Rework HexapodClass

Imported from 'hexapod 4.rar'.

2012-simulation/processing-3d/hexapod/HexapodClass.pde

@@ -23,9 +23,6 @@ float rotationX=0;
 float rotationY=0;
 float rotationZ=0;
 
-int animationStep=0;
-int animationSubStep=0;
-
 boolean robotStanding = false;
 
 float robotHeigth = 12;
@@ -52,40 +49,111 @@ void drawTestSpot(PVector p, boolean leftLegorRight)
   endShape();
 }
 
+/*  //  Animation old.
+ PVector Animation(int addition)
+ {
+ return animationSubSteps(walk1[((animationStep+addition)%6)], walk1[((animationStep+addition+1)%6)]);
+ }
+ 
+ PVector animationSubSteps(PVector from, PVector to)
+ {
+ PVector newStep = new PVector();
+ int steps=5;
+ 
+ if (animationSubStep < steps)
+ {
+ float differenceX = (to.x - from.x) / steps;
+ float differenceY = (to.y - from.y) / steps;
+ float differenceZ = (to.z - from.z) / steps;
+ 
+ newStep.x = from.x + ( differenceX * animationSubStep );
+ newStep.y = from.y + ( differenceY * animationSubStep );
+ newStep.z = from.z + ( differenceZ * animationSubStep );
+ } else
+ {
+ animationSubStep=0;
+ animationStep++;
+ newStep = to;
+ }
+ 
+ return newStep;
+ }
+ */
+
+
 PVector []walk1 = new PVector[6];
 
-PVector Animation(int addition)
+//  Animation new
+int animationStep=0;
+int animationSubStep=0;
+boolean animationRepeat = false;
+boolean animationRepeatComplete = false;
+int animationSpeed = 20;
+PVector animationOld;
+
+PVector Animation(PVector from, PVector to)
 {
-
+  PVector[] newAnimation = new PVector[2];
-  PVector P = new PVector();
+  newAnimation[0] = from;
-
+  newAnimation[1] = to;
-  P = animationSubSteps(walk1[((animationStep+addition)%6)], walk1[((animationStep+addition+1)%6)]);
+  return Animation(newAnimation, 2, 0);
-
-  return P;
 }
 
-PVector animationSubSteps(PVector from, PVector to)
+PVector Animation(PVector[] animation, int animationLength, int addition)
 {
   PVector newStep = new PVector();
-  int steps=5;
 
-  if (animationSubStep < steps)
+  PVector from = animation[((animationStep+addition) % animationLength)];
-  {
+  PVector to = animation[((animationStep+addition+1) % animationLength)];
-    float differenceX = (to.x - from.x) / steps;
-    float differenceY = (to.y - from.y) / steps;
-    float differenceZ = (to.z - from.z) / steps;
 
-    newStep.x = from.x + ( differenceX * animationSubStep );
+  /*if (!((animationStep >= animationLength - 1) && !animationRepeat))
-    newStep.y = from.y + ( differenceY * animationSubStep );
+   {
-    newStep.z = from.z + ( differenceZ * animationSubStep );
+   if (timerAnimation.delay(animationSpeed))
-  } else
+   {
+   animationSubStep++;
+   }
+   } else
+   {
+   return animationOld;
+   }*/
+  if ( (animationRepeatComplete) || ((animationStep >= animationLength - 1) && !animationRepeat) )
   {
-    animationSubStep=0;
+    return animationOld;
-    animationStep++;
+  } else {
-    newStep = to;
+    /*if (timerAnimation.delay(animationSpeed))
+     {
+     animationSubStep++;
+     }*/
+
+    int steps=5;
+
+    if (animationSubStep < steps)
+    {
+      float differenceX = (to.x - from.x) / steps;
+      float differenceY = (to.y - from.y) / steps;
+      float differenceZ = (to.z - from.z) / steps;
+
+      newStep.x = from.x + ( differenceX * animationSubStep );
+      newStep.y = from.y + ( differenceY * animationSubStep );
+      newStep.z = from.z + ( differenceZ * animationSubStep );
+    } else
+    {
+      animationSubStep = 0;
+
+      if ((animationStep >= animationLength - 2) && !animationRepeat)
+      {
+        animationRepeatComplete = true;
+        animationStep = 0;
+        animationOld = to;
+        return to;
+      } else if (!animationRepeatComplete)
+      {
+        animationStep++;
+      }
+    }
+
+    return newStep;
   }
-
-  return newStep;
 }
 
 void Vertex(double x, double y, double z)
@@ -137,14 +205,24 @@ void DrawFeet()
   foot6.DrawFoot();
 }
 
-void SetFeetCoordinatesUsingAnimation()
+void RobotWalk()
 {
-  foot1.SetFootCoordinates(Animation(2));
+  if (robotStanding)
-  foot2.SetFootCoordinates(Animation(3));
+  {
-  foot3.SetFootCoordinates(Animation(4));//
+    if (!animationRepeatComplete)
-  foot4.SetFootCoordinates(Animation(1));//
+      if (timerAnimation.delay(animationSpeed))
-  foot5.SetFootCoordinates(Animation(0));
+        animationSubStep++;
-  foot6.SetFootCoordinates(Animation(5));
+
+    animationRepeat = true;
+    animationSpeed = 20;
+    foot1.SetFootCoordinates(Animation(walk1, 6, 2));  //  BULLSHIT BUG
+    foot1.SetFootCoordinates(Animation(walk1, 6, 2));
+    foot2.SetFootCoordinates(Animation(walk1, 6, 3));
+    foot3.SetFootCoordinates(Animation(walk1, 6, 4));//
+    foot4.SetFootCoordinates(Animation(walk1, 6, 1));//
+    foot5.SetFootCoordinates(Animation(walk1, 6, 0));
+    foot6.SetFootCoordinates(Animation(walk1, 6, 5));
+  }
 }
 
 void DrawGround()
@@ -162,28 +240,34 @@ void DrawGround()
 
 void DrawTestSpots()
 {
-  drawTestSpot(new PVector((Animation(2).x + point1.x), 
+  /*drawTestSpot(new PVector((Animation(walk1, 6, 2).x + point1.x), 
-  robotHeigth, 
+   robotHeigth, 
-  (Animation(2).z - point1.z)), false);
+   (Animation(walk1, 6, 2).z - point1.z)), false);
-  drawTestSpot(new PVector((Animation(3).x + point2.x), 
+   drawTestSpot(new PVector((Animation(walk1, 6, 3).x + point2.x), 
-  robotHeigth, 
+   robotHeigth, 
-  (Animation(3).z - point2.z)), false);
+   (Animation(walk1, 6, 3).z - point2.z)), false);
-  drawTestSpot(new PVector((Animation(4).x + point3.x), 
+   drawTestSpot(new PVector((Animation(walk1, 6, 4).x + point3.x), 
-  robotHeigth, 
+   robotHeigth, 
-  (Animation(4).z - point3.z)), false);
+   (Animation(walk1, 6, 4).z - point3.z)), false);
-  drawTestSpot(new PVector((Animation(1).x - point4.x), 
+   drawTestSpot(new PVector((Animation(walk1, 6, 1).x - point4.x), 
-  robotHeigth, 
+   robotHeigth, 
-  (Animation(1).z - point4.z)), true);
+   (Animation(walk1, 6, 1).z - point4.z)), true);
-  drawTestSpot(new PVector((Animation(0).x - point5.x), 
+   drawTestSpot(new PVector((Animation(walk1, 6, 0).x - point5.x), 
-  robotHeigth, 
+   robotHeigth, 
-  (Animation(0).z - point5.z)), true);
+   (Animation(walk1, 6, 0).z - point5.z)), true);
-  drawTestSpot(new PVector((Animation(5).x - point6.x), 
+   drawTestSpot(new PVector((Animation(walk1, 6, 5).x - point6.x), 
-  robotHeigth, 
+   robotHeigth, 
-  (Animation(5).z - point6.z)), true);
+   (Animation(walk1, 6, 5).z - point6.z)), true);*/
 }
 
 void DrawBody()
 {
+  if (!robotStanding)
+  {
+    rotationX = 0;
+    rotationY = 0;
+    rotationZ = 0;
+  }
   //  Rotate body
   rotateX(radians(-1*rotationX));
   rotateY(radians(-1*rotationY));
@@ -210,21 +294,64 @@ void DrawBody()
   Vertex(point1.x, point1.y, point1.z);
   endShape(); 
 
-  SetFeetCoordinatesUsingAnimation();
+  RobotStandup();
+
+  RobotWalk();
 
   DrawFeet();
 }
 
-PVector []standup = new PVector[6];
+PVector []standup = new PVector[2];
+int standupStep = 0;
 
 void RobotStandup()
 {  
-  standup[0] = new PVector(3, 5, 0);
+  standup[0] = new PVector(5, 6, 0);
-  standup[1] = new PVector(12, robotHeigth, -5);
+  standup[1] = new PVector(10, 6, 0);
-  standup[2] = new PVector(12, robotHeigth, -5);
 
   if (!robotStanding)
   {
+    if (!animationRepeatComplete)
+      if (timerAnimation.delay(animationSpeed))
+        animationSubStep++;
+
+    animationRepeat = false;
+    animationSpeed = 250;
+
+    switch (standupStep)
+    {
+    case 0:
+      foot1.SetFootCoordinates(Animation(standup, 2, 0));
+      foot2.SetFootCoordinates(Animation(standup, 2, 0));
+      foot3.SetFootCoordinates(Animation(standup, 2, 0));//
+      foot4.SetFootCoordinates(Animation(standup, 2, 0));//
+      foot5.SetFootCoordinates(Animation(standup, 2, 0));
+      foot6.SetFootCoordinates(Animation(standup, 2, 0));
+
+      if (animationRepeatComplete)
+      {
+        animationRepeatComplete = false;
+        standupStep = 1;
+        animationStep = 0;
+      }
+      break;
+
+    case 1:
+      foot1.SetFootCoordinates(Animation(standup[1], walk1[2]));
+      foot2.SetFootCoordinates(Animation(standup[1], walk1[3]));
+      foot3.SetFootCoordinates(Animation(standup[1], walk1[4]));//
+      foot4.SetFootCoordinates(Animation(standup[1], walk1[1]));//
+      foot5.SetFootCoordinates(Animation(standup[1], walk1[0]));
+      foot6.SetFootCoordinates(Animation(standup[1], walk1[5]));
+
+      if (animationRepeatComplete)
+      {
+        robotStanding = true;
+        animationRepeatComplete = false;
+        standupStep = 2;
+      }
+      break;
+    }
   }
 }
 

2012-simulation/processing-3d/hexapod/hexapod.pde

@@ -52,10 +52,6 @@ void draw()
   rotationZ = ( counterZRotation%(rotationRange*4) < (rotationRange*2) ? -rotationRange+counterZRotation%(rotationRange*2) : rotationRange+(-1*(counterZRotation%(rotationRange*2))) );
 
   //  Animation
-  if (timerAnimation.delay(1))
-  {
-    animationSubStep++;
-  }
   if (timerZRotation.delay(25))
   {
     counterRotation-=0.012f;