private void initializeFourBar(RigidBodyTransform jointAtoElevator, RigidBodyTransform jointBtoA, RigidBodyTransform jointCtoB, RigidBodyTransform jointDtoC,
Vector3D jointAxisA, Vector3D jointAxisB, Vector3D jointAxisC, Vector3D jointAxisD)
{
masterJointA = new RevoluteJoint("jointA", elevator, jointAtoElevator, jointAxisA);
rigidBodyAB = createAndAttachCylinderRB("rigidBodyAB", masterJointA);
passiveJointB = ScrewTools.addPassiveRevoluteJoint("jointB", rigidBodyAB, jointBtoA, jointAxisB, true);
rigidBodyBC = createAndAttachCylinderRB("rigidBodyBC", passiveJointB);
passiveJointC = ScrewTools.addPassiveRevoluteJoint("jointC", rigidBodyBC, jointCtoB, jointAxisC, true);
rigidBodyCD = createAndAttachCylinderRB("rigidBodyCD", passiveJointC);
passiveJointD = ScrewTools.addPassiveRevoluteJoint("jointD", rigidBodyCD, jointDtoC, jointAxisD, true);
rigidBodyDA = createAndAttachCylinderRB("rigidBodyCD", passiveJointD);
masterJointA.setQ(random.nextDouble());
passiveJointB.setQ(random.nextDouble());
passiveJointC.setQ(random.nextDouble());
passiveJointD.setQ(random.nextDouble());
elevator.updateFramesRecursively();
}