The algorithms of transformable structures.
A transformable structure is not a structure that moves but one that has parts that do. The parts of a transformable structure move in relation to each other. A transformable structure can have many geometrical arrangements. The most common transformable structures in general have only two extreme position geometries. An ending and beginning geometries.
Rotating Transformer

Sliding Transformer

Folding Transformer

The general method is to first create the starting position geometry then apply the transformation to achieve the finishing position geometry.