public static Joint Subtract(Joint a, Joint b)
{
return new Joint(a.Pos - b.Pos, a.Angle - b.Angle);
}
public static Joint Multiply(Joint a, double t)
{
return new Joint(a.Pos * t, a.Angle * t);
}
/// <summary>
/// Multiplies a child joint with a parent joint to create a new one.
/// </summary>
/// <param name='child'>
/// The child joint to be transformed by parent.
/// </param>
/// <param name='parent'>
/// Parent joint to transform child joint.
/// </param>
public static Joint Multiply(Joint child, Joint parent)
{
var transform = Matrix.Rotation(parent.Angle) * Matrix.Translation(parent.Pos.X, parent.Pos.Y);
return new Joint(child.Pos.Transform(transform), parent.Angle + child.Angle);
}
public static Joint Add(Joint a, Joint b)
{
return new Joint(a.Pos + b.Pos, a.Angle + b.Angle);
}