public static PassiveRevoluteJoint addPassiveRevoluteJoint(String jointName, RigidBodyBasics parentBody, RigidBodyTransform transformToParent, Vector3D jointAxis, boolean isPartOfClosedKinematicLoop) { return new PassiveRevoluteJoint(jointName, parentBody, transformToParent, jointAxis, isPartOfClosedKinematicLoop); }
public static PassiveRevoluteJoint addPassiveRevoluteJoint(String jointName, RigidBody parentBody, RigidBodyTransform transformToParent, Vector3d jointAxis, boolean isPartOfClosedKinematicLoop) { String beforeJointName = "before" + jointName; ReferenceFrame parentFrame; if (parentBody.isRootBody()) parentFrame = parentBody.getBodyFixedFrame(); else parentFrame = parentBody.getParentJoint().getFrameAfterJoint(); ReferenceFrame frameBeforeJoint = createOffsetFrame(parentFrame, transformToParent, beforeJointName); String afterJointName = jointName; return new PassiveRevoluteJoint(afterJointName, parentBody, frameBeforeJoint, new FrameVector(frameBeforeJoint, jointAxis), isPartOfClosedKinematicLoop); }