if UnitDefs[Spring.GetUnitDefID(unitID)].name == "armcom" then
base, lthigh, rthigh, rleg, lleg, lfoot, rfoot,ruparm, luparm, torso = piece ("pelvis", "lthigh", "rthigh", "rleg", "lleg", "lfoot", "rfoot","ruparm", "luparm","torso")
piecetable = {
    thighs = {
        r = {
            length = 20,
            },
        l = {
            length = 20,
            },
        },
    legs = {
        r = {
            length = 20,
            },
        l = {
            length = 20,
            },
        },
    foots = {
        r = {
            length = 5,
            },
        l = {
            length = 5,
            },
        },
    }
    wantedstepfrequency = 0.5
elseif UnitDefs[Spring.GetUnitDefID(unitID)].name == "armpw" then
base, lthigh, rthigh, rleg, lleg, lfoot, rfoot,ruparm, luparm, torso = piece ("pelvis", "lthigh", "rthigh", "rleg", "lleg", "lfoot", "rfoot","ruparm", "luparm","torso")
piecetable = {
    thighs = {
        r = {
            length = 0.8,
            },
        l = {
            length = 0.8,
            },
        },
    legs = {
        r = {
            length = 3,
            },
        l = {
            length = 3,
            },
        },
    foots = {
        r = {
            length = 3,
            },
        l = {
            length = 3,
            },
        },
    }
    wantedstepfrequency = 1.5
elseif UnitDefs[Spring.GetUnitDefID(unitID)].name == "armbanth" then
base, lthigh, rthigh, rleg, lleg, lfoot, rfoot = piece ("hips", "lthigh", "rthigh", "rleg", "lleg", "lfoot", "rfoot")
piecetable = {
    thighs = {
        r = {
            length = 7.64,
            },
        l = {
            length = 7.64,
            },
        },
    legs = {
        r = {
            length = 13,
            },
        l = {
            length = 13,
            },
        },
    foots = {
        r = {
            length = 0,
            },
        l = {
            length = 0,
            },
        },
    }
    wantedstepfrequency = 1
end
local SIG_WALK = 2
local PlaySoundFile     = Spring.PlaySoundFile
local GetUnitPosition   = Spring.GetUnitPosition
local GetGameFrame      = Spring.GetGameFrame
common = include("headers/common_includes_lus.lua")
piecest = {base, lthigh, rthigh, rleg, lleg, lfoot, rfoot}
Step = {}
Step[1] = {}
Step[2] = {}
Step[3] = {}

function ProcessWalkParams()
while (true) do

realstepfrequency = ((UnitDefs[Spring.GetUnitDefID(unitID)].speed/((Speed+0.01) * 30))/10 + 0.9)*wantedstepfrequency
Spring.Echo((UnitDefs[Spring.GetUnitDefID(unitID)].speed/((Speed+0.01) * 30))/10 + 0.9)

--thighs
AnimationTime = 1/realstepfrequency
Step[1].animationtime = AnimationTime/3
Step[2].animationtime = AnimationTime/3
Step[3].animationtime = AnimationTime/3

StepLength = Speed * 30 * AnimationTime
wholeleglength = piecetable.thighs.l.length + piecetable.legs.l.length + piecetable.foots.l.length
halfleglegnth = piecetable.legs.l.length + piecetable.foots.l.length
footlength = piecetable.foots.l.length


thighfullangle = math.atan(StepLength/wholeleglength)
thighfrontangle = -thighfullangle/2
thighbackangle = thighfullangle/2
pelvisangle = thighfrontangle/4
uparmfrontangle = thighfrontangle
uparmbackangle = thighbackangle
torsofrontangle = thighbackangle/4
Sleep(10)
end
end


function GetAngleValues(angle,speed)

return newangle, newspeed
end

function GetIsTerrainWater()
x,y,z = Spring.GetUnitPosition(unitID)
if Spring.GetGroundHeight(x,z)<= -8 then
return true
else
return false
end
end

function Emit(pieceName, effectName)
local x,y,z,dx,dy,dz    = Spring.GetUnitPiecePosDir(unitID, pieceName)
dx, dy, dz = 1, 0, 1
Spring.SpawnCEG(effectName, x,y,z, dx, dy, dz)
end

function UnitTurns()
t = 0
heading = {}
while (true) do
difference = 0
heading[t] = Spring.GetUnitHeading(unitID)
if heading[t-1] then
    if heading[t-1] ~= heading[t] then
        difference = heading[t] - heading[t-1]

        else
        difference = 0
    end
    if math.abs(difference * 8 * 360 / 65536) <= 15 then
    difference = 0
    end
    difference = difference * 8 * 360 / 65536
    if difference > 50 then
    difference = 50
    elseif difference < -50 then
    difference = -50
    end
    if difference ~= 0 then
        -- Spring.Echo("turning")
        -- Spring.Echo(difference)
    end

    if heading[t-2] then
        heading[t-2] = nil
    end
    difference = difference + randomness/10
end
t = t+1
Sleep (1)
end
end

function GetSurroundingTerrain(frontfoot)
x,y,z = Spring.GetUnitPosition(unitID)
dx, dy, dz = Spring.GetUnitDirection(unitID)
GroundHeightUnderFoot = Spring.GetGroundHeight(x+8*dx, z+8*dz)
GroundHeightUnderCom = Spring.GetGroundHeight(x, z)
HeightDifference = GroundHeightUnderFoot - GroundHeightUnderCom
if HeightDifference <= 0 then
AdditiveAngle = -math.abs(math.atan(HeightDifference/math.sqrt(64*dx^2+64*dz^2)))*(300/currentSpeed)* 1/0.0174533 * 1/2
else
AdditiveAngle = math.abs(math.atan(HeightDifference/math.sqrt(64*dx^2+64*dz^2)))*(300/currentSpeed)* 1/0.0174533 * 1/2
end

if y < 0 then
    if y < -35 then
        y = -35
    end
    AdditiveAngle = AdditiveAngle*2
end

-- Spring.Echo(AdditiveAngle)
if AdditiveAngle <= 0 or randomness*0.1 + AdditiveAngle  <= 0 then
AdditiveAngle = (AdditiveAngle + randomness*0.1)/2
else
AdditiveAngle = AdditiveAngle + randomness*0.1
end
-- Spring.Echo(AdditiveAngle)
return AdditiveAngle
end

function walk()
    if moving then
        if not (alreadystartedmoving) then -- leftleg to front, from stopped to move
        Turn (lthigh, 1, thighfrontangle, thighfrontangle/Step[1].animationtime)
        Turn (rthigh, 1, thighbackangle, thighbackangle/Step[1].animationtime)
        Turn (base, 2, pelvisangle, pelvisangle/Step[1].animationtime)

        Turn (luparm, 1, uparmbackangle, uparmbackangle/Step[1].animationtime)
        Turn (ruparm, 1, uparmfrontangle, uparmfrontangle/Step[1].animationtime)

        Turn (torso, 1, torsofrontangle, torsofrontangle/Step[1].animationtime)

        Move (base, 3, 1, 1/Step[1].animationtime)
        Turn (lleg, 1, 0, thighfrontangle/Step[1].animationtime)
        Turn (rleg, 1, thighbackangle, thighbackangle/Step[1].animationtime)
        alreadystartedmoving = true
        Sleep(Step[1].animationtime * 1000)
        end
    end
    if moving then -- Default
        Turn (lthigh, 1, 0, thighfrontangle/Step[2].animationtime)
        Turn (rthigh, 1, 0, thighbackangle/Step[2].animationtime)
        Turn (base, 2, 0, pelvisangle/Step[2].animationtime)
        Turn (luparm, 1, 0, uparmbackangle/Step[2].animationtime)
        Turn (ruparm, 1, 0, uparmfrontangle/Step[2].animationtime)
        Turn (torso, 1, 0, torsofrontangle/Step[2].animationtime)
        Move (base, 3, 0, 2/Step[1].animationtime)
        Turn (lleg, 1, 0, thighfrontangle/Step[2].animationtime)
        Turn (rleg, 1, thighbackangle, thighbackangle/Step[2].animationtime)
    Sleep(Step[2].animationtime * 1000)
    end
    if moving then -- Rightleg to front
        Turn (lthigh, 1, thighbackangle, thighbackangle/Step[3].animationtime)
        Turn (rthigh, 1, thighfrontangle, thighfrontangle/Step[3].animationtime)
        Turn (base, 2, -pelvisangle, pelvisangle/Step[3].animationtime)
        Turn (ruparm, 1, uparmbackangle, uparmbackangle/Step[3].animationtime)
        Turn (luparm, 1, uparmfrontangle, uparmfrontangle/Step[3].animationtime)
        Turn (torso, 1, torsofrontangle, torsofrontangle/Step[3].animationtime)
        Move (base, 3, 2, 2/Step[3].animationtime)
        Turn (lleg, 1, thighbackangle, thighbackangle/Step[3].animationtime)
        Turn (rleg, 1, 0, thighfrontangle/Step[3].animationtime)
    Sleep(Step[3].animationtime * 1000)
    end
    if moving then--lleg to front from not moving to moving
        if not (alreadystartedmoving) then
        Turn (rthigh, 1, thighfrontangle, thighfrontangle/Step[1].animationtime)
        Turn (lthigh, 1, thighbackangle, thighbackangle/Step[1].animationtime)
        Turn (base, 2, pelvisangle, pelvisangle/Step[1].animationtime)
        Turn (luparm, 1, uparmbackangle, uparmbackangle/Step[1].animationtime)
        Turn (ruparm, 1, uparmfrontangle, uparmfrontangle/Step[1].animationtime)
        Turn (torso, 1, torsofrontangle, torsofrontangle/Step[1].animationtime)
        Move (base, 3, 1, 1/Step[1].animationtime)
        Turn (rleg, 1, 0, thighfrontangle/Step[1].animationtime)
        Turn (lleg, 1, thighbackangle, thighbackangle/Step[1].animationtime)
        alreadystartedmoving = true
        Sleep(Step[1].animationtime * 1000)
        end

    end
    if moving then -- default pos
        Turn (rthigh, 1, 0, thighfrontangle/Step[2].animationtime)
        Turn (lthigh, 1, 0, thighbackangle/Step[2].animationtime)
        Turn (base, 2, 0, pelvisangle/Step[2].animationtime)
        Turn (luparm, 1, 0, uparmfrontangle/Step[2].animationtime)
        Turn (ruparm, 1, 0, uparmbackangle/Step[2].animationtime)
        Turn (torso, 1, 0, torsofrontangle/Step[1].animationtime)
        Move (base, 3, 0, 2/Step[2].animationtime)
        Turn (rleg, 1, 0, thighfrontangle/Step[2].animationtime)
        Turn (lleg, 1, thighbackangle, thighbackangle/Step[2].animationtime)
    Sleep(Step[2].animationtime * 1000)
    end
    if moving then -- left leg to front
        Turn (rthigh, 1, thighbackangle, thighbackangle/Step[3].animationtime)
        Turn (lthigh, 1, thighfrontangle, thighfrontangle/Step[3].animationtime)
        Turn (base, 2, pelvisangle, pelvisangle/Step[3].animationtime)
        Turn (ruparm, 1, uparmfrontangle, uparmfrontangle/Step[3].animationtime)
        Turn (luparm, 1, uparmbackangle, uparmbackangle/Step[3].animationtime)
        Turn (torso, 1, torsofrontangle, torsofrontangle/Step[1].animationtime)
        Move (base, 3, 2, 2/Step[3].animationtime)

        Turn (rleg, 1, thighbackangle, thighbackangle/Step[3].animationtime)
        Turn (lleg, 1, 0, thighfrontangle/Step[3].animationtime)
    Sleep(Step[3].animationtime * 1000)
    end
end

function walklegs()

end

function stopwalk()
end

function UnitSpeed()
        vx,vy,vz,Speed = Spring.GetUnitVelocity(unitID)
    while (true) do
        vx,vy,vz,Speed = Spring.GetUnitVelocity(unitID)
        currentSpeed = Speed*100*60/moveSpeed
        if (currentSpeed < 100) then currentSpeed = 100 end
        randomness = math.random(-25,25)
        currentSpeed = currentSpeed + randomness
        Sleep (1)
    end
end

function MotionControl()

    justmoved = true
    while (true) do
        if (moving) then
            dgunning = 0
            if (aiming) then
                walklegs()
            else
                walk()
            end
            justmoved = true
        else
            if( justmoved ) then
                -- Move (pelvis, 2, 0)
                if side == 0 then

                else

                end
                if not (aiming) then

                end
                justmoved = false
            end
            Sleep (100)
        end
        Sleep (1)
    end
end

function script.Create()
    side = math.random(0,1)
    randomness = math.random(-25,25)
    addheight = 0
    moving = false
    aiming = false
    building = false
    justfired = false
    dgunning = false
    buildy = 0
    buildx = 0
    moveSpeed = UnitDefs[Spring.GetUnitDefID(unitID)].speed
    currentSpeed = 100
    Spring.UnitScript.StartThread(MotionControl)
    Spring.UnitScript.StartThread(UnitSpeed)
    Spring.UnitScript.StartThread(UnitTurns)
    Spring.UnitScript.StartThread(ProcessWalkParams)
    -- Spring.SetUnitNanoPieces(unitID, {lfirept})
end

function script.StartMoving()
    building = false
    moving = true
    dgunning = false
end

function script.StopMoving()
    moving = false
end


function script.Killed()
for count, piece in pairs(piecest) do
Explode(piece, SFX.EXPLODE_ON_HIT)
Hide(piece)
end
return 1
end