v7 slow talking :D

2018-unity-sim/Assets/Walk.cs

@@ -13,6 +13,7 @@ public class Walk : MonoBehaviour
         for (int index = 0; index < legs.Count; ++index)
         {
             legsInitial.Add(legs[index].GetComponent<Leg>().point);
+            step2.Add( new Vector3() );
         }
     }
 
@@ -61,6 +62,8 @@ public class Walk : MonoBehaviour
 
     public float walkspeed = 1;
 
+    private List<Vector3> step2 = new List<Vector3>();
+
     // Update is called once per frame
     void FixedUpdate()
     {
@@ -85,17 +88,32 @@ public class Walk : MonoBehaviour
                     t2.x *= walkspeed;
 
                     // rotate x,y around rotation.
-                    legs[index].GetComponent<Leg>().point += Quaternion.Euler(0, rotation, 0) * t2;
+                    step2[index] = (Quaternion.Euler(0, rotation, 0) * t2) / speed2;
                 }
                 else
                 {
-                    legs[index].GetComponent<Leg>().point = legsInitial[index] + s[t].pos;
+                    Vector3 t2 = s[t].pos;
+                    t2.x *= walkspeed;
+
+                    // rotate x,y around rotation.
+                    step2[index] = (Quaternion.Euler(0, rotation, 0) * t2) / speed2;
                 }
             }
 
             speed = speed2;
         }
         else
+        {
             speed--;
+            makestep();
+        }
+    }
+
+    void makestep()
+    {
+        for (int index = 0; index < legs.Count; ++index)
+        {
+            legs[index].GetComponent<Leg>().point += step2[index];
+        }
     }
 }

2018-unity-sim/Assets/Walk2.cs

@@ -13,6 +13,8 @@ public class Walk2 : MonoBehaviour
         for (int index = 0; index < legs.Count; ++index)
         {
             legsInitial.Add(legs[index].GetComponent<Leg>().point);
+            step2.Add(0);
+            step3.Add(0);
         }
     }
 
@@ -62,13 +64,15 @@ public class Walk2 : MonoBehaviour
     int size = 8;
 
     //public float walkspeed = 1;
+    private List<float> step2 = new List<float>();
+    private List<float> step3 = new List<float>();
 
     // Update is called once per frame
     void FixedUpdate()
     {
         if (speed <= 0)
         {
-            if (st >= size-1)
+            if (st >= size - 1)
                 st = 0;
             else
                 st++;
@@ -83,21 +87,34 @@ public class Walk2 : MonoBehaviour
 
                 if (s[t].inAir == false)
                 {
-                    Vector3 n = legs[index].GetComponent<Leg>().getWorldPos();
+                    step2[index] = (rotation * s[t].rotation) / speed2;
-                    n = Quaternion.Euler(0, rotation * s[t].rotation, 0) * n;
+                    step3[index] = s[t].height / speed2;
-                    n.y += s[t].height;
-                    // rotate x,y around rotation.
-                    legs[index].GetComponent<Leg>().setWorldPos(n);
                 }
                 else
                 {
-                    legs[index].GetComponent<Leg>().point = legsInitial[index] + new Vector3(0, s[t].height, 0);
+                    step2[index] = (rotation * s[t].rotation) / speed2;
+                    step3[index] = s[t].height / speed2;
                 }
             }
 
             speed = speed2;
         }
         else
+        {
             speed--;
+            makestep();
+        }
+    }
+
+    void makestep()
+    {
+        for (int index = 0; index < legs.Count; ++index)
+        {
+            Vector3 n = legs[index].GetComponent<Leg>().getWorldPos();
+            n = Quaternion.Euler(0, step2[index], 0) * n;
+            n.y += step3[index];
+            // rotate x,y around rotation.
+            legs[index].GetComponent<Leg>().setWorldPos(n);
+        }
     }
 }