private static void read3dCoord(Node jointChild, Point3d jointPos)
    {
        NodeList jointPosChildren = jointChild.getChildNodes();
        for(int l=0; l<jointPosChildren.getLength(); l++)
        {
            Node jointPosChild = jointPosChildren.item(l);
            if(jointPosChild.getNodeName().equals("x"))
            {
                if(jointPosChild.getChildNodes().getLength()>0)
                    jointPos.x=Double.parseDouble(jointPosChild.getChildNodes().item(0).getNodeValue());
            }
            else if(jointPosChild.getNodeName().equals("y"))
            {
                if(jointPosChild.getChildNodes().getLength()>0)
                    jointPos.y=Double.parseDouble(jointPosChild.getChildNodes().item(0).getNodeValue());
            }
            else if(jointPosChild.getNodeName().equals("z"))
            {
                if(jointPosChild.getChildNodes().getLength()>0)
                    jointPos.z=Double.parseDouble(jointPosChild.getChildNodes().item(0).getNodeValue());
            }
        }
    }