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

Foot foot1 = new Foot();
Foot foot2 = new Foot();
Foot foot3 = new Foot();
Foot foot4 = new Foot();
Foot foot5 = new Foot();
Foot foot6 = new Foot();

//	9.5
//	14
//	9.5

//	10
//	10

PVector point1 = new PVector(4.75, 0, 10);
PVector point2 = new PVector(7, 0, 0);
PVector point3 = new PVector(4.75, 0, -10);
PVector point4 = new PVector(-4.75, 0, -10);
PVector point5 = new PVector(-7, 0, 0);
PVector point6 = new PVector(-4.75, 0, 10);

float rotationX=0;
float rotationY=0;
float rotationZ=0;

int animationStep=0;
int animationSubStep=0;

boolean robotStanding = false;

float robotHeigth = 12;

void drawTestSpot(PVector p, boolean leftLegorRight)
{
  beginShape();
  stroke(0, 0, 255);
  if (leftLegorRight)
  {
    Vertex((-1*p.x)-1, p.y, (-1*p.z)-1);
    Vertex((-1*p.x)-1, p.y, (-1*p.z)+1);
    Vertex((-1*p.x)+1, p.y, (-1*p.z)+1);
    Vertex((-1*p.x)+1, p.y, (-1*p.z)-1);
    Vertex((-1*p.x)-1, p.y, (-1*p.z)-1);
  } else
  {
    Vertex(p.x-1, p.y, (-1*p.z)-1);
    Vertex(p.x-1, p.y, (-1*p.z)+1);
    Vertex(p.x+1, p.y, (-1*p.z)+1);
    Vertex(p.x+1, p.y, (-1*p.z)-1);
    Vertex(p.x-1, p.y, (-1*p.z)-1);
  }
  endShape();
}

PVector []walk1 = new PVector[6];

PVector Animation(int addition)
{

  PVector P = new PVector();

  P = animationSubSteps(walk1[((animationStep+addition)%6)], walk1[((animationStep+addition+1)%6)]);

  return P;
}

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;
}

void Vertex(double x, double y, double z)
{
  vertex((float)x, (float)y, (float)z);
}

class CustomTimer
{
  int time;
  boolean start=true;
  public boolean delay(int delay)
  {
    if (start)
    {
      time = millis();
      start = false;
    }
    if (millis() - time >= delay)
    {
      start = true;
      return true;
    } else
      return false;
  }
}

void DrawFeet()
{
  foot1.Translate(point1);  
  foot1.DrawFoot();

  foot2.Translate(point2);  
  foot2.DrawFoot();

  foot3.Translate(point3);  
  foot3.DrawFoot();

  foot4.Translate(point4);
  foot4.leftLegorRight=true;
  foot4.DrawFoot();

  foot5.Translate(point5);
  foot5.leftLegorRight=true;
  foot5.DrawFoot();

  foot6.Translate(point6);
  foot6.leftLegorRight=true;
  foot6.DrawFoot();
}

void SetFeetCoordinatesUsingAnimation()
{
  foot1.SetFootCoordinates(Animation(2));
  foot2.SetFootCoordinates(Animation(3));
  foot3.SetFootCoordinates(Animation(4));//
  foot4.SetFootCoordinates(Animation(1));//
  foot5.SetFootCoordinates(Animation(0));
  foot6.SetFootCoordinates(Animation(5));
}

void DrawGround()
{
  noStroke();  //  Ground
  fill(128);
  beginShape();  
  Vertex(-60, robotHeigth, -60);
  Vertex(60, robotHeigth, -60);
  Vertex(60, robotHeigth, 60);
  Vertex(-60, robotHeigth, 60);
  Vertex(-60, robotHeigth, -60);
  endShape();
}

void DrawTestSpots()
{
  drawTestSpot(new PVector((Animation(2).x + point1.x), 
  robotHeigth, 
  (Animation(2).z - point1.z)), false);
  drawTestSpot(new PVector((Animation(3).x + point2.x), 
  robotHeigth, 
  (Animation(3).z - point2.z)), false);
  drawTestSpot(new PVector((Animation(4).x + point3.x), 
  robotHeigth, 
  (Animation(4).z - point3.z)), false);
  drawTestSpot(new PVector((Animation(1).x - point4.x), 
  robotHeigth, 
  (Animation(1).z - point4.z)), true);
  drawTestSpot(new PVector((Animation(0).x - point5.x), 
  robotHeigth, 
  (Animation(0).z - point5.z)), true);
  drawTestSpot(new PVector((Animation(5).x - point6.x), 
  robotHeigth, 
  (Animation(5).z - point6.z)), true);
}

void DrawBody()
{
  //  Rotate body
  rotateX(radians(-1*rotationX));
  rotateY(radians(-1*rotationY));
  rotateZ(radians(-1*rotationZ));

  stroke(100, 100, 100);  //  Body
  fill(0, 0, 255);
  beginShape();  
  Vertex(point1.x, point1.y, point1.z);
  Vertex(point2.x, point2.y, point2.z);
  Vertex(point3.x, point3.y, point3.z);
  Vertex(point4.x, point4.y, point4.z);
  Vertex(point5.x, point5.y, point5.z);
  Vertex(point6.x, point6.y, point6.z);
  Vertex(point1.x, point1.y, point1.z);
  endShape(); 
  stroke(100, 100, 100);  //  Body top
  fill(0, 255, 0);
  beginShape();  
  Vertex(point1.x, point1.y, point1.z);
  Vertex(point2.x, point2.y, point2.z);
  Vertex(point5.x, point5.y, point5.z);
  Vertex(point6.x, point6.y, point6.z);
  Vertex(point1.x, point1.y, point1.z);
  endShape(); 

  SetFeetCoordinatesUsingAnimation();

  DrawFeet();
}

PVector []standup = new PVector[6];

void RobotStandup()
{  
  standup[0] = new PVector(3, 5, 0);
  standup[1] = new PVector(12, robotHeigth, -5);
  standup[2] = new PVector(12, robotHeigth, -5);

  if (!robotStanding)
  {
  }
}