/// <summary>
/// This method can be called when the flex move didn't reach the target yet, to continue to converge
/// <returns>true if the flex move still need to be updated</returns>
/// </summary>
public bool update()
{
if (mCurrentUpdateStatus == IKSolver.CCDResult.Processing)
{
// a threshold tuning variable for reaching target
const double REACH_TARGET_PRECISION_IN_STUD = 0.1;
int lastBone = mBoneList.Count;
if (mUseTwoTargets)
{
// if we use two targets, do the first pass on the second target
// reverse the Y because BlueBrick use an indirect coord sys, and the IKSolver a direct one
IKSolver.CalcIK_2D_CCD(ref mBoneList, mSecondaryTarget.X, -mSecondaryTarget.Y,
REACH_TARGET_PRECISION_IN_STUD, lastBone - 1);
computeBrickPositionAndOrientation();
}
// do the normal pass on the final target
// reverse the Y because BlueBrick use an indirect coord sys, and the IKSolver a direct one
mCurrentUpdateStatus = IKSolver.CalcIK_2D_CCD(ref mBoneList, mPrimaryTarget.X, -mPrimaryTarget.Y,
REACH_TARGET_PRECISION_IN_STUD, lastBone);
computeBrickPositionAndOrientation();
}
// return true if we still need to update
return(mCurrentUpdateStatus == IKSolver.CCDResult.Processing);
}
