@Override
    public void update(float tpf) {
        if (!enabled) {
            return;
        }
        if(mode == Mode.IK){
            ikUpdate(tpf);
        } else if (mode == Mode.Ragdoll && targetModel.getLocalTranslation().equals(modelPosition)) {
            //if the ragdoll has the control of the skeleton, we update each bone with its position in physics world space.
            ragDollUpdate(tpf);
        } else {
            kinematicUpdate(tpf);
        }
    }
Update this control. Invoked once per frame during the logical-state
update, provided the control is added to a scene. Do not invoke directly
from user code.

@param tpf the time interval between frames (in seconds, &ge;0)
jme3-jbullet/src/main/java/com/jme3/bullet/control/KinematicRagdollControl.java