/// <summary>
///
/// </summary>
/// <param name="j1">tuple j1 such that exactly one element in j1 overlaps with j2</param>
/// <param name="j2">tuple j2 such that exactly one element in j2 overlaps with j1</param>
public JointTriple(JointTuple j1, JointTuple j2)
{
if (j1.Joint1 == j2.Joint1)
{
Joint2 = j1.Joint1;
Joint1 = j1.Joint2;
Joint3 = j2.Joint2;
}
else if (j1.Joint1 == j2.Joint2)
{
Joint2 = j1.Joint1;
Joint1 = j1.Joint2;
Joint3 = j2.Joint1;
}
else if (j1.Joint2 == j2.Joint2)
{
Joint2 = j1.Joint2;
Joint1 = j1.Joint1;
Joint3 = j2.Joint1;
}
else
{
throw new ArgumentException("No overlapping joint types");
}
if (Joint1 == Joint3)
{
throw new ArgumentException("Joints overlap completely");
}
InitializeTuples();
}
private void InitializeTuples()
{
_t1 = new JointTuple(Joint2, Joint1);
_t2 = new JointTuple(Joint2, Joint3);
}
public static Vector3D Vector3DFromJointTuple(JointTuple t, Body b)
{
return(t.GetVector3D(b));
}
