bool AngularMotor::setInitialStandUpBack(){
effect.str("");
addvalue();
moveArm(right_side, addraj1, addraj2, addraj3, addraj4);
moveLeg(right_side, addrlj1, addrlj2, addrlj3, addrlj4, addrlj5, addrlj6);
moveArm(left_side, addlaj1, addlaj2, addlaj3, addlaj4);
moveLeg(left_side, addllj1, addllj2, addllj3, addllj4, addllj5, addllj6);
return true;
}
bool AngularMotor::allJointsOff(){
effect.str("");
moveArm(right_side, 0, 0, 0, 0);
moveArm(left_side, 0, 0, 0, 0);
moveLeg(right_side, 0, 0, 0, 0, 0, 0);
moveLeg(left_side, 0, 0, 0, 0, 0, 0);
moveHead(0, 0);
return true;
}
void SpiderDemo::moveSpider( SpiderLayout& sl, hkReal time, hkReal leftVel, hkReal rightVel )
{
int legId = 0;
for (int posId = 0; posId < sl.m_numLegs; posId++ )
{
hkReal xf = posId/hkReal(sl.m_numLegs-1)*2.0f - 1.0f;
hkReal vel = leftVel;
for (int z = -1; z <= 1; z+=2 )
{
Leg& leg = m_legs[legId++];
moveLeg( sl, leg, hkReal(z), xf, time, vel );
vel = rightVel;
}
}
}
