addJointLimitToBoundsIfValid(lowerBounds, upperBounds, masterJointA.getJointLimitUpper(), 0, true); addJointLimitToBoundsIfValid(lowerBounds, upperBounds, jointB.getJointLimitLower(), 1, false); addJointLimitToBoundsIfValid(lowerBounds, upperBounds, jointB.getJointLimitUpper(), 1, true); addJointLimitToBoundsIfValid(lowerBounds, upperBounds, jointC.getJointLimitLower(), 2, false); addJointLimitToBoundsIfValid(lowerBounds, upperBounds, jointC.getJointLimitUpper(), 2, true); addJointLimitToBoundsIfValid(lowerBounds, upperBounds, jointD.getJointLimitLower(), 3, false); addJointLimitToBoundsIfValid(lowerBounds, upperBounds, jointD.getJointLimitUpper(), 3, true);
addJointLimitToBoundsIfValid(lowerBounds, upperBounds, masterJointA.getJointLimitUpper(), 0, true); addJointLimitToBoundsIfValid(lowerBounds, upperBounds, jointB.getJointLimitLower(), 1, false); addJointLimitToBoundsIfValid(lowerBounds, upperBounds, jointB.getJointLimitUpper(), 1, true); addJointLimitToBoundsIfValid(lowerBounds, upperBounds, jointC.getJointLimitLower(), 2, false); addJointLimitToBoundsIfValid(lowerBounds, upperBounds, jointC.getJointLimitUpper(), 2, true); addJointLimitToBoundsIfValid(lowerBounds, upperBounds, jointD.getJointLimitLower(), 3, false); addJointLimitToBoundsIfValid(lowerBounds, upperBounds, jointD.getJointLimitUpper(), 3, true);