Hi Jonny,
Take a look at the BodyIK sub:
Code:
BodyIKLeg var nib
BodyIK [PosX, PosZ, PosY, RotationY, BodyIKLeg]
;Calculating totals from center of the body to the feet
CPR_X = cOffsetX(BodyIKLeg)+PosX
CPR_Y = PosY + BodyRotOffsetY ; Define centerpoint for rotation along the Y-axis
CPR_Z = cOffsetZ(BodyIKLeg) + PosZ + BodyRotOffsetZ
;Successive global rotation matrix:
;Math shorts for rotation: Alfa (A) = Xrotate, Beta (B) = Zrotate, Gamma (G) = Yrotate
;Sinus Alfa = sinA, cosinus Alfa = cosA. and so on...
;First calculate sinus and cosinus for each rotation:
GOSUB GetSinCos [BodyRotX1+TotalXBal1]
SinG4 = Sin4
CosG4 = Cos4
GOSUB GetSinCos [BodyRotZ1+TotalZBal1]
SinB4 = Sin4
CosB4 = Cos4
GOSUB GetSinCos [BodyRotY1+(RotationY*c1DEC)+TotalYBal1]
SinA4 = Sin4
CosA4 = Cos4
;Calcualtion of rotation matrix:
BodyIKPosX = (CPR_X*c2DEC - ( CPR_X*c2DEC*CosA4/c4DEC*CosB4/c4DEC - CPR_Z*c2DEC*CosB4/c4DEC*SinA4/c4DEC + CPR_Y*c2DEC*SinB4/c4DEC ))/c2DEC
BodyIKPosZ = (CPR_Z*c2DEC - ( CPR_X*c2DEC*CosG4/c4DEC*SinA4/c4DEC + CPR_X*c2DEC*CosA4/c4DEC*SinB4/c4DEC*SinG4/c4DEC + CPR_Z*c2DEC*CosA4/c4DEC*CosG4/c4DEC - CPR_Z*c2DEC*SinA4/c4DEC*SinB4/c4DEC*SinG4/c4DEC - CPR_Y*c2DEC*CosB4/c4DEC*SinG4/c4DEC ))/c2DEC
BodyIKPosY = (CPR_Y *c2DEC - ( CPR_X*c2DEC*SinA4/c4DEC*SinG4/c4DEC - CPR_X*c2DEC*CosA4/c4DEC*CosG4/c4DEC*SinB4/c4DEC + CPR_Z*c2DEC*CosA4/c4DEC*SinG4/c4DEC + CPR_Z*c2DEC*CosG4/c4DEC*SinA4/c4DEC*SinB4/c4DEC + CPR_Y*c2DEC*CosB4/c4DEC*CosG4/c4DEC ))/c2DEC
return
For shifting/changing the CPR you only need to set the variable BodyRotOffsetZ, BodyRotOffsetY. If you need to set the X you'll need to add that variable. It might be a bit hard to change all 3 coordinates at the same time with only one 2DOF joystick though.
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