GapObj next = i+d >= 0 ? gaps.get(i+d) : null;
GapObj prev = i-d >= 0 ? gaps.get(i-d) : null;
if (next != null && next.gap == Gap.SPACE) {
GapObj next = i+d >= 0 ? gaps.get(i+d) : null;
GapObj prev = i-d >= 0 ? gaps.get(i-d) : null;
if (next != null && next.gap == Gap.SPACE) {
Vector3d v = new Vector3d();
MathTools.rotate(q, MathTools.Y_AXIS,v);
tcp.setTurnAxis(v);
Vector3d v = new Vector3d();
MathTools.rotate(q, MathTools.Y_AXIS,v);
tcp.setTurnAxis(v);