public void moveLegs() {
// reposition all legs from the LegGroup
for (int i = 0; i < m_legs.length; i++) {
if (m_legs[i] == null || m_relativePositions[i] == null) continue;
Vec3 tmpPoint = new Vec3(m_relativePositions[i], 0);
tmpPoint.rotate(m_rotation);
Vec3 finalPoint =
new Vec3(
tmpPoint.getX() + m_translation.getX(),
tmpPoint.getY() + m_translation.getY(),
tmpPoint.getZ() + m_translation.getZ());
m_legs[i].setGoalPosition(finalPoint);
}
}