Cfrgtkky

I created 2-foot robot animation in Octave, which is 6 degree of freedom.
I created gragh by plotting each link. By repeting deleting and creating, the robot looks moving.
However, the animation is very slow, it cannot move smoothly.
I want to know if there is better way to create animation.

Here is the part of the code.

for ii=1:1:length(t)

    pause(0.1)



    %delete handle object under gca

    h = findobj(gca, 'Parent', gca);

    delete(h);

end



%３ dimention

view(3) 

box on

grid on

axis square



%time

time=['time=' num2str(t(ii),'%4.2f') '[s]'];

set(ha,'String',time);



%coordinate transformation of the sole(right leg)

R_0_S(1).x=R_0_JR1(ii).x+0;

R_0_S(2).y=R_0_JR1(ii).y+0;

R_0_S(3).z=R_0_JR1(ii).z+0;



R_0_S(2).x=R_0_JR1(ii).x+s;

R_0_S(2).y=R_0_JR1(ii).y+s;

R_0_S(2).z=R_0_JR1(ii).z+0;



R_0_S(3).x=R_0_JR1(ii).x+s;

R_0_S(3).y=R_0_JR1(ii).y-s;

R_0_S(3).z=R_0_JR1(ii).z+0;



R_0_S(4).x=R_0_JR1(ii).x-s;

R_0_S(4).y=R_0_JR1(ii).y-s;

R_0_S(4).z=R_0_JR1(ii).z+0;



R_0_S(5).x=R_0_JR1(ii).x-s;

R_0_S(5).y=R_0_JR1(ii).y+s;

R_0_S(5).z=R_0_JR1(ii).z+0;



%coordinate transformation of the sole(left leg)



L_0_S(1).x=R_0_JL1(ii).x+0;

L_0_S(1).y=R_0_JL1(ii).y+0;

L_0_S(1).z=R_0_JL1(ii).z+0;



L_0_S(2).x=R_0_JL1(ii).x+s;

L_0_S(2).y=R_0_JL1(ii).y+s;

L_0_S(2).z=R_0_JL1(ii).z+0;



L_0_S(3).x=R_0_JL1(ii).x+s;

L_0_S(3).y=R_0_JL1(ii).y-s;

L_0_S(3).z=R_0_JL1(ii).z+0;



L_0_S(4).x=R_0_JL1(ii).x-s;

L_0_S(4).y=R_0_JL1(ii).y-s;

L_0_S(4).z=R_0_JL1(ii).z+0;



L_0_S(5).x=R_0_JL1(ii).x-s;

L_0_S(5).y=R_0_JL1(ii).y+s;

L_0_S(5).z=R_0_JL1(ii).z+0;



%drowing right sole

X=[R_0_S(2).x R_0_S(3).x R_0_S(4).x R_0_S(5).x R_0_S(2).x]; 

Y=[R_0_S(2).y R_0_S(3).y R_0_S(4).y R_0_S(5).y R_0_S(2).y]; 

Z=[R_0_S(2).z R_0_S(3).z R_0_S(4).z R_0_S(5).z R_0_S(2).z]; 

h1=line(X,Y,Z);

set(h1,'Color','c');

set(h1,'LineWidth',3);



hold on %overwrite



%drowing left sole

X=[L_0_S(2).x L_0_S(3).x L_0_S(4).x L_0_S(5).x L_0_S(2).x]; 

Y=[L_0_S(2).y L_0_S(3).y L_0_S(4).y L_0_S(5).y L_0_S(2).y];

Z=[L_0_S(2).z L_0_S(3).z L_0_S(4).z L_0_S(5).z L_0_S(2).z]; 

h2=line(X,Y,Z);

set(h2,'Color','m');

set(h2,'LineWidth',3);



%right knee

X=[R_0_JR1(ii).x R_0_JR2(ii).x]; 

Y=[R_0_JR1(ii).y R_0_JR2(ii).y]; 

Z=[R_0_JR1(ii).z R_0_JR2(ii).z]; 

h3=line(X,Y,Z);

set(h3,'Color','c');

set(h3,'LineWidth',3);



%Right thigh

X=[R_0_JR2(ii).x R_0_JR3(ii).x]; 

Y=[R_0_JR2(ii).y R_0_JR3(ii).y];

Z=[R_0_JR2(ii).z R_0_JR3(ii).z]; 

h4=line(X,Y,Z);

set(h4,'Color','c');

set(h4,'LineWidth',3);



%left thigh

X=[R_0_JL3(ii).x R_0_JL2(ii).x]; 

Y=[R_0_JL3(ii).y R_0_JL2(ii).y];

Z=[R_0_JL3(ii).z R_0_JL2(ii).z];

h6=line(X,Y,Z);

set(h6,'Color','m');

set(h6,'LineWidth',3);



%left knee

X=[R_0_JL2(ii).x R_0_JL1(ii).x]; 

Y=[R_0_JL2(ii).y R_0_JL1(ii).y];

Z=[R_0_JL2(ii).z R_0_JL1(ii).z]; 

h7=line(X,Y,Z);

set(h7,'Color','m');

set(h7,'LineWidth',3);



   if(CGCTR_Enable==1)    

     Centroid regulator

     x=R_0_CGCTR_CG(ii).x;

     y=R_0_CGCTR_CG(ii).y;

     z=R_0_CGCTR_CG(ii).z;

     wd=r_CGCTR/2;

     p1=[x+wd y-wd z-wd];%底面点1

     p2=[x+wd y+wd z-wd];%底面点2

     p3=[x-wd y+wd z-wd];%底面点3

     p4=[x-wd y-wd z-wd];%底面点4

     p5=[x+wd y-wd z+wd];%上面点5

     p6=[x+wd y+wd z+wd];%上面点6

     p7=[x-wd y+wd z+wd];%上面点7

     p8=[x-wd y-wd z+wd];%上面点8



     X=[p1(1) p2(1)];

     Y=[p1(2) p2(2)];

     Z=[p1(3) p2(3)];

     h8=line(X,Y,Z);

     set(h8,'Color','r');

     set(h8,'LineWidth',3);



     X=[p2(1) p3(1)];

     Y=[p2(2) p3(2)];

     Z=[p2(3) p3(3)];

     h9=line(X,Y,Z);

     set(h9,'Color','r');

     set(h9,'LineWidth',3);



     X=[p3(1) p4(1)];

     Y=[p3(2) p4(2)];

     Z=[p3(3) p4(3)];

     h10=line(X,Y,Z);

     set(h10,'Color','r');

     set(h10,'LineWidth',3);



     X=[p4(1) p1(1)];

     Y=[p4(2) p1(2)];

     Z=[p4(3) p1(3)];

     h11=line(X,Y,Z);

     set(h11,'Color','r');

     set(h11,'LineWidth',3);



     X=[p5(1) p6(1)];

     Y=[p5(2) p6(2)];

     Z=[p5(3) p6(3)];

     h12=line(X,Y,Z);

     set(h12,'Color','r');

     set(h12,'LineWidth',3);



     X=[p6(1) p7(1)];

     Y=[p6(2) p7(2)];

     Z=[p6(3) p7(3)];

     h13=line(X,Y,Z);

     set(h13,'Color','r');

     set(h13,'LineWidth',3);



     X=[p7(1) p8(1)];

     Y=[p7(2) p8(2)];

     Z=[p7(3) p8(3)];

     h14=line(X,Y,Z);

     set(h14,'Color','r');

     set(h14,'LineWidth',3);



     X=[p8(1) p5(1)];

     Y=[p8(2) p5(2)];

     Z=[p8(3) p5(3)];

     h15=line(X,Y,Z);

     set(h15,'Color','r');

     set(h15,'LineWidth',3);



     X=[p1(1) p5(1)];

     Y=[p1(2) p5(2)];

     Z=[p1(3) p5(3)];

     h16=line(X,Y,Z);

     set(h16,'Color','r');

     set(h16,'LineWidth',3);



     X=[p2(1) p6(1)];

     Y=[p2(2) p6(2)];

     Z=[p2(3) p6(3)];

     h17=line(X,Y,Z);

     set(h17,'Color','r');

     set(h17,'LineWidth',3);



     X=[p3(1) p7(1)];

     Y=[p3(2) p7(2)];

     Z=[p3(3) p7(3)];

     h18=line(X,Y,Z);

     set(h18,'Color','r');

     set(h18,'LineWidth',3);



     X=[p4(1) p8(1)];

     Y=[p4(2) p8(2)];

     Z=[p4(3) p8(3)];

     h19=line(X,Y,Z);

     set(h19,'Color','r');

     set(h19,'LineWidth',3);

end



if (Pause_On==1) && (mod(t(ii),Pause_Sample_Time)==0)

 pause;

end

end