void LinkedStructure::update()
{
// Performs an update to the position of the
// linked structure. Performs a tip move by the
// step that has been specified
if(isTargetResolved()) return;
float x = (mTargetPosition(0) - mPosition(0) > 1) ? mStep : -mStep;
float y = (mTargetPosition(1) + mPosition(1) > 1) ? mStep : -mStep;
moveBy(x, y);
}
void IKSolver::update()
{
if (!isTargetResolved())
{
float x = (_targetPos.x - _endEffPos.x > 1) ? _step : -_step;
float y = (_targetPos.y - _endEffPos.y > 1) ? _step : -_step;
solve(x, y);
calcEndEffectorPos();
}
}
