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= {}\r\nFootAlt[0]=0\r\nFootAlt[1]=0\r\nFootAlt[2]=0\r\nFootAlt[3]=0\r\n\r\n--ビークル中心オフセット設定\r\nvehicleCenterOffset\t=\tVector3 (0,0,0)\r\n\r\n--脚データ\r\nLegInfo = {}\r\n\r\n--左前\r\nLegInfo[0] = {\r\n\tLegPosition = Vector3 (-2.5,0,2.5),\r\n\tJoint1_Id=26,\r\n\tJoint2_Id=27,\r\n\tJoint3_Id=28,\r\n\tJoint4_Id=29,\r\n\tJoint1_direction=1,\r\n\tJoint2_direction=-1,\r\n\tJoint3_direction=-1,\r\n\tJoint4_direction=-1,\r\n\tLeg1Length = 5,\r\n\tLeg2Length = 16,\r\n\tDefaultFootPosition = Vector3 (0,-16,6),\r\n\tFootStrokePosition = Vector3 (0,0,0),\r\n\tLegBendDirection = 1\r\n}\r\n\r\n--右前\r\nLegInfo[1] = {\r\n\tLegPosition = Vector3 (2.5,0,2.5),\r\n\tJoint1_Id=30,\r\n\tJoint2_Id=31,\r\n\tJoint3_Id=32,\r\n\tJoint4_Id=33,\r\n\tJoint1_direction=-1,\r\n\tJoint2_direction=1,\r\n\tJoint3_direction=1,\r\n\tJoint4_direction=1,\r\n\tLeg1Length = 5,\r\n\tLeg2Length = 16,\r\n\tDefaultFootPosition = Vector3 (0,-16,6),\r\n\tFootStrokePosition = Vector3 (0,0,0),\r\n\tLegBendDirection = 1\r\n}\r\n\r\n--左後\r\nLegInfo[2] = {\r\n\tLegPosition = Vector3 (2.5,0,-2.5),\r\n\tJoint1_Id=34,\r\n\tJoint2_Id=35,\r\n\tJoint3_Id=36,\r\n\tJoint4_Id=37,\r\n\tJoint1_direction=1,\r\n\tJoint2_direction=-1,\r\n\tJoint3_direction=-1,\r\n\tJoint4_direction=-1,\r\n\tLeg1Length = 5,\r\n\tLeg2Length = 16,\r\n\tDefaultFootPosition = Vector3 (0,-16,-6),\r\n\tFootStrokePosition = Vector3 (0,0,0),\r\n\tLegBendDirection = -1\r\n}\r\n\r\n--右後\r\nLegInfo[3] = {\r\n\tLegPosition = Vector3 (2.5,0,2.5),\r\n\tJoint1_Id=38,\r\n\tJoint2_Id=39,\r\n\tJoint3_Id=40,\r\n\tJoint4_Id=41,\r\n\tJoint1_direction=-1,\r\n\tJoint2_direction=1,\r\n\tJoint3_direction=1,\r\n\tJoint4_direction=1,\r\n\tLeg1Length = 5,\r\n\tLeg2Length = 16,\r\n\tDefaultFootPosition = Vector3 (0,-16,-6),\r\n\tFootStrokePosition = Vector3 (0,0,0),\r\n\tLegBendDirection = -1\r\n}\r\n\r\n--前後ストローク長(の半分)\r\nFootStrokeLength=4.5\r\n\r\n--足上げ高さ\r\nFootGroundClearance = 2\r\n\r\nStrokeTime = 10\r\n\r\nMoveDirection = 0\r\n\r\nLastExecTime = -1\r\nNowTime = 0\r\nStrokeTimer = 0\r\n\r\n\r\n--足を動かす向き\r\nFootDirection = 1\r\n\r\nfunction FootRoute(globalTimer, OffsetTime,FootStrokeLength,FootGroundClearance)\r\n\tFootStrokePosition = Vector3 (0,0,0)\r\n\t\r\n\tTimer = (globalTimer + OffsetTime)\r\n\tTimer = Timer - Mathf.Floor(Timer)\r\n\t\r\n\tif Timer < 0.75 then\r\n\t\tFootStrokePosition = Vector3.Lerp(Vector3(0,0,FootStrokeLength),Vector3(0,0,-FootStrokeLength),Timer/0.75)\r\n\telse\r\n\t\tangleTimer = (Timer - 0.75) * 4 * Mathf.PI\r\n\t\tFootStrokePosition = Vector3 (0, Mathf.Sin(angleTimer) * FootGroundClearance , -Mathf.Cos(angleTimer)* FootStrokeLength)\r\n\tend\r\n\t\r\n\treturn FootStrokePosition\r\nend\r\n\r\nfunction Update(I)\r\n\tlogMessageString = \"\"\r\n\tvehicleDriveNum =\tI:GetDrive(0)\r\n\r\n\tif vehicleDriveNum > 0.5 then\r\n\t\tMoveDirection = 1\r\n\telseif vehicleDriveNum < -0.5 then\r\n\t\tMoveDirection = -1\r\n\telse\r\n\t\tMoveDirection = 0\r\n\tend\r\n\r\n\tif LastExecTime < 0 then\r\n\t\tLastExecTime  = I:GetTime()\r\n\tend\r\n\t\r\n\tNowTime = I:GetTime()\r\n\r\n\tStrokeTimer = StrokeTimer + ((NowTime - LastExecTime) / StrokeTime) * MoveDirection\r\n\r\n\tLastExecTime = NowTime\r\n\r\n\tLegInfo[0].FootStrokePosition = FootRoute(StrokeTimer, 0.75,FootStrokeLength,FootGroundClearance)\r\n\tLegInfo[1].FootStrokePosition = FootRoute(StrokeTimer, 0.25,FootStrokeLength,FootGroundClearance)\r\n\tLegInfo[2].FootStrokePosition = FootRoute(StrokeTimer, 0.5,FootStrokeLength,FootGroundClearance)\t\t\r\n\tLegInfo[3].FootStrokePosition = FootRoute(StrokeTimer, 0,FootStrokeLength,FootGroundClearance)\r\n\tlogMessageString = logMessageString .. string.format(\"%3.3f,%3.3f %3.3f %3.3f %3.3f %3.3f\",NowTime,StrokeTimer,LegInfo[0].FootStrokePosition.y,LegInfo[1].FootStrokePosition.y,LegInfo[2].FootStrokePosition.y,LegInfo[3].FootStrokePosition.y)\r\n\r\n\t\r\n\tvehicleCenterAlt\t=\tI:GetTerrainAltitudeForLocalPosition(vehicleCenterOffset)\r\n\t\r\n\tfor footIdx = 0, 3, 1 do\r\n\r\n\t\tFootTargetPosition = LegInfo[footIdx].DefaultFootPosition +  LegInfo[footIdx].FootStrokePosition\r\n\r\n\t\tFootAlt[footIdx] = I:GetTerrainAltitudeForLocalPosition(FootTargetPosition + LegInfo[footIdx].LegPosition)\r\n\r\n\t\tFootPosition = LegInfo[footIdx].DefaultFootPosition +  LegInfo[footIdx].FootStrokePosition + Vector3 (0,FootAlt[footIdx] - vehicleCenterAlt,0)\r\n\r\n\r\n\t\tLeg2BendAngle = (LegInfo[footIdx].FootStrokePosition.y / FootGroundClearance) * 30\r\n\t\tlogMessageString = logMessageString .. \" \" .. Leg2BendAngle\r\n\t\tLeg2BendedLength = LegInfo[footIdx].Leg2Length * Mathf.Cos( Leg2BendAngle * Mathf.Deg2Rad )\r\n\r\n\t\tif FootPosition.magnitude < (LegInfo[footIdx].Leg1Length + Leg2BendedLength) then\r\n\t\t\tLeg1Pow2 = Mathf.Pow(LegInfo[footIdx].Leg1Length,2)\r\n\t\t\tLeg2Pow2 = Mathf.Pow(Leg2BendedLength,2)\r\n\t\t\tmagPow2 = Mathf.Pow(FootPosition.magnitude,2)\r\n\t\t\tFootExtensionAngle1 = Mathf.Acos((Leg1Pow2 - Leg2Pow2 + magPow2) / (2 * LegInfo[footIdx].Leg1Length * FootPosition.magnitude)) * Mathf.Rad2Deg;\r\n\t\t\tFootExtensionAngle2 = 180 - Mathf.Acos((Leg1Pow2 + Leg2Pow2 - magPow2) / (2 * LegInfo[footIdx].Leg1Length * Leg2BendedLength)) * Mathf.Rad2Deg;\r\n\t\t\tFootExtensionAngle3 = Mathf.Acos((-Leg1Pow2 + Leg2Pow2 + magPow2) / (2 * Leg2BendedLength * FootPosition.magnitude)) * Mathf.Rad2Deg;\r\n\t\telse\r\n\t\t\tFootExtensionAngle1 = 0\r\n\t\t\tFootExtensionAngle2 = 0\r\n\t\t\tFootExtensionAngle3 = 0\r\n\t\tend\r\n\r\n\r\n\r\n\t\tFootStrokeAngle = Mathf.Asin(FootPosition.z / FootPosition.magnitude) * Mathf.Rad2Deg;\r\n\r\n\r\n\t\tI:SetSpinBlockRotationAngle(LegInfo[footIdx].Joint1_Id, (FootExtensionAngle1 * LegInfo[footIdx].LegBendDirection + FootStrokeAngle) * LegInfo[footIdx].Joint1_direction)\r\n\t\tI:SetSpinBlockRotationAngle(LegInfo[footIdx].Joint2_Id, (FootExtensionAngle2 * LegInfo[footIdx].LegBendDirection - Leg2BendAngle) * LegInfo[footIdx].Joint2_direction)\r\n\t\tI:SetSpinBlockRotationAngle(LegInfo[footIdx].Joint3_Id, 2 * Leg2BendAngle * LegInfo[footIdx].Joint3_direction)\r\n\t\t--I:SetSpinBlockRotationAngle(LegInfo[footIdx].Joint4_Id, (FootExtensionAngle3 * LegInfo[footIdx].LegBendDirection + Leg2BendAngle - FootStrokeAngle) * LegInfo[footIdx].Joint4_direction)\r\n\t\tI:SetSpinBlockRotationAngle(LegInfo[footIdx].Joint4_Id, (FootExtensionAngle3 * LegInfo[footIdx].LegBendDirection - FootStrokeAngle) * LegInfo[footIdx].Joint4_direction)\r\n\r\n\t\t--本来は膝の角度に応じて足首も反対側に曲げるべきだが、あえて曲げないことでAT-AT風味の歩き方をするようにしている\r\n\r\n\t--\tlogMessageString = logMessageString .. \" \" .. footIdx .. \"=\" ..  math.ceil(FootExtensionAngle1) .. \" \" ..  math.ceil(FootExtensionAngle2) .. \" \" ..  math.ceil(FootExtensionAngle3) .. \" \" .. math.ceil(FootStrokeAngle) .. \"/\"\r\n\tend\r\n\t\r\n\tI:ClearLogs()\r\n\tI:Log(logMessageString)\r\nend\r\n\r\n\r\n\r\n"],"BlockStringDataIds":[9],"GameVersion":"2.4.9","PersistentSubObjectIndex":57,"PersistentBlockIndex":157,"BlockCount":434}}