// Update is called once per frame
void Update()
{
// Advance the player
m_player.updatePhase(Time.deltaTime);
updateFeetPositions(m_player.m_gaitPhase);
updateKneeRefs();
}
// Update is called once per frame
void Update()
{
m_currentVelocity = transform.position - m_oldPos;
calcHeadAcceleration();
m_time += Time.deltaTime;
// Advance the player
m_player.updatePhase(Time.deltaTime);
// Update desired velocity
updateDesiredVelocity(Time.deltaTime);
// update feet positions
updateFeet();
// Recalculate all torques for this frame
updateTorques(Time.deltaTime);
// Debug color of legs when in stance
debugColorLegs();
m_oldPos = transform.position;
}