/**
 * @(#) $RCSfile: RoboMetricsInit.as,v $ $Revision: 1.3 $ $Date: 2003/04/22 14:28:12 $
 *
 * Copyright 2003 Orgdot AS. All Rights Reserved.
 * http://dev.swfit.com
 *
 * This program is free software; you can redistribute it and/or
 * modify it under the terms of the GNU General Public License
 * as published by the Free Software Foundation; either version 2
 * of the License, or (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program; if not, write to the Free Software
 * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.
 */

/**
 * Init script for the geometric robot. Measure all parts. We work with 4*360
 * degrees to a circle when computing sin / cos, or the motion gets choppy.
 * See TrigonometryTable.as for details.
 *
 * @author      Olaf Havnes
 * @version     $Revision: 1.3 $ $Date: 2003/04/22 14:28:12 $
 * @since       SWFIT1.0
 */

// Hook up to the ground generator later.
GROUND = 80;
GROUND_SPEED = -1;


// Constants for the downward pull. 
BODY_ACC = 2.0;
LEG_PUSH_ACC = 0.8;
BODY_FR = 0.1;

body_speed = 0;

// Create the necessary legs.
i = 1;
while (i < body.NUM_PEGS)
{
    leg_name = "leg_" add i;
    duplicateMovieClip ("leg_0", leg_name, i);
    i++;
}

/**
 * Compute the swing data for the legs.
 */
// Find the radius of the leg anchor point.
leg_center_radius = eval ("/:COS_" add int (body.peg_angle_step_half)) * body.peg_center_radius;


// If the legs and pegs had no body, the legs could have swung 180 degrees. But ...
peg_leg_dist = Math.sqrt (body.peg_center_radius * body.peg_center_radius - leg_center_radius * leg_center_radius);
peg_leg_body = body.peg_radius + leg_0.leg_width / 2;

// The asin function returns regular degrees...
no_swing_angle = 2 * eval ("/:ASIN_" add int (100 * peg_leg_body / peg_leg_dist));

// ... but we need more trig values to achieve smooth motion.
full_swing_angle = (180 - no_swing_angle) * /:DEG_MULT;
half_swing_angle = full_swing_angle / 2;
no_swing_angle *= /:DEG_MULT;