/** * determines the desired swing foot location */ virtual public void setDesiredSwingFootLocation() { Vector3 step = computeSwingFootLocationEstimate(lowLCon.getComPosition(), lowLCon.getPhase()); //Debug.Log("aaaaaaaaaa "+step); lowLCon.swingFootCoronalTrajectory.setKnotValue(0, step[lowLCon.getLocalLeftAxisID()]); lowLCon.swingFootSagittalTrajectory.setKnotValue(0, step[lowLCon.getLocalFrontAxisID()]); float dt = SimGlobals.dt; step = computeSwingFootLocationEstimate(lowLCon.getComPosition() + lowLCon.getComVelocity() * dt, lowLCon.getPhase() + dt); lowLCon.swingFootCoronalTrajectory.setKnotValue(1, step[lowLCon.getLocalLeftAxisID()]); lowLCon.swingFootSagittalTrajectory.setKnotValue(1, step[lowLCon.getLocalFrontAxisID()]); //to give some gradient information, here's what the position will be a short time later... lowLCon.swingFootSagittalTrajectory.setKnotPosition(0, lowLCon.getPhase()); lowLCon.swingFootSagittalTrajectory.setKnotPosition(1, lowLCon.getPhase() + dt); lowLCon.swingFootCoronalTrajectory.setKnotPosition(0, lowLCon.getPhase()); lowLCon.swingFootCoronalTrajectory.setKnotPosition(1, lowLCon.getPhase() + dt); }