Robot.Leg.CalculateXandZ C# (CSharp) Method

        public static void CalculateXandZ(double direction, double distance,Side side, double X, double Z, out double newX, out double newZ)
        {
            var directionInRadians = Math.Tan(direction * (Math.PI / 180));

            if (direction > 45 || direction < -45)
            {
                newX = X + (distance/directionInRadians);

                newZ = Z + distance;
            }
            else
            {
                newX = X + distance;
                newZ = Z + distance * directionInRadians;
            }
        }