public void RenderMotionCycles() {
//float w = Camera.main.pixelWidth;
float h = Camera.main.pixelHeight;
//Color strongColor = new Color(0, 0, 0, 1);
Color weakColor = new Color(0.7f, 0.7f, 0.7f, 1);
for (int m=0; m<legC.cycleMotions.Length; m++) {
DrawArea graph = new DrawArea(
new Vector3(0.01f*h+0.2f*h*m,0.31f*h,0),
new Vector3(0.19f*h+0.2f*h*m,0.49f*h,0)
);
graph.canvasMin = new Vector3(-1.1f,-1.1f,0);
graph.canvasMax = new Vector3( 1.1f, 1.1f,0);
GL.Begin( GL.LINES );
graph.DrawLine (-0.9f*Vector3.up, -1.1f*Vector3.up, weakColor);
for (int i=0; i<90; i++) {
graph.DrawLine (
Quaternion.AngleAxis( i /90.0f*360, Vector3.forward) * Vector3.up,
Quaternion.AngleAxis((i+1)/90.0f*360, Vector3.forward) * Vector3.up, weakColor);
}
GL.End();
GL.Begin( GL.QUADS );
for (int leg=0; leg<legs.Length; leg++) {
Color c = legs[leg].debugColor;
Vector3 cycleVect;
float t = (
legC.cycleMotions[m].cycles[leg].stanceTime
- legC.cycleMotions[m].cycleOffset*(0.5f+0.5f*Mathf.Sin(Time.time*2))
);
cycleVect = Quaternion.AngleAxis(360.0f*t, -Vector3.forward) * -Vector3.up;
graph.DrawRect(cycleVect-Vector3.one*0.1f, cycleVect+Vector3.one*0.1f, c);
}
GL.End();
}
}
public void RenderCycleGraph() {
float w = Camera.main.pixelWidth;
float h = Camera.main.pixelHeight;
//Color strongColor = new Color(0, 0, 0, 1);
Color weakColor = new Color(0.7f, 0.7f, 0.7f, 1);
DrawArea graph = new DrawArea(new Vector3(w-0.49f*h,0.01f*h,0),new Vector3(w-0.01f*h,0.49f*h,0));
graph.canvasMin = new Vector3(-1.1f,-1.1f,0);
graph.canvasMax = new Vector3( 1.1f, 1.1f,0);
GL.Begin( GL.QUADS );
graph.DrawRect(new Vector3(-1,-1,0), new Vector3(1,1,0), new Color(0,0,0,0.2f));
GL.End();
GL.Begin( GL.LINES );
graph.DrawLine (-0.9f*Vector3.up, -1.1f*Vector3.up, weakColor);
for (int i=0; i<90; i++) {
graph.DrawLine (
Quaternion.AngleAxis( i /90.0f*360, Vector3.forward) * Vector3.up,
Quaternion.AngleAxis((i+1)/90.0f*360, Vector3.forward) * Vector3.up, weakColor);
}
for (int leg=0; leg<legs.Length; leg++) {
Color c = legs[leg].debugColor;
Vector3 marker;
marker = Quaternion.AngleAxis(
360.0f*legStates[leg].liftoffTime, -Vector3.forward
) * -Vector3.up;
graph.DrawLine(marker*0.9f, marker*1.1f, c);
marker = Quaternion.AngleAxis(
360.0f*legStates[leg].strikeTime, -Vector3.forward
) * -Vector3.up;
graph.DrawLine(marker*0.9f, marker*1.1f, c);
}
GL.End();
GL.Begin( GL.QUADS );
for (int leg=0; leg<legs.Length; leg++) {
Color c = legs[leg].debugColor;
Vector3 cycleVect;
cycleVect = Quaternion.AngleAxis(
360.0f*legStates[leg].cycleTime, -Vector3.forward
) * -Vector3.up;
graph.DrawRect(cycleVect-Vector3.one*0.1f, cycleVect+Vector3.one*0.1f, c);
float dictatedCycle = Util.CyclicDiff(normalizedTime, legStates[leg].stanceTime);
cycleVect = Quaternion.AngleAxis(360.0f*dictatedCycle, -Vector3.forward) * -Vector3.up * 0.8f;
graph.DrawRect(cycleVect-Vector3.one*0.05f, cycleVect+Vector3.one*0.05f, c);
}
GL.End();
}
