protected void update_ik(float delta) {
boolean changed = false;
motion_future.set(motion_now);
// speeds
final float vtranslate = 10.0f * delta;
final float vrotate = 100.0f * delta;
// lateral moves
if (rDown) {
motion_future.finger_tip.x -= vtranslate;
}
if (fDown) {
motion_future.finger_tip.x += vtranslate;
}
if (tDown) {
motion_future.finger_tip.y += vtranslate;
}
if (gDown) {
motion_future.finger_tip.y -= vtranslate;
}
if (yDown) {
motion_future.finger_tip.z += vtranslate;
}
if (hDown) {
motion_future.finger_tip.z -= vtranslate;
}
if (!motion_now.finger_tip.epsilonEquals(motion_future.finger_tip, vtranslate / 2.0f)) {
changed = true;
}
// rotation
float ru = 0, rv = 0, rw = 0;
if (uDown) rw = 0.1f;
if (jDown) rw = -0.1f;
if (iDown) rv = 0.1f;
if (kDown) rv = -0.1f;
if (oDown) ru = 0.1f;
if (lDown) ru = -0.1f;
if (rw != 0 || rv != 0 || ru != 0) {
motion_future.iku += ru * vrotate;
motion_future.ikv += rv * vrotate;
motion_future.ikw += rw * vrotate;
changed = true;
}
if (changed == true) {
moveIfAble();
}
}
