posFirstRot) { // y=0 -> 0 // y=pi*r -> pi float angle = (origPosition.y - posFirstRot) / crawlerRadius; position.y = posFirstRot - sin(angle)*origPosition.z; position.z = cos(angle)*origPosition.z; if (origPosition.y > posAfterRot) { position.y = posFirstRot - (origPosition.y - posAfterRot); position.z = -origPosition.z; } } ]]> posFirstRot) { // z=0 -> 0 // z=pi*r -> pi float angle = (posY - posFirstRot) / crawlerRadius; float cosAngle = cos(angle); float sinAngle = sin(angle); normal.z = cosAngle*In.normal.z + sinAngle*In.normal.y; normal.y = -sinAngle*In.normal.z + cosAngle*In.normal.y; if (posY > posAfterRot) { normal.yz = -In.normal.yz; } } return normal; ]]>