Diff: workinfo/workinfo.cpp

Revision:

33:3902febe8c45

Parent:

32:21229c96144a

Child:

34:722ab43f7cbd

--- a/workinfo/workinfo.cpp	Wed Sep 05 00:52:43 2018 +0000
+++ b/workinfo/workinfo.cpp	Wed Sep 05 01:18:05 2018 +0000
@@ -62,7 +62,7 @@
 
 const int kPitchWorkAreaDegree = -90;
 const int kPitchCommonAreaDegree = -5;
-const int kPitchBoxDegree = 45;
+const int kPitchBoxDegree = 10;
 //////////////////////////////
 //配列のスタート番号
 const int kWorkStart = 0;
@@ -151,8 +151,9 @@
         shootingbox[i*3+1].position[1]=160+80*i + kHandCenter;
         shootingbox[i*3+2].position[1]=160+80*i + kHandCenter;
     }
+    for(int i = 0; i < kBoxNum; i++) shootingbox[i].position[1] -= kArmLength[3] *(1 - cos(kPitchBoxDegree * kDegreeToRad));
     //z座標
-    for(int i=0; i<sizeof(shootingbox)/sizeof(shootingbox[0]); i++) shootingbox[i].position[2]=125;
+    for(int i=0; i<sizeof(shootingbox)/sizeof(shootingbox[0]); i++) shootingbox[i].position[2]=125 + kArmLength[3] * sin(kPitchBoxDegree * kDegreeToRad);
     for(int i = 0; i < kBoxNum; i++) {
         for(int j = 0; j < 3; j++) shootingbox[kBoxIndex[i]].position[j] += kBoxCorrect[i][j];
     }