public Hinge(Hinge hinge)
{
Angle = hinge.Angle;
Length = hinge.Length;
if (hinge.Child != null)
{
Child = new Hinge(hinge.Child);
}
}
public Vector2 NumericalJacobianColumn()
{
var copy = new Hinge(this);
copy.Parent = Parent;
copy.Angle += MathHelper.ToRadians(0.1f);
var oldE = EndEffector;
var newE = copy.EndEffector;
return(newE - oldE);
}
public Hinge(float angle, float length, Hinge child)
{
Angle = angle;
Length = length;
Child = child;
}
public Hinge(float angle, Hinge child)
: this(angle, DEFAULT_LENGTH, child)
{
}