public void Update()
{
Vector3 leftKneeToFoot = LeftFoot.position - LeftKnee.position;
Vector3 leftKneeToHip = LeftHip.position - LeftKnee.position;
Vector3 rightKneeToFoot = RightFoot.position - RightKnee.position;
Vector3 rightKneeToHip = RightHip.position - RightKnee.position;
walkingAlgorithm.thresholdAngleInDegreeInStep = thresholdAngleInDegreeInStep;
walkingAlgorithm.thresholdAngleInDegreeOutStep = thresholdAngleInDegreeOutStep;
walkingAlgorithm.thresholdKneeHipLengthInPercentageInStep = thresholdKneeHipLengthInPercentageInStep;
walkingAlgorithm.thresholdKneeHipLengthInPercentageOutStep = thresholdKneeHipLengthInPercentageOutStep;
walkingAlgorithm.UpdateLocomotion(
new Vector3[] {
SpineBase.position,
LeftKnee.position,
leftKneeToFoot,
leftKneeToHip,
RightKnee.position,
rightKneeToFoot,
rightKneeToHip,
SpineBase.right,
SpineBase.forward
});
WalkInPlace();
}
