}//end Solve
public bool Solve3(double L1, double L2, double L3, cPointi target0)
{
cPointi target;
cPointd Jk; // coords of kinked joint returned by Solve2
cPointi J1; // Joint1 on x-axis
cPointi Ttarget; // translated target
target = new cPointi(target0.X, target0.Y);
System.Diagnostics.Debug.WriteLine("==>Solve3: links = " + L1 + ", " + L2 + ", " + L3);
Jk = new cPointd(0, 0);
if (Solve2(L1 + L2, L3, target, Jk))
{
firstlinks++;
nlinks = 2;
System.Diagnostics.Debug.WriteLine("Solve3: link1=" + (L1 + L2) + ", link2=" + L3 + ", joint=\n");
LineTo_d(Jk);
SetAChain(Jk, target);
return(true);
}
else if (Solve2(L1, L2 + L3, target, Jk))
{
System.Diagnostics.Debug.WriteLine("Solve3: link1= " + L1 + ", link2= " + (L2 + L3) + ", joint=\n");
nlinks = 2;
LineTo_d(Jk);
SetAChain(Jk, target);
return(true);
}
else
{ // pin J0 to 0.
// Shift so J1 is origin.
//J1.x = L1; J1.y = 0;
J1 = new cPointi(L1, 0);
Ttarget = new cPointi(0, 0);
SubVec(target, J1, Ttarget);
if (Solve2(L2, L3, Ttarget, Jk))
{
// Shift solution back to origin.
Jk.x += L1;
System.Diagnostics.Debug.WriteLine("Solve3: link1=" + L1 + ", link2= " + L2 + ", link3= " + L1 + ", joints=\n");
nlinks = 3;
LineTo_i(J1);
LineTo_d(Jk);
SetAChain(Jk, target);
cVertex VJ1 = new cVertex(list.head.Point.X + J1.X, list.head.Point.Y);
list.InsertBefore(VJ1, list.head.NextVertex);
return(true);
}
else
{
return(false);
}
}
}//end Solve3
