public Vector3 GetFlightFootPosition(int leg, float flightTime, int phase)
{
if (Stationary)
{
if (phase == Int.Zero)
{
return(Vector3.zero);
}
if (phase == Int.One)
{
return((-Mathf.Cos(flightTime * Mathf.PI) / Int.Two + Float.Half) * Vector3.forward);
}
if (phase == Int.Two)
{
return(Vector3.forward);
}
}
float cycleTime;
if (phase == Int.Zero)
{
cycleTime = Mathf.Lerp(Float.Zero, Cycles[leg].LiftoffTime, flightTime);
}
else if (phase == Int.One)
{
cycleTime = Mathf.Lerp(Cycles[leg].LiftoffTime, Cycles[leg].StrikeTime, flightTime);
}
else
{
cycleTime = Mathf.Lerp(Cycles[leg].StrikeTime, Float.One, flightTime);
}
int index = (int)(cycleTime * Samples);
float weight = cycleTime * Samples - index;
if (index >= Samples - Int.One)
{
index = Samples - Int.One;
weight = Float.Zero;
}
index = Exts.Mod(index + Cycles[leg].StanceIndex, Samples);
return(
Cycles[leg].Samples[index].FootBaseNormalized * (Int.One - weight)
+ Cycles[leg].Samples[Exts.Mod(index + Int.One, Samples)].FootBaseNormalized * (weight)
);
}
public int GetIndexFromTime(float time)
{
return(Exts.Mod((int)(time * Samples + Float.Half), Samples));
}