReference: {fileID: 0}
     - target: {fileID: 114741880654588862, guid: c2064a01ffb68a84fa55bd109ccf70a4,
         type: 2}
@@ -452,8 +465,22 @@ Prefab:
     - target: {fileID: 114741880654588862, guid: c2064a01ffb68a84fa55bd109ccf70a4,
         type: 2}
       propertyPath: translateZ
+      value: -5
+      objectReference: {fileID: 0}
+    - target: {fileID: 114741880654588862, guid: c2064a01ffb68a84fa55bd109ccf70a4,
+        type: 2}
+      propertyPath: translateX
       value: 0
       objectReference: {fileID: 0}
+    - target: {fileID: 1281778670178016, guid: c2064a01ffb68a84fa55bd109ccf70a4, type: 2}
+      propertyPath: m_IsActive
+      value: 1
+      objectReference: {fileID: 0}
+    - target: {fileID: 114741880654588862, guid: c2064a01ffb68a84fa55bd109ccf70a4,
+        type: 2}
+      propertyPath: point.z
+      value: -10
+      objectReference: {fileID: 0}
     m_RemovedComponents: []
   m_ParentPrefab: {fileID: 100100000, guid: c2064a01ffb68a84fa55bd109ccf70a4, type: 2}
   m_IsPrefabParent: 0
@@ -533,7 +560,7 @@ Prefab:
     - target: {fileID: 114741880654588862, guid: c2064a01ffb68a84fa55bd109ccf70a4,
         type: 2}
       propertyPath: point.z
-      value: -1
+      value: -10
       objectReference: {fileID: 0}
     - target: {fileID: 114741880654588862, guid: c2064a01ffb68a84fa55bd109ccf70a4,
         type: 2}
@@ -543,13 +570,22 @@ Prefab:
     - target: {fileID: 114741880654588862, guid: c2064a01ffb68a84fa55bd109ccf70a4,
         type: 2}
       propertyPath: point.x
-      value: 10
+      value: 1
       objectReference: {fileID: 0}
     - target: {fileID: 114741880654588862, guid: c2064a01ffb68a84fa55bd109ccf70a4,
         type: 2}
       propertyPath: translateZ
       value: -5
       objectReference: {fileID: 0}
+    - target: {fileID: 114741880654588862, guid: c2064a01ffb68a84fa55bd109ccf70a4,
+        type: 2}
+      propertyPath: translateX
+      value: 5
+      objectReference: {fileID: 0}
+    - target: {fileID: 1281778670178016, guid: c2064a01ffb68a84fa55bd109ccf70a4, type: 2}
+      propertyPath: m_IsActive
+      value: 1
+      objectReference: {fileID: 0}
     m_RemovedComponents: []
   m_ParentPrefab: {fileID: 100100000, guid: c2064a01ffb68a84fa55bd109ccf70a4, type: 2}
   m_IsPrefabParent: 0
@@ -792,13 +828,27 @@ Prefab:
     - target: {fileID: 114741880654588862, guid: c2064a01ffb68a84fa55bd109ccf70a4,
         type: 2}
       propertyPath: point.x
-      value: 10
+      value: -1
       objectReference: {fileID: 0}
     - target: {fileID: 114741880654588862, guid: c2064a01ffb68a84fa55bd109ccf70a4,
         type: 2}
       propertyPath: point.y
       value: -10
       objectReference: {fileID: 0}
+    - target: {fileID: 114741880654588862, guid: c2064a01ffb68a84fa55bd109ccf70a4,
+        type: 2}
+      propertyPath: translateX
+      value: -5
+      objectReference: {fileID: 0}
+    - target: {fileID: 1281778670178016, guid: c2064a01ffb68a84fa55bd109ccf70a4, type: 2}
+      propertyPath: m_IsActive
+      value: 1
+      objectReference: {fileID: 0}
+    - target: {fileID: 114741880654588862, guid: c2064a01ffb68a84fa55bd109ccf70a4,
+        type: 2}
+      propertyPath: point.z
+      value: 10
+      objectReference: {fileID: 0}
     m_RemovedComponents: []
   m_ParentPrefab: {fileID: 100100000, guid: c2064a01ffb68a84fa55bd109ccf70a4, type: 2}
   m_IsPrefabParent: 0
@@ -852,7 +902,7 @@ Prefab:
     - target: {fileID: 114741880654588862, guid: c2064a01ffb68a84fa55bd109ccf70a4,
         type: 2}
       propertyPath: point.x
-      value: 10
+      value: 0
       objectReference: {fileID: 0}
     - target: {fileID: 114741880654588862, guid: c2064a01ffb68a84fa55bd109ccf70a4,
         type: 2}
@@ -862,8 +912,22 @@ Prefab:
     - target: {fileID: 114741880654588862, guid: c2064a01ffb68a84fa55bd109ccf70a4,
         type: 2}
       propertyPath: translateZ
+      value: 5
+      objectReference: {fileID: 0}
+    - target: {fileID: 114741880654588862, guid: c2064a01ffb68a84fa55bd109ccf70a4,
+        type: 2}
+      propertyPath: translateX
       value: 0
       objectReference: {fileID: 0}
+    - target: {fileID: 1281778670178016, guid: c2064a01ffb68a84fa55bd109ccf70a4, type: 2}
+      propertyPath: m_IsActive
+      value: 1
+      objectReference: {fileID: 0}
+    - target: {fileID: 114741880654588862, guid: c2064a01ffb68a84fa55bd109ccf70a4,
+        type: 2}
+      propertyPath: point.z
+      value: 10
+      objectReference: {fileID: 0}
     m_RemovedComponents: []
   m_ParentPrefab: {fileID: 100100000, guid: c2064a01ffb68a84fa55bd109ccf70a4, type: 2}
   m_IsPrefabParent: 0
diff --git a/Assets/RotationControl.cs b/Assets/RotationControl.cs
index 1e7a1b3..928f774 100644
--- a/Assets/RotationControl.cs
+++ b/Assets/RotationControl.cs
@@ -25,34 +25,34 @@ public class RotationControl : MonoBehaviour
     // Update is called once per frame
     void Update()
     {
-        /*if (!dir2 && rotation.x < max)
+        if (!dir2 && rotation.x < max)
             rotation.x += speed2;
         else if (!dir2)
             dir2 = !dir2;
         else if (dir2 && rotation.x > min)
             rotation.x -= speed2;
         else if (dir2)
-            dir2 = !dir2;*/
+            dir2 = !dir2;
 
-        /*if (!dir3 && rotation.y < max)
+        if (!dir3 && rotation.y < max)
             rotation.y += speed3;
         else if (!dir3)
             dir3 = !dir3;
         else if (dir3 && rotation.y > min)
             rotation.y -= speed3;
         else if (dir3)
-            dir3 = !dir3;*/
+            dir3 = !dir3;
 
-        /*if (!dir && rotation.z < max)
+        if (!dir && rotation.z < max)
             rotation.z += speed;
         else if (!dir)
             dir = !dir;
         else if (dir && rotation.z > min)
             rotation.z -= speed;
         else if (dir)
-            dir = !dir;*/
+            dir = !dir;
 
-        body.transform.eulerAngles = new Vector3(rotation.x*-1, rotation.y, rotation.z);
+        body.transform.eulerAngles = new Vector3(rotation.x*-1, rotation.y*-1, rotation.z*-1);
 
         for (int index = 0; index < rotation2.Count; ++index)
         {