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Joining the Joints
Java3D is quite a basic 3D package. It has routines to construct 3D objects such as TriangleFanArray, it has routines to connect these objects together such as BranchGroup and it has routines to rotate and position the objects such as Transform3D. What Java3D lacks is the high level routines that make these routines easier to use.
The solution was a routine called Joint. The routine is basically a BranchGroup with two TransformGroups. The first TransformGroup is the child of the BranchGroup, the second a child of the first. The constructor of the Joint has a rotation and position of the Joint.
As you can see from the diagram. If, say, the left hip joint is rotated, every thing that is attached to the left hip is also rotated.