diff options
| -rw-r--r-- | src/SmarterWalkAnimation.java | 12 |
1 files changed, 9 insertions, 3 deletions
diff --git a/src/SmarterWalkAnimation.java b/src/SmarterWalkAnimation.java index 9b4d7f0..bf4e72e 100644 --- a/src/SmarterWalkAnimation.java +++ b/src/SmarterWalkAnimation.java @@ -25,7 +25,8 @@ public class SmarterWalkAnimation implements WalkAnimation { private final double legLength; private final double cycleLength; - private final double MAX_LEG_ANGLE_DEG = 40.0; + private static final double MAX_LEG_ANGLE_DEG = 40.0; + private static final double MAX_ARM_ANGLE_DEG = 30.0; /** * Maximum percentage of the legs length to lift the feet. */ @@ -38,6 +39,8 @@ public class SmarterWalkAnimation implements WalkAnimation { private double knee_angle_left; private double knee_angle_right; private double bodyOffset; + private double arm_angle_left; + private double arm_angle_right; SmarterWalkAnimation(float legTopLength, float legBottomLength) { this.legTopLength = legTopLength; @@ -98,6 +101,9 @@ public class SmarterWalkAnimation implements WalkAnimation { leg_angle_left += cosineRule(legTopLength, dist_leg_l, legBottomLength); leg_angle_right += cosineRule(legTopLength, dist_leg_r, legBottomLength); + arm_angle_left = MAX_ARM_ANGLE_DEG * cos(pos / 2 * PI); + arm_angle_right = MAX_ARM_ANGLE_DEG * sin(pos / 2 * PI); + bodyOffset = legLength * body.y; } @@ -123,12 +129,12 @@ public class SmarterWalkAnimation implements WalkAnimation { @Override public double getArmAngleLeft() { - return 0; + return arm_angle_left; } @Override public double getArmAngleRight() { - return 0; + return arm_angle_right; } @Override |