/** * Creates a new revolute joint. * * @param name the name for the new joint. * @param predecessor the rigid-body connected to and preceding this joint. * @param transformToParent the transform to the frame after the parent joint. Not modified. * @param jointAxis the axis around which this joint can rotate. Not modified. */ public RevoluteJoint(String name, RigidBodyBasics predecessor, RigidBodyTransform transformToParent, Vector3DReadOnly jointAxis) { super(name, predecessor, jointAxis, new Vector3D(), transformToParent); this.jointAxis = new FrameVector3D(beforeJointFrame, jointAxis); jointTransformUpdater = MecanoFactories.newRevoluteJointTransformUpdater(this); }