//Write
void urdfLink::createLink(bool hideCollisionLinks,bool convexDecomposeNonConvexCollidables,bool createVisualIfNone,bool& showConvexDecompositionDlg)
{
std::string txt("Creating link '"+name+"'...");
printToConsole(txt.c_str());
//visuals.clear();
// Visuals
for (int i=0; i<visuals.size(); i++) {
urdfElement &visual = visuals[i];
if(!visual.meshFilename.empty())
{
std::string fname(visual.meshFilename);
bool exists=true;
bool useAlt=false;
if (!simDoesFileExist(fname.c_str()))
{
fname=visual.meshFilename_alt;
exists=simDoesFileExist(fname.c_str());
useAlt=true;
}
if (!exists)
printToConsole("ERROR: the mesh file could not be found.");
else
visual.n = simImportShape(visual.meshExtension,fname.c_str(),0,0.0001f,1.0);
if (!visual.n)
{
if (!useAlt)
txt="ERROR: failed to create the mesh '"+visual.meshFilename+"' with extension type "+boost::lexical_cast<std::string>(visual.meshExtension);
else
txt="ERROR: failed to create the mesh '"+visual.meshFilename+"' or '"+visual.meshFilename_alt+"' with extension type "+boost::lexical_cast<std::string>(visual.meshExtension);
printToConsole(txt.c_str());
}
else
visual.n = scaleShapeIfRequired(visual.n,visual.mesh_scaling);
}
else if (!isArrayEmpty(visual.sphere_size))
visual.n = simCreatePureShape( 1,1+2+16, visual.sphere_size, mass, NULL);
else if (!isArrayEmpty(visual.cylinder_size))
visual.n = simCreatePureShape( 2,1+2+16, visual.cylinder_size, mass, NULL);
else if (!isArrayEmpty(visual.box_size))
visual.n = simCreatePureShape( 0,1+2+16, visual.box_size, mass, NULL);
}
//collisions.clear();
//mass=0.1;
//collision
for (int i=0; i<collisions.size(); i++) {
urdfElement &collision = collisions[i];
if(!collision.meshFilename.empty())
{
std::string fname(collision.meshFilename);
bool exists=true;
bool useAlt=false;
if (!simDoesFileExist(fname.c_str()))
{
fname=collision.meshFilename_alt;
exists=simDoesFileExist(fname.c_str());
useAlt=true;
}
if (!exists)
printToConsole("ERROR: the mesh file could not be found");
else
collision.n = simImportShape(collision.meshExtension,fname.c_str(),0,0.0001f,1.0);
if (collision.n == -1)
{
if (!useAlt)
txt="ERROR: failed to create the mesh '"+collision.meshFilename+"' with extension type "+boost::lexical_cast<std::string>(collision.meshExtension);
else
txt="ERROR: failed to create the mesh '"+collision.meshFilename+"' or '"+collision.meshFilename_alt+"' with extension type "+boost::lexical_cast<std::string>(collision.meshExtension);
printToConsole(txt.c_str());
}
else
{
collision.n=scaleShapeIfRequired(collision.n,collision.mesh_scaling);
if (createVisualIfNone&&(visuals.size()==0))
{ // We create a visual from the collision shape (before it gets morphed hereafter):
simRemoveObjectFromSelection(sim_handle_all,-1);
simAddObjectToSelection(sim_handle_single,collision.n);
simCopyPasteSelectedObjects();
addVisual();
currentVisual().n = simGetObjectLastSelection();
}
int p;
int convInts[5]={1,500,200,0,0}; // 3rd value from 100 to 500 on 5/2/2014
float convFloats[5]={100.0f,30.0f,0.25f,0.0f,0.0f};
if ( convexDecomposeNonConvexCollidables&&(simGetObjectIntParameter(collision.n,3017,&p)>0)&&(p==0) )
{
int aux=1+4+8+16+64;
if (showConvexDecompositionDlg)
aux=1+2+8+16+64;
showConvexDecompositionDlg=false;
simConvexDecompose(collision.n,aux,convInts,convFloats); // we generate convex shapes!
}
simSetObjectIntParameter(collision.n,3003,!inertiaPresent); // we make it non-static if there is an inertia
simSetObjectIntParameter(collision.n,3004,1); // we make it respondable since it is a collision object
}
}
else if (!isArrayEmpty(collision.sphere_size))
collision.n = simCreatePureShape( 1,1+2+4+8+16*(!inertiaPresent), collision.sphere_size, mass, NULL);
else if (!isArrayEmpty(collision.cylinder_size))
collision.n = simCreatePureShape( 2,1+2+4+8+16*(!inertiaPresent), collision.cylinder_size, mass, NULL);
else if (!isArrayEmpty(collision.box_size))
collision.n = simCreatePureShape( 0,1+2+4+8+16*(!inertiaPresent), collision.box_size, mass, NULL);
}
// Hack to draw COM in the collision layer
/*
addCollision();
currentCollision().xyz[0] = inertial_xyz[0];
currentCollision().xyz[1] = inertial_xyz[1];
currentCollision().xyz[0] = inertial_xyz[2];
currentCollision().rpy[0] = 1.5;
float dummySize[3]={0.01f,0.01f,0.01f};
currentCollision().n = simCreatePureShape( 1,1+2+16, dummySize, mass, NULL);
*/
// Grouping collisions shapes
nLinkCollision = groupShapes(collisions);
// Inertia
if (inertiaPresent)
{
C3Vector euler;
if (nLinkCollision==-1)
{ // we do not have a collision object. Let's create a dummy collision object, since inertias can't exist on their own in V-REP:
float dummySize[3]={0.01f,0.01f,0.01f};
//nLinkCollision = simCreatePureShape( 1,1+2+4, dummySize, mass, NULL); // we make it non-respondable!
nLinkCollision = simCreatePureShape( 1,1+2+16, dummySize, mass, NULL);
}
C7Vector inertiaFrame;
inertiaFrame.X.set(inertial_xyz);
inertiaFrame.Q=getQuaternionFromRpy(inertial_rpy);
//simSetObjectPosition(nLinkCollision,-1,inertiaFrame.X.data);
//C7Vector collisionFrame;
//collisionFrame.X.set(collision_xyz);
//collisionFrame.Q=getQuaternionFromRpy(collision_rpy);
C7Vector collisionFrame;
simGetObjectPosition(nLinkCollision,-1,collisionFrame.X.data);
simGetObjectOrientation(nLinkCollision,-1,euler.data);
collisionFrame.Q.setEulerAngles(euler);
//C4X4Matrix x((collisionFrame.getInverse()*inertiaFrame).getMatrix());
C4X4Matrix x(inertiaFrame.getMatrix());
float i[12]={x.M(0,0),x.M(0,1),x.M(0,2),x.X(0),x.M(1,0),x.M(1,1),x.M(1,2),x.X(1),x.M(2,0),x.M(2,1),x.M(2,2),x.X(2)};
simSetShapeMassAndInertia(nLinkCollision,mass,inertia,C3Vector::zeroVector.data,i);
//std::cout << "Mass: " << mass << std::endl;
}
else
{
if (nLinkCollision!=-1)
{
std::string txt("ERROR: found a collision object without inertia data for link '"+ name+"'. Is that link meant to be static?");
printToConsole(txt.c_str());
}
}
if (createVisualIfNone&&(visuals.size()==0)&&(nLinkCollision!=-1))
{ // We create a visual from the collision shape (meshes were handled earlier):
addVisual();
urdfElement &visual = currentVisual();
simRemoveObjectFromSelection(sim_handle_all,-1);
simAddObjectToSelection(sim_handle_single,nLinkCollision);
simCopyPasteSelectedObjects();
visual.n=simGetObjectLastSelection();
simSetObjectIntParameter(visual.n,3003,1); // we make it static since only visual
simSetObjectIntParameter(visual.n,3004,0); // we make it non-respondable since only visual
}
// Set the respondable mask:
if (nLinkCollision!=-1)
simSetObjectIntParameter(nLinkCollision,3019,0xff00); // colliding with everything except with other objects in that tree hierarchy
// Grouping shapes
nLinkVisual = groupShapes(visuals);
// Set the names, visibility, etc.:
if (nLinkVisual!=-1)
{
setVrepObjectName(nLinkVisual,std::string(name+"_visual").c_str());
const float specularDiffuse[3]={0.3f,0.3f,0.3f};
if (nLinkCollision!=-1)
{ // if we have a collision object, we attach the visual object to it, then forget the visual object
C7Vector collisionFrame;
C3Vector euler;
simGetObjectPosition(nLinkCollision,-1,collisionFrame.X.data);
simGetObjectOrientation(nLinkCollision,-1,euler.data);
collisionFrame.Q.setEulerAngles(euler);
C7Vector visualFrame;
simGetObjectPosition(nLinkVisual,-1,visualFrame.X.data);
simGetObjectOrientation(nLinkVisual,-1,euler.data);
visualFrame.Q.setEulerAngles(euler);
C7Vector x(collisionFrame.getInverse()*visualFrame);
simSetObjectPosition(nLinkVisual,-1,x.X.data);
simSetObjectOrientation(nLinkVisual,-1,x.Q.getEulerAngles().data);
simSetObjectParent(nLinkVisual,nLinkCollision,0);
}
}
if (nLinkCollision!=-1)
{
setVrepObjectName(nLinkCollision,std::string(name+"_respondable").c_str());
if (hideCollisionLinks)
simSetObjectIntParameter(nLinkCollision,10,256); // we "hide" that object in layer 9
}
}
bool CGeometricConstraintSolver::solve(CIKGraphObjCont& graphContainer,SGeomConstrSolverParam& parameters)
{
if (graphContainer.identifyElements()==0)
return(false); // Nothing to solve (no active joint in the mechanism)
graphContainer.putElementsInPlace();
// We create a branched tree, where each extremity has a tip dummy
// (which will later be constrained to its respective target dummy)
CIKGraphObject* baseIKGraphObject=graphContainer.getBaseObject();
CIKGraphNode* graphIterator=baseIKGraphObject;
CIKGraphNode* previousPosition=NULL;
CIKGraphNode* nextPosition=NULL;
C7Vector localTransformation;
localTransformation.setIdentity();
CIKObjCont ikObjs;
CIKJoint* lastJoint=NULL;
CIKJoint* treeHandle=NULL;
// Some precalculations of some fixed rotations:
C4X4Matrix tmpRot;
tmpRot.setIdentity();
tmpRot.M(0,0)=-1.0f;
tmpRot.M(2,2)=-1.0f;
C7Vector rotY180(tmpRot.getTransformation());
tmpRot.M.clear();
tmpRot.M(0,0)=1.0f;
tmpRot.M(2,1)=1.0f;
tmpRot.M(1,2)=-1.0f;
C7Vector rotX90(tmpRot.getTransformation().Q,C3Vector(0.0f,0.0f,0.0f));
tmpRot.M.clear();
tmpRot.M(2,0)=-1.0f;
tmpRot.M(1,1)=1.0f;
tmpRot.M(0,2)=1.0f;
C7Vector rotY90(tmpRot.getTransformation().Q,C3Vector(0.0f,0.0f,0.0f));
tmpRot.M.clear();
tmpRot.M(1,0)=1.0f;
tmpRot.M(0,1)=-1.0f;
tmpRot.M(2,2)=1.0f;
C7Vector rotZ90(tmpRot.getTransformation().Q,C3Vector(0.0f,0.0f,0.0f));
std::vector<CIKGraphNode*> graphObjectsToBeExplored;
graphObjectsToBeExplored.push_back(baseIKGraphObject);
std::vector<CIKJoint*> lastJoints;
lastJoints.push_back(NULL);
std::vector<CIKGraphNode*> previousPositions;
previousPositions.push_back(NULL);
std::vector<C7Vector> localTransformations;
localTransformations.push_back(localTransformation);
int explorationID=0;
while (graphObjectsToBeExplored.size()!=0)
{
graphIterator=graphObjectsToBeExplored.back();
graphObjectsToBeExplored.pop_back();
lastJoint=lastJoints.back();
lastJoints.pop_back();
previousPosition=previousPositions.back();
previousPositions.pop_back();
localTransformation=localTransformations.back();
localTransformations.pop_back();
bool doIt=(graphIterator->explorationID==-1);
bool goingDown=false;
bool closeComplexLoop=false;
while (doIt)
{
if (graphIterator->explorationID==-1)
graphIterator->explorationID=explorationID;
explorationID++;
C7Vector previousCT;
if (previousPosition!=NULL)
{
if (previousPosition->type==IK_GRAPH_JOINT_TYPE)
previousCT=((CIKGraphObject*)graphIterator)->cumulativeTransformation;
else
previousCT=((CIKGraphObject*)previousPosition)->cumulativeTransformation;
}
else
{
previousCT=baseIKGraphObject->cumulativeTransformation;
localTransformation=previousCT;
}
if (graphIterator->type==IK_GRAPH_JOINT_TYPE)
{ // Joint: we have to introduce a joint
CIKGraphJoint* graphJoint=(CIKGraphJoint*)graphIterator;
if (!graphJoint->disabled)
{
C7Vector sphTr;
sphTr.setIdentity();
sphTr.Q=graphJoint->sphericalTransformation;
CIKJoint* newIKJoint;
if (graphJoint->jointType==IK_GRAPH_SPHERICAL_JOINT_TYPE)
{
int dataValueBase=10*graphJoint->nodeID;
CIKJoint* avatarParent;
if (graphJoint->topObject==(CIKGraphObject*)previousPosition)
{ // From tip to base
C7Vector rel(localTransformation*rotY180);
newIKJoint=new CIKJoint(graphJoint,rel,false,false);
if (lastJoint==NULL)
{
treeHandle=newIKJoint;
lastJoint=treeHandle;
ikObjs.addRoot(lastJoint);
}
else
{
ikObjs.addChild(lastJoint,newIKJoint);
lastJoint=newIKJoint;
}
avatarParent=ikObjs.getJointWithData(dataValueBase+3);
if (avatarParent!=NULL) // This joint is used twice (going up and going down)
avatarParent->addAvatar(lastJoint);
lastJoint->data=dataValueBase+3;
rel=rotX90;
newIKJoint=new CIKJoint(graphJoint,rel,false,false);
ikObjs.addChild(lastJoint,newIKJoint);
lastJoint=newIKJoint;
avatarParent=ikObjs.getJointWithData(dataValueBase+2);
if (avatarParent!=NULL) // This joint is used twice (going up and going down)
avatarParent->addAvatar(lastJoint);
lastJoint->data=dataValueBase+2;
rel=rotY90;
newIKJoint=new CIKJoint(graphJoint,rel,false,false);
ikObjs.addChild(lastJoint,newIKJoint);
lastJoint=newIKJoint;
avatarParent=ikObjs.getJointWithData(dataValueBase+1);
if (avatarParent!=NULL) // This joint is used twice (going up and going down)
avatarParent->addAvatar(lastJoint);
lastJoint->data=dataValueBase+1;
rel=rotX90*rotZ90.getInverse()*sphTr.getInverse()*rotY180;
newIKJoint=new CIKJoint(graphJoint,rel,true,false);
lastJoint->topJoint=newIKJoint; // This is mainly needed by the joint-limitation part!
ikObjs.addChild(lastJoint,newIKJoint);
lastJoint=newIKJoint;
lastJoint->active=false; // Inactive for now (we can activate it later)
avatarParent=ikObjs.getJointWithData(dataValueBase+0);
if (avatarParent!=NULL) // This joint is used twice (going up and going down)
avatarParent->addAvatar(lastJoint);
lastJoint->data=dataValueBase+0;
localTransformation=rotY180;
}
else
{ // From base to tip
C7Vector rel(localTransformation);
newIKJoint=new CIKJoint(graphJoint,rel,false,true);
if (lastJoint==NULL)
{
treeHandle=newIKJoint;
lastJoint=treeHandle;
ikObjs.addRoot(lastJoint);
}
else
{
ikObjs.addChild(lastJoint,newIKJoint);
lastJoint=newIKJoint;
}
lastJoint->active=false; // Inactive for now (we can activate it later)
avatarParent=ikObjs.getJointWithData(dataValueBase+0);
if (avatarParent!=NULL) // This joint is used twice (going up and going down)
avatarParent->addAvatar(lastJoint);
lastJoint->data=dataValueBase+0;
rel=sphTr*rotY90;
newIKJoint=new CIKJoint(graphJoint,rel,false,true);
ikObjs.addChild(lastJoint,newIKJoint);
lastJoint=newIKJoint;
avatarParent=ikObjs.getJointWithData(dataValueBase+1);
if (avatarParent!=NULL) // This joint is used twice (going up and going down)
avatarParent->addAvatar(lastJoint);
lastJoint->data=dataValueBase+1;
rel=rotX90.getInverse();
newIKJoint=new CIKJoint(graphJoint,rel,false,true);
ikObjs.addChild(lastJoint,newIKJoint);
lastJoint=newIKJoint;
avatarParent=ikObjs.getJointWithData(dataValueBase+2);
if (avatarParent!=NULL) // This joint is used twice (going up and going down)
avatarParent->addAvatar(lastJoint);
lastJoint->data=dataValueBase+2;
rel=rotY90.getInverse()*rotZ90.getInverse();
newIKJoint=new CIKJoint(graphJoint,rel,true,true);
newIKJoint->topJoint=newIKJoint; // Top-joint is itself!
ikObjs.addChild(lastJoint,newIKJoint);
lastJoint=newIKJoint;
avatarParent=ikObjs.getJointWithData(dataValueBase+3);
if (avatarParent!=NULL) // This joint is used twice (going up and going down)
avatarParent->addAvatar(lastJoint);
lastJoint->data=dataValueBase+3;
localTransformation.setIdentity();
}
}
else
{
if (graphJoint->topObject==(CIKGraphObject*)previousPosition)
{ // From tip to base
C7Vector rel(localTransformation*rotY180);
newIKJoint=new CIKJoint(graphJoint,rel,false,false);
localTransformation=rotY180;
}
else
{ // From base to tip
C7Vector rel(localTransformation);
newIKJoint=new CIKJoint(graphJoint,rel,false,false);
localTransformation.setIdentity();
}
if (lastJoint==NULL)
{
treeHandle=newIKJoint;
lastJoint=treeHandle;
ikObjs.addRoot(lastJoint);
}
else
{
ikObjs.addChild(lastJoint,newIKJoint);
lastJoint=newIKJoint;
}
int dataValue=10*graphJoint->nodeID+0;
CIKJoint* avatarParent=ikObjs.getJointWithData(dataValue);
if (avatarParent!=NULL) // This joint is used twice (going up and going down)
avatarParent->addAvatar(lastJoint);
lastJoint->data=dataValue;
}
}
else
{ // In case a graph-joint is disabled:
if (graphJoint->topObject==(CIKGraphObject*)previousPosition)
{ // From tip to base
localTransformation=localTransformation*graphJoint->getDownToTopTransformation().getInverse();
}
else
{ // From base to tip
localTransformation=localTransformation*graphJoint->getDownToTopTransformation();
}
}
}
else
{
CIKGraphObject* theObject=(CIKGraphObject*)graphIterator;
if (theObject->objectType==IK_GRAPH_LINK_OBJECT_TYPE)
{ // Link
if (previousPosition!=NULL)
{
if (theObject->linkPartner!=previousPosition)
localTransformation=localTransformation*previousCT.getInverse()*theObject->cumulativeTransformation;
// If (theObject->linkPartner==previousPosition) then we don't do anything!
}
}
else
{ // Here we have a dummy we have to assign to a configuration or a passive object
// We treat all cases first as passive objects:
if (previousPosition!=NULL)
{
localTransformation=localTransformation*previousCT.getInverse()*theObject->cumulativeTransformation;
if ( (theObject->objectType==IK_GRAPH_TIP_OBJECT_TYPE)&&(lastJoint!=NULL) )
{ // This is a valid dummy-tip!
CIKDummy* newIKDummy=new CIKDummy(localTransformation,theObject->targetCumulativeTransformation);
ikObjs.addChild(lastJoint,newIKDummy);
newIKDummy->constraints=(IK_X_CONSTRAINT|IK_Y_CONSTRAINT|IK_Z_CONSTRAINT);
newIKDummy->dampingFactor=1.0f;
newIKDummy->loopClosureDummy=false;
if (graphIterator->getConnectionNumber()==1)
break;
}
}
}
}
int unexploredSize=graphIterator->getNumberOfUnexplored();
if ( (unexploredSize==0)||goingDown||closeComplexLoop )
{
if ( (graphIterator->getConnectionNumber()==1)&&(!closeComplexLoop) )
break; // This is a rare case where we have an endpoint without a tip-dummy mobile-part
if (closeComplexLoop)
{
CIKDummy* tipDummy=new CIKDummy(localTransformation,baseIKGraphObject->cumulativeTransformation);
ikObjs.addChild(lastJoint,tipDummy);
break;
}
nextPosition=graphIterator->getExploredWithSmallestExplorationID();
if ( (nextPosition->explorationID==0)&&(!goingDown) )
{ // The loop can now be closed (simple loop with each joint present at most once)
previousCT=((CIKGraphObject*)graphIterator)->cumulativeTransformation;
localTransformation=localTransformation*previousCT.getInverse()*((CIKGraphObject*)nextPosition)->cumulativeTransformation;
CIKDummy* tipDummy=new CIKDummy(localTransformation,baseIKGraphObject->cumulativeTransformation);
ikObjs.addChild(lastJoint,tipDummy);
break;
}
if ( (nextPosition->explorationID==0)&&goingDown )
closeComplexLoop=true;
goingDown=true;
}
else if ((graphIterator->getNeighbourWithExplorationID(0)!=NULL)&&(!goingDown)&&(previousPosition->explorationID!=0))
{ // Here we have to close the loop too!
// We first put unexplored paths onto the stack:
for (int i=0;i<unexploredSize;i++)
{ // We throw unexplored nodes onto the exploration stack:
graphObjectsToBeExplored.push_back(graphIterator->getUnexplored(i));
lastJoints.push_back(lastJoint);
previousPositions.push_back(graphIterator);
localTransformations.push_back(localTransformation);
}
nextPosition=graphIterator->getExploredWithSmallestExplorationID();
previousCT=((CIKGraphObject*)previousPosition)->cumulativeTransformation;
localTransformation=localTransformation*previousCT.getInverse()*((CIKGraphObject*)nextPosition)->cumulativeTransformation;
CIKDummy* tipDummy=new CIKDummy(localTransformation,baseIKGraphObject->cumulativeTransformation);
ikObjs.addChild(lastJoint,tipDummy);
break;
}
else
{
if (previousPosition==NULL)
{ // This is the start. We should always explore first two links which belong together
// or the 3 objects making up a joint!
nextPosition=NULL;
for (int i=0;i<unexploredSize;i++)
{
CIKGraphNode* nextPositionTmp=graphIterator->getUnexplored(i);
if ( (((CIKGraphObject*)graphIterator)->linkPartner==nextPositionTmp)||
(nextPositionTmp->type==IK_GRAPH_JOINT_TYPE) )
nextPosition=nextPositionTmp;
else
{
graphObjectsToBeExplored.push_back(graphIterator->getUnexplored(i));
lastJoints.push_back(lastJoint);
previousPositions.push_back(graphIterator);
localTransformations.push_back(localTransformation);
if (nextPosition==NULL)
nextPosition=graphIterator->getUnexplored(i);
}
}
}
else
{
nextPosition=graphIterator->getUnexplored(0);
for (int i=1;i<unexploredSize;i++)
{ // We throw unexplored nodes onto the exploration stack:
graphObjectsToBeExplored.push_back(graphIterator->getUnexplored(i));
lastJoints.push_back(lastJoint);
previousPositions.push_back(graphIterator);
localTransformations.push_back(localTransformation);
}
}
}
previousPosition=graphIterator;
graphIterator=nextPosition;
}
}
solveHierarchy(&ikObjs,parameters);
for (int i=0;i<int(ikObjs.allObjects.size());i++)
{
CIKObject* it=ikObjs.allObjects[i];
if (it->objectType==IK_JOINT_TYPE)
{
CIKJoint* theJoint=(CIKJoint*)it;
if (theJoint->avatarParent==NULL)
{
if (theJoint->spherical)
{
if (theJoint->topSpherical)
{
float a0=theJoint->parameter;
float a1=((CIKJoint*)theJoint->parent)->parameter;
float a2=((CIKJoint*)theJoint->parent->parent)->parameter;
float a3=((CIKJoint*)theJoint->parent->parent->parent)->parameter;
if (theJoint->sphericalUp)
{
theJoint->graphJoint->sphericalTransformation=C4Vector(a3,C3Vector(0.0f,0.0f,1.0f))*theJoint->graphJoint->sphericalTransformation*C4Vector(C3Vector(a2,a1,a0));
}
else
{
theJoint->graphJoint->sphericalTransformation=C4Vector(a0,C3Vector(0.0f,0.0f,1.0f))*theJoint->graphJoint->sphericalTransformation*C4Vector(C3Vector(a1,a2,a3));
}
}
}
else
theJoint->graphJoint->parameter=theJoint->parameter;
}
}
}
graphContainer.actualizeAllTransformations();
graphContainer.putElementsInPlace();
return(true);
}
