private static OneDoFJoint cloneOneDoFJoint(OneDoFJoint original, String cloneSuffix, RigidBody clonePredecessor) { String jointNameOriginal = original.getName(); RigidBodyTransform jointTransform = original.getOffsetTransform3D(); Vector3d jointAxisCopy = original.getJointAxis().getVectorCopy(); OneDoFJoint clone; if (original instanceof RevoluteJoint) clone = ScrewTools.addRevoluteJoint(jointNameOriginal + cloneSuffix, clonePredecessor, jointTransform, jointAxisCopy); else if (original instanceof PrismaticJoint) clone = ScrewTools.addPrismaticJoint(jointNameOriginal + cloneSuffix, clonePredecessor, jointTransform, jointAxisCopy); else throw new RuntimeException("Unhandled type of " + OneDoFJoint.class.getSimpleName() + ": " + original.getClass().getSimpleName()); clone.setJointLimitLower(original.getJointLimitLower()); clone.setJointLimitUpper(original.getJointLimitUpper()); return clone; }