/**
* determine the estimate desired location of the swing foot, given the etimated position of the COM, and the phase
*/
virtual public Vector3 computeSwingFootLocationEstimate(Vector3 comPos, float phase)
{
Vector3 step = lowLCon.computeIPStepLocation();
//applying the IP prediction would make the character stop, so take a smaller step if you want it to walk faster, or larger
//if you want it to go backwards
//step.x += lowLCon.velDSagittal / 20;
//and adjust the stepping in the coronal plane in order to account for desired step width...
step[lowLCon.getLocalFrontAxisID()] = adjustSagittalStepLocation(step[lowLCon.getLocalFrontAxisID()]);
step[lowLCon.getLocalLeftAxisID()] = adjustCoronalStepLocation(step[lowLCon.getLocalLeftAxisID()]);
Vector3 result = Vector3.zero;
Vector3 initialStep = swingFootStartPos - comPos;
initialStep = Quaternion.Inverse(lowLCon.getCharacterFrame()) * initialStep;
//when phi is small, we want to be much closer to where the initial step is - so compute this quantity in character-relative coordinates
//now interpolate between this position and initial foot position - but provide two estimates in order to provide some gradient information
float t = (1 - phase);
t = t * t;
t = Mathf.Clamp(t, 0.0f, 1.0f);
result += (step * (1 - t));
result += (initialStep * t);
result[lowLCon.getLocalUpAxisID()] = 0;
return(result);
}
