private void writeJointDataToWorkbook(WritableWorkbook workbook)
{
WritableSheet jointDataSheet = workbook.createSheet("Joint Data", workbook.getNumberOfSheets());
int column = 0;
writeJointDataColumn(jointDataSheet, column++, dataBuffer.getEntry("t"), true);
for (PinJoint joint : pinJoints)
{
DataBufferEntry position = dataBuffer.getEntry(joint.getQYoVariable());
DataBufferEntry speed = dataBuffer.getEntry(joint.getQDYoVariable());
DataBufferEntry torque = dataBuffer.getEntry(joint.getTauYoVariable());
writeJointDataColumn(jointDataSheet, column++, position, false);
writeJointDataColumn(jointDataSheet, column++, speed, false);
writeJointDataColumn(jointDataSheet, column++, speed, true);
writeJointDataColumn(jointDataSheet, column++, torque, false);
writeJointDataColumn(jointDataSheet, column++, torque, true);
writeMechanicalPowerJointDataColumn(jointDataSheet, column++, speed, torque, joint.getName());
}
}