More arthropod animations

assets/voxygen/voxel/arthropod_lateral_manifest.ron

@@ -597,11 +597,11 @@
             lateral: ("npc.stag_beetle.male.wing_fr"),
         ),
         wing_bl: (
-            offset: (-4.0, -1.0, -0.5),
+            offset: (-4.0, -12.0, -0.5),
             lateral: ("npc.stag_beetle.male.wing_br"),
         ),
         wing_br: (
-            offset: (-0.0, -1.0, -0.5),
+            offset: (-0.0, -12.0, -0.5),
             lateral: ("npc.stag_beetle.male.wing_br"),
         ),
         leg_fl: (
@@ -655,11 +655,11 @@
             lateral: ("npc.stag_beetle.male.wing_fr"),
         ),
         wing_bl: (
-            offset: (-4.0, -1.0, -0.5),
+            offset: (-4.0, -12.0, -0.5),
             lateral: ("npc.stag_beetle.male.wing_br"),
         ),
         wing_br: (
-            offset: (-0.0, -1.0, -0.5),
+            offset: (-0.0, -12.0, -0.5),
             lateral: ("npc.stag_beetle.male.wing_br"),
         ),
         leg_fl: (

server/src/sys/agent/attack.rs

@@ -1697,8 +1697,8 @@ impl<'a> AgentData<'a> {
             controller
                 .actions
                 .push(ControlAction::basic_input(InputKind::Secondary));
-                // Reset timer
-                agent.action_state.timer = 0.0;
+            // Reset timer
+            agent.action_state.timer = 0.0;
         } else if attack_data.angle < 90.0
             && attack_data.dist_sqrd < (1.5 * attack_data.min_attack_dist).powi(2)
         {
@@ -1706,7 +1706,8 @@ impl<'a> AgentData<'a> {
             controller
                 .actions
                 .push(ControlAction::basic_input(InputKind::Primary));
-        } else if thread_rng().gen_bool(0.01) && attack_data.angle < 15.0
+        } else if thread_rng().gen_bool(0.01)
+            && attack_data.angle < 15.0
             && attack_data.dist_sqrd < (6.0 * attack_data.min_attack_dist).powi(2)
         {
             controller

voxygen/anim/src/arthropod/alpha.rs

@@ -41,49 +41,114 @@ impl Animation for AlphaAnimation {
         let movement2abs = movement2 * pullback;
         let movement3abs = movement3 * pullback;
 
-        next.chest.scale = Vec3::one() / s_a.scaler;
-        next.chest.orientation = Quaternion::rotation_x(movement2abs * 0.3)
-            * Quaternion::rotation_z((movement1abs * 4.0 * PI).sin() * 0.02);
+        if s_a.snapper {
+            next.chest.scale = Vec3::one() / s_a.scaler;
 
-        next.head.position = Vec3::new(0.0, s_a.head.0, s_a.head.1);
-        next.head.orientation =
-        Quaternion::rotation_x(movement1abs * 0.5 + movement2abs * -1.5 + movement3abs * 0.8)
-        * Quaternion::rotation_y(mirror * movement1abs * -0.2 + mirror * movement2abs * 0.2)
-        * Quaternion::rotation_z((movement1abs * 4.0 * PI).sin() * 0.02);
+            next.head.position = Vec3::new(0.0, s_a.head.0, s_a.head.1);
+            next.head.orientation = Quaternion::rotation_x(
+                movement1abs * -0.2 + movement2abs * 0.4 + movement3abs * 0.8,
+            ) * Quaternion::rotation_y(
+                movement1abs * -0.1 + movement2abs * 0.2 + movement3abs * 0.2,
+            );
 
-        next.chest.position = Vec3::new(0.0, s_a.chest.0, s_a.chest.1);
+            next.chest.position = Vec3::new(0.0, s_a.chest.0, s_a.chest.1);
 
-        next.mandible_l.position = Vec3::new(-s_a.mandible.0, s_a.mandible.1, s_a.mandible.2);
-        next.mandible_r.position = Vec3::new(s_a.mandible.0, s_a.mandible.1, s_a.mandible.2);
-        next.mandible_l.orientation =
-        Quaternion::rotation_x(movement1abs * 0.5 + movement2abs * -1.5 + movement3abs * 0.8)
-        * Quaternion::rotation_z(movement1abs * 0.5 + movement2abs * -0.6 + movement3abs * 0.8);
-        next.mandible_r.orientation =
-        Quaternion::rotation_x(movement1abs * 0.5 + movement2abs * -1.5 + movement3abs * 0.8)
-        * Quaternion::rotation_z(movement1abs * -0.5 + movement2abs * 0.6 + movement3abs * -0.8);
+            next.mandible_l.position = Vec3::new(-s_a.mandible.0, s_a.mandible.1, s_a.mandible.2);
+            next.mandible_r.position = Vec3::new(s_a.mandible.0, s_a.mandible.1, s_a.mandible.2);
+            next.mandible_l.orientation = Quaternion::rotation_z(
+                movement1abs * 0.7 + movement2abs * -1.0 + movement3abs * 0.8,
+            );
+            next.mandible_r.orientation = Quaternion::rotation_z(
+                movement1abs * -0.7 + movement2abs * 1.0 + movement3abs * -0.8,
+            );
 
-        next.wing_fl.position = Vec3::new(-s_a.wing_f.0, s_a.wing_f.1, s_a.wing_f.2);
-        next.wing_fr.position = Vec3::new(s_a.wing_f.0, s_a.wing_f.1, s_a.wing_f.2);
+            next.wing_fl.position = Vec3::new(-s_a.wing_f.0, s_a.wing_f.1, s_a.wing_f.2);
+            next.wing_fr.position = Vec3::new(s_a.wing_f.0, s_a.wing_f.1, s_a.wing_f.2);
+            next.wing_fl.orientation =
+                Quaternion::rotation_x(movement1abs * -0.5 + movement2abs * 0.5)
+                    * Quaternion::rotation_y(movement1abs * 0.2 + movement2abs * -0.2)
+                    * Quaternion::rotation_z(movement1abs * -0.2 + movement2abs * 0.2);
+            next.wing_fr.orientation =
+                Quaternion::rotation_x(movement1abs * -0.5 + movement2abs * 0.5)
+                    * Quaternion::rotation_y(movement1abs * -0.2 + movement2abs * 0.2)
+                    * Quaternion::rotation_z(movement1abs * 0.2 + movement2abs * -0.2);
 
-        next.wing_bl.position = Vec3::new(-s_a.wing_b.0, s_a.wing_b.1, s_a.wing_b.2);
-        next.wing_br.position = Vec3::new(s_a.wing_b.0, s_a.wing_b.1, s_a.wing_b.2);
+            next.wing_bl.position = Vec3::new(-s_a.wing_b.0, s_a.wing_b.1, s_a.wing_b.2);
+            next.wing_br.position = Vec3::new(s_a.wing_b.0, s_a.wing_b.1, s_a.wing_b.2);
+            next.wing_bl.orientation =
+                Quaternion::rotation_x(movement1abs * -0.3 + movement2abs * 0.3)
+                    * Quaternion::rotation_y(movement1abs * 0.2 + movement2abs * -0.2);
+            next.wing_br.orientation =
+                Quaternion::rotation_x(movement1abs * -0.3 + movement2abs * 0.3)
+                    * Quaternion::rotation_y(movement1abs * -0.2 + movement2abs * 0.2);
 
-        next.leg_fl.position = Vec3::new(-s_a.leg_f.0, s_a.leg_f.1, s_a.leg_f.2);
-        next.leg_fr.position = Vec3::new(s_a.leg_f.0, s_a.leg_f.1, s_a.leg_f.2);
-        next.leg_fl.orientation = Quaternion::rotation_z(s_a.leg_ori.0 + movement1abs * 0.4 + movement2abs * -0.4 + movement3abs * 0.8) *
-        Quaternion::rotation_x(movement1abs * 1.0 + movement2abs * -1.8 + movement3abs * 0.8);
-        next.leg_fr.orientation = Quaternion::rotation_z(-s_a.leg_ori.0 + movement1abs * -0.4 + movement2abs * 0.4 + movement3abs * -0.8) *
-        Quaternion::rotation_x(movement1abs * 1.0 + movement2abs * -1.8 + movement3abs * 0.8);
+            next.leg_fl.position = Vec3::new(-s_a.leg_f.0, s_a.leg_f.1, s_a.leg_f.2);
+            next.leg_fr.position = Vec3::new(s_a.leg_f.0, s_a.leg_f.1, s_a.leg_f.2);
 
-        next.leg_fcl.position = Vec3::new(-s_a.leg_fc.0, s_a.leg_fc.1, s_a.leg_fc.2);
-        next.leg_fcr.position = Vec3::new(s_a.leg_fc.0, s_a.leg_fc.1, s_a.leg_fc.2);
+            next.leg_fcl.position = Vec3::new(-s_a.leg_fc.0, s_a.leg_fc.1, s_a.leg_fc.2);
+            next.leg_fcr.position = Vec3::new(s_a.leg_fc.0, s_a.leg_fc.1, s_a.leg_fc.2);
 
-        next.leg_bcl.position = Vec3::new(-s_a.leg_bc.0, s_a.leg_bc.1, s_a.leg_bc.2);
-        next.leg_bcr.position = Vec3::new(s_a.leg_bc.0, s_a.leg_bc.1, s_a.leg_bc.2);
+            next.leg_bcl.position = Vec3::new(-s_a.leg_bc.0, s_a.leg_bc.1, s_a.leg_bc.2);
+            next.leg_bcr.position = Vec3::new(s_a.leg_bc.0, s_a.leg_bc.1, s_a.leg_bc.2);
 
-        next.leg_bl.position = Vec3::new(-s_a.leg_b.0, s_a.leg_b.1, s_a.leg_b.2);
-        next.leg_br.position = Vec3::new(s_a.leg_b.0, s_a.leg_b.1, s_a.leg_b.2);
+            next.leg_bl.position = Vec3::new(-s_a.leg_b.0, s_a.leg_b.1, s_a.leg_b.2);
+            next.leg_br.position = Vec3::new(s_a.leg_b.0, s_a.leg_b.1, s_a.leg_b.2);
+        } else {
+            next.chest.scale = Vec3::one() / s_a.scaler;
+            next.chest.orientation = Quaternion::rotation_x(movement2abs * 0.3)
+                * Quaternion::rotation_z((movement1abs * 4.0 * PI).sin() * 0.02);
 
+            next.head.position = Vec3::new(0.0, s_a.head.0, s_a.head.1);
+            next.head.orientation =
+                Quaternion::rotation_x(
+                    movement1abs * 0.5 + movement2abs * -1.5 + movement3abs * 0.8,
+                ) * Quaternion::rotation_y(
+                    mirror * movement1abs * -0.2 + mirror * movement2abs * 0.2,
+                ) * Quaternion::rotation_z((movement1abs * 4.0 * PI).sin() * 0.02);
+
+            next.chest.position = Vec3::new(0.0, s_a.chest.0, s_a.chest.1);
+
+            next.mandible_l.position = Vec3::new(-s_a.mandible.0, s_a.mandible.1, s_a.mandible.2);
+            next.mandible_r.position = Vec3::new(s_a.mandible.0, s_a.mandible.1, s_a.mandible.2);
+            next.mandible_l.orientation = Quaternion::rotation_x(
+                movement1abs * 0.5 + movement2abs * -1.5 + movement3abs * 0.8,
+            ) * Quaternion::rotation_z(
+                movement1abs * 0.5 + movement2abs * -0.6 + movement3abs * 0.8,
+            );
+            next.mandible_r.orientation = Quaternion::rotation_x(
+                movement1abs * 0.5 + movement2abs * -1.5 + movement3abs * 0.8,
+            ) * Quaternion::rotation_z(
+                movement1abs * -0.5 + movement2abs * 0.6 + movement3abs * -0.8,
+            );
+
+            next.wing_fl.position = Vec3::new(-s_a.wing_f.0, s_a.wing_f.1, s_a.wing_f.2);
+            next.wing_fr.position = Vec3::new(s_a.wing_f.0, s_a.wing_f.1, s_a.wing_f.2);
+
+            next.wing_bl.position = Vec3::new(-s_a.wing_b.0, s_a.wing_b.1, s_a.wing_b.2);
+            next.wing_br.position = Vec3::new(s_a.wing_b.0, s_a.wing_b.1, s_a.wing_b.2);
+
+            next.leg_fl.position = Vec3::new(-s_a.leg_f.0, s_a.leg_f.1, s_a.leg_f.2);
+            next.leg_fr.position = Vec3::new(s_a.leg_f.0, s_a.leg_f.1, s_a.leg_f.2);
+            next.leg_fl.orientation = Quaternion::rotation_z(
+                s_a.leg_ori.0 + movement1abs * 0.4 + movement2abs * -0.4 + movement3abs * 0.8,
+            ) * Quaternion::rotation_x(
+                movement1abs * 1.0 + movement2abs * -1.8 + movement3abs * 0.8,
+            );
+            next.leg_fr.orientation = Quaternion::rotation_z(
+                -s_a.leg_ori.0 + movement1abs * -0.4 + movement2abs * 0.4 + movement3abs * -0.8,
+            ) * Quaternion::rotation_x(
+                movement1abs * 1.0 + movement2abs * -1.8 + movement3abs * 0.8,
+            );
+
+            next.leg_fcl.position = Vec3::new(-s_a.leg_fc.0, s_a.leg_fc.1, s_a.leg_fc.2);
+            next.leg_fcr.position = Vec3::new(s_a.leg_fc.0, s_a.leg_fc.1, s_a.leg_fc.2);
+
+            next.leg_bcl.position = Vec3::new(-s_a.leg_bc.0, s_a.leg_bc.1, s_a.leg_bc.2);
+            next.leg_bcr.position = Vec3::new(s_a.leg_bc.0, s_a.leg_bc.1, s_a.leg_bc.2);
+
+            next.leg_bl.position = Vec3::new(-s_a.leg_b.0, s_a.leg_b.1, s_a.leg_b.2);
+            next.leg_br.position = Vec3::new(s_a.leg_b.0, s_a.leg_b.1, s_a.leg_b.2);
+        }
         next
     }
 }

voxygen/anim/src/arthropod/dash.rs

@@ -64,21 +64,23 @@ impl Animation for DashAnimation {
 
         next.wing_fl.position = Vec3::new(-s_a.wing_f.0, s_a.wing_f.1, s_a.wing_f.2);
         next.wing_fr.position = Vec3::new(s_a.wing_f.0, s_a.wing_f.1, s_a.wing_f.2);
-        next.wing_fl.orientation = Quaternion::rotation_x(movement1abs * -0.4 + shortalt * 0.2)
-            * Quaternion::rotation_y(movement1abs * -0.5 + movement2abs * -0.7)
-            * Quaternion::rotation_z(movement1abs * 0.2);
-        next.wing_fr.orientation = Quaternion::rotation_x(movement1abs * -0.4 + shortalt * 0.2)
-            * Quaternion::rotation_y(movement1abs * 0.5 + movement2abs * 0.7)
-            * Quaternion::rotation_z(movement1abs * -0.2);
+        next.wing_fl.orientation =
+            Quaternion::rotation_x(movement1abs * -0.4 + shortalt * 0.2 + movement2abs * -0.6)
+                * Quaternion::rotation_y(movement1abs * -0.5 + movement2abs * -0.1)
+                * Quaternion::rotation_z(movement1abs * -0.2);
+        next.wing_fr.orientation =
+            Quaternion::rotation_x(movement1abs * -0.4 + shortalt * 0.2 + movement2abs * -0.6)
+                * Quaternion::rotation_y(movement1abs * 0.5 + movement2abs * 0.1)
+                * Quaternion::rotation_z(movement1abs * 0.2);
 
         next.wing_bl.position = Vec3::new(-s_a.wing_b.0, s_a.wing_b.1, s_a.wing_b.2);
         next.wing_br.position = Vec3::new(s_a.wing_b.0, s_a.wing_b.1, s_a.wing_b.2);
-        next.wing_bl.orientation = Quaternion::rotation_x(movement1abs * -0.2 + shortalt * 0.2)
-            * Quaternion::rotation_y(movement1abs * -0.4 + movement2abs * -0.7)
-            * Quaternion::rotation_z(movement1abs * 0.2);
-        next.wing_br.orientation = Quaternion::rotation_x(movement1abs * -0.2 + shortalt * 0.2)
-            * Quaternion::rotation_y(movement1abs * 0.4 + movement2abs * 0.7)
-            * Quaternion::rotation_z(movement1abs * -0.2);
+        next.wing_bl.orientation =
+            Quaternion::rotation_x(movement1abs * -0.2 + shortalt * 0.2 + movement2abs * -0.6)
+                * Quaternion::rotation_y(movement1abs * -0.4 + movement2abs * -0.1);
+        next.wing_br.orientation =
+            Quaternion::rotation_x(movement1abs * -0.2 + shortalt * 0.2 + movement2abs * -0.6)
+                * Quaternion::rotation_y(movement1abs * 0.4 + movement2abs * 0.1);
 
         next
     }

voxygen/anim/src/arthropod/idle.rs

@@ -21,7 +21,9 @@ impl Animation for IdleAnimation {
     ) -> Self::Skeleton {
         let mut next = (*skeleton).clone();
 
-        next.chest.scale = Vec3::one();
+        next.chest.scale = Vec3::one() / s_a.scaler;
+        next.wing_bl.scale = Vec3::one() * 0.98;
+        next.wing_br.scale = Vec3::one() * 0.98;
 
         next.head.position = Vec3::new(0.0, s_a.head.0, s_a.head.1);
 

voxygen/anim/src/arthropod/jump.rs

@@ -22,6 +22,8 @@ impl Animation for JumpAnimation {
         let mut next = (*skeleton).clone();
 
         next.chest.scale = Vec3::one() / s_a.scaler;
+        next.wing_bl.scale = Vec3::one() * 0.98;
+        next.wing_br.scale = Vec3::one() * 0.98;
 
         next.head.position = Vec3::new(0.0, s_a.head.0, s_a.head.1);
 

voxygen/anim/src/arthropod/mod.rs

@@ -128,6 +128,7 @@ pub struct SkeletonAttr {
     leg_b: (f32, f32, f32),
     scaler: f32,
     leg_ori: (f32, f32, f32, f32),
+    snapper: bool,
 }
 
 impl<'a> std::convert::TryFrom<&'a comp::Body> for SkeletonAttr {
@@ -155,6 +156,7 @@ impl Default for SkeletonAttr {
             leg_b: (0.0, 0.0, 0.0),
             scaler: 0.0,
             leg_ori: (0.0, 0.0, 0.0, 0.0),
+            snapper: false,
         }
     }
 }
@@ -206,7 +208,7 @@ impl<'a> From<&'a Body> for SkeletonAttr {
                 (Tarantula, _) => (3.0, 0.0, -4.0),
                 (Blackwidow, _) => (3.0, 0.0, -4.0),
                 (Antlion, _) => (3.0, 0.0, -4.0),
-                (Hornbeetle, _) => (-0.5, 5.0, 3.0),
+                (Hornbeetle, _) => (5.5, 5.0, 3.0),
                 (Leafbeetle, _) => (0.5, 5.0, 3.0),
                 (Stagbeetle, _) => (0.5, 6.0, 4.5),
                 (Weevil, _) => (0.5, 5.0, 3.0),
@@ -219,9 +221,9 @@ impl<'a> From<&'a Body> for SkeletonAttr {
                 (Tarantula, _) => (3.0, 0.0, -4.0),
                 (Blackwidow, _) => (3.0, 0.0, -4.0),
                 (Antlion, _) => (3.0, 0.0, -4.0),
-                (Hornbeetle, _) => (0.0, 6.0, 2.0),
+                (Hornbeetle, _) => (4.0, 6.0, 2.0),
                 (Leafbeetle, _) => (0.5, 4.0, 2.0),
-                (Stagbeetle, _) => (0.5, -5.0, 3.0),
+                (Stagbeetle, _) => (0.5, 6.0, 3.0),
                 (Weevil, _) => (0.5, 4.0, 1.5),
                 (Cavespider, _) => (3.0, 0.0, -4.0),
                 (Moltencrawler, _) => (3.0, 0.0, -4.0),
@@ -298,6 +300,12 @@ impl<'a> From<&'a Body> for SkeletonAttr {
                 (Antlion, _) => (0.7, -0.3, -0.4, 0.4),
                 (_, _) => (0.1, -0.3, 0.0, 0.4),
             },
+            // Whether or not it used its mandibles for attacks
+            snapper: match (body.species, body.body_type) {
+                (Stagbeetle, _) => true,
+                (Antlion, _) => true,
+                (_, _) => false,
+            },
         }
     }
 }

voxygen/anim/src/arthropod/run.rs

@@ -25,40 +25,21 @@ impl Animation for RunAnimation {
         *rate = 1.0;
 
         let speednorm = speed / 13.0;
-        //let canceler = (speed / 24.0).powf(0.6);
-        //let speednorm = (speed / 13.0).powf(0.25);
+
         let mixed_vel = (acc_vel + anim_time * 6.0) * 0.8; //sets run frequency using speed, with anim_time setting a floor
 
-        //let speedmult = 1.0;
-        //let lab: f32 = 0.6; //6
+        //create a mix between a sine and a square wave
+        //(controllable with ratio variable)
+        let ratio = 0.1;
+        let wave1 = (mixed_vel).sin();
+        let wave2 = (mixed_vel - PI / 2.0).sin();
+        let wave3 = (mixed_vel + PI / 2.0).sin();
+        let wave4 = (mixed_vel + PI).sin();
+        let foot1 = wave1.abs().powf(ratio) * wave1.signum();
+        let foot2 = wave2.abs().powf(ratio) * wave2.signum();
+        let foot3 = wave3.abs().powf(ratio) * wave3.signum();
+        let foot4 = wave4.abs().powf(ratio) * wave4.signum();
 
-        //let short = ((1.0
-        //    / (0.72
-        //        + 0.28 * ((mixed_vel * 1.0 * lab * speedmult + PI * -0.15 -
-        // 0.5).sin()).powi(2)))
-        //.sqrt())
-        //
-        //    * ((mixed_vel * 1.0 * lab * speedmult + PI * -0.15 - 0.5).sin())
-        //    * speednorm;
-
-        //
-        //let shortalt = (mixed_vel * 1.0 * lab * speedmult + PI * 3.0 / 8.0 -
-        // 0.5).sin() * speednorm;
-
-        //let ori: Vec2<f32> = Vec2::from(orientation);
-        //let last_ori = Vec2::from(last_ori);
-        //let tilt = if ::vek::Vec2::new(ori, last_ori)
-        //    .map(|o| o.magnitude_squared())
-        //    .map(|m| m > 0.001 && m.is_finite())
-        //    .reduce_and()
-        //    && ori.angle_between(last_ori).is_finite()
-        //{
-        //    ori.angle_between(last_ori).min(0.2)
-        //        * last_ori.determine_side(Vec2::zero(), ori).signum()
-        //} else {
-        //    0.0
-        //}
-        //} * 1.3;
         let x_tilt = avg_vel.z.atan2(avg_vel.xy().magnitude()) * speednorm;
 
         next.chest.scale = Vec3::one() / s_a.scaler;
@@ -85,37 +66,37 @@ impl Animation for RunAnimation {
 
         next.leg_fl.position = Vec3::new(-s_a.leg_f.0, s_a.leg_f.1, s_a.leg_f.2);
         next.leg_fr.position = Vec3::new(s_a.leg_f.0, s_a.leg_f.1, s_a.leg_f.2);
-        next.leg_fl.orientation = Quaternion::rotation_x((mixed_vel + PI).sin().max(0.0) * 0.7)
-            * Quaternion::rotation_z(s_a.leg_ori.0 + (mixed_vel - PI / 2.0).sin() * 0.4);
-        next.leg_fr.orientation = Quaternion::rotation_x((mixed_vel).sin().max(0.0) * 0.7)
-            * Quaternion::rotation_z(-s_a.leg_ori.0 - (mixed_vel + PI / 2.0).sin() * 0.4);
+        next.leg_fl.orientation = Quaternion::rotation_x(foot4.max(0.0) * 0.7)
+            * Quaternion::rotation_z(s_a.leg_ori.0 + foot2 * 0.4);
+        next.leg_fr.orientation = Quaternion::rotation_x(foot1.max(0.0) * 0.7)
+            * Quaternion::rotation_z(-s_a.leg_ori.0 - foot3 * 0.4);
 
         next.leg_fcl.position = Vec3::new(-s_a.leg_fc.0, s_a.leg_fc.1, s_a.leg_fc.2);
         next.leg_fcr.position = Vec3::new(s_a.leg_fc.0, s_a.leg_fc.1, s_a.leg_fc.2);
-        next.leg_fcl.orientation = Quaternion::rotation_x((mixed_vel + PI).sin() * 0.2)
-            * Quaternion::rotation_y((mixed_vel).sin().max(0.0) * 0.7)
-            * Quaternion::rotation_z(s_a.leg_ori.1 + (mixed_vel + PI / 2.0).sin() * 0.2);
-        next.leg_fcr.orientation = Quaternion::rotation_x((mixed_vel).sin() * 0.2)
-            * Quaternion::rotation_y((mixed_vel).sin().min(0.0) * 0.7)
-            * Quaternion::rotation_z(-s_a.leg_ori.1 - (mixed_vel + PI * 1.5).sin() * 0.2);
+        next.leg_fcl.orientation = Quaternion::rotation_x(foot4 * 0.2)
+            * Quaternion::rotation_y(foot1.max(0.0) * 0.7)
+            * Quaternion::rotation_z(s_a.leg_ori.1 + foot3 * 0.2);
+        next.leg_fcr.orientation = Quaternion::rotation_x(foot1 * 0.2)
+            * Quaternion::rotation_y(foot1.min(0.0) * 0.7)
+            * Quaternion::rotation_z(-s_a.leg_ori.1 - foot2 * 0.2);
 
         next.leg_bcl.position = Vec3::new(-s_a.leg_bc.0, s_a.leg_bc.1, s_a.leg_bc.2);
         next.leg_bcr.position = Vec3::new(s_a.leg_bc.0, s_a.leg_bc.1, s_a.leg_bc.2);
-        next.leg_bcl.orientation = Quaternion::rotation_x((mixed_vel + PI).sin() * 0.2)
-            * Quaternion::rotation_y((mixed_vel + PI).sin().max(0.0) * 0.7)
-            * Quaternion::rotation_z(s_a.leg_ori.2 + (mixed_vel + PI * 1.5).sin() * 0.3);
-        next.leg_bcr.orientation = Quaternion::rotation_x((mixed_vel).sin() * 0.2)
-            * Quaternion::rotation_y((mixed_vel + PI).sin().min(0.0) * 0.7)
-            * Quaternion::rotation_z(-s_a.leg_ori.2 - (mixed_vel + PI / 2.0).sin() * 0.3);
+        next.leg_bcl.orientation = Quaternion::rotation_x(foot4 * 0.2)
+            * Quaternion::rotation_y(foot4.max(0.0) * 0.7)
+            * Quaternion::rotation_z(s_a.leg_ori.2 + foot2 * 0.3);
+        next.leg_bcr.orientation = Quaternion::rotation_x(foot1 * 0.2)
+            * Quaternion::rotation_y(foot4.min(0.0) * 0.7)
+            * Quaternion::rotation_z(-s_a.leg_ori.2 - foot3 * 0.3);
 
         next.leg_bl.position = Vec3::new(-s_a.leg_b.0, s_a.leg_b.1, s_a.leg_b.2);
         next.leg_br.position = Vec3::new(s_a.leg_b.0, s_a.leg_b.1, s_a.leg_b.2);
-        next.leg_bl.orientation = Quaternion::rotation_x((mixed_vel + PI).sin() * 0.2)
-            * Quaternion::rotation_y((mixed_vel).sin().max(0.0) * 0.7)
-            * Quaternion::rotation_z(s_a.leg_ori.3 + (mixed_vel + PI / 2.0).sin() * 0.2);
-        next.leg_br.orientation = Quaternion::rotation_x((mixed_vel).sin() * 0.2)
-            * Quaternion::rotation_y((mixed_vel).sin().min(0.0) * 0.7)
-            * Quaternion::rotation_z(-s_a.leg_ori.3 - (mixed_vel + PI * 1.5).sin() * 0.2);
+        next.leg_bl.orientation = Quaternion::rotation_x(foot4 * 0.2)
+            * Quaternion::rotation_y(foot1.max(0.0) * 0.7)
+            * Quaternion::rotation_z(s_a.leg_ori.3 + foot3 * 0.2);
+        next.leg_br.orientation = Quaternion::rotation_x(foot1 * 0.2)
+            * Quaternion::rotation_y(foot1.min(0.0) * 0.7)
+            * Quaternion::rotation_z(-s_a.leg_ori.3 - foot2 * 0.2);
 
         next
     }