private IEnumerator WaitForNotTakingStep(LegIndex legIndex)
{
int legIndexValue = (int)legIndex;
while (takingStep[legIndexValue])
{
yield return(null);
}
}
private IEnumerator TakeStepInPlace(LegIndex legIndex)
{
int legIndexValue = (int)legIndex;
takingStep[legIndexValue] = true;
if (LegIndex.FrontLeft == legIndex || LegIndex.FrontRight == legIndex)
{
SetTargets(legIndexValue, frontStepUp);
yield return(new WaitForSeconds(delay * 5));
SetTargets(legIndexValue, defaultStep);
}
else
{
SetTargets(legIndexValue, backStepUp);
yield return(new WaitForSeconds(delay * 5));
SetTargets(legIndexValue, defaultStep);
}
takingStep[legIndexValue] = false;
}
private IEnumerator TakeStep(LegIndex legIndex, bool backwards)
{
int legIndexValue = (int)legIndex;
takingStep[legIndexValue] = true;
if (LegIndex.FrontLeft == legIndex || LegIndex.FrontRight == legIndex)
{
SetTargets(legIndexValue, frontStepForward, backwards);
yield return(new WaitForSeconds(delay));
SetTargets(legIndexValue, frontStepExtended, backwards);
Leg leg = legs[legIndexValue];
Vector3 point = body.transform.InverseTransformPoint(leg.ankle.transform.position);
while (point.y < 3f && !backwards)
{
if (walkingInPlace)
{
yield break;
}
yield return(null);
point = body.transform.InverseTransformPoint(leg.ankle.transform.position);
}
while (point.y > 0 && backwards)
{
if (walkingInPlace)
{
yield break;
}
yield return(null);
point = body.transform.InverseTransformPoint(leg.ankle.transform.position);
}
SetTargets(legIndexValue, frontStepGrounded, backwards);
}
else
{
SetTargets(legIndexValue, backStepRetracted, backwards);
yield return(new WaitForSeconds(delay * 2f));
SetTargets(legIndexValue, backStepForward, backwards);
yield return(new WaitForSeconds(delay));
SetTargets(legIndexValue, backStepExtended, backwards);
Leg leg = legs[legIndexValue];
Vector3 point = body.transform.InverseTransformPoint(leg.ankle.transform.position);
while (point.y < 0.6f && !backwards)
{
if (walkingInPlace)
{
yield break;
}
yield return(null);
point = body.transform.InverseTransformPoint(leg.ankle.transform.position);
}
while (point.y > -1.5f && backwards)
{
if (walkingInPlace)
{
yield break;
}
yield return(null);
point = body.transform.InverseTransformPoint(leg.ankle.transform.position);
}
SetTargets(legIndexValue, backStepGrounded, backwards);
yield return(new WaitForSeconds(delay));
SetTargets(legIndexValue, backStepGroundedStraight, backwards);
}
takingStep[legIndexValue] = false;
}
