QcBoxLegs::Swing Struct

struct QcBoxLegs::Swing

How one part moves with the walk: turned around axis through hip by the swing angle times phase (1 or -1; 0 for parts that are not legs). More...

List of all members, including inherited members

Public Functions

QcVec3 apply(const QcVec3 &local, double degrees) const

Public Variables

QcBoxLegs::Axis	axis
QcVec3	hip
double	phase

Detailed Description

Around Pitch, phase 1 moves the foot forward (-z); around Yaw, phase 1 turns the assembly so a left foot moves forward and a right foot back.

Member Function Documentation

QcVec3 Swing::apply(const QcVec3 &local, double degrees) const

Returns local (a point of the part, model space) with the part turned by degrees times the phase.

Member Variable Documentation

QcBoxLegs::Axis Swing::axis

Axis of the turn.

QcVec3 Swing::hip

Pivot of the turn in model space.

double Swing::phase

1 or -1 for the two phases of the walk; 0 for parts that are not legs.

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