public void prologue(double t) {
super.prologue(t);
findLegs();
getInitialOrientations();
setFinalOrientations();
}
public void update(double t) {
super.update(t);
setOrientation(rightUpper, rightUpperInitialOrient, rightUpperFinalOrient, getPortion(t));
setOrientation(rightLower, rightLowerInitialOrient, rightLowerFinalOrient, getPortion(t));
if (rightFoot != null)
setOrientation(rightFoot, rightFootInitialOrient, rightFootFinalOrient, getPortion(t));
setOrientation(leftUpper, leftUpperInitialOrient, leftUpperFinalOrient, getPortion(t));
setOrientation(leftLower, leftLowerInitialOrient, leftLowerFinalOrient, getPortion(t));
if (leftFoot != null)
setOrientation(leftFoot, leftFootInitialOrient, leftFootFinalOrient, getPortion(t));
adjustHeight();
}