rigidBodyBuilder = DEFAULT_RIGID_BODY_BUILDER; RigidBodyBasics cloneSubtreeStartBody = rigidBodyBuilder.buildRoot(originalSubtreeStartBody.getName() + cloneSuffix, new RigidBodyTransform(), originalSubtreeStartBody.getParentJoint().getFrameAfterJoint());
if (cloneStationaryFrame == null) cloneStationaryFrame = originalBodyFixedFrame; return rigidBodyBuilder.buildRoot(nameOriginal + cloneSuffix, originalBodyFixedFrame.getTransformToParent(), cloneStationaryFrame); Matrix3DReadOnly momentOfInertia = originalInertia.getMomentOfInertia(); RigidBodyTransform inertiaPose = new RigidBodyTransform(original.getBodyFixedFrame().getTransformToParent()); RigidBodyBasics clone = rigidBodyBuilder.build(nameOriginal + cloneSuffix, parentJointOfClone, momentOfInertia, mass, inertiaPose); clone.getInertia().getCenterOfMassOffset().set((Tuple3DReadOnly) originalInertia.getCenterOfMassOffset()); return clone;