Added damped transform on segments

Author: limkarlkenji

Assets/Scenes/SampleScene.unity

@@ -0,0 +1,82 @@
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+using UnityEngine.Animations.Rigging;
+
+public class CentipedeController : MonoBehaviour
+{
+    [SerializeField] private Transform headTarget;
+    [SerializeField] private Transform head;
+
+    [SerializeField] private float moveSpeed;
+    [SerializeField] private float turnAngle;
+
+    [SerializeField] private float frequency;
+    [SerializeField] private float amplitude;
+
+    private float t = 0;
+    private Rig rig;
+
+    private void Start()
+    {
+        rig = GetComponent<RigBuilder>().layers[0].rig;
+    }
+
+    private void MoveHeadTarget()
+    {
+        t += Time.deltaTime;
+        Vector3 pos = headTarget.position;
+        pos.x += Mathf.Sin(t * Mathf.PI * frequency) * amplitude;
+        headTarget.position = pos;
+    }
+
+    // Update is called once per frame
+    private void Update()
+    {
+        
+       
+        // Foward and backward movement
+        if (Input.GetKey(KeyCode.W))
+        {
+            rig.weight = 1.0f;
+            transform.position += transform.forward * moveSpeed;
+            head.position = new Vector3(headTarget.position.x, head.position.y, head.position.z);
+            // Turning
+            if (Input.GetKey(KeyCode.Q))
+            {
+                transform.rotation *= Quaternion.Euler(0, -turnAngle, 0);
+
+            }
+            else if (Input.GetKey(KeyCode.E))
+            {
+                transform.rotation *= Quaternion.Euler(0, turnAngle, 0);
+
+            }
+            else
+            {
+                
+                MoveHeadTarget();
+            }
+
+        }
+        else if (Input.GetKey(KeyCode.S))
+        {
+            transform.position += -transform.forward * moveSpeed;
+        }
+        // Right and left movement
+        else if (Input.GetKey(KeyCode.D))
+        {
+            transform.position += transform.right * moveSpeed;
+        }
+        else if (Input.GetKey(KeyCode.A))
+        {
+            transform.position += -transform.right * moveSpeed;
+        }
+
+        if(Input.GetKeyUp(KeyCode.W) || Input.GetKeyUp(KeyCode.Q) || Input.GetKeyUp(KeyCode.E) )
+        {
+            rig.weight = 0.0f;
+            headTarget.position = Vector3.zero;
+        }
+    }
+}

Assets/Scripts/CentipedeController.cs

@@ -4,19 +4,18 @@
 public class LegMovement : MonoBehaviour
 {
     public Transform homeTransform; // The position and rotation we want to stay in range of
-    public bool allowMovement;      // Controlled by SegmentController
     public bool Moving;             // Is the leg moving?
 
     [SerializeField] private float allowedDistanceFromHome; // Stay within this distance of home
     [SerializeField] private float moveOffset;              // Adds an offset when moving the target towards home (Adds this value on local Z forward)
+    [SerializeField] private float legBendHeightOffset;           // How high will the leg bend up when moving
     [SerializeField] private float moveDuration;            // How long a step takes to complete
     [SerializeField] private float dist;
 
     private Vector3 lastPos;
 
     private void Start()
     {
-        allowMovement = true;
         lastPos = transform.position;
     }
 
@@ -28,13 +27,8 @@ private IEnumerator MoveToHome()
 
         while (timeElapsed < moveDuration)
         {
-            while (!allowMovement)
-            {
-                yield return null;
-            }
             timeElapsed += Time.deltaTime;
             float normalizedTime = timeElapsed / moveDuration;
-            //transform.position = Vector3.Lerp(lastPos, endPoint, normalizedTime);   // Interpolate position and rotation
             transform.position = Bezier(lastPos, endPoint, normalizedTime);   // Interpolate position and rotation
 
             yield return null;
@@ -44,42 +38,34 @@ private IEnumerator MoveToHome()
         Moving = false;
     }
 
-    private void Update()
+    public void Move()
     {
-        if (Moving) // If we are already moving, don't start another move
+        if (Moving)
         {
             return;
         }
+
+        dist = Vector3.Distance(transform.position, homeTransform.position);
+
+        if (dist > allowedDistanceFromHome)      // If we are too far off in position or rotation
+        {
+            StartCoroutine(MoveToHome());   // Start the step coroutine
+        }
         else
         {
-            dist = Vector3.Distance(transform.position, homeTransform.position);
-
-            if (dist > allowedDistanceFromHome)      // If we are too far off in position or rotation
-            {
-                StartCoroutine(MoveToHome());   // Start the step coroutine
-            }
-            else
-            {
-                transform.position = lastPos;
-            }
+            transform.position = lastPos;
         }
+
     }
 
     Vector3 Bezier(Vector3 current, Vector3 target, float t)
     {
         Vector3 p0 = current;
-        Vector3 p1 = (current + (target - current) / 2) + (Vector3.up * 2.0f);
+        Vector3 p1 = (current + (target - current) / 2) + (Vector3.up * legBendHeightOffset);
         Vector3 p2 = target;
         Vector3 q1 = Vector3.Lerp(p0, p1, t);
         Vector3 q2 = Vector3.Lerp(p1, p2, t);
 
         return Vector3.Lerp(q1, q2, t);
     }
-
-    void OnDrawGizmosSelected()
-    {
-        // Draw a yellow sphere at the transform's position
-        Gizmos.color = Color.yellow;
-        Gizmos.DrawSphere((lastPos + (homeTransform.position - lastPos)/2) + ((Vector3.up * 2.0f)), 1);
-    }
 }

Assets/Scripts/MovementController.cs.meta renamed to Assets/Scripts/CentipedeController.cs.meta

@@ -0,0 +1,49 @@
+using System.Collections;
+using UnityEngine;
+
+public class LegPairController : MonoBehaviour
+{
+    [SerializeField] private int pairIndex;
+    [SerializeField] private LegPairController pairInFront; // The pair of legs in front
+    [Header("Legs")]
+    [SerializeField] private LegMovement rightLeg;
+    [SerializeField] private LegMovement leftLeg;
+
+    private SegmentController segmentController;
+
+    private void Start()
+    {
+        segmentController = transform.parent.GetComponent<SegmentController>();
+        pairInFront = transform.parent.GetComponent<LegPairController>();
+        StartCoroutine(MoveLegs());   
+    }
+
+    private IEnumerator MoveLegs()
+    {
+        while(true)
+        {
+            do
+            {
+                rightLeg.Move();
+                if (pairInFront != null) { pairInFront.leftLeg.Move(); }
+                yield return null;
+            }
+            while ((pairInFront != null) ? (pairInFront.leftLeg.Moving && rightLeg.Moving)  : rightLeg.Moving);
+
+            do
+            {
+                leftLeg.Move();
+                if (pairInFront != null) { pairInFront.rightLeg.Move(); }
+                yield return null;
+            }
+            while ((pairInFront != null) ? (pairInFront.rightLeg.Moving && leftLeg.Moving) : leftLeg.Moving);
+        }
+    }
+
+    //public LegPairController SetIndex(int index)
+    //{
+    //    pairIndex = index;
+    //    pairInFront = (pairIndex == 0) ? null : segmentController.segments[pairIndex - 1];
+    //    return this;
+    //}
+}

Assets/Scripts/LegMovement.cs

@@ -1,25 +1,21 @@
+using System.Collections;
+using System.Collections.Generic;
 using UnityEngine;
 
 public class SegmentController : MonoBehaviour
 {
-    [Header("Right Leg")]
-    [SerializeField] private LegMovement rightLeg;
-    [Header("Left Leg")]
-    [SerializeField] private LegMovement leftLeg;
+    public List<LegPairController> segments = new List<LegPairController>();
 
-
-    // Update is called once per frame
-    void Update()
+    private void Start()
     {
-        if (rightLeg.Moving)
-        {
-            rightLeg.allowMovement = true;
-            leftLeg.allowMovement = false;
-        }
-        else if(leftLeg.Moving)
-        {
-            leftLeg.allowMovement = true;
-            rightLeg.allowMovement = false;
-        }
+        //for (int i = 0; i < transform.childCount; i++)
+        //{
+        //    segments.Add(transform.GetChild(i).GetComponent<LegPairController>().SetIndex(i));
+        //}
+
+        //for (int i = 0; i < transform.childCount; i++)
+        //{
+        //    segments.Add(transform.GetChild(i).GetComponent<LegPairController>().SetIndex(i));
+        //}
     }
 }